Intelligent tightening equipment and intelligent tightening method

Abstract

The invention provides intelligent tightening equipment and an intelligent tightening method, and belongs to the field of automobile intelligent manufacturing. The intelligent tightening equipment comprises a first feeding device, a carrying device, a tightening piece transfer device, a tightening device, a second feeding and conveying device and a tightening in-place detection mechanism; a feeding visual judgment mechanism is correspondingly arranged at a picking position of the carrying device, and the tightening device has a torque detection function; the intelligent tightening method comprises the steps of feeding, posture judgment and adjustment, transfer of a to-be-tightened piece, positioning of a tightened piece, tightening, in-place tightening detection and discharging. According to the intelligent tightening device and method, full-automatic and intelligent operation of the tightening piece can be achieved, the tightening efficiency and the tightening qualification rate are greatly improved, and the intelligent tightening device and method can be applied and popularized in the field of new automobile manufacturing.

Description

Technical Field

[0001] The present invention relates to the field of intelligent automobile manufacturing, and in particular to an intelligent tightening device and an intelligent tightening method. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art or prior art.

[0003] In the field of automobile manufacturing, intelligence is becoming more and more popular. In the automobile production line, the tightening of bolts, nuts, screws, studs, etc. accounts for a considerable part of the workload of the entire manufacturing process. The traditional method is manual tightening, and some semi-automatic tightening scenarios have also emerged, but they still cannot meet the current needs of efficient unmanned control of intelligent manufacturing. Summary of the invention

[0004] In order to overcome the deficiencies of the prior art, the purpose of the present invention is to provide an intelligent tightening device and an intelligent tightening method, which can solve the above problems. The overall design scheme of the present application is as follows.

[0005] An intelligent tightening device, the intelligent tightening device comprising a first feeding device, a handling device, a tightening part transfer device, a tightening device and a second feeding and transmission device; a loading visual judgment mechanism is arranged corresponding to the picking position of the handling device, the tightening part transfer device is arranged between the tightening station of the second feeding and transmission device and the handling device, and the tightening execution part of the tightening device with a torque detection function moves in a reciprocating space that can be raised and lowered between the tightening part transfer device and the tightening station of the second feeding and transmission device.

[0006] Furthermore, the intelligent tightening equipment also includes a pressure plate mechanism, which is movably arranged above the tightening station of the second feeding and transmission device, and releases or tightens the tightened parts on the tightening station by lifting.

[0007] Furthermore, the intelligent tightening equipment also includes a tightening detection mechanism, which is arranged on the tightening state detection station of the second feeding and transmission device to detect whether the tightening is qualified.

[0008] Furthermore, the transport device includes a transport translation module, a transport lifting module and a transport rotary chuck module; the transport rotary chuck module is arranged opposite to the discharge end of the first feeding device and rotates to receive the material.

[0009] Furthermore, the handling device also includes a lighting board for assisting visual inspection.

[0010] Furthermore, the feeding visual judgment mechanism includes a posture visual judgment sensor arranged on a visual judgment frame, and the sensing end of the posture visual judgment sensor is arranged toward the handling rotating chuck module of the handling device.

[0011] Furthermore, the tightening part transfer device includes a transfer frame, a material storage base, a transfer drive and a transfer clamp; the material storage base and the transfer drive are arranged on the top plate of the transfer frame, a clamping slot is opened on the material storage base, a pair of transfer clamps are driven to be arranged on the transfer drive, and when the pair of transfer clamps are driven to approach, they clamp toward the clamping slot of the material storage base to clamp the part to be tightened from opposite sides.

[0012] Furthermore, the tightening device includes a tightening head with a built-in torque sensor and a tightening space driving mechanism, the tightening space driving mechanism drives the tightening head to move in space, the tightening head itself has adjustable forward and reverse torque and the tightening chuck can be replaced according to the model of the part to be tightened.

