CN109382646B

CN109382646B - Full-automatic screwing device for chassis preassembled line bolt

Info

Publication number: CN109382646B
Application number: CN201811546227.0A
Authority: CN
Inventors: 陆国庆
Original assignee: SHANGHAI LIANSHENG VEHICLE MATCHING SERVICES CO LTD
Current assignee: SHANGHAI LIANSHENG VEHICLE MATCHING SERVICES CO LTD
Priority date: 2018-12-17
Filing date: 2018-12-17
Publication date: 2024-09-03
Anticipated expiration: 2038-12-17
Also published as: CN109382646A

Abstract

The invention discloses a full-automatic screwing device for a chassis preassembled line bolt, which comprises an AGV trolley, a bottom supporting plate, a top floor arranged on the bottom floor, a sensor, a secondary positioning clamp, a robot and a processor. The AGV trolley is used for bearing the trolley and driving the trolley to move. The supporting plate is arranged on the rack vehicle. The sensor detects the position of the gantry vehicle and transmits the position to the processor. And under the condition that the position is the preset position, the processor generates a stop signal and a positioning signal, and the stop signal is transmitted to an actuating mechanism of the AGV trolley so as to stop the AGV trolley. And the positioning signal is transmitted to the secondary positioning clamp so that the secondary positioning clamp positions the bottom top plate in the XY direction, and the processor controls the robot to execute screwing operation on the gearbox and the engine which are positioned on the supporting plate according to a preset flow after positioning the bottom top plate.

Description

Full-automatic screwing device for chassis preassembled line bolt

Technical Field

The invention relates to a tightening device, in particular to a full-automatic tightening device for a chassis preassembled line bolt.

Background

In the current automobile industry field, the advanced full-automatic electric tightening technology is utilized, so that the tightening quality of products can be ensured, the labor productivity is improved, the manufacturing cost of enterprise products is greatly reduced, the man-machine engineering is improved, and the production period of the products is shortened.

At present, domestic automobile production enterprises adopt full-automatic electric tightening technology to implement in an engine host factory, a gearbox host factory and front and rear axle manufacturers, and one condition is that because the workpiece torque required to be tightened is small and the quantity is large, the centralized full-automatic tightening is a reasonable scheme, for example, an engine oil pan cover is tightened by an engine factory of the general public of the upper automobile, 16 bolts are required to be tightened at one time, and the working efficiency is greatly improved. The other type of the automatic tightening device has the advantages that the installation positions of the bolts are all in the same plane, the positioning difficulty is low, the tightening torque of the bolts is large, the load of operators is correspondingly increased, the man-machine engineering can be greatly improved by adopting full-automatic tightening, and certain economic benefits exist at the same time, such as full-automatic tightening of front and rear axles of Shanghai hui masses Phideon, and the maximum tightening torque exceeds 200Nm. However, the above proposal cannot meet the requirement of high requirements for positioning design and precision assurance of the installed workpiece because of irregular positions of the installed workpiece and large installation torque.

Disclosure of Invention

The invention solves the problems that the existing tightening device cannot guarantee accuracy and is not suitable for tightening gearboxes and engines with irregular positions and larger torque.

In order to solve the problems, the invention provides a full-automatic chassis preassembly line bolt screwing device. The device includes AGV dolly, trolley, bottom layer board, installs in the top layer board of bottom layer board, sensor, secondary positioning fixture, robot and treater. The AGV trolley is used for bearing the rack trolley and driving the rack trolley to move. The supporting plate is arranged on the rack vehicle and moves along with the rack vehicle. The sensor detects the position of the gantry vehicle and transmits the position to the processor. The processor generates a trolley control signal and a positioning signal under the condition that the position is a preset position, and the trolley control signal is transmitted to an actuating mechanism of the AGV trolley so as to stop the AGV trolley; the positioning signals are transmitted to the secondary positioning clamp so that the secondary positioning clamp can position the supporting plate, and the processor can control the robot to execute screwing operation on the gearbox and the engine which are positioned on the supporting plate according to a preset flow after positioning the supporting plate.

In one scheme, the secondary positioning fixture comprises two supports which are oppositely arranged, wherein universal balls are arranged on the supports, positioning blocks are arranged on the bottom supporting plates, the positioning blocks are opposite to the top supporting plates and are provided with inclined planes and planar positioning blocks, the inclined planes and the planar planes are obtuse angles, and the universal balls stay against the planar planes after moving along the inclined planes to realize Z-direction positioning.

In one aspect, the positioning block is trapezoidal.

In one aspect, the device includes a coarse positioning mechanism including oppositely disposed brackets, each bracket having an obtuse angle support arm disposed thereon, the end of each support arm having a guide wheel disposed thereon, and opposite sides of the bottom top plate abutting against each guide wheel during movement of the AGV trolley.

In one scheme, the secondary positioning fixture comprises a bracket, a cylinder, a pin rod and a positioning hole, wherein the bracket is arranged oppositely, the cylinder is fixed on the bracket, the pin rod is positioned at the end part of a piston rod of the cylinder, the positioning hole is positioned on the bottom supporting plate, and the cylinder stretches under the control of a positioning signal so that the pin rod is inserted into the positioning hole.

