CN106914746A - High reliability nut runner system - Google Patents
High reliability nut runner system Download PDFInfo
- Publication number
- CN106914746A CN106914746A CN201710140219.5A CN201710140219A CN106914746A CN 106914746 A CN106914746 A CN 106914746A CN 201710140219 A CN201710140219 A CN 201710140219A CN 106914746 A CN106914746 A CN 106914746A
- Authority
- CN
- China
- Prior art keywords
- servomotor
- manipulator
- forearm
- bolt
- high reliability
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
- B23P19/067—Bolt tensioners
Abstract
The invention provides a kind of high reliability nut runner system, including：Manipulator connection forearm one end, the forearm other end passes through connecting portion, connecting portion is also connected with arched arm one end, the arched arm other end connects rotating disk, and rotating disk connects pedestal, and base bottom is groove, groove is deposited in slide rail, manipulator head sets fastener, obtains bolt collar by fastener, and bolt will be tightened on corresponding part by sleeve.The equipment can tighten operation by adjusting angle completion bolt, be operated accordingly by fastener, safe ready.
Description
Technical field
The present invention relates to automation control area, more particularly to a kind of high reliability nut runner system.
Background technology
At present in assembling process is carried out to industrial goods, fastening bolt screw is a finally important operation link, but
It is that its bolt degree of tightening accuracy is poor, and reason is to tighten now generally using the method for directly passing through Torque Control pretightning force
Torque is larger by coefficient of friction influence of fluctuations, and existing equipment be not suitable for large-sized bolt yet tighten operation, this is just needed badly
Those skilled in the art solve corresponding technical problem.
The content of the invention
It is contemplated that at least solving technical problem present in prior art, especially innovatively propose a kind of highly reliable
Property nut runner system.
In order to realize above-mentioned purpose of the invention, the invention provides a kind of high reliability nut runner system, including：Machine
The connection forearm 2 of tool hand 1 one end, the other end of forearm 2 is also connected with the one end of arched arm 4 by connecting portion 3, connecting portion 3, and arched arm 4 is another
One end connects rotating disk 6, and rotating disk 6 connects pedestal, and base bottom is groove 7, and groove 7 is deposited in slide rail 5, and the head of manipulator 1 sets
Fastener is put, bolt collar is obtained by fastener, and bolt will be tightened on corresponding part by sleeve.
Above-mentioned technical proposal has the beneficial effect that：The equipment can tighten operation by adjusting angle completion bolt, pass through
Fastener is operated accordingly, safe ready.
Described high reliability nut runner system, it is preferred that the pedestal includes：
Pedestal supporting plate 11 is fastened on pedestal by some Foundation anchor bolts 10, and the circle centre position of price fixing 9 sets the first servo
Motor 14, drives rotating disk 16 to rotate by the first servomotor 14, and rotating disk 16 is buckled on rotating disk price fixing 9 for half-circle-arc shape cover,
Detent ball 12 is set at the circumference of price fixing 9, and the radius of rotating disk 16 is more than price fixing 9, and the excircle of rotating disk 16 sets wall 17, the edge of wall 17
The outer wall of price fixing 9 is fastened, and detent ball 12 limits wall 17 and rotated in certain limit, and stepping movable motor 19 is arranged on the outer wall of price fixing 9
Side, the installment work circuit 18 of stepping movable motor 19.
Above-mentioned technical proposal has the beneficial effect that：While the pedestal ensures the stable motion on slide rail, inside sets power
Square biosensor analysis stress size, so as to judge whether bolt is tightened.
Described high reliability nut runner system, it is preferred that the connecting portion includes：
Reinforcing plate 22 is arranged on the both sides of arched arm 4, and the 3rd servomotor 23 is arranged on the side of fixed cylinder 30, fixed cylinder 30 1
Side sets breach, and the moving displacement of fixed cylinder 30 is limited by the fixed block 31 of the side wall of the 3rd servomotor 23, and fixed cylinder 30 is another
The 4th servomotor 26 is installed in side, and the 4th servomotor 26 is also connected with forearm 2.
