CN108544219A - A kind of packaged type the turn of the screw robot - Google Patents
A kind of packaged type the turn of the screw robot Download PDFInfo
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- CN108544219A CN108544219A CN201810416890.2A CN201810416890A CN108544219A CN 108544219 A CN108544219 A CN 108544219A CN 201810416890 A CN201810416890 A CN 201810416890A CN 108544219 A CN108544219 A CN 108544219A
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- screw
- plate
- turn
- hydraulic cylinder
- storage box
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
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- Mechanical Engineering (AREA)
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Abstract
A kind of packaged type the turn of the screw robot, including pedestal, the turn of the screw part, hex(agonal)screw case, four running gears, it is characterised in that：Four first circular holes at four angles of the turn of the screw part backplane of the turn of the screw part are slidably mounted on respectively on four optical axises；Two dovetail grooves on the hex(agonal)screw storage box plate of the hex(agonal)screw case are slidably mounted on respectively above two sliding rails of pedestal, and the second gear is intermeshed with rack；The rear end of the cylinder block of 5th hydraulic cylinder of the running gear is fixedly connected with the 5th hydraulic cylinder fixed plate；First gear rotation is driven by the second stepper motor, and then spool gear rotation is driven to drive the rotation of hex(agonal)screw spanner, while second hydraulic cylinder elongation makes screw be screwed to suitable position, and robot is made to realize the function of automatic screw-driving.
Description
Technical field
The present invention relates to a kind of robots, particularly disclose a kind of packaged type the turn of the screw robot, belong to industry assembling
Robotic technology field.
Background technology
It works for toward the turn of the screw on machine, artificial twist will appear overexertion, and stubborn is excessively tight, influences machine work
Make, some screws cause mechanical disorder because of stubborn pine again, therefore being badly in need of one kind can oneself control the turn of the screw tightness
Robot.
Invention content
In view of the above-mentioned problems, the present invention provides a kind of packaged type the turn of the screw robot, the present invention is walked by four
Partial steering engine adjusts the direction of travel of robot, so that robot is realized by driving wheel by the 4th stepper motor
Freely walk；The turn of the screw part is driven to move up by two the first stepper motors drive two leading screws, while six
First hydraulic cylinder work drives the turn of the screw sleeve to reach the position for needing the turn of the screw；First gear is driven by the second stepper motor
Rotation, and then spool gear rotation is driven to drive the rotation of hex(agonal)screw spanner, while second hydraulic cylinder elongation makes screw be screwed to properly
Position, make robot realize automatic screw-driving function.
Technical solution used in the present invention is：A kind of packaged type the turn of the screw robot, including pedestal, the turn of the screw portion
Divide, hex(agonal)screw case, four running gears, it is characterised in that：The turn of the screw part backplane four of the turn of the screw part
Four first circular holes at a angle are slidably mounted on respectively on four optical axises；The hex(agonal)screw of the hex(agonal)screw case is stored
Two dovetail grooves on box plate are slidably mounted on respectively above two sliding rails of pedestal, and the second gear and rack are mutual
Engagement；The rear end of the cylinder block of 5th hydraulic cylinder of the running gear is fixedly connected with the 5th hydraulic cylinder fixed plate；
The pedestal includes bottom plate, two elevating mechanism supporting racks, two elevating mechanism fixed plates, two the first stepping electricity
Machine, four optical axises, two leading screws, the bottom plate are a rectangle planks, are set in the above there are one rectangular recess,
Position is in intermediate forward position；Set in substrate there are two being parallel to the sliding rail of base plate long side, position in the soleplate between
Rearward position；It is set there are two the rack for being parallel to base plate long side in substrate, position is on the outside of two sliding rails；In bottom plate
The left and right sides is respectively provided with two the 5th hydraulic cylinder fixed plates；The elevating mechanism supporting rack bottom surface is fixedly mounted on bottom plate
Face, position is at left and right sides of rectangular recess；Two elevating mechanism fixed plates are mounted in rectangular recess, two
It is fixedly connected respectively on the inside of two elevating mechanism supporting racks on the outside of elevating mechanism fixed plate；Four optical axises rotate respectively
On the inside of two elevating mechanism fixed plates, leading screw is installed in two optical axis central rotationals；In elevating mechanism fixed plate
The support plate in face is equipped with the first stepper motor fixed plate, and first stepper motor places straight down, side and the
One stepper motor fixed plate is fixedly connected, and motor shaft is fixedly connected with leading screw upper surface；
The turn of the screw part includes the turn of the screw part backplane, six first hydraulic cylinders, the second parallel institution bottom plate, the second liquid
Cylinder pressure, the turn of the screw sleeve barrel fixed seat, the turn of the screw sleeve, the second stepper motor fixed seat, the second stepper motor, first gear, length
Gear, hex(agonal)screw spanner, the turn of the screw part backplane are a rectangle planks, are respectively provided at four angles in the above