[0013] Furthermore, the second feeding and transmission device includes a driving linear rail, a lifting mechanism and a pallet mechanism; the driving linear rail is provided with a material receiving station, a tightening station, a tightening status detection station and a material unloading station, and a lifting mechanism is arranged below the tightening station and the tightening status detection station, and a plurality of the pallet mechanisms are driven to move along the driving linear rail, and a pressure plate mechanism is straddled on the driving linear rail at the tightening station.

[0014] Furthermore, the tightening device also includes a torque checker, which is arranged on the top pressure plate of the pressure plate mechanism.

[0015] The present invention also provides an intelligent tightening method, which comprises the following steps.

[0016] S1, loading, the handling device picks up the parts to be tightened provided by the first feeding device and clamps and moves them to the visual judgment station, and the second feeding and transmission device transports the parts to be tightened to the tightening station of the linear rail.

[0017] S2. Posture determination and adjustment. The loading visual determination mechanism visually captures the workpiece to be tightened at the visual determination station to determine whether the posture is correct. If the posture is incorrect, the transport device adjusts the posture of the workpiece to be tightened until the posture is correct. If the posture is correct, it is transferred to the tightening part transfer device.

[0018] S3, transfer of parts to be tightened and positioning of parts to be tightened. After the tightening parts transfer device recognizes the incoming material, the tightening head of the tightening device moves to the tightening parts transfer device to identify and take the material, and transfers the clamped parts to be tightened to the top of the tightening station of the second feeding and transmission device. The tightened parts at the tightening station are lifted to the working height by the lifting mechanism, and pressed down by the pressing plate mechanism to tighten and position the parts to be tightened.

[0019] S4, tightening. The tightening device sends the part to be tightened to the tightening position of the part to be tightened, and tightens it in sequence under torque monitoring.

[0020] S5, tightening in place detection, the second feeding and transmission device transmits the parts to be tightened to the tightening state detection station, and the tightening in place detection mechanism detects whether the tightening state is qualified. If it is qualified, it will be unloaded. If it is unqualified, it will be transported to the NG unloading line or re-enter the tightening station to perform tightening again until the tightening state is qualified and unloaded.

[0021] Compared with the prior art, the beneficial effect of the present invention is that through the intelligent tightening equipment and method of the present application, full automation and intelligent operation of tightening parts can be achieved, which greatly improves the tightening efficiency and tightening qualification rate, and can be promoted and applied in the field of new automobile manufacturing. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of the intelligent tightening device of the present invention; Figure 2 for Figure 1 A top view of Figure 3 is a schematic diagram of a handling device; Figure 4 It is a schematic diagram of the visual judgment mechanism and the handling device for feeding; Figure 5 It is a schematic diagram of the fastening parts transfer device; Figure 6 is a schematic diagram of a tightening device; Figure 7 is a schematic diagram of the pressure plate mechanism; Figure 8 is a schematic diagram of the pressure plate mechanism; Fig. 9 Schematic diagram of the tightening detection mechanism.

[0023] In the figure: 100. A first feeding device; 200, handling device; 210, handling translation module; 220, handling lifting module; 230, handling rotary chuck module; 240, polishing board; 250, handling material sensor; 300, feeding visual judgment mechanism; 310, visual judgment frame; 320, posture visual judgment sensor; 400, fastening parts transfer device; 410, transfer rack; 420, material storage base; 430, transfer driver; 440, transfer clamp; 450, transfer material sensor; 500, tightening device; 510, tightening head; 520, tightening transverse movement module; 530, tightening longitudinal movement module; 540, tightening lifting drive module; 550, torque checker; 600, second feeding and transmission device; 610, driving linear rail; 620, lifting mechanism; 630, tray mechanism; 700, pressing plate mechanism; 710, pressing cylinder vertical plate; 720, pressing plate cylinder; 730, top pressing plate; 800, tightening detection mechanism; 810, tightening detection transverse movement module; 820, tightening detection longitudinal movement module; 830, tightening detection lifting drive module; 840, tightening status detector; 850, status height calibration block. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] Intelligent tightening equipment The intelligent tightening equipment includes a first feeding device 100, a conveying device 200, a feeding visual judgment mechanism 300, a tightening part transfer device 400, a tightening device 500, a second feeding and transmission device 600, a pressure plate mechanism 700, and a tightening detection mechanism 800.