Above-mentioned technical proposal has the beneficial effect that：The connecting portion is electric by the 3rd servomotor and the 4th servo by fixed cylinder
Hood is lived, so as to prevent outer bound pair its collision from causing equipment damage.
Described high reliability nut runner system, it is preferred that also include：
The one end of forearm 2 is installed by the 5th servomotor 45, the connection forearm 38 of the 5th servomotor 45 one end, the 5th servomotor
45 control forearms 38 are moved, and the other end of forearm 38 fixes the 6th servomotor 36, bend arm 34 1 by forearm fixing bolt 37
End connects the 6th servomotor 36, the other end of bend arm 34 connection manipulator 1 by bend arm fixed disk 35.
Above-mentioned technical proposal has the beneficial effect that：Cooperated by the 5th servomotor and the 6th servomotor, make this
System being capable of multi-faceted, multi-angle rotation.
Described high reliability nut runner system, it is preferred that the manipulator includes：
Bend arm 34 is held tightly by bending arm splint 42 with fastening casing 43, and bending arm splint 42 surrounding sets bolt
Hole, for inserting fastening bolt, manipulator servomotor 40 is arranged on fastening casing 43 bottom, and linear electric motors 44 are arranged on tightly
Gu the bottom of head, the head of fastener head installs elastic ball element.
Above-mentioned technical proposal has the beneficial effect that：Set bend arm can more flexible rotation direction so that preferably
Tighten bolt.
Described high reliability nut runner system, it is preferred that the fastener includes：
Manipulator servomotor 40 axially connects fastener head 47, and circular hole is opened up in the sidepiece of fastener head 47, and the circular hole installs bullet
Property ball element 48, the sleeve diameter that is engaged with elastic ball element 48 sets groove, sleeve is arranged on fastener head 47 bullet internally
Spring and the end type elastic ball element fastening of the lower holding of bar effect, control fastener head 47 to work, manipulator servo by linear electric motors 44
Axially mounted decelerator between motor 40 and fastener head 47.
Above-mentioned technical proposal has the beneficial effect that：Fastener head on manipulator can be fixed set by elastic ball element
Cylinder, can control elastic ball element to stretch by linear electric motors.
Described high reliability nut runner system, it is preferred that the decelerator includes：
The internal diameter sawtooth of external gear 51 is engaged with the external diameter sawtooth of internal gear 53, and the diameter of internal gear 53 is less than external gear 51
The diameter emptied, along the concave slot sports of button bowl 52 under the drive of manipulator servomotor 40, button bowl 52 passes through internal gear 53
Axle terminal pad 50 is connected to the axial direction of manipulator servomotor 40, and external gear 51 is fixed on outer protection cylinder, in external gear 51
Fixing groove 46 is set with outer protection cylinder position, fixing groove 46 is connected with the outer wall interference of external gear 51.
Above-mentioned technical proposal has the beneficial effect that：Slowing effect is realized by the cooperation of external gear and internal gear, the design
Material-saving, and structure design is accurate.
In sum, by adopting the above-described technical solution, the beneficial effects of the invention are as follows：
Method of the system using shape control pretightning force is passed through, more accurately.During bolt connection, connected piece is pressurized,
Generation elastic deformation；Simultaneously also there is elastic deformation, tension elongation in bolt.Under operating mode of the same race, pretightning force F and connected piece table
There is linear relationship in the compressive deformation that face occurs.I.e. by many experiments, empirical equation is can obtain, when detecting connector surface
When elastic deformation reaches a certain value, bolt tightens completion.
Additional aspect of the invention and advantage will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by practice of the invention.