In one scheme, the bottom of bottom roof is provided with spring mechanism, and this spring mechanism includes four dogs, four compression springs, four shelves poles and fixed block, the fixed block sets up in the layer board bottom, four dogs set up in the layer board bottom and are located the four sides of fixed block, and the both ends of every shelves pole are connected respectively fixed block and a dog and cover have a compression spring.

Compared with the prior art, the invention has at least the following advantages:

1. because the device has the secondary positioning fixture, through the fixed of this secondary positioning realization X, Y, Z three positions, the robot only need plan the walking orbit according to the difference of product digital mould, realizes the demand that irregular bolt position was screwed up.

2. The original bolt at the upper part of the gearbox is manually screwed up by adopting a reaction force rod to reduce the stress degree of a joint of a worker due to the fact that the torque exceeds 100Nm, the problem is not needed to be considered after the precise positioning and the screwing up of the robot are adopted, and only the fact that the sixth shaft of the robot meets the maximum reverse acting force of the torque is needed to be considered.

Drawings

FIG. 1 is a schematic view of an overall tooling of the chassis preassembly line of the present invention;

FIG. 2 is a schematic view of a full automatic chassis preassembly line bolt tightening apparatus of the present invention;

FIG. 3 is an enlarged partial view of portion A of FIG. 2;

FIG. 4 is a front view of the full automatic chassis pre-load bolt tightening device of FIG. 2;

FIG. 5 is a cross-sectional view of the full automatic chassis preassembly line bolt tightening device shown in FIG. 4;

FIG. 6 is an enlarged view of portion B of FIG. 5, highlighting the coarse positioning means;

fig. 7 is a sectional view taken along D-D of fig. 5, focusing on the positioning block.

Detailed Description

In order to describe the technical content, constructional features, achieved objects and effects of the present invention in detail, the following description will be made with reference to the embodiments in conjunction with the accompanying drawings.

Referring to fig. 1 to 7, the device of the present invention includes an AGV carriage 1, a carriage 2, a bottom pallet 31, a top pallet 32 mounted on the bottom pallet 31, sensors, oppositely disposed brackets 4, coarse positioning means, a secondary positioning jig 6, robots (7 a, 7 b), robot control cabinets (8 a, 8 b), a charging station 9, and a processor. The robot control cabinet writes and controls the walking track of the robot, and meanwhile, the robot control cabinet communicates information with the PLC of the master control, and executes the next track action after corresponding conditions are met. The AGV trolley 1 is used for bearing the trolley 2 and driving the trolley 2 to move along a preset route. The bottom pallet 31 is mounted on the pallet truck 2 to move with the movement of the pallet truck 2. The top pallet 32 is mounted to the bottom pallet 31 for carrying the engine and gearbox, and in this embodiment the top pallet 32 is connected to the bottom pallet 31 by bearings. The sensor is used to detect the position of the AGV 1 (or the pallet truck 2) and transmit the position to the processor. After the processor receives the position detected by the sensor, judging whether the position is equal to a preset position, if so, indicating that the AGV trolley 1 (or the rack trolley 2) moves to the preset position and needs to stop, at the moment, the processor generates a trolley control signal which is transmitted to an actuating mechanism of the trolley to stop the AGV trolley, if not, indicating that the AGV trolley does not move to the preset position, and the processor generates a control signal to control the AGV trolley 1 to continue moving until the detected position is equal to the preset position. The device further comprises oppositely arranged brackets 4, each bracket 4 being provided with a support arm 41 at an obtuse angle. A guide wheel 42 is provided on each support arm 41. In the present invention, the top surface of the bottom top plate 31 refers to the surface carrying the top pallet 32. The surface of the pallet 32 is used to carry the engine and gearbox, and the bottom is the surface opposite the top surface of the bottom deck 31. In particular, the opposite edges of the bottom pallet 31 are provided with positioning blocks 5, which positioning blocks 5 have inclined surfaces 51 and flat surfaces 52, the inclined surfaces 51 and the flat surfaces 52 forming an obtuse angle. The support 4 is provided with a universal ball 22. The arrow in fig. 7 illustrates the direction of movement of the trolley 2. The ball 22 moves along the inclined plane to the plane 52 and abuts between the plane 52 and the bracket 4, thereby achieving positioning in the Z direction. As one embodiment, the positioning block is a T-shaped block.

Referring to fig. 3, the apparatus includes a coarse positioning device. The coarse positioning device comprises a supporting arm 41 and guide wheels 42, and during the movement of the AGV, two opposite sides of the bottom top plate 31 are abutted against each guide wheel 42 to realize coarse positioning. After coarse positioning, the present invention performs accurate positioning of the bottom top plate 31 by a secondary positioning jig. The secondary positioning fixture 6 comprises a bracket 4, an air cylinder 61, a pin rod 62 and a positioning hole 63, wherein the bracket 4 is arranged oppositely, the air cylinder 61 is fixed on the bracket 4, the pin rod 62 is positioned at the end of a piston rod of the air cylinder, and the positioning hole 63 is positioned on the bottom top plate 31. The cylinder 61 is extended under the control of a positioning signal so that the pin 62 is inserted into the positioning hole 63, whereby the carriage does not move in the XY direction, positioning in the XY direction is achieved, and when the carriage 2 is to be moved, the pin 62 of the cylinder is contracted to be disengaged from the positioning hole 63, and then a carriage control command is given so that the carriage is moved out of the position.

