CN108526870A - A kind of fully automatic bolt assembly manipulator - Google Patents

Abstract

The invention discloses a fully automatic bolt assembly manipulator, a workbench, an assembly toolbox, a bolt parts box, a static camera and a bolt assembly device; the assembly toolbox, the bolt parts box, the static camera and the bolt The assembly devices are respectively fixedly arranged on the workbench; the assembly tool box includes a tool box body and various types of hexagonal sleeves, and the bolt parts box includes a part box body and various types of hexagonal bolts. The box body is provided with through holes corresponding to the various types of the hexagonal bolts, and the various types of the hexagonal bolts are respectively placed in the corresponding through holes; the bolt assembly device includes a base, a joint motor, a bracket, a large Arm, small arm and assembly hand, the base is fixed with the bracket, the bracket is equipped with a large arm through the joint motor, and the small arm is mounted on the large arm through the joint motor. An assembly hand is installed on the forearm through the joint motor.

Description

A fully automatic bolt assembly manipulator

technical field

The invention relates to the field of assembling manipulators, in particular to a fully automatic bolt assembling manipulator.

Background technique

At present, on the industrial assembly line, the assembly of bolts is a very cumbersome work. Many domestic and foreign scholars have carried out in-depth research on how to use mechanical tools to replace the tedious work of manually completing the assembly of bolted connections. However, at present, all the automatic bolt assembly equipment has not been able to automatically replace the corresponding wrench for different types of bolts. Basically, a certain type of wrench is installed manually in advance, and then the work is carried out. When another type of bolt needs to be assembled, then the Replace the wrench manually. Furthermore, many mechanical structures that can realize the bolt assembly function are too large to be used in a certain limited space.

Contents of the invention

The present invention provides a fully automatic bolt assembly manipulator, which can solve the problems raised in the above-mentioned background technology.

The invention provides a fully automatic bolt assembly manipulator, a workbench, an assembly tool box, a bolt parts box, a static camera and a bolt assembly device;

The assembly toolbox, the bolt parts box, the static camera and the bolt assembly device are respectively fixed on the workbench;

The assembly tool box includes a tool box body, and various types of hexagonal sockets are arranged on the tool box body,

The bolt part box includes a part box body and various types of hexagonal bolts, the part box body is provided with through holes corresponding to the various types of the hexagonal bolts, and the various types of the hexagonal bolts are respectively placed in the corresponding through hole;

The bolt assembly device includes a base, a joint motor, a bracket, a big arm, a small arm and an assembly hand, the base is fixedly provided with the bracket, and the bracket is installed with the big arm through the joint motor, so The small arm is installed on the big arm through the joint motor, and the assembly hand is installed on the small arm through the joint motor.

Preferably, the hexagonal sleeve is provided with square holes and hexagonal slotted holes matching various types of the hexagonal bolts.

Preferably, the square hole is a square through hole, and the depth of the square hole is equal to the length of the assembly joint.

Preferably, the assembly hand includes an assembly joint, a drive motor and a hand support, the drive motor is fixed on the hand support, the output end of the drive motor is installed with the assembly joint, and the assembly joint is Install the hex socket.

Preferably, the assembly joint includes a hexagonal bolt fastening electromagnet, a hexagonal sleeve fastening electromagnet, a bushing, a mounting hole and a post, the bushing is provided with the mounting hole, and the post is connected to the square The holes match, the mounting hole is connected to the output end of the drive motor, the hexagonal bolt fastening electromagnet is arranged on the bottom of the post, and the hexagonal sleeve fastening electromagnet is arranged on the side wall of the post.

A fully automatic bolt assembly manipulator provided by the present invention has a compact and practical hand structure, avoids complicated mechanical structures, realizes the automatic replacement of the hexagonal socket wrench by using the power on and off of the electromagnet, and avoids the need for grasping the bolts at the same time. The complex mechanical structure also uses the power on and off of the electromagnet to realize the grasping of the bolts; it adopts the dynamic camera servo control, uses the vision to search for the hole position, recognize the size, and then automatically replace the corresponding casing wrench to grasp the bolt of the corresponding size For assembly, the whole structure adopts a multi-degree-of-freedom serial robot, which can realize bolt assembly at any position on the workpiece; and the work space is large and the practicability is wide, which is also the advantage of simplifying and miniaturizing the hand structure.