Brief description of the drawings
Of the invention above-mentioned and/or additional aspect and advantage will become from description of the accompanying drawings below to embodiment is combined
Substantially and be readily appreciated that, wherein：
Fig. 1 is general illustration of the present invention；
Fig. 2 is side view of the present invention；
Fig. 3 is the location drawing at B of the present invention：
Fig. 4 is detail view at B of the present invention；
Fig. 5 is the location drawing at C of the present invention：
Fig. 6 is detail view at C of the present invention；
Fig. 7 is the location drawing at D of the present invention：
Fig. 8 is detail view at D of the present invention；
Fig. 9 is manipulator detail view of the present invention；
Figure 10 is manipulator fastener head schematic diagram of the present invention；
Figure 11 is circuit diagram of the present invention；
Figure 12 is another circuit diagram of the invention.
Specific embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from start to finish
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
It is exemplary to scheme the embodiment of description, is only used for explaining the present invention, and is not considered as limiting the invention.
In the description of the invention, it is to be understood that term " longitudinal direction ", " transverse direction ", " on ", D score, "front", "rear",
The orientation or position relationship of the instruction such as "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outward " are based on accompanying drawing institute
The orientation or position relationship for showing, are for only for ease of the description present invention and simplify description, rather than the dress for indicating or implying meaning
Put or element must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to limit of the invention
System.
In the description of the invention, unless otherwise prescribed with limit, it is necessary to explanation, term " installation ", " connected ",
" connection " should be interpreted broadly, for example, it may be mechanically connect or electrical connection, or two connections of element internal, can
Being to be joined directly together, it is also possible to be indirectly connected to by intermediary, for the ordinary skill in the art, can basis
Concrete condition understands the concrete meaning of above-mentioned term.
As illustrated in fig. 1 and 2, the connection antetheca 2 of manipulator 1 one end, the other end of antetheca 2 is also connected by connecting portion 3, connecting portion 3
The one end of arched arm 4 is connect, the other end of arched arm 4 connects pedestal rotating disk 6, the presence of arc converts power from lineal layout in arched arm
It is curve distribution, strengthens the intensity of arm such that it is able to carries out tightening bolt operation by manipulator 1, the bottom of pedestal rotating disk 6 is ditch
Groove 7, groove 7 is deposited in slide rail 5, and the head of manipulator 1 sets fastener, and bolt is obtained by fastener, and by bolt
It is tightened on corresponding part and the sleeve of different model is placed by sleeve platform 8,8 ', carries out capturing sleeve by manipulator 1
Action.
As shown in Figures 3 and 4, pedestal supporting plate 11 is fastened on pedestal by some Foundation anchor bolts 10, the circle centre position of price fixing 9
First servomotor 14 is set, drives rotating disk 16 to rotate by the first servomotor 14, rotating disk 16 is buckled in for half-circle-arc shape cover
On rotating disk price fixing 9, the circle centre position of price fixing 9 sets fixed cover, and the first servomotor 14, the first servomotor 14 are placed in fixed cover inside
It is fixed on fixed cover by the first servomotor fastening bolt 15, detent ball 12, the radius of rotating disk 16 is set at the circumference of price fixing 9
More than price fixing 9, the excircle of rotating disk 16 sets wall 17, and wall 17 is fastened along the outer wall of price fixing 9, the limitation wall 17 of detent ball 12 side
Rotated in certain limit, stepping movable motor 19 is arranged on the outer wall side of price fixing 9, the installment work circuit of stepping movable motor 19
18, peep hole 20 is installed in the side wall of stepping movable motor 19, the peep hole 20 is used to detect the work shape of stepping movable motor 19
State, or renewal part, make-up oil.The opposite side of wall 17 of rotating disk 16 sets the second servomotor fixed cover 13, second
The second servomotor 21 is installed in the inside of servomotor fixed cover 13, and the control arched arm 4 of the second servomotor 21 is moved.
