CN106112499A - Multiaxis displacement type robot tightening machine - Google Patents
Multiaxis displacement type robot tightening machine Download PDFInfo
- Publication number
- CN106112499A CN106112499A CN201610678477.4A CN201610678477A CN106112499A CN 106112499 A CN106112499 A CN 106112499A CN 201610678477 A CN201610678477 A CN 201610678477A CN 106112499 A CN106112499 A CN 106112499A
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- Prior art keywords
- screwing
- annular sleeve
- sleeve
- mechanical hand
- working end
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
- B23P19/069—Multi-spindle machines
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
nullThe present invention openly one multiaxis displacement type robot tightening machine，Including mechanical hand，It is characterized in that: connecting on described mechanical hand has device for screwing up，Described device for screwing up includes a bracing frame being directly connected with mechanical hand，The bottom of bracing frame is annular sleeve，Annular sleeve is symmetrically provided with two cover screwing actuators，In annular sleeve, movable sleeve is connected to inner sleeve，Put in described and be also symmetrically provided with two cover screwing actuators，It is outside equipped with arc-shaped rack in annular sleeve，It is arranged on the working end of servomotor with arc-shaped rack meshed gears，Described servomotor is then positioned at and puts，Described tighten actuator include one be horizontally disposed with and be fixedly connected on annular sleeve or in the servo electricity cylinder that puts，The working end of servo electricity cylinder is provided with the motor of genesis analysis，It is provided with tappet head on the working end of described motor.
Description
Technical field
The present invention relates to a kind of mechanical assembly equipment, particularly one multiaxis displacement type robot tightening machine.
Background technology
When carrying out the assembling of some workpiece, need to utilize tightening machine to be tightened by bolt, to realize A workpiece on B workpiece
Installation, traditional tightening machine can only carry out tightening operation for the workpiece of certain several specification mostly, and versatility is poor, for need
The mix flow of different types of machines to be applied, then be difficult to efficient, quickly tighten operation, the most traditional tightening machine flexibility
Not enough, it is impossible to be commonly applied to be applied in the mix flow project of different types of machines, there is more significantly versatility not enough
Defect.Therefore a kind of method or apparatus that can solve the problem that the problems referred to above is needed now.
Summary of the invention
The present invention is to solve the above-mentioned deficiency existing for prior art, proposes a kind of simple in construction, designs ingenious, logical
Strong by property, it is possible to change the relative position of multiple tappet head as required, to adapt to the multiaxis displacement of multiple different workpieces assembling
Formula robot tightening machine.
The technical solution of the present invention is: a kind of multiaxis displacement type robot tightening machine, including mechanical hand 1, and its feature
Be: on described mechanical hand 1 connect have device for screwing up 2, described device for screwing up 2 to include one is directly connected with mechanical hand 1
Bracing frame 3, the bottom of bracing frame 3 is annular sleeve 4, is symmetrically provided with two cover screwing actuators 5 in annular sleeve 4,
In annular sleeve 4, movable sleeve is connected to inner sleeve 6, described inner sleeve 6 is also symmetrically provided with two cover screwing actuators 5, in annular
Set 4 is outside equipped with arc-shaped rack 7, is arranged on the working end of servomotor 8 with arc-shaped rack 7 meshed gears, and described
Servomotor 8 is then positioned in inner sleeve 6, described tighten actuator 5 include one be horizontally disposed with and be fixedly connected on annular sleeve 4 or
Servo electricity cylinder 9 in inner sleeve 6, is provided with the motor of genesis analysis, described motor on the working end of servo electricity cylinder 9
Working end on be provided with tappet head 10.
The present invention compared with the existing technology, has the advantage that
The multiaxis displacement type robot tightening machine of this kind of version, for current device for screwing up poor the asking of flexibility degree
Topic, devises a kind of structure with four tappet heads (impact wrench), and two in these four tappet heads can be relative to separately
Outer two rotations, these four tappet heads can also translate the most in the horizontal direction simultaneously, so utilizes this device to realize
Multiple irregular arrangement bolts tighten task, by this project application in mix flow, it is possible to farthest save into
This, such as: NGCP3 project, camshaft cover cap tightens the traditional holoaxial screwing structure of employing needs double, and totally 28 axles, adopt
With robot band 4 axle servo displacement tighten have only to 1 robot, 4 tighten axle, 1 servomotor and 4 servo electricity cylinders,
Save 24 axles.And its technical specification, that technical merit belongs to international technology is leading, has filled up domestic technique blank, it is possible to
Meet domestic corresponding industry and electromotor and change speed gear box assembly line are tightened demand, have that versatility is good, cost-effective, safety
The advantage such as reliable.