One the first circular hole, the centre position at left and right sides of the turn of the screw part backplane are respectively provided with second circular hole；Described four
First circular hole is slidably mounted on optical axis, and feed screw nut is equipped in the second circular hole, and the feed screw nut mutually nibbles with leading screw
It closes；Centre position is equipped with the first parallel institution bottom plate on the turn of the screw part backplane, and described six first hydraulic cylinders are two-by-two
One group, the cylinder base of each first hydraulic cylinder is hingedly mounted on the upside of the first parallel institution bottom plate, the piston of first hydraulic cylinder
Boom end is hingedly mounted on the second parallel institution baseplate underside；The cylinder body bottom of two first hydraulic cylinders in every group of first hydraulic cylinder
Portion is close together, and piston rod end is separated, the axis of two first hydraulic cylinders and V-shaped distribution；In the second parallel institution bottom plate
Set the support column there are three circumferentially array above, above support column be fixedly connected below the turn of the screw sleeve barrel fixed seat, twisting
Screw socket fixed seat centre position is equipped with circular hole, and the second hydraulic cylinder rear end of the cylinder block is fixedly mounted on the second parallel institution
Substrate, piston rod end passes through to be fixedly connected below circular hole and spool gear above the turn of the screw sleeve barrel fixed seat, is being twisted
Screw socket fixed seat side is equipped with the second stepper motor fixed seat, and second stepper motor is placed straight up, bottom
Face is fixedly mounted on above the second stepper motor fixed seat, and motor shaft is fixedly connected with first gear, the first gear
It is intermeshed with spool gear；It is fixedly mounted on above the turn of the screw sleeve barrel fixed seat below the turn of the screw sleeve, the length
Gear is mounted in the turn of the screw sleeve, and the hex(agonal)screw spanner is fixedly mounted on above spool gear, and position is in hexagonal spiral shell
Inside silk spanner；
The hex(agonal)screw case include hex(agonal)screw storage box plate, two third stepper motors, two second gears,
Two screw storage box support plates, screw storage box, two third hydraulic cylinder top plates, two third hydraulic cylinders, two screws push away
Movable plate connecting plate, screw pushing plate, the 4th hydraulic cylinder, the 4th hydraulic cylinder top plate, screw barrier plate, hex(agonal)screw storage
Box plate is a rectangle plank, is set in its lower section there are two the dovetail groove for being parallel to hex(agonal)screw storage box plate broadside,
Two dovetail grooves are slidably mounted on sliding rail；It is fixedly mounted on hexagonal below two screw storage box support plates
On screw storage box plate, groove is equipped in screw storage box support plate, described two third stepper motors distinguish motor
Axis being fixedly mounted in the groove of two screw storage box support plates outwardly, motor shaft is fixedly connected with second gear, institute
The second gear stated is intermeshed with rack；It is fixedly mounted below the screw storage box in screw storage box support plate
Face is set there are two groove before screw storage box, before the screw pushing plate connecting plate is slidably mounted on screw storage box
In the groove in face, the rear end of the cylinder block of two third hydraulic cylinders is fixedly mounted on before screw storage box, and position is in screw storage
The inside of groove before box is fixedly connected behind the piston rod end of third hydraulic cylinder and third hydraulic cylinder top plate；Described
Screw pushing plate connecting plate front end face is fixedly mounted on behind third hydraulic cylinder top plate；Fixed peace before the screw pushing plate
Behind screw pushing plate connecting plate, position is inside screw storage box；A circular hole is arranged below in screw storage box,
Its position goes out thread part in screw storage box；A rectangular recess is arranged below in screw storage box, position is in circular hole
Front；The screw barrier plate is slidably mounted in the rectangular recess of screw storage box；4th hydraulic cylinder body
Rear end is fixedly mounted on screw storage box in the following, being fixedly connected above its piston rod end and the 4th hydraulic cylinder top plate；Described
Above 4th hydraulic cylinder top plate be fixedly connected below screw barrier plate；
The running gear include the 5th hydraulic cylinder, running gear bottom plate, the 5th hydraulic cylinder top plate, steering engine, wheel fixed frame,
Wheel connecting shaft, wheel, the 4th stepper motor fixed plate, the 4th stepper motor, the 5th hydraulic cylinder body rear end are fixed
In the 5th hydraulic cylinder fixed plate, piston rod end is fixedly connected with the 5th hydraulic cylinder top plate side；The walking
Part backplane left side is fixedly connected with the 5th hydraulic cylinder top plate right side, and steering engine fixed seat is arranged below in walking part backplane,
The steering engine is placed straight down, and bottom surface is fixedly mounted in steering engine fixed seat, above motor shaft and wheel fixed frame
It is fixedly connected；The 4th stepper motor fixed plate is fixedly mounted on the right side of wheel fixed frame, the 4th stepper motor
Horizontal positioned, side is fixedly mounted on the 4th stepper motor fixed plate in the following, its motor shaft passes through shaft coupling with wheel connecting shaft
Device is fixedly connected；The wheel connecting shaft is rotatably installed in the circular hole of wheel fixed frame, and the wheel is fixedly mounted on
In wheel connecting shaft, position is inside wheel fixed frame.