As it can be seen in figures 5 and 6, reinforcing plate 22 is arranged on the both sides of arched arm 4, the 3rd servomotor 23 is arranged on fixed cylinder 30 1
Side, the side of fixed cylinder 30 sets the 3rd servomotor retainer plate, and the 3rd servomotor retainer plate installs the 3rd servomotor 23, the
Three servomotors 23 are connected on the 3rd servomotor retainer plate by the 3rd servomotor fixing bolt 24, the side of fixed cylinder 30
Breach is set, and the breach limits the moving displacement of fixed cylinder 30, fixed cylinder by the fixed block 31 of the side wall of the 3rd servomotor 23
30 opposite sides install the 4th servomotor 26, and the 4th servomotor 26 is also connected with forearm 2.The side of fixed cylinder 30 opens up observation panel
25, fixed cylinder 30 sets access hole 29 near the side of the 4th servomotor 26, and the opposite side of fixed cylinder 30 sets the 4th servomotor
Retainer plate, the 4th servomotor 26 is arranged in the 4th servomotor retainer plate, and the 4th servomotor retainer plate is watched by the 4th
Take motor fixing bolt 27 to fix the 4th servomotor, forearm is set in the 4th servomotor retainer plate and the junction of forearm 2
Reinforcement 28, the crawl dynamics of the forearm reinforcement 28 enhancing forearm work, improves toughness, and floor 32 is arranged on the both sides of forearm 2,
Floor 32 increases the intensity of forearm.And floor 32 is engaged the crawl intensity for improving forearm 2 with forearm reinforcement 28, extend the longevity
Life.
As shown in FIG. 7 and 8, the 5th servomotor 45, the connection forearm 38 1 of the 5th servomotor 45 are installed in the one end of forearm 2
End, the control forearm 38 of the 5th servomotor 45 is moved, and the both sides of forearm 38 set forearm reinforcement 39, and the other end of forearm 38 is by small
Arm fixing bolt 37 fixes the 6th servomotor 36, and the one end of bend arm 34 connects the 6th servomotor by bend arm fixed disk 35
36, the other end of bend arm 34 connection manipulator 1, bend arm 34 sets tension force mouthful 33,33 energy of the tension force mouthful near the side of manipulator 1
Enough increase the toughness of bend arm 34；
Bend arm 34 is held tightly by bending arm splint 42 with fastening casing 43, and bending arm splint 42 surrounding sets bolt
Hole, for inserting fastening bolt, manipulator servomotor 40 is arranged on fastening casing 43 bottom, manipulator servomotor 40 with
Fastener head is connected by fastener head connecting plate 41, and linear electric motors are arranged on the bottom of fastener head, and the head of fastener head installs elasticity
Ball element.
As shown in Figures 9 and 10, manipulator servomotor 40 axially connects fastener head 47, and circle is opened up in the sidepiece of fastener head 47
Hole, the circular hole installs elastic ball element 48, and the sleeve diameter being engaged with elastic ball 48 sets groove, sleeve is arranged on fastener head
Fastening is kept on 47, controls fastener head 47 to work by linear electric motors 44, between manipulator servomotor 40 and fastener head 47
Axially mounted decelerator.Magnet coil 49 is installed in the front end of fastener head 47, bolt is adsorbed by magnet coil 49.
The internal diameter sawtooth of external gear 51 is engaged with the external diameter sawtooth of internal gear 53, and the diameter of internal gear 53 is less than external gear 51
The diameter emptied, along the concave slot sports of button bowl 52 under the drive of manipulator servomotor 40, button bowl 52 passes through internal gear 53
Axle terminal pad 50 is connected to the axial direction of manipulator servomotor 40, and external gear 51 is fixed on outer protection cylinder, in external gear 51
Fixing groove 46 is set with outer protection cylinder position, fixing groove 46 is connected with the outer wall interference of external gear 51.