[0026] A loading visual judgment mechanism 300 is arranged corresponding to the picking position of the handling device 200, and the fastening part transfer device 400 is set between the tightening station of the second feeding and transmission device 600 and the handling device 200. The tightening execution part of the tightening device 500 with a torque detection function can move in the reciprocating space between the fastening part transfer device 400 and the tightening station of the second feeding and transmission device 600.

[0027] The pressing plate mechanism 700 is movably disposed above the tightening station of the second feeding and conveying device 600, and releases or tightens the tightened parts on the tightening station by lifting.

[0028] See also Figure 8 The pressing plate mechanism 700 includes a pressing cylinder vertical plate 710, a pressing plate cylinder 720, and a top pressing plate 730. The pressing plate cylinder 720 is vertically driven and arranged on the side plates of the two corresponding pressing cylinder vertical plates 710, and the top pressing plate 730 is horizontally arranged at the output ends of the two pressing plate cylinders 720.

[0029] Pressing holes of different specifications are opened on the top pressure plate 730, and a plurality of tightening holes are opened around the pressing holes.

[0030] The tightening detection mechanism 800 is arranged at the tightening state detection station of the second feeding and transmission device 600, and is used to detect whether the tightening is qualified.

[0031] See also Fig. 9 The tightening-in-place detection mechanism 800 includes a tightening-in-place detection transverse movement module 810, a tightening-in-place detection longitudinal movement module 820, a tightening-in-place detection lifting drive module 830, and a tightening state detector 840. The tightening state detector 840 is driven by a space transfer mechanism composed of the tightening-in-place detection transverse movement module 810, the tightening-in-place detection longitudinal movement module 820, and the tightening-in-place detection lifting drive module 830. The tightening-in-place detection mechanism 800 also includes a state height calibration block 850, which is used to regularly verify the tightening state detector 840. The state height calibration block 850 has a variety of specifications and is suitable for different tightening parts and tightened parts. The drivers of the tightening-in-place detection transverse movement module 810, the tightening-in-place detection longitudinal movement module 820, and the tightening-in-place detection lifting drive module 830 are cylinder or motor driven, and this example preferably uses a motor drive.

[0032] The first feeding device 100 adopts a feeding mechanism such as a push plate machine, a vibration plate, etc., and the picking head of the transport device 200 can be rotated to face the discharge end of the first feeding device 100.

[0033] Among them, see Figure 3 The transport device 200 includes a transport translation module 210, a transport lifting module 220 and a transport rotary chuck module 230; the transport rotary chuck module 230 is arranged opposite to the discharge end of the first feeding device 100 and rotates to receive the material.

[0034] Furthermore, the handling device 200 also includes a lighting board 240 for assisting visual inspection.

[0035] Furthermore, the transport device 200 further includes a transport material sensor 250 , and a sensing end of the transport material sensor 250 is arranged toward the rotating clamping claw of the transport rotating clamping head module 230 .

[0036] Among them, see Figure 4 The loading visual judgment mechanism 300 includes a posture visual judgment sensor 320 arranged on a visual judgment frame 310 , and the sensing end of the posture visual judgment sensor 320 is arranged toward the conveying rotating chuck module 230 of the conveying device 200 .

[0037] Among them, see Figure 5The fastener transfer device 400 includes a transfer frame 410, a material storage base 420, a transfer driver 430 and a transfer clamp 440; the material storage base 420 and the transfer driver 430 are arranged on the top plate of the transfer frame 410, a clamping slot is opened on the material storage base 420, a pair of transfer clamps 440 are driven to be arranged on the transfer driver 430, and when the pair of transfer clamps 440 are driven to approach, they clamp toward the clamping slot of the material storage base 420 to clamp the parts to be tightened from opposite sides.

[0038] Furthermore, the fastener transfer device 400 also includes a transfer material sensor 450 disposed at the top plate of the transfer frame 410 for monitoring whether there is material, that is, a fastener to be tightened, on the material storage base 420 .

