CN108526870A - A kind of fully automatic bolt assembly manipulator - Google Patents
A kind of fully automatic bolt assembly manipulator Download PDFInfo
- Publication number
- CN108526870A CN108526870A CN201810693258.2A CN201810693258A CN108526870A CN 108526870 A CN108526870 A CN 108526870A CN 201810693258 A CN201810693258 A CN 201810693258A CN 108526870 A CN108526870 A CN 108526870A
- Authority
- CN
- China
- Prior art keywords
- bolt
- assembly
- hex bolts
- fully automatic
- hole
- 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.)
- Pending
Links
- 210000000245 forearm Anatomy 0.000 claims abstract description 14
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 9
- 238000010586 diagram Methods 0.000 description 7
- 230000000712 assembly Effects 0.000 description 5
- 238000000429 assembly Methods 0.000 description 5
- 230000005611 electricity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of fully automatic bolt assembly manipulator, workbench, assembly kit, bolt tote-box, still camera and bolt assembling devices；The assembly kit, the bolt tote-box, the still camera and the bolt assembling device are respectively fixedly disposed on the workbench；The assembly kit includes the Hexagonal jacket of tool babinet and various models, the bolt tote-box includes the hex bolts of part babinet and various models, through-hole corresponding with the hex bolts of various models is provided on the part babinet, the hex bolts of various models is respectively placed in corresponding through-hole；The bolt assembling device includes pedestal, joint motor, holder, large arm, forearm and assembly hand, the holder is fixedly installed on the pedestal, the holder is equipped with large arm by the joint motor, the forearm is equipped with by joint motor in the large arm, assembly hand is equipped with by the joint motor on the forearm.
Description
Technical field
The present invention relates to assembly manipulator field, more particularly to a kind of fully automatic bolt assembly manipulator.
Background technology
At present on industry assembling line, the assembly of bolt is a troublesome job.Numerous domestic and foreign scholars are for such as
What is accomplished manually bolted this tedious work of assembly using machine tool replacement and expands further investigation.But current institute
Some Automated assembly screw devices are still not carried out for different model bolt and replace corresponding spanner automatically, are substantially all
It is manually in advance to install a certain model spanner, and then work, when needing to assemble another model bolt, then by manually more
Change spanner.Furthermore it is exactly that can much realize that the mechanical structure of bolts assemblies function is too big, can not makes in certain restricted clearance
With.
Invention content
The present invention provides a kind of fully automatic bolt assembly manipulator, can be to solve the problems mentioned in the above background technology.
It is workbench, assembly kit, bolt tote-box, quiet the present invention provides a kind of fully automatic bolt assembly manipulator
State video camera and bolt assembling device；
The assembly kit, the bolt tote-box, the still camera and the bolt assembling device are solid respectively
It is fixed to be arranged on the workbench；
The assembly kit includes tool babinet, and the Hexagonal jacket of various models is provided on the tool babinet,
The bolt tote-box includes the hex bolts of part babinet and various models, be provided on the part babinet with
The corresponding through-hole of the hex bolts of various models, the hex bolts of various models are respectively placed in corresponding through-hole
It is interior；
The bolt assembling device includes pedestal, joint motor, holder, large arm, forearm and assembles hand, on the pedestal
It is fixedly installed the holder, the holder is equipped with the large arm by the joint motor, passes through in the large arm described
Joint motor is equipped with the forearm, and the assembly hand is equipped with by the joint motor on the forearm.
Preferably, the hexagonal that the Hexagonal jacket is equipped with square hole and matches with the hex bolts of various models
Slot.
Preferably, the square hole is square through hole, the depth of the square hole and the equal length of fitting joint.
Preferably, the assembly hand includes fitting joint, driving motor and hand supports, it is fixed in the hand supports
The output end of the driving motor, the driving motor installs the fitting joint, and the hexagonal is installed in the fitting joint
Sleeve.