Fastener head clamping bolt tappet head, that is, fasten sleeve；
Linear electric motors realize the effect of fastener head；
Servomotor drives whole axle to rotate, and realizes screwing bolts；
As shown in Figure 10,11 and 12, the servomotor of connecting bolt tightening system is distinguished by single-chip microcomputer motor control terminal
Drive circuit, single-chip microcomputer Electromagnetic Control end connection magnet coil signal end, single-chip microcomputer laser signal end connection laser sensor letter
Number end, single-chip microcomputer torque signals end coupling torque sensor signal end；
The torque sensor is arranged on inside the first servomotor or manipulator servomotor, and the torque sensor is obtained
Power taking square data transfer is processed to single-chip microcomputer；
The laser sensor is arranged on fastener head inner side, and aperture is axially opened up in the manipulator servomotor of fastener head,
The light beam of laser sensor is projected from aperture 55, and laser sensor senses the operation displacement of bolt.
By data-interface, by the master controller of bolt hole data reading nut runner system；Master controller is according to number
Bolt hole is classified according to feature；Master controller assigns initial value to system inner-outer circulation number of times and records cycle-index；Main control
Device receives the signal that piezo-resistance sends on sleeve dop, judges that whether mechanical arm is according to circulation equipped with sleeve on sleeve dop
Sleeve is installed or changed to number of times；Mechanical arm drives wrench body to move to bolt storehouse and opens electromagnet crawl bolt；Mechanical arm band
Dynamic bolt moves to bolt hole position, and servomotor starts to rotate, when torque sensor integrated in servomotor detects power
When square is uprushed, laser ranging system is opened, whether mechanical arm master controller receives laser ranging system and sends signal, judges bolt
It is tightened to precalculated position；Circulated next time after tightening；All bolts are tightened Posterior circle to be terminated.
This method can be realized being automatically positioned according to bolts assemblies position, according to operating mode self-adaptative adjustment screw-down torque, from
Dynamic to change different model sleeve, bolts assemblies visualization substantially reduces human cost, improves efficiency and reliability that bolt is tightened
Property, intelligent bolt assembling.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means to combine specific features, structure, material or spy that the embodiment or example are described
Point is contained at least one embodiment of the invention or example.In this manual, to the schematic representation of above-mentioned term not
Necessarily refer to identical embodiment or example.And, the specific features of description, structure, material or feature can be any
One or more embodiments or example in combine in an appropriate manner.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that：Not
Can these embodiments be carried out with various changes, modification, replacement and modification in the case of departing from principle of the invention and objective, this
The scope of invention is limited by claim and its equivalent.
Claims (7)
1. a kind of high reliability nut runner system, it is characterised in that including：Manipulator (1) connects forearm (2) one end, forearm
(2) by connecting portion (3), connecting portion (3) is also connected with arched arm (4) one end, arched arm (4) other end connection rotating disk to the other end
(6), rotating disk (6) connection pedestal, base bottom is groove (7), and groove (7) is deposited in slide rail (5), and manipulator (1) head sets
Fastener is put, bolt collar is obtained by fastener, and bolt will be tightened on corresponding part by sleeve.
2. high reliability nut runner system according to claim 1, it is characterised in that the pedestal includes：
Pedestal supporting plate (11) is fastened on pedestal by some Foundation anchor bolts (10), and price fixing (9) circle centre position sets first and watches
Motor (14) is taken, drives rotating disk (16) to rotate by the first servomotor (14), rotating disk (16) turns for half-circle-arc shape cover is buckled in
On disk price fixing (9), detent ball (12) is set at price fixing (9) circumference, rotating disk (16) radius is more than price fixing (9), and rotating disk (16) is outward
Circumference sets wall (17), and wall (17) is fastened along price fixing (9) outer wall, and detent ball (12) limits wall (17) and turns in certain limit
Dynamic, stepping movable motor (19) is arranged on price fixing (9) outer wall side, stepping movable motor (19) installment work circuit (18).
3. high reliability nut runner system according to claim 1, it is characterised in that the connecting portion includes：
Reinforcing plate (22) is arranged on arched arm (4) both sides, and the 3rd servomotor (23) is installed in fixed cylinder (30) side, fixed cylinder
(30) side sets breach, and the motion bit of fixed cylinder (30) is limited by the fixed block (31) of the 3rd servomotor (23) side wall
Move, fixed cylinder (30) opposite side installs the 4th servomotor (26), the 4th servomotor (26) is also connected with forearm (2).
