CN106737551B - A kind of automobile chassis installs bolt robot automatically - Google Patents
A kind of automobile chassis installs bolt robot automatically Download PDFInfo
- Publication number
- CN106737551B CN106737551B CN201611253595.7A CN201611253595A CN106737551B CN 106737551 B CN106737551 B CN 106737551B CN 201611253595 A CN201611253595 A CN 201611253595A CN 106737551 B CN106737551 B CN 106737551B
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- fixedly mounted
- hydraulic cylinder
- fixed
- fixing seat
- stepper motor
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Abstract
A kind of automobile chassis installs bolt robot, including pedestal, the turn of the screw part, Liang Ge robot fixed part, four running gears, it is characterised in that: the dovetail groove of the turn of the screw part is slidably mounted on above sliding rail automatically；Second extension sleeve bottom surface of the Liang Ge robot fixed part is respectively and fixedly installed to the lateral surface of two the second extension sleeve fixed plates；The second telescopic rod is driven to keep two fixed brill daughter backplanes mobile to two sides by two second hydraulic cylinders, mobile a distance, second gear is driven in third stepper motor and then second rack drives the second rack gear bottom plate is driven to decline awl mounting head, while awl mounting head drives awl rotation that awl is made to be fixed to bottom surface under the drive of the 4th stepper motor；It is firmly fixed to robot on bottom surface, the turn of the screw process is allow to provide bigger torsion.
Description
Technical field
The present invention relates to a kind of robot, particularly discloses a kind of automobile chassis and bolt robot is installed automatically, belong to machine
Device people's technical field.
Background technique
When for the maintenance of some motor vehicles, need to tear open the screw in face under vehicle, since vehicle bottom place is narrow, people is hardly visible
It screw and goes to twist, some machines twist motionless some screws, but machine without fixed device due to small in size during the turn of the screw
People designs the excessive small space discrepancy being not easy at vehicle bottom, as application number 201620065338.X discloses a kind of " automatically stubborn spiral shell
Silk robot ", which solve the problems in some corner locations installation screw difficulty, do not solve bottom of motor-vehicle targetedly
The turn of the screw.
Summary of the invention
In view of the above-mentioned problems, the present invention provides a kind of automobile chassises to install bolt robot automatically, pass through third liquid
Cylinder pressure contraction reduces robot by height, while arrives robot under third steering engine adjustment direction and the driving of the 5th stepper motor
Up to the motor vehicle for needing the turn of the screw in the following, reaching robot under motor vehicle easily；It is driven by two second hydraulic cylinders
Dynamic second telescopic rod keeps two fixed brill daughter backplanes mobile to two sides, mobile a distance, drives second in third stepper motor
Gear and then second rack drives the second rack gear bottom plate of drive make the decline of awl mounting head, while under the drive of the 4th stepper motor
Awl mounting head drives awl rotation that awl is made to be fixed to bottom surface；It is firmly fixed to robot on bottom surface, makes to twist spiral shell
Silk process can provide bigger torsion.
Technical solution used in the present invention is: a kind of automobile chassis installs bolt robot automatically, including pedestal, twists spiral shell
Silk part, Liang Ge robot fixed part, four running gears, it is characterised in that: the dovetail groove of the turn of the screw part is sliding
It is dynamic to be mounted on above sliding rail；Second extension sleeve bottom surface of the Liang Ge robot fixed part is respectively and fixedly installed to two
The lateral surface of second extension sleeve fixed plate；The third hydraulic cylinder body bottom end of four running gears is fixedly mounted respectively
Below the third hydraulic cylinder fixed plate at four angles of pedestal；
The pedestal includes bottom plate, four third hydraulic cylinder fixed plates, and the bottom plate is a rectangle plank, at it
Middle position is equipped with sliding rail above, is parallel to base plate long side；It is equipped with the first rack gear in substrate, on the sliding rail right side and is put down
Row is in sliding rail；Left and right sides position is respectively provided with a second extension sleeve fixed plate between in the soleplate；It is each at four angles of bottom plate
Equipped with a groove, a support frame is respectively provided at left and right sides of groove, the third hydraulic cylinder fixed plate is fixedly mounted on
Above two support frames；Running gear is arranged below in third hydraulic cylinder fixed plate, the running gear includes wheel, second
Rotary shaft, wheel subshell, the 5th stepper motor, third steering engine, third hydraulic cylinder top plate, third hydraulic cylinder, the third liquid
It is placed under cylinder pressure horizontal direction, rear end of the cylinder block is fixedly mounted on third hydraulic cylinder fixed plate in the following, its piston rod end and third