Beneficial effects of the present invention：The present invention adjusts the direction of travel of robot by the steering engine of four running gears,
Robot is set to realize free walking by driving wheel by the 4th stepper motor；It is driven by two the first stepper motors
Two leading screws drive the turn of the screw part to move up in turn, while six first hydraulic cylinders work drive the arrival of the turn of the screw sleeves need to
Want the position of the turn of the screw；First gear rotation is driven by the second stepper motor, and then spool gear rotation is driven to drive hexagonal spiral shell
Silk spanner rotation, while second hydraulic cylinder elongation makes screw be screwed to suitable position, and robot is made to realize the work(of automatic screw-driving
Energy.
Description of the drawings
Fig. 1, Fig. 2, Fig. 3 are the overall structure diagram of the present invention.
Fig. 4, Fig. 5 are the structural schematic diagram of the pedestal of the present invention.
Fig. 6, Fig. 7 are the structural schematic diagram of the turn of the screw part of the present invention.
Fig. 8, Fig. 9 are the structural schematic diagram of the hex(agonal)screw case of the present invention.
Figure 10 is the structural schematic diagram of the running gear of the present invention.
Drawing reference numeral：1- pedestals, 2- the turn of the screws part, 3- hex(agonal)screws case, 4- running gears, 101- bottom plates,
The 5th hydraulic cylinder fixed plates of 102-, 103- racks, 104- sliding rails, 105- elevating mechanisms supporting rack, 106- elevating mechanisms fixed plate,
The first stepper motors of 107- fixed plate, the first stepper motors of 108-, 109- optical axises, 110- leading screws, 201- the turn of the screws part backplane,
The first parallel institutions of 202- bottom plate, the first circular holes of 203-, the second circular holes of 204-, 205- first hydraulic cylinders, the second parallel machines of 206-
Structure bottom plate, 207- support columns, 208- second hydraulic cylinders, 209- the turn of the screws sleeve barrel fixed seat, 210- the turn of the screws sleeve, 211- second
Stepper motor fixed seat, the second stepper motors of 212-, 213- first gears, 214- spool gears, 215- hex(agonal)screws spanner, 301-
Hex(agonal)screw stores box plate, 302- dovetail grooves, 303- thirds stepper motor, 304- second gears, 305- screw storage box branch
Fagging, 306- screw storages box, 307- third hydraulic cylinders top plate, 308- thirds hydraulic cylinder, 309- screw pushing plates connecting plate,
310- screws pushing plate, the 4th hydraulic cylinders of 311-, the 4th hydraulic cylinder top plates of 312-, 313- screws barrier plate, the 5th hydraulic pressure of 401-
Cylinder, 402- running gears bottom plate, the 5th hydraulic cylinder top plates of 403-, 404- steering engines fixed seat, 405- steering engines, 406- wheels are fixed
Frame, 407- wheels connecting shaft, 408- wheels, the 4th stepper motor fixed plates of 409-, the 4th stepper motors of 410-.