Preferably, the fitting joint includes hex bolts fastening electromagnet, Hexagonal jacket fastening electromagnet, axle sleeve, peace
Hole and inserting column are filled, the mounting hole is set on axle sleeve, the inserting column is matched with the square hole, the mounting hole and the driving
Motor output end connects, and the hex bolts fastening electromagnet is arranged in the bottom of inserting column, and the Hexagonal jacket fastens electromagnet
It is arranged on the side wall of inserting column.
A kind of fully automatic bolt assembly manipulator provided by the invention, the designed small and exquisite practicality of hand structure avoid multiple
Miscellaneous mechanical structure realizes the automatic replacement of hexagonal socket wrench using the power on/off of electromagnet, while the crawl of bolt avoids
Complicated mechanical structure also uses the power on/off of electromagnet to realize the crawl of bolt；Using dynamic camera SERVO CONTROL, profit
Size and then corresponding socket wrench is replaced automatically, capture the bolt of correspondingly-sized into luggage with vision removal search hole position, identification
Match, entire framework uses multiple degrees of freedom serial manipulator, and the bolts assemblies of any position on workpiece may be implemented；And work sky
Between it is big, practicability is wide, this be also will hand structure simplify and tinyization after advantage where.
Description of the drawings
Fig. 1 is a kind of fully automatic bolt assembly manipulator structural schematic diagram provided by the invention；
Fig. 2 is a kind of assembly kit structural schematic diagram of fully automatic bolt assembly manipulator provided by the invention；
Fig. 3 is a kind of Hexagonal jacket structural schematic diagram of fully automatic bolt assembly manipulator provided by the invention；
Fig. 4 is a kind of bolt tote-box structural schematic diagram of fully automatic bolt assembly manipulator provided by the invention；
Fig. 5 is a kind of bolt assembling device structural schematic diagram of fully automatic bolt assembly manipulator provided by the invention；
Fig. 6 is a kind of assembly hand structure schematic diagram of fully automatic bolt assembly manipulator provided by the invention；
Fig. 7 is a kind of fitting joint structural schematic diagram of fully automatic bolt assembly manipulator provided by the invention.
Reference sign：1- workbench；2- assembly kits；201- tool babinets；202- Hexagonal jackets；2021- six
Chamfered groove hole；2022- square holes；3- bolt tote-boxes；301- part babinets；302- hex bolts；4- still cameras；5- bolts fill
With device；501- pedestals, 502- joint motors, 503- holders, 504- large arm, 505- forearms；506- assembles hand；5062- is filled
Connector；50621- hex bolts fastens electromagnet；50622- Hexagonal jackets fasten electromagnet；50623- axle sleeves；50624 installations
Hole；5063- driving motors；5064- hand supports.
Specific implementation mode
Below in conjunction with the accompanying drawings, the specific embodiment of the present invention is described in detail, it is to be understood that of the invention
Protection domain be not restricted by specific implementation.
As shown in Figures 1 to 7, a kind of fully automatic bolt assembly manipulator provided in an embodiment of the present invention, workbench 1, dress
With tool box 2, bolt tote-box 3, still camera 4 and bolt assembling device 5；
The assembly kit 2, the bolt tote-box 3, the still camera 4 divide with the bolt assembling device 5
It is not fixed on the workbench 1；
The assembly kit 2 includes tool babinet 201, and the hexagonal of various models is provided on the tool babinet 201
Sleeve 202,
The bolt tote-box 3 includes the hex bolts 302 of part babinet 301 and various models, the part babinet 301
On be provided with through-hole corresponding with the hex bolts 302 of various models, the hex bolts 302 of various models is distinguished
It is positioned in corresponding through-hole；
The bolt assembling device 5 includes pedestal 501, joint motor 502, holder 503, large arm 504, forearm 505 and dress
With hand 506, the holder 503 is fixedly installed on the pedestal 501, the holder 503 is pacified by the joint motor 502
Equipped with the large arm 504, the forearm 505, the forearm 505 are equipped with by the joint motor 502 in the large arm 504
It is upper that the assembly hand 506 is equipped with by the joint motor 502.
The Hexagonal jacket 202 is equipped with square hole 2022 and matches with the hex bolts 302 of various models
Hexagonal slot 2021.
The square hole 2022 is square through hole, the equal length of the depth and fitting joint 5062 of the square hole.