4. high reliability nut runner system according to claim 1, it is characterised in that also include：
Forearm (2) one end is installed by the 5th servomotor (45), the 5th servomotor (45) connection forearm (38) one end, the 5th servo
Motor (45) controls forearm (38) motion, and forearm (38) other end fixes the 6th servomotor by forearm fixing bolt (37)
(36), bend arm (34) one end connects the 6th servomotor (36), bend arm (34) other end by bend arm fixed disk (35)
Connection manipulator (1).
5. high reliability nut runner system according to claim 1, it is characterised in that the manipulator includes：Bending
Arm (34) is held tightly by bending arm splint (42) with fastening casing (43), and bending arm splint (42) surrounding sets bolt hole, uses
In insertion fastening bolt, manipulator servomotor (40) is arranged on fastening casing (43) bottom, and linear electric motors (44) are arranged on
The bottom of fastener head, the head of fastener head installs elastic ball.
6. high reliability nut runner system according to claim 1, it is characterised in that the fastener includes：
Manipulator servomotor (40) axially connection fastener head (47), in fastener head (47), sidepiece opens up circular hole, and the circular hole is installed
Elastic ball element (48), the sleeve diameter being engaged with elastic ball element (48) sets groove, sleeve is arranged on fastener head (47)
Internally spring and the end type elastic ball element fastening of the lower holding of bar effect, fastener head (47) work is controlled by linear electric motors (44)
Make, the axially mounted decelerator between manipulator servomotor (40) and fastener head (47).
7. high reliability nut runner system according to claim 6, it is characterised in that the decelerator includes：External tooth
The internal diameter sawtooth for taking turns (51) is engaged with internal gear (53) external diameter sawtooth, and the diameter of internal gear (53) is emptied less than external gear (51)
Diameter, internal gear (53) under the drive of manipulator servomotor (40) along button bowl (52) concave slot sports, button bowl (52)
The axial direction of manipulator servomotor (40) is connected to by axle terminal pad (50), external gear (51) is fixed on outer protection cylinder,
Fixing groove (46) is set in external gear (51) and outer protection cylinder position, fixing groove (46) connects with the interference of external gear (51) outer wall
Connect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710140219.5A CN106914746B (en) | 2017-03-10 | 2017-03-10 | High reliability nut runner system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710140219.5A CN106914746B (en) | 2017-03-10 | 2017-03-10 | High reliability nut runner system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106914746A true CN106914746A (en) | 2017-07-04 |
| CN106914746B CN106914746B (en) | 2019-03-19 |
Family
ID=59460400
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710140219.5A Active CN106914746B (en) | 2017-03-10 | 2017-03-10 | High reliability nut runner system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106914746B (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108526870A (en) * | 2018-06-29 | 2018-09-14 | 淮南师范学院 | A kind of fully automatic bolt assembly manipulator |
| CN108759284A (en) * | 2018-05-18 | 2018-11-06 | 青岛海尔股份有限公司 | Screw assembling element, drawer appliance and refrigeration equipment |
| CN109015530A (en) * | 2018-09-11 | 2018-12-18 | 山东沃克控制阀有限公司 | A kind of broken bolt provision for disengagement |