Specific implementation mode
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 packaged type twists spiral shell
Silk robot, including 3, four pedestal 1, the turn of the screw part 2, hex(agonal)screw case running gears 4, it is characterised in that：It is described
Four first circular holes 203 at 201 4 angles of the turn of the screw part backplane of the turn of the screw part 2 be slidably mounted on four optical axises respectively
On 109；Two dovetail grooves 302 on the hex(agonal)screw storage box plate 301 of the hex(agonal)screw case 3 slide peace respectively
Above two sliding rails 104 of pedestal 1, the second gear 304 is intermeshed with rack 103；The running gear 4
The rear end of the cylinder block of the 5th hydraulic cylinder 401 be fixedly connected with the 5th hydraulic cylinder fixed plate 102；
The pedestal 1 includes the elevating mechanism supporting rack 105, two of bottom plate 101, two elevating mechanism fixed plate 106, two the
One 109, two, the optical axis leading screw 110 of stepper motor 108, four, the bottom plate 101 is a rectangle plank, in the above
If there are one rectangular recess, position is in intermediate forward position；It is parallel to bottom plate 101 there are two being set on bottom plate 101
The sliding rail 104 of long side, position is in 101 intermediate rearward position of bottom plate；It is parallel to bottom plate there are two being set on bottom plate 101
The rack 103 of 101 long sides, position is in two 104 outsides of sliding rail；It is respectively provided with two the 5th hydraulic pressure in 101 left and right sides of bottom plate
Cylinder fixed plate 102；105 bottom surface of elevating mechanism supporting rack is fixedly mounted on above bottom plate 101, and position is recessed in rectangle
At left and right sides of slot；Two elevating mechanism fixed plates 106 are mounted in rectangular recess, two elevating mechanism fixed plates
106 outsides are fixedly connected with two 105 insides of elevating mechanism supporting rack respectively；Four optical axises 109 are rotatablely installed respectively
Two 106 insides of elevating mechanism fixed plate, leading screw 110 is installed in two 109 central rotationals of optical axis；It is fixed in elevating mechanism
Support plate above plate 106 is equipped with the first stepper motor fixed plate 107, and first stepper motor 108 is put straight down
It sets, side is fixedly connected with the first stepper motor fixed plate 107, and motor shaft is fixedly connected with 110 upper surface of leading screw；
The turn of the screw part 2 includes 201, six first hydraulic cylinders 205 of the turn of the screw part backplane, the second parallel institution bottom plate
206, second hydraulic cylinder 208, the turn of the screw sleeve barrel fixed seat 209, the turn of the screw sleeve 210, the second stepper motor fixed seat 211,
Two stepping motor 212, first gear 213, spool gear 214, hex(agonal)screw spanner 215, the turn of the screw part backplane 201 are
One rectangle plank is respectively provided with first circular hole 203, in the turn of the screw part backplane 201 or so in the above at four angles
The centre position of both sides is respectively provided with second circular hole 204；Four first circular holes 203 are slidably mounted on optical axis 109,
Feed screw nut is equipped in the second circular hole 204, the feed screw nut is intermeshed with leading screw 110；In the turn of the screw part backplane
201 above centre positions be equipped with the first parallel institution bottom plate 202, described six first hydraulic cylinders 205 in pairs, Mei Ge
The cylinder base of one hydraulic cylinder 205 is hingedly mounted on 202 upside of the first parallel institution bottom plate, the piston rod of first hydraulic cylinder 205
End is hingedly mounted on 206 downside of the second parallel institution bottom plate；Two first hydraulic cylinders 205 in every group of first hydraulic cylinder 205
Cylinder base be close together, piston rod end is separated, the axis of two first hydraulic cylinders 205 and V-shaped distribution；Simultaneously second
Connection organization soleplate 206 is set above there are three the support column 207 of circumferentially array, and support column 207 is fixed with the turn of the screw sleeve above
Seat 209 is fixedly connected below, and circular hole, 208 cylinder of second hydraulic cylinder are equipped in 209 centre position of the turn of the screw sleeve barrel fixed seat
Body rear end is fixedly mounted on above the second parallel institution bottom plate 206, and piston rod end passes through on the turn of the screw sleeve barrel fixed seat 209
The circular hole in face is fixedly connected below with spool gear 214, is fixed equipped with the second stepper motor in 209 side of the turn of the screw sleeve barrel fixed seat