Accompanying drawing explanation
Fig. 1 is the front view of the embodiment of the present invention.
Fig. 2 is the top view of the embodiment of the present invention.
Fig. 3 is the use state diagram of the embodiment of the present invention.
Detailed description of the invention
The detailed description of the invention of the present invention is described below in conjunction with accompanying drawing.As shown in Figure 1 to Figure 3: a kind of multiaxis displacement type
Robot tightening machine, including a mechanical hand 1 matched with roller-way, connects on the working end of mechanical hand 1 and has device for screwing up 2,
This device for screwing up 2 includes that the bracing frame 3 based on, support frame as described above 3 are directly connected with mechanical hand 1, and this supports
The bottom of frame 3 is provided with annular sleeve 4, is symmetrically provided with two cover screwing actuators 5 in annular sleeve 2, and in annular sleeve 4
Also movable sleeve is connected to inner sleeve 6, and this inner sleeve 6 can rotate relative to annular sleeve 4, is also symmetrically provided with two in inner sleeve 6
Cover screwing actuator 5, is outside equipped with arc-shaped rack 7 in above-mentioned annular sleeve 4, and the gear being meshed with this arc-shaped rack 7 is then
Being arranged on the working end of servomotor 8, servomotor 8 is then fixing with inner sleeve 6 to be connected,
Tightening actuator 5 and include a horizontally disposed servo electricity cylinder 9, servo electricity cylinder 9 here is fixedly connected on annular sleeve 4
Or in inner sleeve 6, be then provided with motor on the working end of servo electricity cylinder 9, and described motor is longitudinally disposed, in step
Enter and on the working end of motor, be then provided with tappet head 10.
The work process of the multiaxis displacement type robot tightening machine of the embodiment of the present invention is as follows: need to carry out tightening operation
Workpiece moves to this device place station under the effect of roller-way, and is clamped under the effect of positioner, positions, mechanical hand
1 drives device for screwing up 2 unitary rotation,
Needing the bolt carrying out tightening operation to be tetrad, the line between these four bolts is collectively forming four limits
Shape, for different workpiece, diverse location, the shape of above-mentioned tetragon, size are the most different, and therefore mechanical hand 1 drives
When device for screwing up 2 entirety rotates, first allow the line tightened between actuator 5 that two sets are fixed in annular sleeve 4 with
One of them diagonal of above-mentioned tetragon projection in the horizontal direction is overlapping, and then the two is tightened in actuator 5
Servo electricity cylinder 9 works, and drives motor and tappet head 10 to move, until the axis of two tappet heads 10 respectively and and its
The dead in line of corresponding bolt, i.e. completes the first step and adjusts；
After above-mentioned adjustment terminates, servomotor 8 driven gear rotates, due to gear and the arc being fixedly installed on outside annular sleeve 4
Tooth bar 7 engages, and the most above-mentioned action can drive inner sleeve 6 to do the rotation relative to annular sleeve 4 in annular sleeve 4, until in inner sleeve 6
Two cover screwing actuators 5 between line and above-mentioned tetragon in another diagonal projection weight in the horizontal direction
Folded, the servo electricity cylinder 9 that then the two is tightened in actuator 5 works, and drives motor and tappet head 10 to move, until
The axis of two tappet heads 10 respectively with the dead in line of corresponding bolt, i.e. complete second step and adjust, now four
Individual tappet head 10 is corresponding with needing four bolts carrying out tightening respectively；
It is descending that mechanical hand 1 controls device for screwing up 2, and after tappet head 10 and threaded bolt contacts, motor drives tappet head 11 to rotate, will
Bolt is tightened；Then mechanical hand 1 drives device for screwing up 2 up, workpiece conversion attitude, utilizes this device to carry out on workpiece other
Bolt tighten operation, or transported next workpiece by roller-way and carry out tightening operation.
Claims (1)
1. a multiaxis displacement type robot tightening machine, including mechanical hand (1), it is characterised in that: on described mechanical hand (1)
Connect and have device for screwing up (2), described device for screwing up (2) to include a bracing frame (3) being directly connected with mechanical hand (1), support
The bottom of frame (3) is annular sleeve (4), is symmetrically provided with two cover screwing actuators (5), in annular sleeve in annular sleeve (4)
(4) interior movable sleeve is connected to inner sleeve (6), described inner sleeve (6) is also symmetrically provided with two cover screwing actuators (5), at ring
Shape set (4) is outside equipped with arc-shaped rack (7), with the working end that arc-shaped rack (7) meshed gears is arranged on servomotor (8)
On, described servomotor (8) is then positioned in inner sleeve (6), and described actuator (5) of tightening includes that one is horizontally disposed with and solid
Surely it is connected to servo electricity cylinder (9) in annular sleeve (4) or inner sleeve (6), the working end of servo electricity cylinder (9) is provided with and longitudinally divides
The motor of cloth, the working end of described motor is provided with tappet head (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610678477.4A CN106112499A (en) | 2016-08-17 | 2016-08-17 | Multiaxis displacement type robot tightening machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610678477.4A CN106112499A (en) | 2016-08-17 | 2016-08-17 | Multiaxis displacement type robot tightening machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106112499A true CN106112499A (en) | 2016-11-16 |
Family
ID=57278477
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610678477.4A Pending CN106112499A (en) | 2016-08-17 | 2016-08-17 | Multiaxis displacement type robot tightening machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106112499A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106826204A (en) * | 2017-02-20 | 2017-06-13 | 魏爱玲 | A kind of stool automatic mounting machine device people |
| CN107052777A (en) * | 2017-02-28 | 2017-08-18 | 无锡黎曼机器人科技有限公司 | A kind of end effector of robot of vision guide engine shaft coupling assembling |
| CN108581446A (en) * | 2018-04-18 | 2018-09-28 | 吴正芳 | A kind of steel construction auxiliary tightens screw device |
| CN113770714A (en) * | 2021-11-09 | 2021-12-10 | 中山市迅科达智能科技有限公司 | Screw twisting mechanism and automatic screw twisting equipment |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000219005A (en) * | 1999-01-27 | 2000-08-08 | Hyundai Motor Co Ltd | Hub nut fastening device for mounting tire |
| CN202571773U (en) * | 2012-05-22 | 2012-12-05 | 大连嘉禾自控技术有限公司 | Variable-four-shaft-interval bolt tightening device |
| WO2014120345A1 (en) * | 2013-01-31 | 2014-08-07 | The Boeing Company | Method and apparatus for automated multi-drilling and multi-rivet machine |
| CN104772621A (en) * | 2015-05-07 | 2015-07-15 | 湖北精川智能装备股份有限公司 | Assembling machine table capable of tightening automobile hub bolts with variable diameters and at variable positions |
| CN205074563U (en) * | 2015-09-25 | 2016-03-09 | 昆山昆光自动化科技有限公司 | Automatic become centre -to -centre spacing multi -Spindle tool |
| CN205968128U (en) * | 2016-08-17 | 2017-02-22 | 大连豪森瑞德设备制造有限公司 | Multiaxis shifts formula robot and screws up machine |
-
2016
- 2016-08-17 CN CN201610678477.4A patent/CN106112499A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000219005A (en) * | 1999-01-27 | 2000-08-08 | Hyundai Motor Co Ltd | Hub nut fastening device for mounting tire |
| CN202571773U (en) * | 2012-05-22 | 2012-12-05 | 大连嘉禾自控技术有限公司 | Variable-four-shaft-interval bolt tightening device |
| WO2014120345A1 (en) * | 2013-01-31 | 2014-08-07 | The Boeing Company | Method and apparatus for automated multi-drilling and multi-rivet machine |
| CN104772621A (en) * | 2015-05-07 | 2015-07-15 | 湖北精川智能装备股份有限公司 | Assembling machine table capable of tightening automobile hub bolts with variable diameters and at variable positions |
| CN205074563U (en) * | 2015-09-25 | 2016-03-09 | 昆山昆光自动化科技有限公司 | Automatic become centre -to -centre spacing multi -Spindle tool |
| CN205968128U (en) * | 2016-08-17 | 2017-02-22 | 大连豪森瑞德设备制造有限公司 | Multiaxis shifts formula robot and screws up machine |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106826204A (en) * | 2017-02-20 | 2017-06-13 | 魏爱玲 | A kind of stool automatic mounting machine device people |
| CN107052777A (en) * | 2017-02-28 | 2017-08-18 | 无锡黎曼机器人科技有限公司 | A kind of end effector of robot of vision guide engine shaft coupling assembling |
| CN108581446A (en) * | 2018-04-18 | 2018-09-28 | 吴正芳 | A kind of steel construction auxiliary tightens screw device |
| CN113770714A (en) * | 2021-11-09 | 2021-12-10 | 中山市迅科达智能科技有限公司 | Screw twisting mechanism and automatic screw twisting equipment |
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Application publication date: 20161116 |