It is fixedly connected above hydraulic cylinder top plate；Third steering engine fixing seat, the third steering engine is arranged below in third hydraulic cylinder top plate
It places straight down, bottom surface is fixedly mounted in third steering engine fixing seat, is fixedly connected above motor shaft and wheel subshell；
It is equipped with the 5th stepper motor fixed plate in wheel outer side of shell, the 5th stepper motor is horizontal positioned, the fixed peace in side
Mounted in the 5th stepper motor fixed plate in the following, its motor shaft is fixedly connected with second rotary shaft one end by shaft coupling；Described
Second rotary shaft is rotatably installed in the circular hole above wheel subshell, and the wheel is fixedly mounted in the second rotary shaft,
Position is in wheel housings；
The turn of the screw part includes the turn of the screw part backplane, the first stepper motor, first gear, the first telescopic
Cylinder, the first telescopic rod, first hydraulic cylinder, the first steering engine, rotating mechanical arm fixing seat, the second steering engine, rotating mechanical arm, the first rotation
Shaft, second stepper motor, spanner, the turn of the screw part backplane are a rectangle planks, in its lower section middle position
Equipped with dovetail groove, first stepper motor is horizontal positioned, and side is fixedly mounted on the right side above the turn of the screw part backplane
At inferior horn, motor shaft is fixedly connected with first gear；The first extension sleeve bottom surface is fixedly mounted on the turn of the screw part
Front position is leaned in the centre of substrate, and the first telescopic rod lower end is slidably mounted on the groove above the first extension sleeve
In, it is fixedly connected under end face and the first steering engine fixing seat thereon；The first hydraulic cylinder cylinder body bottom end and the first extension sleeve
The support frame of front end face is fixedly connected, and piston rod end is fixedly connected with the support frame of the first telescopic rod front end face；Described
First steering engine is placed straight up, and bottom surface is fixedly mounted in the first steering engine fixing seat, and motor shaft and rotating mechanical arm are solid
It is fixedly connected below reservation；Second steering engine is horizontal positioned, and side is fixedly mounted on the right side of rotating mechanical arm fixing seat
On the support frame in face, motor shaft is fixedly connected with first rotary shaft one end by shaft coupling；The first rotary shaft rotation
It is mounted in the hole above rotating mechanical arm fixing seat at left and right sides of groove；Hole below the rotating mechanical arm is fixedly mounted
In the first rotary shaft, position is in the groove above rotating mechanical arm fixing seat；Second is equipped in rotating mechanical arm upper end
Stepper motor fixing seat, the second stepper motor bottom surface are fixedly mounted in second stepper motor fixing seat, motor shaft
It is fixedly connected with below spanner；
The robot fixed part includes the second extension sleeve, the second telescopic rod, second hydraulic cylinder, the second telescopic rod
Top plate, fixed brill daughter backplane, third stepping motor fixing seat, third stepper motor, second gear, the second rack gear, the 4th stepping
Motor support plate, positioning plate, the 4th stepper motor, the second rack gear bottom plate, awl mounting head, awl, second telescopic
Cylinder bottom surface is fixedly mounted on the outside of the second extension sleeve fixed plate, and it is flexible that the second telescopic rod front end is slidably mounted on second
In the groove of sleeve rear face, end face is fixedly mounted on before the second telescopic rod top plate thereafter；The second hydraulic cylinder cylinder body bottom
End is fixedly mounted in the support plate above the second extension sleeve, and the support plate above piston rod end and the second telescopic rod is solid
Fixed connection；Groove there are two setting above the fixed brill daughter backplane is equipped with the second telescopic rod top plate on front side of it；In fixed brill
Third stepping motor fixing seat is equipped with above daughter backplane, position keeps left position in left groove, the third stepper motor
Horizontal positioned, side is fixedly mounted in third stepping motor fixing seat, and motor shaft is fixedly connected with second gear；Solid
Determine to keep left position among awl bottom plate equipped with a rectangular recess, a small length is respectively provided at left and right sides of rectangular recess
Square groove, two positioning plates are slidably mounted in the small rectangle groove of fixed brill daughter backplane, two positioning plate bottoms
Face is fixedly mounted on the second rack gear substrate, and the 4th stepper motor is placed straight down, and side is fixedly mounted on
It is fixedly connected above two positioning plate medial surfaces, motor shaft and awl mounting head, the awl mounting head upper part turns
It is dynamic to be mounted in the circular hole of the second rack gear substrate；The awl is fixedly mounted on awl mounting head tip position.
Beneficial effects of the present invention: robot reduces robot by height by the contraction of third hydraulic cylinder, while in third
Robot arrival is set to need the motor vehicle of the turn of the screw in the following, making robot can under steering engine adjustment direction and the driving of the 5th stepper motor
To reach under motor vehicle easily；The second telescopic rod is driven to make two fixed brill daughter backplanes to two sides by two second hydraulic cylinders
Mobile, mobile a distance drives second gear in third stepper motor and then drives second rack drives the second rack gear bottom plate
Decline awl mounting head, while awl mounting head drives awl rotation that awl is made to be fixed to bottom under the drive of the 4th stepper motor
Face；It is firmly fixed to robot on bottom surface, the turn of the screw process is allow to provide bigger torsion.
Detailed description of the invention
Fig. 1, Fig. 2, Fig. 3 are overall structure diagram of the invention.
Fig. 4 is the structural schematic diagram of pedestal of the invention.
Fig. 5, Fig. 6 are the structural schematic diagram of the turn of the screw part of the invention.
Fig. 7, Fig. 8 are the structural schematic diagram of running gear of the invention.
Fig. 9, Figure 10 are the structural schematic diagram of running gear of the invention.
Drawing reference numeral: 1- pedestal, 2- the turn of the screw part, 3- robot fixed part, 4- running gear, 101- bottom plate,
The second extension sleeve of 102- fixed plate, 103- groove, 104- support frame, 105- third hydraulic cylinder fixed plate, 106- sliding rail, 107-
First rack gear, 201- the turn of the screw part backplane, 202- dovetail groove, the first stepper motor of 203-, 204- first gear, 205- first
Extension sleeve, the first telescopic rod of 206-, 207- first hydraulic cylinder, the first steering engine of 208- fixing seat, the first steering engine of 209-, 210- rotation
It is solid to turn mechanical arm fixing seat, the second steering engine of 211-, 212- rotating mechanical arm, the first rotary shaft of 213-, 214- second stepper motor
Reservation, 215- second stepper motor, 216- spanner, the second extension sleeve of 301-, the second telescopic rod of 302-, 303- second are hydraulic
Cylinder, the second telescopic rod of 304- top plate, 305- fixed brill daughter backplane, 306- third stepping motor fixing seat, 307- third stepping electricity
Machine, 308- second gear, the second rack gear of 309-, the 4th stepper motor support board of 310-, 311- positioning plate, 312- the 4th stepping electricity
Machine, the second rack gear of 313- bottom plate, 314- awl mounting head, 315- awl, 401- wheel, the second rotary shaft of 402-, 403- wheel
Shell, the 5th stepper motor of 404-, the 5th stepper motor fixed plate of 405-, 406- third steering engine, 407- third steering engine fixing seat,
408- third hydraulic cylinder top plate, 409- third hydraulic cylinder.
Specific embodiment
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.