Seat 211, second stepper motor 212 is placed straight up, and bottom surface is fixedly mounted on the second stepper motor fixed seat 211
Above, motor shaft is fixedly connected with first gear 213, and the first gear 213 is intermeshed with spool gear 214；It is described
The turn of the screw sleeve 210 below be fixedly mounted on above the turn of the screw sleeve barrel fixed seat 209, the spool gear 214 be mounted on twist
In screw socket 210, the hex(agonal)screw spanner 215 is fixedly mounted on above spool gear 214, and position is pulled in hex(agonal)screw
215 the inside of hand；
The hex(agonal)screw case 3 includes hex(agonal)screw storage box plate 301, two third stepper motors 303, two the
307, two, 306, two the two screw storage box support plates 305 of gear 304, two, screw storage box third hydraulic cylinder top plates
Three hydraulic cylinder 308, two screw pushing plate connecting plate 309, screw pushing plate 310, the 4th hydraulic cylinder 311, the 4th hydraulic cylinder tops
Plate 312, screw barrier plate 313, it is a rectangle plank that the hex(agonal)screw, which stores box plate 301, is equipped in its lower section
Two dovetail grooves 302 for being parallel to hex(agonal)screw storage 301 broadside of box plate, described two dovetail grooves 302 are slidably mounted on
On sliding rail 104；Two screw storage box support plates 305 are fixedly mounted below on hex(agonal)screw storage box plate 301,
Groove is equipped in screw storage box support plate 305, described two third stepper motors 303 distinguish the fixation of motor shaft outwardly
In the groove of two screw storage box support plates 305, motor shaft is fixedly connected with second gear 304, and described
Two gears 304 are intermeshed with rack 103；The screw storage box 306 is fixedly mounted on screw storage box support plate below
Above 305, set there are two groove in 306 front of screw storage box, the screw pushing plate connecting plate 309 is slidably mounted on spiral shell
In the groove of silk case 306 front, before the rear end of the cylinder block of two third hydraulic cylinders 308 is fixedly mounted on screw storage box 306
Face, position is in the inside of the groove of 306 front of screw storage box, piston rod end and the third hydraulic pressure of third hydraulic cylinder 308
It is fixedly connected behind cylinder top plate 307；309 front end face of screw pushing plate connecting plate is fixedly mounted on third hydraulic cylinder top plate
Behind 307；310 front of screw pushing plate is fixedly mounted on behind screw pushing plate connecting plate 309, and position is in screw
306 the inside of case；A circular hole is arranged below in screw storage box 306, position goes out screw in screw storage box 306
Point；A rectangular recess is arranged below in screw storage box 306, position is before circular hole；The screw barrier plate 313
It is slidably mounted in the rectangular recess of screw storage box 306；4th hydraulic cylinder, 311 rear end of the cylinder block is fixedly mounted on spiral shell
Silk case 306 is in the following, its piston rod end is fixedly connected above with the 4th hydraulic cylinder top plate 312；4th hydraulic cylinder
Top plate 312 is fixedly connected with screw barrier plate 313 below above；
The running gear 4 includes the 5th hydraulic cylinder 401, running gear bottom plate 402, the 5th hydraulic cylinder top plate 403, steering engine
405, wheel fixed frame 406, wheel connecting shaft 407, wheel 408, the 4th stepper motor fixed plate 409, the 4th stepper motor
410,401 rear end of the cylinder block of the 5th hydraulic cylinder is fixedly mounted in the 5th hydraulic cylinder fixed plate 102, piston rod end with
5th hydraulic cylinder top plate, 403 side is fixedly connected；402 left side of running gear bottom plate and the 5th hydraulic cylinder top plate 403
The right side is fixedly connected, and steering engine fixed seat 404 is arranged below in walking part backplane 402, the steering engine 405 is put straight down
It sets, bottom surface is fixedly mounted in steering engine fixed seat 404, and motor shaft is fixedly connected above with wheel fixed frame 406；Described
4th stepper motor fixed plate 409 is fixedly mounted on 406 right side of wheel fixed frame, and 410 level of the 4th stepper motor is put
It sets, side is fixedly mounted on the 4th stepper motor fixed plate 409 in the following, its motor shaft passes through shaft coupling with wheel connecting shaft 407
Device is fixedly connected；The wheel connecting shaft 407 is rotatably installed in the circular hole of wheel fixed frame 406, and the wheel 408 is solid
Dingan County is in wheel connecting shaft 407, and position is in 406 the inside of wheel fixed frame.