Description of drawings

Fig. 1 is a kind of fully automatic bolt assembly manipulator structure schematic diagram provided by the present invention;

Fig. 2 is a schematic structural view of the assembly toolbox of a fully automatic bolt assembly manipulator provided by the present invention;

Fig. 3 is a schematic diagram of the structure of a hexagonal sleeve of a fully automatic bolt assembly manipulator provided by the present invention;

Fig. 4 is a schematic structural diagram of a bolt parts box of a fully automatic bolt assembly manipulator provided by the present invention;

Fig. 5 is a structural schematic diagram of a bolt assembly device of a fully automatic bolt assembly manipulator provided by the present invention;

Fig. 6 is a schematic diagram of the assembly hand structure of a fully automatic bolt assembly manipulator provided by the present invention;

Fig. 7 is a schematic structural diagram of an assembly joint of a fully automatic bolt assembly manipulator provided by the present invention.

Description of reference signs: 1-workbench; 2-assembly tool box; 201-tool box; 202-hexagonal sleeve; 2021-hexagonal slot; 2022-square hole; 3-bolt parts box; 301-parts box ;302-hex bolt; 4-static camera; 5-bolt assembly device; 501-base, 502-joint motor, 503-bracket, 504-big arm, 505-small arm; 506-assembly hand; 5062-assembly joint ;50621-hexagonal bolt fastening electromagnet; 50622-hexagonal sleeve fastening electromagnet; 50623-shaft sleeve; 50624 installation hole; 5063-drive motor;

Detailed ways

A specific embodiment of the present invention will be described in detail below in conjunction with the accompanying drawings, but it should be understood that the protection scope of the present invention is not limited by the specific embodiment.

As shown in Figures 1 to 7, a fully automatic bolt assembly manipulator provided by an embodiment of the present invention includes a workbench 1, an assembly tool box 2, a bolt parts box 3, a static camera 4, and a bolt assembly device 5;

The assembly tool box 2, the bolt parts box 3, the static camera 4 and the bolt assembly device 5 are respectively fixed on the workbench 1;

The assembly tool box 2 includes a tool box body 201, on which various types of hexagonal sleeves 202 are arranged,

The bolt parts box 3 includes a parts box body 301 and various types of hexagonal bolts 302, and the said parts box body 301 is provided with through holes corresponding to the described hexagonal bolts 302 of various types. The hexagonal bolts 302 are respectively placed in the corresponding through holes;

The bolt assembly device 5 includes a base 501, a joint motor 502, a bracket 503, a large arm 504, a small arm 505 and an assembly hand 506, the base 501 is fixedly provided with the bracket 503, and the bracket 503 passes through the The joint motor 502 is equipped with the big arm 504, the small arm 505 is installed on the big arm 504 through the joint motor 502, and the assembly hand is installed on the small arm 505 through the joint motor 502. 506.

The hexagonal sleeve 202 is provided with a square hole 2022 and a hexagonal slotted hole 2021 matching with various types of the hexagonal bolt 302 .

The square hole 2022 is a square through hole, and the depth of the square hole is equal to the length of the assembly joint 5062 .

The assembly hand 506 includes an assembly joint 5062, a drive motor 5063 and a hand support 5064, the drive motor 5063 is fixed on the hand support 5064, and the output end of the drive motor 5063 is installed with the assembly joint 5062, so Install the hexagonal sleeve 202 on the assembly joint 5062.

The assembly joint 5062 includes a hexagonal bolt fastening electromagnet 50621, a hexagonal sleeve fastening electromagnet 50622, a shaft sleeve 50623, an installation hole 50624 and a post, and the shaft sleeve 50623 is provided with the installation hole 50624, and the post and The square hole 2022 matches, the installation hole 50624 is connected to the output end of the driving motor 5063, the hexagonal bolt fastening electromagnet 50621 is set at the bottom of the post, and the hexagonal sleeve fastening electromagnet 50622 is set on the side wall of the post.