Embodiment as shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, a kind of automobile chassis is automatic
Bolt robot, including pedestal 1, the turn of the screw part 2, Liang Ge robot fixed part 3, four running gears 4, feature are installed
Be: the dovetail groove 202 of the turn of the screw part 2 is slidably mounted on above sliding rail 106；The Liang Ge robot fixed part
It is divided to 3 301 bottom surface of the second extension sleeve to be respectively and fixedly installed to the lateral surfaces of two the second extension sleeve fixed plates 102；It is described
Four running gears 4 the third that is respectively and fixedly installed at four angles of pedestal 1 of 409 cylinder body bottom end of third hydraulic cylinder it is hydraulic
Below cylinder fixed plate 105；
The pedestal 1 includes 101, four third hydraulic cylinder fixed plates 105 of bottom plate, and the bottom plate 101 is one rectangular
Shape plank, middle position is equipped with sliding rail 106 above it, is parallel to 101 long side of bottom plate；First is equipped on bottom plate 101
Rack gear 107 on 106 right side of sliding rail and is parallel to sliding rail 106；Position is respectively provided with one the at left and right sides of among the bottom plate 101
Two extension sleeve fixed plates 102；It is respectively provided with a groove 103 at four angles of bottom plate, is respectively provided with one at left and right sides of groove 103
A support frame 104, the third hydraulic cylinder fixed plate 105 are fixedly mounted on above two support frames 104；In third hydraulic cylinder
Running gear 4 is arranged below in fixed plate 105, and the running gear 4 includes wheel 401, the second rotary shaft 402, wheel subshell
403, the 5th stepper motor 404, third steering engine 406, third hydraulic cylinder top plate 408, third hydraulic cylinder 409, the third liquid
It is placed under 409 horizontal direction of cylinder pressure, rear end of the cylinder block is fixedly mounted on third hydraulic cylinder fixed plate 105 in the following, its piston rod end
It is fixedly connected above with third hydraulic cylinder top plate 408；Third steering engine fixing seat 407 is arranged below in third hydraulic cylinder top plate 408,
The third steering engine 406 is placed straight down, and bottom surface is fixedly mounted in third steering engine fixing seat 407, motor shaft with
Wheel subshell 403 is fixedly connected above；The 5th stepper motor fixed plate 405 is equipped on the outside of subshell 403 taking turns, the described the 5th
Stepper motor 404 is horizontal positioned, and side is fixedly mounted on the 5th stepper motor fixed plate 405 in the following, its motor shaft and second
402 one end of rotary shaft is fixedly connected by shaft coupling；Second rotary shaft 402 is rotatably installed in above wheel subshell 403
Circular hole in, the wheel 401 is fixedly mounted in the second rotary shaft 402, and position is in wheel subshell 403 the inside；
The turn of the screw part 2 includes the turn of the screw part backplane 201, the first stepper motor 203, first gear 204, the
One extension sleeve 205, the first telescopic rod 206, first hydraulic cylinder 207, the first steering engine 209, rotating mechanical arm fixing seat 210,
Two steering engines 211, rotating mechanical arm 212, the first rotary shaft 213, second stepper motor 215, spanner 216, the turn of the screw portion
Dividing bottom plate 201 is a rectangle plank, and middle position is equipped with dovetail groove 202, first stepper motor 203 in its lower section
Horizontal positioned, side is fixedly mounted at the lower right corner above the turn of the screw part backplane 201, motor shaft and first gear
204 are fixedly connected；The centre that first extension sleeve, 205 bottom surface is fixedly mounted on above the turn of the screw part backplane 201 is leaned on
Front position, 206 lower end of the first telescopic rod are slidably mounted in the groove above the first extension sleeve 205, thereon end face
It is fixedly connected under the first steering engine fixing seat 208；Before the 207 cylinder body bottom end of first hydraulic cylinder and the first extension sleeve 205
The support frame of end face is fixedly connected, and piston rod end is fixedly connected with the support frame of 206 front end face of the first telescopic rod；Described
First steering engine 209 is placed straight up, and bottom surface is fixedly mounted in the first steering engine fixing seat 208, motor shaft and whirler
Tool arm fixing seat 210 is fixedly connected below；Second steering engine 211 is horizontal positioned, and side is fixedly mounted on rotating machinery
On the support frame of 210 right side of arm fixing seat, motor shaft is fixedly connected with 213 one end of the first rotary shaft by shaft coupling；Institute
The first rotary shaft 213 stated is rotatably installed in the hole above rotating mechanical arm fixing seat 210 at left and right sides of groove；The rotation
Turn the hole below mechanical arm 212 to be fixedly mounted in the first rotary shaft 213, position is on rotating mechanical arm fixing seat 210
Groove in；Second stepper motor fixing seat 214,215 bottom of second stepper motor are equipped in 212 upper end of rotating mechanical arm
Face is fixedly mounted in second stepper motor fixing seat 214, and motor shaft is fixedly connected below with spanner 216；
The robot fixed part 3 include the second extension sleeve 301, the second telescopic rod 302, second hydraulic cylinder 303,
Second telescopic rod top plate 304, fixed brill daughter backplane 305, third stepping motor fixing seat 306, third stepper motor 307, second
Gear 308, the second rack gear 309, the 4th stepper motor support board 310, positioning plate 311, the 4th stepper motor 312, the second rack gear
Bottom plate 313, awl mounting head 314, awl 315,301 bottom surface of the second extension sleeve are fixedly mounted on the second extension sleeve
102 outside of fixed plate, 302 front end of the second telescopic rod are slidably mounted in the subsequent groove of the second extension sleeve 301,
Rear end face is fixedly mounted on 304 front of the second telescopic rod top plate；The 303 cylinder body bottom end of second hydraulic cylinder is fixedly mounted on
In support plate above two extension sleeves 301, piston rod end is fixedly connected with the support plate above the second telescopic rod 302；
Groove there are two setting above the fixed brill daughter backplane 305 is equipped with the second telescopic rod top plate 304 on front side of it；In fixed brill
Daughter backplane 305 is equipped with third stepping motor fixing seat 306 above, and position keeps left position in left groove, the third step
Horizontal positioned into motor 307, side is fixedly mounted in third stepping motor fixing seat 306, motor shaft and second gear
308 are fixedly connected；Position is kept left among fixed brill daughter backplane 305 equipped with a rectangular recess, in rectangular recess or so
Two sides are respectively provided with a small rectangular recess, and two positioning plates 311 are slidably mounted on the small of fixed brill daughter backplane 305
In rectangular recess, two 311 bottom surfaces of positioning plate are fixedly mounted on above the second rack gear bottom plate 313, the 4th stepping electricity
Machine 312 is placed straight down, and side is fixedly mounted on two 311 medial surfaces of positioning plate, motor shaft and awl mounting head 314
It is fixedly connected above, 314 upper part of awl mounting head is rotatably installed in the circular hole above the second rack gear bottom plate 313
In；The awl 315 is fixedly mounted on 314 tip position of awl mounting head.
Working principle of the present invention: robot reduces robot by height by the contraction of third hydraulic cylinder 409, while in third
Robot arrival is set to need the motor vehicle of the turn of the screw in the following, working as machine under 406 adjustment direction of steering engine and the driving of the 5th stepper motor 404
Device people reaches designated position, drives the second telescopic rod 302 to make two fixed brill daughter backplanes 305 by two second hydraulic cylinders 303
Mobile to two sides, mobile a distance drives second gear 308 in third stepper motor 307 and then drives 309 band of the second rack gear
Dynamic second rack gear bottom plate 313 declines awl mounting head 314, while the awl mounting head 314 under the drive of the 4th stepper motor 312
It drives awl 315 to rotate, awl 315 is made to be fixed to bottom surface；Then by the first stepper motor 203 drive first gear 204 into
And drive the movement of the turn of the screw part backplane 201 that the turn of the screw part 2 is made to reach suitable position；It is driven by first hydraulic cylinder 207
First telescopic rod 206 adjusts length, so that spanner 216 is entangled spiral shell by the first steering engine 209 and 211 co-ordination of the second steering engine
Silk is worked by second stepper motor 215 and screws down screw.
In the description of the present invention, it should be noted that term " on ", "lower", "front", "rear", "left", "right" etc. refer to
The orientation or positional relationship shown is to be based on the orientation or positional relationship shown in the drawings or when invention product use usually puts
The orientation or positional relationship put, is merely for convenience of description of the present invention and simplification of the description, rather than the dress of indication or suggestion meaning
It sets or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to limit of the invention
System.In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, it is not understood to indicate or imply relatively heavy
The property wanted.
Claims (1)
1. a kind of automobile chassis installs bolt robot automatically, including pedestal (1), the turn of the screw part (2), Liang Ge robot are fixed
Partially (3), four running gears (4), it is characterised in that: the dovetail groove (202) of the turn of the screw part (2) is slidably mounted on
Sliding rail (106) is above；The second extension sleeve (301) bottom surface of the Liang Ge robot fixed part (3) is fixedly mounted respectively
In the lateral surface of two the second extension sleeve fixed plates (102)；The third hydraulic cylinder (409) of four running gears (4)
Cylinder body bottom end is respectively and fixedly installed to the third hydraulic cylinder fixed plate (105) at four angles of pedestal (1) below；
The pedestal (1) includes bottom plate (101), four third hydraulic cylinder fixed plates (105), and the bottom plate (101) is one
Rectangle plank, middle position is equipped with sliding rail (106) above it, is parallel to bottom plate (101) long side；On bottom plate (101)
Face is equipped with the first rack gear (107), on sliding rail (106) right side and is parallel to sliding rail (106)；The left and right two among bottom plate (101)
Side position is respectively provided with a second extension sleeve fixed plate (102)；A groove (103) is respectively provided at four angles of bottom plate,
It is respectively provided with a support frame (104) at left and right sides of groove (103), the third hydraulic cylinder fixed plate (105) is fixedly mounted on
Two support frames (104) are above；Running gear (4), the running gear is arranged below in third hydraulic cylinder fixed plate (105)
It (4) include wheel (401), the second rotary shaft (402), wheel subshell (403), the 5th stepper motor (404), third steering engine
(406), third hydraulic cylinder top plate (408), third hydraulic cylinder (409), the third hydraulic cylinder (409) are placed downwards, cylinder
Body rear end is fixedly mounted on third hydraulic cylinder fixed plate (105) in the following, on its piston rod end and third hydraulic cylinder top plate (408)
Face is fixedly connected；Third steering engine fixing seat (407), the third steering engine is arranged below in third hydraulic cylinder top plate (408)
(406) it places straight down, it is inner that bottom surface is fixedly mounted on third steering engine fixing seat (407), motor shaft and wheel subshell
(403) it is fixedly connected above；The 5th stepper motor fixed plate (405), the 5th step are equipped on the outside of wheel subshell (403)
Horizontal positioned into motor (404), side is fixedly mounted on the 5th stepper motor fixed plate (405) in the following, its motor shaft and the
Two rotary shafts (402) one end is fixedly connected by shaft coupling；Second rotary shaft (402) is rotatably installed in wheel subshell
(403) in circular hole above, the wheel (401) is fixedly mounted on the second rotary shaft (402), and position is in wheel subshell
(403) the inside；
The turn of the screw part (2) includes the turn of the screw part backplane (201), the first stepper motor (203), first gear
(204), the first extension sleeve (205), the first telescopic rod (206), first hydraulic cylinder (207), the first steering engine (209), whirler
Tool arm fixing seat (210), the second steering engine (211), rotating mechanical arm (212), the first rotary shaft (213), second stepper motor
(215), spanner (216), the turn of the screw part backplane (201) is a rectangle plank, and interposition installs in its lower section
Have dovetail groove (202), first stepper motor (203) is horizontal positioned, and side is fixedly mounted on the turn of the screw part backplane
(201) at the lower right corner above, motor shaft is fixedly connected with first gear (204)；Described the first extension sleeve (205) bottom
Face is fixedly mounted on the centre of the turn of the screw part backplane (201) above by front position, and the first telescopic rod (206) lower end is sliding
Dynamic to be mounted in the groove of the first extension sleeve (205) above, end face is fixed with first steering engine fixing seat (208) lower end surface thereon
Connection；First hydraulic cylinder (207) the cylinder body bottom end is fixedly connected with the support frame of the first extension sleeve (205) front end face,
Its piston rod end is fixedly connected with the support frame of the first telescopic rod (206) front end face；First steering engine (209) vertically to
Upper placement, it is inner that bottom surface is fixedly mounted on the first steering engine fixing seat (208), motor shaft and rotating mechanical arm fixing seat (210)
It is fixedly connected below；Second steering engine (211) is horizontal positioned, and side is fixedly mounted on rotating mechanical arm fixing seat
(210) on the support frame of right side, motor shaft is fixedly connected with the first rotary shaft (213) one end by shaft coupling；Described
First rotary shaft (213) is rotatably installed in hole of the rotating mechanical arm fixing seat (210) above at left and right sides of groove；The rotation
Turn the hole of mechanical arm (212) below to be fixedly mounted on the first rotary shaft (213), position is in rotating mechanical arm fixing seat
(210) in groove above；Second stepper motor fixing seat (214) are equipped in rotating mechanical arm (212) upper end, described second
It is inner that stepper motor (215) bottom surface is fixedly mounted on second stepper motor fixing seat (214), and motor shaft and spanner (216) are below
It is fixedly connected；
The robot fixed part (3) includes the second extension sleeve (301), the second telescopic rod (302), second hydraulic cylinder
(303), the second telescopic rod top plate (304), fixed brill daughter backplane (305), third stepping motor fixing seat (306), third stepping
Motor (307), second gear (308), the second rack gear (309), the 4th stepper motor support board (310), positioning plate (311),
Four stepper motors (312), the second rack gear bottom plate (313), awl mounting head (314), awl (315), second telescopic
Cylinder (301) bottom surface is fixedly mounted on the outside of the second extension sleeve fixed plate (102), and the second telescopic rod (302) front end is sliding
It is dynamic to be mounted in the second extension sleeve (301) subsequent groove, before end face is fixedly mounted on the second telescopic rod top plate (304) thereafter
Face；Described second hydraulic cylinder (303) the cylinder body bottom end is fixedly mounted in the support plate of the second extension sleeve (301) above,
Piston rod end is fixedly connected with the support plate of the second telescopic rod (302) above；The fixed brill daughter backplane (305) is set above
There are two grooves, and the second telescopic rod top plate (304) is equipped on front side of it；It is equipped with third step above in fixed brill daughter backplane (305)
Into motor fixing seat (306), position keeps left position in left groove, and the third stepper motor (307) is horizontal positioned,
Side is fixedly mounted on that third stepping motor fixing seat (306) is inner, and motor shaft is fixedly connected with second gear (308)；Solid
Determine to keep left position among awl bottom plate (305) equipped with a rectangular recess, one is respectively provided at left and right sides of rectangular recess
Small rectangular recess, two positioning plates (311) are slidably mounted on the small rectangle groove of fixed brill daughter backplane (305)
In, two positioning plate (311) bottom surfaces are fixedly mounted on the second rack gear bottom plate (313) above, the 4th stepper motor (312)
It places straight down, side is fixedly mounted on two positioning plate (311) medial surfaces, motor shaft and awl mounting head (314)
It is fixedly connected above, described awl mounting head (314) upper part is rotatably installed in the circle of the second rack gear bottom plate (313) above
Kong Li；The awl (315) is fixedly mounted on awl mounting head (314) tip position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611253595.7A CN106737551B (en) | 2016-12-30 | 2016-12-30 | A kind of automobile chassis installs bolt robot automatically |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611253595.7A CN106737551B (en) | 2016-12-30 | 2016-12-30 | A kind of automobile chassis installs bolt robot automatically |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106737551A CN106737551A (en) | 2017-05-31 |
| CN106737551B true CN106737551B (en) | 2019-02-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611253595.7A Active CN106737551B (en) | 2016-12-30 | 2016-12-30 | A kind of automobile chassis installs bolt robot automatically |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107160356A (en) * | 2017-07-24 | 2017-09-15 | 孟庆仕 | A kind of high-tension bus-bar support frame installs car |
| CN107387336B (en) * | 2017-07-25 | 2019-03-08 | 丁可平 | A kind of wind electric power generation fan blade installation vehicle |
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| CN110026964A (en) * | 2019-04-24 | 2019-07-19 | 北京轩宇智能科技有限公司 | A kind of automobile chassis maintaining robot |
| CN110039508B (en) * | 2019-04-24 | 2021-08-20 | 北京轩宇智能科技有限公司 | Control method and control terminal for maintaining automobile chassis and chassis maintenance robot |
| CN113199457B (en) * | 2021-05-12 | 2023-02-03 | 温州职业技术学院 | Electromechanical integrated robot base fixing device |
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| JP2013013978A (en) * | 2011-07-05 | 2013-01-24 | Sony Corp | Robot device |
| CN104285588A (en) * | 2014-09-25 | 2015-01-21 | 甘肃农业大学 | Machine vision based wild Chinese prickly ash picking robot |
| CN205552501U (en) * | 2016-01-22 | 2016-09-07 | 马鞍山远荣机器人智能装备有限公司 | Automatic twist screw robot |
| CN106041882B (en) * | 2016-07-05 | 2018-04-13 | 安徽江淮汽车集团股份有限公司 | For tightening the antitorque mechanical arm of thrust stem nut |
| CN106181985B (en) * | 2016-08-21 | 2018-08-31 | 哈工大机器人集团（广州）知识产权投资控股有限公司哈尔滨分公司 | A kind of books pick and place robot |
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