| CN109676363A (en) * | 2019-01-29 | 2019-04-26 | 沈阳建筑大学 | A kind of multiple degrees of freedom Portable machine tool main shaft dismounting auxiliary tool |
| CN109807611A (en) * | 2019-01-29 | 2019-05-28 | 南京航空航天大学 | A kind of compressor arm maintenance unit of the satellite sun wing |
| CN110076554A (en) * | 2019-05-30 | 2019-08-02 | 广东电网有限责任公司 | A kind of high-altitude bolt mounting robot |
| CN110958563A (en) * | 2019-11-29 | 2020-04-03 | 龙铁纵横（北京）轨道交通科技股份有限公司 | Multi-axis robot intelligent fastening workshop networking system |
| CN110977424A (en) * | 2019-11-29 | 2020-04-10 | 龙铁纵横（北京）轨道交通科技股份有限公司 | Intelligent assembly system and method based on six-degree-of-freedom robot |
| CN110977425A (en) * | 2019-11-29 | 2020-04-10 | 龙铁纵横（北京）轨道交通科技股份有限公司 | Automatic addressing multi-axis robot intelligent fastening system and method |
| CN111673407A (en) * | 2020-05-20 | 2020-09-18 | 上海航天精密机械研究所 | Laser guide assembly system and method for bottom of storage box of carrier rocket |
| CN112548554A (en) * | 2020-12-19 | 2021-03-26 | 北京工业大学 | Robot bolt tightening system integrating multi-sensing distance measurement |
| CN112548546A (en) * | 2019-09-10 | 2021-03-26 | 北京配天技术有限公司 | Screw locking method and screw locking device |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0229185B1 (en) * | 1985-06-24 | 1992-04-15 | Fanuc Ltd. | Industrial robot |
| CN103358119A (en) * | 2013-07-24 | 2013-10-23 | 大连豪森瑞德设备制造有限公司 | Robot bolt tightening device |
| CN104002278A (en) * | 2014-06-18 | 2014-08-27 | 电子科技大学 | Bolt screwing device |
| CN104816293A (en) * | 2015-05-14 | 2015-08-05 | 安徽中家智锐科技有限公司 | Movable mechanism arm having eight free degrees |
| CN204658445U (en) * | 2015-06-09 | 2015-09-23 | 聊城鑫泰机床有限公司 | A kind of Industrial robots Mechanical mechanism of six degree of freedom |
| CN204712049U (en) * | 2015-05-28 | 2015-10-21 | 中山市鸿之远工业机器人有限公司 | A kind of Six-DOF industrial robot |
| CN205438370U (en) * | 2016-04-13 | 2016-08-10 | 长安大学 | Automatic device of screwing up of bolt |
-
2017
- 2017-03-10 CN CN201710140219.5A patent/CN106914746B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0229185B1 (en) * | 1985-06-24 | 1992-04-15 | Fanuc Ltd. | Industrial robot |
| CN103358119A (en) * | 2013-07-24 | 2013-10-23 | 大连豪森瑞德设备制造有限公司 | Robot bolt tightening device |
| CN104002278A (en) * | 2014-06-18 | 2014-08-27 | 电子科技大学 | Bolt screwing device |
| CN104816293A (en) * | 2015-05-14 | 2015-08-05 | 安徽中家智锐科技有限公司 | Movable mechanism arm having eight free degrees |
| CN204712049U (en) * | 2015-05-28 | 2015-10-21 | 中山市鸿之远工业机器人有限公司 | A kind of Six-DOF industrial robot |
| CN204658445U (en) * | 2015-06-09 | 2015-09-23 | 聊城鑫泰机床有限公司 | A kind of Industrial robots Mechanical mechanism of six degree of freedom |
| CN205438370U (en) * | 2016-04-13 | 2016-08-10 | 长安大学 | Automatic device of screwing up of bolt |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108759284A (en) * | 2018-05-18 | 2018-11-06 | 青岛海尔股份有限公司 | Screw assembling element, drawer appliance and refrigeration equipment |
| CN108759284B (en) * | 2018-05-18 | 2021-09-14 | 海尔智家股份有限公司 | Screw assembly element, drawer assembly and refrigeration equipment |
| CN108526870A (en) * | 2018-06-29 | 2018-09-14 | 淮南师范学院 | A kind of fully automatic bolt assembly manipulator |
| CN109015530A (en) * | 2018-09-11 | 2018-12-18 | 山东沃克控制阀有限公司 | A kind of broken bolt provision for disengagement |
| CN109807611B (en) * | 2019-01-29 | 2021-01-08 | 南京航空航天大学 | Satellite solar wing's compressing tightly pole maintenance device |