Operation principle of the present invention：The present invention adjusts the walking side of robot by the steering engine 405 of four running gears 4
To making robot ambulation to suitable position by driving wheel 408 by the 4th stepper motor 410；Pass through the 5th hydraulic pressure
Cylinder 401 shrinks that running gear 4 is made to move, and running gear 4 is made to adapt to the channel of different in width；To need stubborn screw vertically to
Upper being arranged in screw storage box 306 in array；It is shunk by two third hydraulic cylinders 308 and drives screw pushing plate connecting plate
309 move inwards, and then 310 movement of screw pushing plate is driven to make screw pushing plate 310 that screw be pushed to justify to screw storage box 306
It is moved at hole, is stretched by the 4th hydraulic cylinder 311 and stretched to control screw barrier plate 313, and then control falling for screw, when need
When wanting the turn of the screw, drive two second gears 304 to rotate by two third stepper motors 303, make hex(agonal)screw case 3 to
Preceding movement, when screw storage box 306 is in 2 top of the turn of the screw part, the circular hole of screw storage box 306 is in the turn of the screw portion
When dividing 2 the turn of the screw 210 top of sleeve, is shunk by the 4th hydraulic cylinder 311 and screw barrier plate 313 is driven to move down, simultaneously
Being shunk in two third hydraulic cylinders 308 drives screw pushing plate connecting plate 309 to move inwards, and then drives screw pushing plate 310
It moves inwards, the circular hole that the screw in screw storage box 306 passes through screw storage box 306 is made to fall in the turn of the screw sleeve 210
Face, and then fall in the groove of hex(agonal)screw spanner 215, at this moment second gear is driven by two third stepper motors 303
304 and then hex(agonal)screw case 3 is driven to move backward, at the same two the first stepper motors 108 drive two leading screws 110 into
And the turn of the screw part 2 is driven to move up, while six work of first hydraulic cylinder 205 drive the turn of the screw sleeve 210 to reach needs
The position of the turn of the screw；It drives first gear 213 to rotate by the second stepper motor 212, and then the rotation of spool gear 214 is driven to drive
Hex(agonal)screw spanner 215 and then drive screw rotation, while the elongation of second hydraulic cylinder 208 makes screw be screwed to suitable position.
Claims (2)
1. a kind of packaged type the turn of the screw robot, including pedestal（1）, the turn of the screw part（2）, hex(agonal)screw case（3）, four
A running gear（4）, it is characterised in that：The turn of the screw part（2）The turn of the screw part backplane（201）Four of four angles
First circular hole（203）It is slidably mounted on four optical axises respectively（109）On；The hex(agonal)screw case（3）Hex(agonal)screw
Store box plate（301）On two dovetail grooves（302）It is slidably mounted on pedestal respectively（1）Two sliding rails（104）Above, institute
The second gear stated（304）With rack（103）Intermeshing；The running gear（4）The 5th hydraulic cylinder（401）Cylinder body
Rear end and the 5th hydraulic cylinder fixed plate（102）It is fixedly connected；
The pedestal（1）Including bottom plate（101）, two elevating mechanism supporting racks（105）, two elevating mechanism fixed plates
（106）, two the first stepper motors（108）, four optical axises（109）, two leading screws（110）, the bottom plate（101）It is one
Rectangle plank is set in the above there are one rectangular recess, and position is in intermediate forward position；In bottom plate（101）Above
If there are two be parallel to bottom plate（101）The sliding rail of long side（104）, position is in bottom plate（101）Intermediate rearward position；In bottom plate
（101）It is parallel to bottom plate there are two setting above（101）The rack of long side（103）, position is in two sliding rails（104）Outside；
Bottom plate（101）The left and right sides is respectively provided with two the 5th hydraulic cylinder fixed plates（102）；The elevating mechanism supporting rack（105）Bottom
Face is fixedly mounted on bottom plate（101）Above, position is at left and right sides of rectangular recess；Two elevating mechanism fixed plates
（106）In rectangular recess, two elevating mechanism fixed plates（106）Outside respectively with two elevating mechanism supporting racks
（105）Inside is fixedly connected；Four optical axises（109）It is rotatably installed in two elevating mechanism fixed plates respectively（106）It is interior
Side, in two optical axises（109）Central rotational is equipped with leading screw（110）；In elevating mechanism fixed plate（106）In support plate above
Equipped with the first stepper motor fixed plate（107）, first stepper motor（108）It places straight down, side and first
Stepper motor fixed plate（107）It is fixedly connected, motor shaft and leading screw（110）Upper surface is fixedly connected；
The turn of the screw part（2）Including the turn of the screw part backplane（201）, six first hydraulic cylinders（205）, the second parallel machine
Structure bottom plate（206）, second hydraulic cylinder（208）, the turn of the screw sleeve barrel fixed seat（209）, the turn of the screw sleeve（210）, the second stepping electricity