By positioning the bottom head plate 21 in X, Y and Z directions, the position error of the AGV 1 from running to stopping can be controlled to be + -10 mm, and the errors in X and Y directions meet the accuracy requirement.

Referring to fig. 4, a spring mechanism 10 is disposed at the bottom of the supporting plate, the spring mechanism 10 includes four stoppers 101, four compression springs 102, four stoppers 103 and a fixing block 104, the fixing block is disposed at the bottom of the bottom supporting plate 31, the four stoppers are disposed at the bottom of the supporting plate and are located at four sides of the fixing block, and two ends of each stopper are respectively connected with the fixing block and one stopper and sleeved with one compression spring. Any two adjacent bars in the four bars intersect to form 90 degrees, and it can be understood that the four bars are equivalent to X positive direction, X negative direction, Y positive direction and Y negative direction of a coordinate system.

Referring to fig. 1 to 5, the working procedure of the present invention is as follows:

Firstly, an AGV trolley 1 drives a rack trolley 2to move along a preset track, and in the moving process, when two opposite sides of a bottom supporting plate 31 on the rack trolley 2 are abutted against guide wheels 42, the two opposite sides are guided by the guide wheels 42 to continue to move, so that coarse positioning of the rack trolley (supporting plate) is realized;

The sensor then detects the current position of the trolley 2 and transmits the detected position to a processor. The processor compares the position with a pre-stored position, generates a movement instruction if the position is not equal to the pre-stored position, and generates a stop instruction, a jacking instruction and a positioning instruction if the position is equal to the pre-stored position. And the AGV trolley receives the movement instruction and continues to move until the processor generates a stop instruction. And the AGV trolley receives the stop instruction to stop moving. The jacking air cylinder receives the jacking instruction, so that a piston rod of the air cylinder extends into the groove (the trapezoid block extends into the trapezoid groove) to realize Z-direction positioning.

Then, the cylinders are controlled by the positioning instructions to enable the respective pin rods to extend into the positioning holes of the bottom top plate 31 to achieve X-direction and Y-direction positioning, and therefore accurate positioning of the supporting plate is achieved through X, Y, Z directions.

Then, the charging station 9 stretches out of the charging arm to start charging;

finally, the processor controls the robots (7 a, 7 b) to execute screwing operation on the engine and the gearbox according to the walking track written in the robot control cabinet.

Claims

1. The full-automatic screwing device for the chassis preassembled line bolt is characterized by comprising an AGV trolley, a bottom supporting plate, a top supporting plate arranged on the bottom supporting plate, a sensor, a secondary positioning clamp, a robot and a processor, wherein,

The AGV trolley is used for bearing the rack trolley and driving the rack trolley to move;

The bottom supporting plate is arranged on the rack vehicle and moves along with the rack vehicle;

the sensor detects the position of the rack vehicle and transmits the position to the processor;

The processor generates a trolley control signal and a positioning signal under the condition that the position is a preset position, and the trolley control signal is transmitted to an actuating mechanism of the AGV trolley so as to stop the AGV trolley; the positioning signal is transmitted to the secondary positioning clamp so that the secondary positioning clamp positions the bottom supporting plate in the XY direction, and the processor controls the robot to execute screwing operation on a gearbox and an engine positioned on the top supporting plate according to a preset flow after positioning the bottom supporting plate;

The secondary positioning fixture comprises two brackets which are oppositely arranged, each bracket is provided with a universal ball, the bottom supporting plate is provided with a positioning block which is trapezoidal, the positioning block is opposite to the top supporting plate and is provided with an inclined plane and a plane, the inclined plane and the plane are obtuse angles, and the universal balls stay against the plane after moving along the inclined plane to realize Z-direction positioning;

The secondary positioning clamp comprises an air cylinder fixed on the bracket, a pin rod positioned at the end part of a piston rod of the air cylinder and a positioning hole positioned on the bottom supporting plate, wherein the air cylinder stretches under the control of a positioning signal to enable the pin rod to be inserted into the positioning hole;

The bottom of bottom layer board is provided with spring mechanism, and this spring mechanism includes four dogs, four compression springs, four shelves poles and fixed block, the fixed block sets up in bottom layer board bottom, four dogs set up in bottom layer board bottom and are located the four sides of fixed block, and the both ends of every shelves pole are connected respectively fixed block and a dog and cover have a compression spring.

2. The full automatic chassis preassembly line bolt tightening device of claim 1 including a coarse positioning mechanism including oppositely disposed brackets each having an obtuse-angled support arm provided with a guide wheel at an end of each support arm, opposite sides of the bottom pallet bearing against each guide wheel during movement of the AGV trolley.