The assembly hand 506 includes fitting joint 5062, driving motor 5063 and hand supports 5064, the hand branch
The driving motor 5063 is fixed on frame 5064, the output end of the driving motor 5063 installs the fitting joint 5062, institute
It states and the Hexagonal jacket 202 is installed in fitting joint 5062.
The fitting joint 5062 fastens electromagnet 50621 including hex bolts, Hexagonal jacket fastens electromagnet 50622,
The mounting hole 50624, the inserting column and the square hole are arranged on axle sleeve 50623 for axle sleeve 50623, mounting hole 50624 and inserting column
2022 match, and the mounting hole 50624 is connect with 5063 output end of the driving motor, and the hex bolts fastens electromagnet
50621 are arranged in the bottom of inserting column, and the Hexagonal jacket fastening electromagnet 50622 is arranged on the side wall of inserting column.
Operation principle：When carrying out bolts assemblies operation, threaded hole to be assembled on workpiece is identified by still camera 4 first
Position, distinguish each threaded hole size, control bolt assembling device 5；Bolt assembling device 5 receives Visual servoing control information
Later, each joint motor 502 drives pedestal 501, joint motor 502, holder 503, large arm 504, forearm 505 and assembly hand
The fitting joint 5062 of 506 cooperating operations, driving assembly hand 506 is moved to the hexagonal of respective model position in assembly kit 2
On sleeve 202；Then so that fitting joint 5062 is matched with the square hole 2022 of Hexagonal jacket 202, and be located at fitting joint
Hexagonal jacket 202 on 5062 fastens electromagnet 50622 and is powered, and a certain model Hexagonal jacket 202 is fixed on fitting joint
On 5062；And then the driving assembly hand 506 of bolt assembling device 5 is moved to the hex bolts 302 that bolt tote-box 3 corresponds to model
The hexagonal slot 2021 of position, Hexagonal jacket 202 is just stuck on hex bolts 302, while 302 top surface of hex bolts and assembly
Hex bolts fastening electromagnet 50621 on 5062 lower surface of connector matches, while hex bolts fastening electromagnet 50621 is logical
Electricity, by 302 clamping of hex bolts of corresponding model；Finally, bolt assembling device 5 will be fastened with Hexagonal jacket 202 and hexagonal
The assembly hand 506 of bolt 302 is moved to assembly parts corresponding aperture position, is assembled, after the completion of the bolts assemblies, hex bolts
It fastens electromagnet 50621 to power off, the driving assembly hand 506 of bolt assembling device 5 removes hole position, continues in bolt tote-box 3
In take same model bolt and repeat above-mentioned assembling process；After the completion of the model bolt all assembly, bolt assembling device 5 drives
Assembly hand 506 is moved on the model Hexagonal jacket origin-location of assembly kit 2, while in fitting joint 5062
Hexagonal jacket fastens electromagnet 50622 and powers off, which is put back to original position；Then bolt assembling device 5 drives
Assembly hand 506 is moved at another 202 position of model Hexagonal jacket, replaces the Hexagonal jacket 202 of respective model, is repeated above-mentioned
All angles, the full-automatic assembly of the hex bolts 302 of various models are realized in operation.The fully automatic bolt make-up machinery
Hand, the designed small and exquisite practicality of hand structure avoid complicated mechanical structure, and Hexagonal jacket is realized using the power on/off of electromagnet
202 automatic replacement, while the crawl of bolt avoids complicated mechanical structure, and the power on/off of electromagnet is also used to realize bolt
Crawl；Using still camera 4, using vision removal search hole position, recognizes size and then replace corresponding casing automatically and pull
Hand, the bolt for capturing correspondingly-sized are assembled, and the bolts assemblies of any position on workpiece may be implemented；And working space
Greatly, practicability is wide, this is also to simplify hand structure and the advantage place after tinyization.
Disclosed above is only specific embodiments of the present invention, and still, the embodiment of the present invention is not limited to this, Ren Heben
What the technical staff in field can think variation should all fall into protection scope of the present invention.
Claims (5)
1. a kind of fully automatic bolt assembly manipulator, it is characterised in that：Workbench (1), assembly kit (2), bolt tote-box
(3), still camera (4) and bolt assembling device (5)；
The assembly kit (2), the bolt tote-box (3), the still camera (4) and the bolt assembling device
(5) it is respectively fixedly disposed on the workbench (1)；
The assembly kit (2) includes tool babinet (201), and the six of various models are provided on the tool babinet (201)
Angle sleeve (202),
The bolt tote-box (3) includes part babinet (301) and the hex bolts (302) of various models, the part babinet
(301) through-hole corresponding with the hex bolts (302) of various models, the hex bolts of various models are provided on
(302) it is respectively placed in corresponding through-hole；
The bolt assembling device (5) includes pedestal (501), joint motor (502), holder (503), large arm (504), forearm
(505) and hand (506) is assembled, is fixedly installed the holder (503) on the pedestal (501), the holder (503) passes through
The joint motor (502) is equipped with the large arm (504), is installed by the joint motor (502) on the large arm (504)
There is a forearm (505), the assembly hand (506) is equipped with by the joint motor (502) on the forearm (505).
2. a kind of fully automatic bolt assembly manipulator as described in claim 1, which is characterized in that the Hexagonal jacket (202)
The hexagonal slot (2021) for being equipped with square hole (2022) and matching with the hex bolts (302) of various models.
3. a kind of fully automatic bolt assembly manipulator as claimed in claim 2, which is characterized in that the square hole (2022) is side
Shape through-hole, the equal length of the depth and fitting joint (5062) of the square hole.
4. a kind of fully automatic bolt assembly manipulator as described in claim 1, which is characterized in that the assembly hand (506)
Including fitting joint (5062), driving motor (5063) and hand supports (5064), institute is fixed on the hand supports (5064)
Driving motor (5063) is stated, the output end of the driving motor (5063) installs the fitting joint (5062), and the assembly connects
The Hexagonal jacket (202) is installed on head (5062).
5. a kind of fully automatic bolt assembly manipulator as claimed in claim 4, which is characterized in that the fitting joint (5062)
Including hex bolts fastening electromagnet (50621), Hexagonal jacket fastening electromagnet (50622), axle sleeve (50623), mounting hole
(50624) and inserting column the mounting hole (50624), is set on axle sleeve (50623), and the inserting column matches with the square hole (2022)
It closes, the mounting hole (50624) connect with the driving motor (5063) output end, and the hex bolts fastens electromagnet
(50621) it is arranged in the bottom of inserting column, the Hexagonal jacket fastening electromagnet (50622) is arranged on the side wall of inserting column.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810693258.2A CN108526870A (en) | 2018-06-29 | 2018-06-29 | A kind of fully automatic bolt assembly manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810693258.2A CN108526870A (en) | 2018-06-29 | 2018-06-29 | A kind of fully automatic bolt assembly manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108526870A true CN108526870A (en) | 2018-09-14 |
Family
ID=63487255
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810693258.2A Pending CN108526870A (en) | 2018-06-29 | 2018-06-29 | A kind of fully automatic bolt assembly manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108526870A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109128966A (en) * | 2018-10-11 | 2019-01-04 | 上海轩田工业设备有限公司 | A kind of equipment that swing-plate type is used for accurate module automatic assembling band correction |
| CN109128748A (en) * | 2018-10-11 | 2019-01-04 | 上海轩田工业设备有限公司 | A kind of precision module automatic assembling band correcting apparatus |
| CN109531117A (en) * | 2018-10-12 | 2019-03-29 | 盐城工学院 | A kind of automobile six-joint robot visual grasping device |
| CN109648314A (en) * | 2018-12-07 | 2019-04-19 | 中国电子科技集团公司第三十八研究所 | The intelligent material sorting of Multi-channel microwave component and assembly system and application method |
| CN109986349A (en) * | 2019-05-15 | 2019-07-09 | 凌龙智能(深圳)科技有限公司 | Automatic screw fixing machine |
| CN111331352A (en) * | 2020-05-19 | 2020-06-26 | 广东电网有限责任公司东莞供电局 | Manipulator assembly |
| CN111805218A (en) * | 2020-07-23 | 2020-10-23 | 东阳市俊华电器销售有限公司 | Full-automatic hardware assembly machine |
| WO2021062615A1 (en) * | 2019-09-30 | 2021-04-08 | 上海成业智能科技股份有限公司 | Method and device for mounting and dismounting container lock pin, apparatus, and storage medium |
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| CN102909548A (en) * | 2012-10-13 | 2013-02-06 | 桂林电子科技大学 | Automatic screw locking method and device |
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| CN104416344A (en) * | 2013-08-29 | 2015-03-18 | 通用汽车环球科技运作有限责任公司 | Force-control enabled automation of tube-nut assembly applications |
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| CN106914746A (en) * | 2017-03-10 | 2017-07-04 | 重庆大学 | High reliability nut runner system |
| CN107303639A (en) * | 2016-04-21 | 2017-10-31 | 发那科株式会社 | Robot fastener for bolt and bolt screwing machine device people's system |
| CN107350792A (en) * | 2017-09-20 | 2017-11-17 | 四川长虹智能制造技术有限公司 | A kind of Full-automatic screw locking machine of easily switched suction |
| CN207171460U (en) * | 2017-09-29 | 2018-04-03 | 延锋海纳川汽车饰件系统有限公司 | Automatically screw vision correcting system is beaten |
-
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2003225837A (en) * | 2002-01-31 | 2003-08-12 | Nitto Seiko Co Ltd | Automatic screwing equipment |
| CN102909548A (en) * | 2012-10-13 | 2013-02-06 | 桂林电子科技大学 | Automatic screw locking method and device |
| CN104416344A (en) * | 2013-08-29 | 2015-03-18 | 通用汽车环球科技运作有限责任公司 | Force-control enabled automation of tube-nut assembly applications |
| CN103962833A (en) * | 2014-04-28 | 2014-08-06 | 上海大学 | High-precision positioning automatic screwing system |
| CN107303639A (en) * | 2016-04-21 | 2017-10-31 | 发那科株式会社 | Robot fastener for bolt and bolt screwing machine device people's system |
| CN205817246U (en) * | 2016-04-27 | 2016-12-21 | 深圳市连硕机器人职业培训中心 | A kind of automatic screw mounting work station |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109128966A (en) * | 2018-10-11 | 2019-01-04 | 上海轩田工业设备有限公司 | A kind of equipment that swing-plate type is used for accurate module automatic assembling band correction |
| CN109128748A (en) * | 2018-10-11 | 2019-01-04 | 上海轩田工业设备有限公司 | A kind of precision module automatic assembling band correcting apparatus |
| CN109531117A (en) * | 2018-10-12 | 2019-03-29 | 盐城工学院 | A kind of automobile six-joint robot visual grasping device |
| CN109648314A (en) * | 2018-12-07 | 2019-04-19 | 中国电子科技集团公司第三十八研究所 | The intelligent material sorting of Multi-channel microwave component and assembly system and application method |
| CN109986349A (en) * | 2019-05-15 | 2019-07-09 | 凌龙智能(深圳)科技有限公司 | Automatic screw fixing machine |
| WO2021062615A1 (en) * | 2019-09-30 | 2021-04-08 | 上海成业智能科技股份有限公司 | Method and device for mounting and dismounting container lock pin, apparatus, and storage medium |
| CN114222707A (en) * | 2019-09-30 | 2022-03-22 | 上海成业智能科技股份有限公司 | Container lock pin assembling and disassembling method, device, equipment and storage medium |
| CN111331352A (en) * | 2020-05-19 | 2020-06-26 | 广东电网有限责任公司东莞供电局 | Manipulator assembly |
| CN111331352B (en) * | 2020-05-19 | 2020-08-25 | 广东电网有限责任公司东莞供电局 | Manipulator assembly |
| CN111805218A (en) * | 2020-07-23 | 2020-10-23 | 东阳市俊华电器销售有限公司 | Full-automatic hardware assembly machine |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180914 |
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| RJ01 | Rejection of invention patent application after publication |