Working principle: During the bolt assembly operation, firstly, the static camera 4 identifies the position of the threaded holes to be assembled on the workpiece, distinguishes the size of each threaded hole, and controls the bolt assembly device 5; after the bolt assembly device 5 receives the visual servo control information, each The joint motor 502 drives the base 501, the joint motor 502, the support 503, the big arm 504, the small arm 505 and the assembly hand 506 to operate cooperatively, and drives the assembly joint 5062 of the assembly hand 506 to move to the hexagon of the corresponding model position on the assembly tool box 2. on the sleeve 202; then the assembly joint 5062 is matched with the square hole 2022 of the hexagonal sleeve 202, and the hexagonal sleeve 202 fastening electromagnet 50622 on the assembly joint 5062 is energized to fix a certain type of hexagonal sleeve 202 on the Assemble the joint 5062; then the bolt assembly device 5 drives the assembly hand 506 to move to the position of the hexagonal bolt 302 of the model corresponding to the bolt part box 3, and the hexagonal slot 2021 of the hexagonal sleeve 202 is just stuck on the hexagonal bolt 302, while the hexagonal bolt 302 The top surface cooperates with the hexagonal bolt fastening electromagnet 50621 on the lower surface of the assembly joint 5062, and at the same time the hexagonal bolt fastening electromagnet 50621 is energized to clamp the corresponding type of hexagonal bolt 302; finally, the bolt assembly device 5 will be fastened The assembly hand 506 with the hexagonal sleeve 202 and the hexagonal bolt 302 moves to the corresponding hole of the assembly for assembly. After the bolt is assembled, the hexagonal bolt fastening electromagnet 50621 is powered off, and the bolt assembly device 5 drives the assembly hand 506 moves out of the hole, and continues to use the same type of bolt in the bolt part box 3 to repeat the above assembly process; when all the bolts of this type are assembled, the bolt assembly device 5 drives the assembly hand 506 to move to the assembly tool box 2. At the original position of the sleeve, at the same time, the hexagonal sleeve fastening electromagnet 50622 on the assembly joint 5062 is de-energized, and the hexagonal sleeve 202 of this type is put back to its original position; then the bolt assembly device 5 drives the assembly hand 506 to move to another At the position of the hexagonal socket 202 of the model, replace the hexagonal socket 202 of the corresponding model, repeat the above operations, and realize the fully automatic assembly of various types of hexagonal bolts 302 at various angles. The fully automatic bolt assembly manipulator is designed with a small and practical hand structure, which avoids complicated mechanical structures. The automatic replacement of the hexagonal sleeve 202 is realized by using the power on and off of the electromagnet. At the same time, the grasping of the bolts avoids complicated mechanical structures. The electromagnet is also used to turn on and off the power to realize the grasping of the bolts; the static camera 4 is used to search the hole position and identify the size by vision, and then automatically replace the corresponding casing wrench, and grab the bolts of the corresponding size for assembly, which can realize the workpiece Bolt assembly at any position on the wrist; and large working space and wide practicability, which is also the advantage of simplifying and miniaturizing the hand structure.

The above disclosures are only specific embodiments of the present invention, but the embodiments of the present invention are not limited thereto, and any changes conceivable by those skilled in the art shall fall within the protection scope of the present invention.

Claims (5)

1. A fully automatic bolt assembly manipulator, characterized in that: workbench (1), assembly tool box (2), bolt parts box (3), static camera (4) and bolt assembly device (5); The assembly tool box (2), the bolt parts box (3), the static camera (4) and the bolt assembly device (5) are respectively fixedly arranged on the workbench (1); The assembly tool box (2) includes a tool box body (201), and various types of hexagonal sleeves (202) are arranged on the tool box body (201), The bolt part box (3) comprises a part box body (301) and various types of hexagonal bolts (302), and the described part box body (301) is provided with various types of hexagonal bolts (302). Corresponding through holes, the hexagonal bolts (302) of various types are respectively placed in the corresponding through holes; The bolt assembly device (5) includes a base (501), a joint motor (502), a bracket (503), a large arm (504), a small arm (505) and an assembly hand (506), and the base (501) The bracket (503) is fixedly arranged on the top, and the boom (504) is installed on the bracket (503) through the joint motor (502). ) is equipped with the forearm (505), and the assembly hand (506) is installed on the forearm (505) through the joint motor (502). 2. A fully automatic bolt assembly manipulator according to claim 1, characterized in that, the hexagonal sleeve (202) is provided with a square hole (2022) and is compatible with various types of the hexagonal bolts (302) Matching hex socket (2021). 3. A fully automatic bolt assembly manipulator according to claim 2, characterized in that, the square hole (2022) is a square through hole, and the depth of the square hole is equal to the length of the assembly joint (5062). 4. A fully automatic bolt assembly manipulator according to claim 1, characterized in that, the assembly hand (506) comprises an assembly joint (5062), a drive motor (5063) and a hand support (5064), the Fix the drive motor (5063) on the hand bracket (5064), install the assembly joint (5062) on the output end of the drive motor (5063), and install the hexagonal sleeve on the assembly joint (5062) (202). 5. A fully automatic bolt assembly manipulator according to claim 4, characterized in that the assembly joint (5062) includes a hexagonal bolt fastening electromagnet (50621), a hexagonal sleeve fastening electromagnet (50622), Shaft sleeve (50623), mounting hole (50624) and post, the mounting hole (50624) is set on the bushing (50623), the post is matched with the square hole (2022), and the mounting hole ( 50624) is connected to the output end of the driving motor (5063), the hexagonal bolt fastening electromagnet (50621) is set at the bottom of the post, and the hexagonal sleeve fastening electromagnet (50622) is set at the side of the post on the wall.