[0039] Among them, see Figure 6 The tightening device 500 includes a tightening head 510 with a built-in torque sensor and a tightening space driving mechanism. The tightening space driving mechanism drives the tightening head 510 to move in space. The tightening head 510 itself has adjustable forward and reverse torque and can replace the tightening chuck according to the model of the part to be tightened.

[0040] The tightening space drive mechanism is in the form of a mechanical arm type, a cylinder slide drive type, a linear motor drive type, a chain drive type, a belt drive type, etc., and a sliding drive type is preferred. In a specific example, referring to the accompanying drawings, the tightening space drive mechanism includes a tightening transverse movement module 520, a tightening longitudinal movement module 530, and a tightening lifting drive module 540, and the drivers of the three are cylinder or motor drive, and the example is preferably motor drive.

[0041] The tightening head 510 includes a tightening head adapter plate, a tightening gun with a built-in torque sensor, a tightening gun fixing, a tightening chuck, a chuck fixing seat and a sensing disk; the tightening chuck is replaceably provided at the lower end of the tightening gun; the sensing disk is provided on the tightening gun or the tightening chuck to sense whether the clamped part to be tightened is in place. The tightening gun is connected to one side of the tightening head adapter plate through the tightening gun fixing, and the tightening chuck is connected to the same side of the tightening head adapter plate through the chuck fixing seat. The tightening gun can be reversed, and the torque can be set, and the torque value is monitored in real time by the torque sensor. The entire tightening head 510 is installed to the lifting and lowering movable end of the tightening lifting drive module 540 through the tightening head adapter plate.

[0042] Among them, see Figure 7The second feeding and transmission device 600 includes a driving linear rail 610, a lifting mechanism 620 and a tray mechanism 630; the driving linear rail 610 is provided with a material receiving station, a tightening station, a tightening state detection station and a material unloading station, and a lifting mechanism 620 is arranged below the tightening station and the tightening state detection station, and a plurality of tray mechanisms 630 are driven to move along the driving linear rail 610, and a pressure plate mechanism 700 is straddled on the driving linear rail 610 at the tightening station.

[0043] Specifically, the lifting mechanism 620 is fixed to the table of the frame, and the tray mechanism 630 is driven to flow on the driving linear rail 610. When the tray mechanism 630 flows to the top of the lifting mechanism 620, the sensor recognizes that the tray has arrived above the lifting mechanism 620, triggering the lifting command, and the lifting mechanism 620 rises, lifting the tray mechanism 630 and separating it from the driving linear rail 610 to carry out the subsequent process - tightening or tightening status detection.

[0044] The driving rail 610 adopts various forms of driving transmission methods, such as chain type, belt type, etc. Each driving rail 610 is arranged in double lines in parallel. The illustrated example adopts an upper and lower layer of rails, and the lower layer of rails is not provided with a lifting mechanism 620 and a tray mechanism 630, and is only used for the circulation feeding of the tray mechanism 630.

[0045] The lifting mechanism 620 can be any form of conventional cylinder, electric cylinder or hydraulic cylinder to achieve the lifting effect. A lifting limit assembly is arranged outside the linear track corresponding to the lifting mechanism 620 to limit the lifting height of the screwed part from above.

[0046] Furthermore, the tightening device 500 also includes a torque checker 550 , and the torque checker 550 is disposed on the top pressure plate 730 of the pressure plate mechanism 700 .

[0047] When the predetermined verification time arrives, tightening is stopped, and the tightening device 500 drives the tightening head 510 to be inserted into the torque verifier 550 for tightening test, and subsequent tightening work is performed after meeting the requirements.

[0048] Intelligent tightening method An intelligent tightening method includes the following steps (in no particular order, and are actually performed repeatedly).

[0049] S1, loading, the handling device 200 picks up the parts to be tightened provided by the first feeding device 100 and clamps and moves them to the visual judgment station, and the second feeding and transmission device 600 transports the parts to be tightened to the tightening station of the linear rail.

[0050] S2. Posture determination and adjustment. The loading visual determination mechanism 300 visually captures the workpiece to be tightened at the visual determination station to determine whether the posture is correct. If the posture is incorrect, the transport device 200 adjusts the posture of the workpiece to be tightened until the posture is correct. If the posture is correct, it is transferred to the tightening part transfer device 400.

[0051] S3, transfer of the parts to be tightened and positioning of the parts to be tightened. After the tightening parts transfer device 400 recognizes the incoming material, the tightening head 510 of the tightening device 500 moves to the tightening parts transfer device 400 to identify and take the material, and transfers the clamped parts to be tightened to the top of the tightening station of the second feeding and transmission device 600. The tightened parts at the tightening station are lifted to the working height by the lifting mechanism 620, and are pressed down by the pressing plate mechanism 700 to tighten and position the parts to be tightened.

[0052] S4, tightening, the tightening device 500 sends the part to be tightened to the tightening position of the part to be tightened, and tightens it in sequence under torque monitoring. Here, if the tightening torque is unqualified (too loose or too tight), it can be re-tightened until it meets the requirements, or a torque NG unloading line can be set up, and the handling device 200 can directly pick it up and transport it to the torque NG unloading line.

[0053] S5, tightening in place detection, the second feeding and conveying device 600 conveys the parts to be tightened to the tightening state detection station, and the tightening in place detection mechanism 800 detects whether the tightening state is qualified. If it is qualified, it will be unloaded. If it is unqualified, it will be transported to the NG unloading line or re-enter the tightening station to perform tightening again until the tightening state is qualified and unloaded.

[0054] If the tightened parts at the tightening status detection station are unqualified, they can be linearly translated back to the tightening station, or they can be circulated into the tightening station by the double-layer linear rail. A tightening NG unloading line can also be set up to directly transport the unqualified tightening materials to the NG unloading line for unloading.

[0055] In a specific example, the part to be screwed is a stud or a nut, and the screwed part is a product with any nut, screw hole or stud, such as an upper air chamber or a lower air chamber of a car. In the illustrated example, the part to be screwed is a stud, and the screwed part is an upper air chamber shell with three screw holes.

[0056] When tightening, the tightening device 500 first moves the three studs to the three tightening positions-screw holes of the three upper air chamber shells, and then tightens the studs in sequence. The tightening device 500 first puts the studs into the tightening positions-screw holes of the upper air chamber shells, and then tightens the studs, and performs the tightening sequence and quantity in sequence.

[0057] In a specific example, the tightening detection mechanism 800 detects the tightening status by height detection. As shown in the figure, if the height of the stud is not in place or is too high, it is over-tightened or too loose.

[0058] In a specific example, the loading visual determination mechanism 300 detects the forward and reverse direction of the studs at the handling device 200. If the studs are in the reverse direction, the handling rotary chuck module 230 of the handling device 200 rotates the studs 180° to the correct position.

[0059] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent tightening device, characterized in that: The intelligent tightening device comprises a first feeding device (100), a transport device (200), a tightening piece transfer device (400), a tightening device (500) and a second feeding and transmission device (600); A loading visual judgment mechanism (300) is arranged corresponding to the picking position of the handling device (200), the fastening part transfer device (400) is arranged between the fastening station of the second feeding and transmission device (600) and the handling device (200), and the fastening execution part of the fastening device (500) with a torque detection function moves in a reciprocating space that can be raised and lowered between the fastening part transfer device (400) and the fastening station of the second feeding and transmission device (600).

2. The intelligent tightening device according to claim 1, characterized in that: The intelligent tightening device also includes a pressing plate mechanism (700), which is arranged above the tightening station of the second feeding and transmission device (600) in a liftable manner, and releases or tightens the tightened part on the tightening station by lifting.

3. The intelligent tightening device according to claim 1 or 2, characterized in that: The intelligent tightening device further comprises a tightening detection mechanism (800), wherein the tightening detection mechanism (800) is arranged at a tightening state detection station of the second feeding and transmission device (600) and is used to detect whether the tightening is qualified.

4. The intelligent tightening device according to claim 1, characterized in that: The transport device (200) comprises a transport translation module (210), a transport lifting module (220) and a transport rotary chuck module (230); the transport rotary chuck module (230) is arranged opposite to the discharge end of the first feeding device (100) and rotates to receive materials.

5. The intelligent tightening device according to claim 1, characterized in that: The loading visual judgment mechanism (300) comprises a posture visual judgment sensor (320) arranged on a visual judgment frame (310), wherein a sensing end of the posture visual judgment sensor (320) is arranged toward a transport rotary chuck module (230) of the transport device (200).

6. The intelligent tightening device according to claim 1, characterized in that: The fastening piece transfer device (400) comprises a transfer frame (410), a material storage base (420), a transfer driver (430) and a transfer clamp (440); the material storage base (420) and the transfer driver (430) are arranged on the top plate of the transfer frame (410); a clamping slot is provided on the material storage base (420); a pair of the transfer clamps (440) are driven to be arranged on the transfer driver (430); when the pair of the transfer clamps (440) are driven to approach, they clamp toward the clamping slot of the material storage base (420) to clamp the piece to be tightened from opposite sides.

7. The intelligent tightening device according to claim 2, characterized in that: The tightening device (500) comprises a tightening head (510) with a built-in torque sensor and a tightening space driving mechanism, wherein the tightening space driving mechanism drives the tightening head (510) to move in space, and the tightening head (510) can adjust its own torque in forward and reverse directions and can replace the tightening chuck according to the model of the part to be tightened.

8. The intelligent tightening device according to claim 1, characterized in that: The second feeding and transmission device (600) comprises a driving linear rail (610), a lifting mechanism (620) and a tray mechanism (630); the driving linear rail (610) is provided with a material receiving station, a tightening station, a tightening state detection station and a material unloading station, and a lifting mechanism (620) is arranged below the tightening station and the tightening state detection station, and a plurality of tray mechanisms (630) are driven to move along the driving linear rail (610), and a pressure plate mechanism (700) is arranged across the driving linear rail (610) at the tightening station.

9. The intelligent tightening device according to claim 7, characterized in that: The tightening device (500) further comprises a torque checker (550), wherein the torque checker (550) is arranged on the top pressure plate (730) of the pressure plate mechanism (700).

10. An intelligent tightening method, characterized in that: The intelligent tightening method comprises: S1, loading, the handling device (200) picks up the parts to be tightened provided by the first feeding device (100) and clamps and moves them to the visual judgment station, and the second feeding and transmission device (600) transports the parts to be tightened to the tightening station of the linear rail; S2, posture determination and adjustment, the loading visual determination mechanism (300) visually collects and determines whether the posture of the workpiece to be tightened at the visual determination station is correct. If the posture is incorrect, the transport device (200) adjusts the posture of the workpiece to be tightened until the posture is correct. If the posture is correct, it is transported to the tightening part transfer device (400); S3, transfer of the workpiece to be tightened and positioning of the workpiece to be tightened. After the tightening workpiece transfer device (400) recognizes the incoming material, the tightening head (510) of the tightening device (500) moves to the tightening workpiece transfer device (400) to identify and take the material, and transfers the clamped workpiece to be tightened to the top of the tightening station of the second feeding and transmission device (600); the workpiece to be tightened at the tightening station is lifted to the working height by the lifting mechanism (620), and is pressed down by the pressing plate mechanism (700) to tighten and position the workpiece; S4, tightening, the tightening device (500) sends the part to be tightened to the tightening position of the part to be tightened, and tightens it in sequence under torque monitoring; S5, tightening in place detection, the second feeding and conveying device (600) conveys the parts to be tightened to the tightening state detection station, and the tightening in place detection mechanism (800) detects whether the tightening state is qualified. If it is qualified, it will be unloaded. If it is unqualified, it will be transported to the NG unloading line or re-enter the tightening station to perform tightening again until the tightening state is qualified and unloaded.

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