Machine fixed seat（211）, the second stepper motor（212）, first gear（213）, spool gear（214）, hex(agonal)screw spanner（215）,
The turn of the screw part backplane（201）It is a rectangle plank, is respectively provided with first circular hole at four angles in the above
（203）, in the turn of the screw part backplane（201）The centre position of the left and right sides is respectively provided with second circular hole（204）；Described four
A first circular hole（203）It is slidably mounted on optical axis（109）On, in the second circular hole（204）In be equipped with feed screw nut, the lead screw
Nut and leading screw（110）Intermeshing；In the turn of the screw part backplane（201）Centre position is equipped with the first parallel institution bottom plate above
（202）, six first hydraulic cylinders（205）In pairs, each first hydraulic cylinder（205）Cylinder base hingedly install
In the first parallel institution bottom plate（202）Upside, first hydraulic cylinder（205）Piston rod end be hingedly mounted on the second parallel institution
Bottom plate（206）Downside；Every group of first hydraulic cylinder（205）In two first hydraulic cylinders（205）Cylinder base be close together, it is living
Stopper rod end separates, two first hydraulic cylinders（205）Axis and V-shaped distribution；In the second parallel institution bottom plate（206）Above
If there are three the support columns of circumferentially array（207）, support column（207）Above with the turn of the screw sleeve barrel fixed seat（209）It is solid below
Fixed connection, in the turn of the screw sleeve barrel fixed seat（209）Centre position is equipped with circular hole, the second hydraulic cylinder（208）Rear end of the cylinder block
It is fixedly mounted on the second parallel institution bottom plate（206）Above, piston rod end passes through the turn of the screw sleeve barrel fixed seat（209）Above
Circular hole and spool gear（214）It is fixedly connected below, in the turn of the screw sleeve barrel fixed seat（209）Side is solid equipped with the second stepper motor
Reservation（211）, second stepper motor（212）It places straight up, it is solid that bottom surface is fixedly mounted on the second stepper motor
Reservation（211）Above, motor shaft and first gear（213）It is fixedly connected, the first gear（213）With spool gear
（214）Intermeshing；The turn of the screw sleeve（210）It is fixedly mounted on the turn of the screw sleeve barrel fixed seat below（209）Above, institute
The spool gear stated（214）Mounted on the turn of the screw sleeve（210）In, the hex(agonal)screw spanner（215）It is fixedly mounted on long tooth
Wheel（214）Above, position is in hex(agonal)screw spanner（215）The inside；
The hex(agonal)screw case（3）Box plate is stored including hex(agonal)screw（301）, two third stepper motors（303）、
Two second gears（304）, two screw storage box support plates（305）, screw storage box（306）, two third hydraulic cylinder tops
Plate（307）, two third hydraulic cylinders（308）, two screw pushing plate connecting plates（309）, screw pushing plate（310）, the 4th liquid
Cylinder pressure（311）, the 4th hydraulic cylinder top plate（312）, screw barrier plate（313）, the hex(agonal)screw stores box plate（301）It is
One rectangle plank, set in its lower section there are two be parallel to hex(agonal)screw storage box plate（301）The dovetail groove of broadside
（302）, two dovetail grooves（302）It is slidably mounted on sliding rail（104）On；Two screw storage box support plates
（305）It is fixedly mounted on hex(agonal)screw storage box plate below（301）On, in screw storage box support plate（305）It is equipped with recessed
Slot, described two third stepper motors（303）Respectively motor shaft outwardly be fixedly mounted on two screw storage box support plates
（305）Groove in, motor shaft and second gear（304）It is fixedly connected, the second gear（304）With rack（103）
Intermeshing；The screw storage box（306）It is fixedly mounted on screw storage box support plate below（305）Above, in screw
Case（306）Front is set there are two groove, the screw pushing plate connecting plate（309）It is slidably mounted on screw storage box
（306）In the groove of front, two third hydraulic cylinders（308）Rear end of the cylinder block be fixedly mounted on screw storage box（306）Front,
Its position is in screw storage box（306）The inside of the groove of front, third hydraulic cylinder（308）Piston rod end and third hydraulic pressure
Cylinder top plate（307）It is fixedly connected below；The screw pushing plate connecting plate（309）Front end face is fixedly mounted on third hydraulic cylinder
Top plate（307）Below；The screw pushing plate（310）Front is fixedly mounted on screw pushing plate connecting plate（309）Below,
Position is in screw storage box（306）The inside；In screw storage box（306）A circular hole is arranged below, position is in screw storage
Box（306）Go out thread part；In screw storage box（306）A rectangular recess is arranged below, position is before circular hole；Institute
The screw barrier plate stated（313）It is slidably mounted on screw storage box（306）Rectangular recess in；4th hydraulic cylinder
（311）Rear end of the cylinder block is fixedly mounted on screw storage box（306）In the following, its piston rod end and the 4th hydraulic cylinder top plate（312）
It is fixedly connected above；The 4th hydraulic cylinder top plate（312）Above with screw barrier plate（313）It is fixedly connected below.
2. a kind of packaged type the turn of the screw robot according to claim 1, it is characterised in that：The running gear
（4）Including the 5th hydraulic cylinder（401）, running gear bottom plate（402）, the 5th hydraulic cylinder top plate（403）, steering engine（405）, wheel it is solid
Determine frame（406）, wheel connecting shaft（407）, wheel（408）, the 4th stepper motor fixed plate（409）, the 4th stepper motor
（410）, the 5th hydraulic cylinder（401）Rear end of the cylinder block is fixedly mounted on the 5th hydraulic cylinder fixed plate（102）On, piston rod
End and the 5th hydraulic cylinder top plate（403）Side is fixedly connected；The running gear bottom plate（402）Left side and the 5th hydraulic pressure
Cylinder top plate（403）The right side is fixedly connected, in walking part backplane（402）Steering engine fixed seat is arranged below（404）, the steering engine
（405）It places straight down, bottom surface is fixedly mounted on steering engine fixed seat（404）In, motor shaft and wheel fixed frame（406）
It is fixedly connected above；The 4th stepper motor fixed plate（409）It is fixedly mounted on wheel fixed frame（406）Right side, it is described
The 4th stepper motor（410）Horizontal positioned, side is fixedly mounted on the 4th stepper motor fixed plate（409）In the following, it is electric
Arbor and wheel connecting shaft（407）It is fixedly connected by shaft coupling；The wheel connecting shaft（407）It is solid to be rotatably installed in wheel
Determine frame（406）Circular hole in, the wheel（408）It is fixedly mounted on wheel connecting shaft（407）On, position is fixed in wheel
Frame（406）The inside.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810416890.2A CN108544219A (en) | 2018-05-03 | 2018-05-03 | A kind of packaged type the turn of the screw robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810416890.2A CN108544219A (en) | 2018-05-03 | 2018-05-03 | A kind of packaged type the turn of the screw robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108544219A true CN108544219A (en) | 2018-09-18 |
Family
ID=63513518
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810416890.2A Pending CN108544219A (en) | 2018-05-03 | 2018-05-03 | A kind of packaged type the turn of the screw robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108544219A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108988156A (en) * | 2018-10-16 | 2018-12-11 | 宁波立新科技股份有限公司 | Circulating four frontier defense loosens switchgear |
| CN113550587A (en) * | 2021-09-09 | 2021-10-26 | 中建七局安装工程有限公司 | A operation device for bolt high altitude construction |
| CN114799850A (en) * | 2022-06-29 | 2022-07-29 | 广东科凯达智能机器人有限公司 | Bolt maintenance robot applied to wind power tower cylinder and application method |
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| CN105798600A (en) * | 2016-05-11 | 2016-07-27 | 苏州石丸英合精密机械有限公司 | Screw tightening mechanism of limiting switch body assembling machine |
| CN106625571A (en) * | 2017-03-12 | 2017-05-10 | 周佰利 | Multifunctional nut demounting robot |
| CN106737551A (en) * | 2016-12-30 | 2017-05-31 | 叶强 | A kind of automatic installation bolt robot of automobile chassis |
| CN107962378A (en) * | 2017-12-14 | 2018-04-27 | 李玉茹 | A kind of labour-saving automatic screw-driving device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105798600A (en) * | 2016-05-11 | 2016-07-27 | 苏州石丸英合精密机械有限公司 | Screw tightening mechanism of limiting switch body assembling machine |
| CN106737551A (en) * | 2016-12-30 | 2017-05-31 | 叶强 | A kind of automatic installation bolt robot of automobile chassis |
| CN106625571A (en) * | 2017-03-12 | 2017-05-10 | 周佰利 | Multifunctional nut demounting robot |
| CN107962378A (en) * | 2017-12-14 | 2018-04-27 | 李玉茹 | A kind of labour-saving automatic screw-driving device |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108988156A (en) * | 2018-10-16 | 2018-12-11 | 宁波立新科技股份有限公司 | Circulating four frontier defense loosens switchgear |
| CN108988156B (en) * | 2018-10-16 | 2023-07-04 | 宁波立新科技股份有限公司 | Circulation type four-side looseness-preventing switch cabinet |
| CN113550587A (en) * | 2021-09-09 | 2021-10-26 | 中建七局安装工程有限公司 | A operation device for bolt high altitude construction |
| CN114799850A (en) * | 2022-06-29 | 2022-07-29 | 广东科凯达智能机器人有限公司 | Bolt maintenance robot applied to wind power tower cylinder and application method |
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Application publication date: 20180918 |