| CN109676363A (en) * | 2019-01-29 | 2019-04-26 | 沈阳建筑大学 | A kind of multiple degrees of freedom Portable machine tool main shaft dismounting auxiliary tool |
| CN109807611A (en) * | 2019-01-29 | 2019-05-28 | 南京航空航天大学 | A kind of compressor arm maintenance unit of the satellite sun wing |
| CN109676363B (en) * | 2019-01-29 | 2024-03-26 | 沈阳建筑大学 | Multi-degree-of-freedom portable machine tool spindle dismounting auxiliary tool |
| CN110076554A (en) * | 2019-05-30 | 2019-08-02 | 广东电网有限责任公司 | A kind of high-altitude bolt mounting robot |
| CN112548546A (en) * | 2019-09-10 | 2021-03-26 | 北京配天技术有限公司 | Screw locking method and screw locking device |
| CN110958563A (en) * | 2019-11-29 | 2020-04-03 | 龙铁纵横（北京）轨道交通科技股份有限公司 | Multi-axis robot intelligent fastening workshop networking system |
| CN110977425A (en) * | 2019-11-29 | 2020-04-10 | 龙铁纵横（北京）轨道交通科技股份有限公司 | Automatic addressing multi-axis robot intelligent fastening system and method |
| CN110977424A (en) * | 2019-11-29 | 2020-04-10 | 龙铁纵横（北京）轨道交通科技股份有限公司 | Intelligent assembly system and method based on six-degree-of-freedom robot |
| CN111673407A (en) * | 2020-05-20 | 2020-09-18 | 上海航天精密机械研究所 | Laser guide assembly system and method for bottom of storage box of carrier rocket |
| CN112548554A (en) * | 2020-12-19 | 2021-03-26 | 北京工业大学 | Robot bolt tightening system integrating multi-sensing distance measurement |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106914746B (en) | 2019-03-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106914746A (en) | High reliability nut runner system | |
| CN106166754B (en) | It is a kind of with buffer can self-locking material grab clamp device | |
| US5420489A (en) | Robotic end-effector with active system compliance and micro-positioning capability | |
| CN104260106B (en) | A kind of joint module of stiffness variable | |
| EP3352007B1 (en) | A motor drive assembly | |
| CN103612114B (en) | Screw-driving assembles special SCARA robot | |
| US20160318180A1 (en) | Robot | |
| US20110303042A1 (en) | Industrial robot | |
| US20170363490A1 (en) | Force sensor unit and robot | |
| CN101689792B (en) | Rotor mounting device and rotor mounting method | |
| US7857727B2 (en) | Concentric joint mechanism capable of rotating with multiple degrees of freedom | |
| CN206011117U (en) | A kind of with buffer can self-locking material grab clamp device | |
| EP3922384A1 (en) | Work machine unit and articulated robot | |
| US20160046020A1 (en) | Selective compliance assembly robot arm | |
| CN108568660A (en) | High reliability bolt tightens circuit system and its control method | |
| CN105264724B (en) | Terminal inserting apparatus and terminal insertion method | |
| CN105598941B (en) | New-energy automobile charging device | |
| CN103963074A (en) | Three-degree-of-freedom bionic eye platform based on flexible cable driving parallel mechanism | |
| CN106312595A (en) | Lead screw supporting structure and precise pre-stretching method thereof | |
| CN107309865A (en) | A kind of series elastic driver | |
| JPH0761587B2 (en) | Transfer table using ball screw guide unit | |
| US7467454B2 (en) | Box spring stapler apparatus | |
| WO2007078721A3 (en) | Test equipment positional control manipulator | |
| CN108032213A (en) | A kind of servo-drive power control polishing and grinding apparatus | |
| CN103663262B (en) | Lifting mechanism and the substrate loading device with it |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |