CN109249208A - A kind of torque control mechanism of fastener automatic assembling machine people's dynamical system - Google Patents
A kind of torque control mechanism of fastener automatic assembling machine people's dynamical system Download PDFInfo
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- CN109249208A CN109249208A CN201810950058.0A CN201810950058A CN109249208A CN 109249208 A CN109249208 A CN 109249208A CN 201810950058 A CN201810950058 A CN 201810950058A CN 109249208 A CN109249208 A CN 109249208A
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- torque
- hydraulic
- gear
- fastener
- automatic assembling
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Classifications
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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
- B23P19/065—Arrangements for torque limiters or torque indicators in screw or nut setting machines
-
- 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
- B23P19/001—Article feeders for assembling machines
-
- 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
Abstract
The present invention relates to automatic assembling fields, in particular to a kind of removable tool storage room of fastener automatic assembling machine people, including a detection support, one torque detects gear, one hydraulic clutch, two the second hydraulic motors and a moment of torsion control pressure sensor, a vertical receiving gap is provided in the middle part of detection support, accommodate third gear there are two also setting up in gap, two third gears are engaged with torque detection gear, several, which are provided with, at the side center of torque detection gear synchronizes slot, moment of torsion control pressure sensor is arranged in the outside of detection support and connect with the oil inlet pipe of two the second hydraulic motors, a kind of torque control mechanism of fastener automatic assembling machine people's dynamical system of the invention, lead to rotation by what two the second hydraulic motors drove, to detect gear itself torque not for torque When enough, torque compensation is carried out, so that the first hydraulic motor be made there are enough torques to install fastener.
Description
Technical field
The present invention relates to automatic assembling field, in particular to a kind of removable power driven tools of fastener automatic assembling machine people
Library.
Background technique
Automatic technology is widely used in industry, agricultural, military affairs, scientific research, communications and transportation, business, medical treatment, service and family
Front yard etc..It not only can be people from heavy manual labor, part mental labour and severe, dangerous using automatic technology
Working environment in free, and the organ dysfunction of people can be extended, greatly improve labor productivity, enhance human knowledge
The ability in the world and reforming world, the automation of machinery manufacture of early stage be using the mechanically or electrically single plane automation of component or
Simple automatic assembly line.After the 1960s, due to the application of electronic computer, there is numerically-controlled machine tool, in processing
The heart, robot, CAD, computer-aided manufacturing, Automatic Warehouse etc., the at present operation of many workshops
Cheng Zhong, the operation to workpiece upper fastening bolt are mostly man-hour manually hand-held impact gun, and bolt is mounted on the corresponding position of workpiece, and by
It is numerous in the type and specification of bolt, the case where can not find corresponding specification bolt and sleeve can be many times encountered, with automatic
There are many automatic fastenings and puts together machines people in the development of change, when fastening-assembling machine device people carries out operation, due to fastening bolt
Specification is numerous, and required torsion is also not quite similar, it is therefore necessary to which designing one kind can be accurately to the output end of robot
Carry out the mechanism of torque compensation.
Summary of the invention
In view of the above-mentioned deficiencies in the prior art, it is an object of the present invention to provide a kind of fastener automatic assembling machine people's dynamical system
The torque control mechanism of system.
To solve the above problems, the present invention the following technical schemes are provided:
A kind of torque control mechanism of fastener automatic assembling machine people's dynamical system, including a detection support, a torque
It is vertical to detect gear, a hydraulic clutch, two the second hydraulic motors and a moment of torsion control pressure sensor, detection support
It is arranged, a vertical receiving gap is provided in the middle part of detection support, torque detection gear, which is vertically arranged in, to be accommodated in gap,
And what the both ends of torque detection gear can rotate connect with detection support, and hydraulic clutch is fixed at detection support
Side, two the second hydraulic motors are symmetricly set on the lower section of hydraulic clutch, accommodate and also set up that there are two thirds in gap
Gear, two third gears are engaged with torque detection gear, and the output shaft of two the second hydraulic motors both passes through detection support
And be fixedly connected with two third gears in detector gap respectively, several are provided at the side center of torque detection gear
Synchronous slot, the other side are connect at center with hydraulic clutch, and the outside of detection support is arranged in moment of torsion control pressure sensor
And it is connect with the oil inlet pipe of two the second hydraulic motors.
Preferably, the diameter of two third gears is equal, and the diameter of third gear is less than the straight of torque detection gear
Diameter.
The utility model has the advantages that a kind of torque control mechanism of fastener automatic assembling machine people's dynamical system of the invention, passes through
What two the second hydraulic motors drove leads to rotation, when inadequate for torque detection gear itself torque, carries out torque compensation, from
And the first hydraulic motor is made there are enough torques that fastener is installed.
Detailed description of the invention
Fig. 1 show schematic perspective view one of the invention；
Fig. 2 show schematic perspective view two of the invention；
Fig. 3 show stereochemical structure decomposing schematic representation of the invention；
Fig. 4 show the schematic perspective view of fastener plate；
Fig. 5 show the floor map of fastener plate；
Fig. 6 show the schematic perspective view of rotary type tub；
Fig. 7 show enlarged diagram at the A in Fig. 6；
Fig. 8 show the stereochemical structure decomposing schematic representation one of dynamical system；
Fig. 9 show the stereochemical structure decomposing schematic representation two of dynamical system；
Figure 10 show sectional perspective structural schematic diagram of the invention；
Figure 11 show sectional perspective structural decomposition diagram of the invention；
Figure 12 show working state schematic representation one of the invention；
Figure 13 show working state schematic representation two of the invention；
Figure 14 show working state schematic representation three of the invention；
Figure 15 show working condition signal four of the invention；
Description of symbols: pedestal 1, fastener plate 2, conveyer belt 3, plummet areal coordinate frame 4, rotary type tub 5, hydraulic pressure moving platform
6, programmable logic controller (PLC) 7, overside item 8, inner support item 9, fastener card slot 10, clamping receptacles 11, contraposition sliding slot 12, metal
Item 13, the first hydraulic lifting arm 14 are lifted pull rod 15, positioning pin 16, the second hydraulic lifting arm 17, horizontal braces 18, piston
Set 19 clamps pin 20, slide bar 21, the first stepper motor 22, electromagnet 23, the first rack gear 24, motor mounting plate 25, first gear
26, translate driving lever 27, the first bar shaped avoid holes 28, rectangular shaped rim bracket 29, second stepper motor 30, third hydraulic lifting arm
31, annular rack 32, master gear 33, pinion 34, connecting shaft 35, synchronizing wheel 36, sleeve holding tank 37, rubber guard ring 38, prevent
Fall off notch 39, third stepper motor 40, cylinder body 41, the 4th hydraulic lifting arm 42, motor shifting chute 43, rack gear mounting groove
44, second gear 45, the second rack gear 46, the second bar shaped avoid holes 47, piston rod 48, straight 49, line slide rail 50, barrel shell
51, detection support 52, torque detects gear 53, hydraulic clutch 54, the second hydraulic motor 55, moment of torsion control pressure sensor
56, fixture block 57, receiving gap 58, third gear 59, synchronous slot 60, solenoid valve 61, support plate 62, the first hydraulic motor 63,
Herringbone 64, synchronous belt 65, fastening bolt 66, sleeve 67.
Specific embodiment
With reference to the accompanying drawings of the specification and embodiment, specific embodiments of the present invention are described in further detail:
Referring to figs. 1 to a kind of fastener automatic assembling machine people shown in figure 15, including it is pedestal 1, fastener plate 2, removable
Tool storage room, fastener plate transportation system, dynamical system and torque control mechanism, fastener plate transportation system includes for transporting
The conveyer belt 3 of defeated fastener plate 2 and lifting clamping component for being lifted fastener plate 2, conveyer belt 3 are horizontally set on bottom
The top of seat 1, removable tool storage room and lift clamping component be in it is vertical and can go up and down be arranged in conveyer belt 3 just on
The top of pedestal 1 is arranged in by a plummet areal coordinate frame 4 that can be vertically moved up or down for side, dynamical system, and dynamical system can
The top that plummet areal coordinate frame 4 is arranged in of transverse shifting moves tool storage room and is located at lifting clamping component and plummet areal coordinate
Between frame 4, lifting clamping component includes for the transverse-moving mechanism of transverse shifting fastener plate 2, for vertically moving fastener
The vertical shift mechanism of plate 2 and lifting mechanism for converting 2 posture of fastener plate, if removable tool storage room includes for loading
The rotary type tub 5 of dry fastener sleeve 67, dynamical system include for picking up sleeve 67 and installing the first liquid of fastener
Pressure motor 63 and for driving the first hydraulic motor 63 close to the hydraulic pressure moving platform 6 in removable tool storage room direction, torque control mechanism
Side of first hydraulic motor 63 far from removable tool storage room is set, and torque control mechanism is fixed at hydraulic pressure moving platform
On 6, the top of pedestal 1 is further fixedly arranged on the programmable logic controller (PLC) 7 for controlling robot operation.
The fastener plate 2 is made of engineering plastic material, and fastener plate 2 includes two overside items 8 and several
Inner support item 9, two overside items 8 are parallel to each other, and all inner support items 9 are parallel to each other, and overside item 8 and inner support item 9 hang down mutually
Directly, all inner support items 9 are arranged between two overside items 8, and the both ends of each inner support item 9 respectively with two oversides
The inside of item 8 is fixedly connected, and the side of all inner support items 9, which is provided with several, the fastener for setting for fastener card
Card slot 10, all fastener card slots 10 are axially perpendicular to 2 place plane of fastener plate, tight on different inner support items 9
The diameter of firmware card slot 10 is all different, and fastener plate 2 is used for the fastening bolt 66 of loading different size, fastener plate 2
On shape, specification, the quantity of fastener card slot 10 can targetedly be designed according to the needs for being assembled machinery equipment,
Engineering plastics material has certain elasticity, ensure that fastening bolt 66 can be clamped in fastener card slot 10 and can
By smoothly extraction, (fastener takes out upwards, directly stretches out and installs by the preset clearance between inner support item 9 after taking-up
In machinery equipment).
The outside of each overside item 8 is provided with a clamping receptacles 11 and a contraposition sliding slot 12, clamping receptacles
11 are arranged in wherein one end of overside item 8, and the one end of overside item 8 far from clamping receptacles 11 is arranged in contraposition sliding slot 12, and right
Position sliding slot 12 extends from the end of overside item 8 to the direction of clamping receptacles 11, and the length of contraposition sliding slot 12 is greater than outside half
The length of shelves item 8, one of fastener plate 2 are fixedly connected with a metal strip 13, and the length direction of metal strip 13 is parallel to
The length of the length direction of overside item 8, contraposition sliding slot 12 is greater than the length of half overside item 8, what fastener plate 2 was lifted
In the process using the end of two alignment slots as fulcrum, fastener plate 2 ensure that during being lifted, far from clamping
One end of jack 11 is sagging under the effect of gravity, and one end with clamping receptacles 11 then turns over, to make to fasten
Part plate 2 is changed into vertical state by horizontality during lifting.
The lifting mechanism includes two the first hydraulic lifting arms 14 and two lifting pull rods 15, two the first hydraulic liftings
Bar 14 is in be vertically arranged in the two sides of conveyer belt 3, and top of the bottom of two the first hydraulic lifting arms 14 with pedestal 1 respectively
Portion is fixedly connected, and two lifting pull rods 15 are vertically arranged and are respectively positioned between two the first hydraulic lifting arms 14, two lifts
The top for rising pull rod 15 is fixedly connected with the top output port of two the first hydraulic lifting arms 14 respectively, two lifting pull rods 15
Bottom is located at the top of 3 two sides of conveyer belt, and the opposite side in two 15 bottom ends of lifting pull rod is provided with one and determines
Position pin 16, two positioning pins 16 can be slidably matched with two contraposition sliding slots 12 of fastener plate 2 correspondingly, wherein one
One is provided on the outer wall of a first hydraulic lifting arm 14 for detecting the first straight line displacement of lifting 15 lifting distance of pull rod
Sensor, fastener plate 2 are moved on conveyer belt 3, and alignment slot is located at the front end on direction of transfer, therefore two right
Position sliding slot 12 slides into, positioning pin 16 slides into corresponding contraposition with the movement of fastener plate 2 for the two sides positioning pin 16 of two sides
Sliding slot 12, when the end of positioning pin 16 and contraposition sliding slot 12 contradicts, fastener plate 2 can not be moved on, and two the at this time
One hydraulic lifting arm 14 drives two lifting pull rods 15 to rise, and two lifting pull rods 15 drive fastener by two positioning pins 16
Plate 2 rises overally, and fastener plate 2 is changed into plumbness by horizontality in uphill process.
The vertical shift mechanism includes that two the second hydraulic lifting arms 17 and a horizontal braces 18, horizontal braces 18 are set
It sets in the surface of two lifting pull rods 15, two the second hydraulic lifting arms 17 are separately positioned on the interior of two lifting pull rods 15
Portion, and the output end of the second hydraulic lifting arm 17 extends to the bottom of horizontal braces 18 straight up, two second hydraulic
The output end of elevating lever 17 is fixedly connected with the bottom both ends of horizontal braces 18 respectively, on the outer wall of one of raising rod
One is fixedly installed for detecting the second straight line displacement sensor of 17 lifting distance of the second hydraulic lifting arm, horizontal braces
18 bottom both ends are provided with a piston bush 19, and one is provided on each piston bush 19 outwardly directed to clamp
Pin 20, two clamping pins 20 are oppositely arranged, and are equipped in each piston for forcing the spring for clamping pin 20 and bouncing back, fastener is inserted
After plate 2 is lifted, two the second hydraulic oil elevating levers drive horizontal braces 18 to drop to two clamping pin 20 difference faces
Two clamping receptacles 11, and cooperated by the metal strip 13 at 2 back of fastener plate and transverse-moving mechanism magnetic force, fastener inserted
Plate 2 is stablized in vertical state, and fastener plate 2 is stablized after vertical state, clamps pin 20 at this time and stretches out and be inserted into corresponding
In clamping receptacles 11, so that fastener plate 2 is locked in vertical state.
The transverse-moving mechanism includes slide bar 21, the first stepper motor 22 and electromagnet 23, and the sliding of slide bar 21 is embedded at level
The top of support bar 18, and the length direction for being axially parallel to horizontal braces 18 of slide bar 21, the outer cylindrical wall of slide bar 21
On be provided with the first rack gear 24 straight up, stepper motor is fixedly mounted on the top side of horizontal braces 18, stepping electricity
The middle position of horizontal braces 18, the output end of stepper motor are arranged in by a motor mounting plate 25 being vertically arranged for machine
It is fixedly connected with a first gear 26, the bottom of first gear 26 is engaged with the first rack gear 24, the both ends top part of slide bar 21
It is not fixedly connected there are two driving lever 27 is translated, two translation driving levers 27 translate inside and the piston of driving lever 27 in being vertically arranged
19 inside of set is connected to and is released by hydraulic cooperation by pin 20 is clamped, the strip structure that electromagnet 23 is vertically arranged and top
Portion is transmitted through horizontal braces 18 straight up and is fixedly connected with the middle part of slide bar 21, and the bottom of horizontal braces 18, which is provided with, to be used for
The first bar shaped avoid holes 28 that evacuation electromagnet 23 moves horizontally, when two clamping pins 20 face two clamping receptacles 11 respectively
When, the energization of electromagnet 23 sucks the metal strip 13 on fastener plate 2, stablizes fastener plate 2 in vertical state, then puts down
It moves and leads to oil in driving lever 27, force clamping pin 20 to stretch out out of piston bush 19, to be inserted into corresponding clamping receptacles 11 for fastener
Plate 2 is locked in vertical state.
The removable tool storage room further includes rectangular shaped rim bracket 29, second stepper motor 30 and two third hydraulic liftings
Bar 31, two third hydraulic lifting arms 31 are vertically arranged in the two sides of conveyer belt 3, the bottom of two third hydraulic lifting arms 31 respectively
Portion is fixedly connected with the top of pedestal 1, and rectangular shaped rim bracket 29 is in horizontally disposed, and the top of two third hydraulic lifting arms 31
Portion's output end is fixedly connected with the both ends bottom of rectangular shaped rim bracket 29 respectively, the outer wall of one of third hydraulic lifting arm 31
On be fixedly connected with one for detecting the third linear displacement transducer of 29 lifting distance of rectangular shaped rim bracket, the second stepping electricity
Machine 30 is fixed at top one end of rectangular shaped rim bracket 29, and rotary type tub 5 is rotatably arranged on rectangular shaped rim bracket 29
It inside and is sequentially connected with second stepper motor 30, rotary type tub 5 is circular ring structure, and its inner sidewall is provided with a circle
Annular rack 32, the inside of rotary type tub 5 are provided with a master gear 33 and three pinions 34, all master gears 33 and pair
The axis of gear 34 is parallel to each other, and master gear 33 is coaxially set with rotary type tub 5, and three pinions 34 are circumferentially
Direction is evenly distributed on the outside of master gear 33, and each pinion 34 is engaged with master gear 33 and annular rack 32 simultaneously, main tooth
Wheel 33 passes through two herringbones 64 with the two sides of three pinions 34 respectively and connect, and herringbone 64 and master gear 33 are total
Axis setting, three ends of herringbone 64 are rotatablely connected for corresponding pinion 34 respectively, at the center of master gear 33
Be coaxially arranged with a connecting shaft 35, the end of connecting shaft 35 pass through corresponding herringbone 64 and with rectangular shaped rim bracket 29
Long side in the middle part of rotation connection, wherein one end of connecting shaft 35 extends to the outside of rectangular shaped rim bracket 29, and the elongated end
It is fixedly connected with a synchronizing wheel 36, synchronizing wheel 36 and the output shaft of second stepper motor 30 are sequentially connected by synchronous belt 65,
Rotary type tub 5 offers the sleeve holding tank of several different diameter specifications close to the side outer rim of the first hydraulic motor 63
37, all sleeve holding tanks 37 are distributed uniformly and circumferentially the outer rim in rotary type tub 5, and the length of sleeve holding tank 37 is small
In the length of rotary type tub 5, the outer rim fixing sleeve of rotary type tub 5 is equipped with a rubber guard ring 38, right on rubber guard ring 38
Should the positions of all sleeve holding tanks 37 be provided with for pulling out the anti-dropout notch 39 extracted outward, rotary type cylinder for sleeve 67
Different size is inserted in all sleeve holding tanks 37 on frame 5 (67 shape of sleeve and mechanism of different size be not also identical)
For turning the sleeve 67 of fastening bolt 66, the cross-sectional shape of sleeve holding tank 37 is semicircle, and sleeve 67 is placed in sleeve
It can be fallen off due to gravity in holding tank 37, the outer rim of rotary type tub 5 is covered on by rubber guard ring 38, leak out sleeve 67
Outer wall and rubber guard ring 38 contradict, it is therefore prevented that sleeve 67 falls off naturally, after the first hydraulic motor 63 selectes sleeve 67,
The sleeve 67 can be extracted out of corresponding anti-dropout notch 39 (sleeve 67 takes out upwards, used after insert again
Return original position), by second stepper motor 30 drive master gear 33 rotate, thus drive rotary type tub 5 slowly rotate, make by
The sleeve 67 of selection is located at the top of rotary type tub 5, and takes the progress of rotary type tub 5 to by third hydraulic lifting arm 31
Lifting, to be picked up for the first hydraulic motor 63.
The dynamical system further includes third stepper motor 40 and cylinder body 41, and plummet areal coordinate frame 4 is vertical by two
The top of pedestal 1 is arranged in the 4th hydraulic lifting arm 42 being arranged, and two the 4th hydraulic lifting arms 42 are located at conveyer belt 3
Two sides and bottom is fixedly connected with pedestal 1, the top output port of two the 4th hydraulic lifting arms 42 are sat with plummet face respectively
The bottom both ends of frame 4 are fixedly connected, and one is fixedly installed on the outer wall of one of them the 4th hydraulic lifting arm 42 for examining
4th linear displacement transducer of 4 lifting distance of sounding lead flat side of a hammer frame of axes, the top of plummet areal coordinate frame 4 are provided with a motor
Shifting chute 43 and two rack gear mounting grooves 44, two rack gear mounting grooves 44 and the length direction of motor shifting chute 43 are mutually equal
Row, two rack gear mounting grooves 44 are located at the two sides of motor shifting chute 43, and third stepper motor 40 is located at motor shifting chute 43
Interior and its axis direction is perpendicular to the length direction of motor shifting chute 43, and the output shaft of third stepper motor 40 is respectively to both ends
Extending and be fixedly connected to second gear 45, two second gears 45 are located at the inside of two rack gear mounting grooves 44,
The inside bottom of two rack gear mounting grooves 44 is provided with the second rack gear 46, two 45 bottoms of second gear respectively with two second
Rack gear 46 engages, and cylinder body 41 slides the top for riding upon plummet areal coordinate frame 4, the bottom of second stepper motor 30 and cylinder body 41
Portion is fixedly connected, and the both ends of cylinder body 41 extend downwardly and are bonded with the side wall of plummet areal coordinate frame 4, third stepper motor 40
Output shaft extend respectively to the two sides of plummet areal coordinate frame 4, and extend downwardly end with 41 both ends bottom of cylinder body respectively
It is provided on the cell wall of rotation connection, motor shifting chute 43 and rack gear mounting groove 44 and is exported for avoiding third stepper motor 40
The second bar shaped avoid holes 47 that axis moves horizontally, hydraulic pressure moving platform 6 are horizontally set on the top of cylinder body 41, the bottom of hydraulic pressure moving platform 6
The horizontally disposed piston rod 48 for having one with the hydraulic cooperation of cylinder body 41 in portion, the axis direction of piston rod 48 are parallel to third stepping
The axis direction of motor 40, there are two straights 49 for the top setting of cylinder body 41, and the bottom of hydraulic pressure moving platform 6 is provided with straight line
Sliding rail 50, straight 49 and line slide rail 50 are parallel to each other and parallel with piston rod 48, and two line slide rails 50 are one by one
Corresponding to be slidably matched with two straights 49, the first hydraulic motor 63 is in being horizontally set on the top of hydraulic pressure moving platform 6 close to can
One end of movable tool storehouse, the first hydraulic motor 63 are fixedly connected with one on the output shaft of removable tool storage room one end
Connect for picking up the barrel shell 51 of sleeve 67, torque control mechanism and the first hydraulic motor 63 far from one end output shaft of barrel shell 51
It connects, torque control mechanism is located at 6 side of the top far from the first hydraulic motor 63 of hydraulic pressure moving platform, when rotary type tub 5 drives quilt
When selecting sleeve 67 to rise to be aligned with barrel shell 51, third hydraulic lifting arm 31 stops lifting, and cylinder body 41 cooperates piston rod at this time
48 drive 6 transverse shifting of hydraulic pressure moving platform, to make the first hydraulic motor 63 close to selected sleeve 67, until the outer end of the sleeve 67
It is inserted into barrel shell 51 to complete to pick up, after picking up corresponding sleeve 67, rotary type tub 5 falls back to initial position, then hydraulic
Slide unit 6 continues the selection that fastening bolt 66 is carried out close to fastener plate 2, passes through the first stepper motor 22 and the first rack gear 24
Cooperation, enables 2 transverse shifting of fastener plate, makes the first hydraulic motor by the second rack gear 46 and the cooperation of second gear 45
63 can transverse shifting, fastener plate 2 and are driven by the second hydraulic lifting arm 17 and the 4th hydraulic lifting arm 42 respectively
One hydraulic motor 63 moves up and down, to enable fastening of the sleeve 67 to any position on fastener plate 2 on barrel shell 51
Bolt 66 is picked up, and fastening bolt 66 directly stretches out by the preset clearance between inner support item 9 after taking out and is mounted on machine
In device equipment, during assembly, the equipment that is assembled is fixed by the equipment station platform (or external manipulator) that is loaded
It clamps and keeps stable, each station platform that is loaded corresponds to a space coordinates, the seat of 66 installation site of fastening bolt
Mark is loaded in the coordinate system of platform in being assembled equipment station, is assembled the coordinate value of each bolt assembly point in equipment
It is stored in by editor in the programmable logic controller (PLC) 7 of automatic assembling machine people, thus to each during realizing automatic assembling
The accurate positionin of a bolt assembly point, while by the mobile cooperation between each component, determine shortest assembly movement routine.
The torque control mechanism includes that 52, torques of a detection support detect 53, hydraulic clutches of gear
54, two the second hydraulic motors 55 and a moment of torsion control pressure sensor 56, detection support 52 are fixed at hydraulic pressure moving platform 6
Top middle portion, the on both sides of the middle of hydraulic pressure moving platform 6, which is provided with, blocks the fixture block 57 that sets for detection support 52, and detection support 52 is vertical
It is arranged and the inside of its both ends bottom is engaged by clamping with corresponding fixture block 57, the middle part of detection support 52 is provided with one and erects
Straight receiving gap 58, torque detection gear 53, which is vertically arranged in, to be accommodated in gap 58, and the both ends of torque detection gear 53
What can be rotated connect with detection support 52, and hydraulic clutch 54 is fixed at detection support 52 far from the first hydraulic motor
63 side, two the second hydraulic motors 55 are symmetricly set on the lower section of hydraulic clutch 54, accommodate and are additionally provided in gap 58
Two third gears 59, two third gears 59 are engaged with torque detection gear 53, the output of two the second hydraulic motors 55
Axis both passes through detection support 52 and is fixedly connected with two third gears 59 in detector gap respectively, and torque detects gear 53
Several synchronization slots 60 for supplying the transmission connection of 63 output shaft of the first hydraulic motor are provided at the center of side, at the center of the other side
Connect with hydraulic clutch 54, moment of torsion control pressure sensor 56 be arranged in the outside of detection support 52 and with two the second liquid
The oil inlet pipe of pressure motor 55 connects, and the corresponding assembly torque magnitude of fastening bolt 66 of every kind of specification is all different, when fastening spiral shell
When torsion needed for bolt 66 is more than the acrotorque of the first hydraulic motor 63, torque detects gear 53 since torsion not enough stops turning
Dynamic, the connection of hydraulic clutch 54 at this time rotates in same direction two the second hydraulic motors 55, so that two third gears 59 drive and turn round
Square detects gear 53 and further rotates, to improve the torsion of the first hydraulic motor 63, passes through moment of torsion control pressure sensor
The torque value that 56 accurate controls are promoted, the diameter of two third gears 59 is equal, and the diameter of third gear 59 is less than torque
Detect the diameter of gear 53.
The top two sides of the pedestal 1 are provided with several for adjusting the solenoid valve 61 of oil pressure, Programmable logical controller
Device 7 by a horizontally disposed support plate 62 be arranged in pedestal 1 upper support plate 62 both ends and the 5th hydraulic pressure support bar
Outer wall be fixedly connected, all hydraulic circuit on-off and pressure are controlled by solenoid valve 61 in robot, all solenoid valves 61
It is controlled by programmable logic controller (PLC) 7.
First straight line displacement sensor, second straight line displacement sensor, third linear displacement transducer and the 4th straight line position
Displacement sensor model is consistent, and testing principle is that the function of linear displacement transducer is straight line mechanical displacement to be converted into electricity
Signal, in order to reach this effect, usually by variable resistance sliding rail fixation sensor fixed position, by slide plate in sliding rail
On displacement measure different resistance values, sensor sliding rail connects steady-state DC voltage, the low current allowed to flow through micromicroampere, sliding
Voltage between piece and beginning, it is directly proportional to the mobile length of slide plate.
Working principle: fastener plate 2 is used for the fastening bolt 66 of loading different size when use, on fastener plate 2
Shape, specification, the quantity of fastener card slot 10 can targetedly be designed, work according to the needs for being assembled machinery equipment
Engineering plastics material has certain elasticity, ensure that fastening bolt 66 can be clamped in fastener card slot 10 and can be by
Smoothly (fastener takes out upwards, directly stretches out and is mounted on by the preset clearance between inner support item 9 after taking-up for extraction
In machinery equipment), fastener plate 2 is moved on conveyer belt 3, and alignment slot is located at the front end on direction of transfer, therefore
Two contraposition sliding slots 12 slide into the movement of fastener plate 2 for the two sides positioning pin 16 of two sides, and positioning pin 16, which slides into, to be corresponded to
Contraposition sliding slot 12, when positioning pin 16 and contraposition sliding slot 12 end contradict when, fastener plate 2 can not move on, at this time
Two the first hydraulic lifting arms 14 drive two lifting pull rods 15 to rise, and two lifting pull rods 15 are driven by two positioning pins 16
Fastener plate 2 rises overally, since the length of contraposition sliding slot 12 is greater than the length of half overside item 8 during this, tightly
Using the end of two alignment slots as fulcrum during the lifting of firmware plate 2, it ensure that fastener plate 2 in the mistake being lifted
Cheng Zhong, one end far from clamping receptacles 11 is sagging under the effect of gravity, and one end with clamping receptacles 11 is then
It turns over, so that fastener plate 2 be made to be changed into vertical state by horizontality during lifting, fastener plate 2 is lifted
After rising, two the second hydraulic oil elevating levers drive horizontal braces 18 to drop to two clamping pins 20 and face two folders respectively
Tight jack 11, the then energization of electromagnet 23 suck the metal strip 13 on fastener plate 2, stablize fastener plate 2 vertical
State, fastener plate 2 are stablized after vertical state, then translate and lead to oil in driving lever 27, force and clamp pin 20 from piston bush
It stretches out in 19, fastener plate 2 is locked in vertical state to be inserted into corresponding clamping receptacles 11, in rotary type tub 5
Being used for for different size (67 shape of sleeve and mechanism of different size not being also identical) is inserted in all sleeve holding tanks 37
The sleeve 67 of fastening bolt 66 is turned, the cross-sectional shape of sleeve holding tank 37 is semicircle, and sleeve 67 is placed in sleeve holding tank
It can be fallen off due to gravity in 37, the outer rim of rotary type tub 5 is covered on by rubber guard ring 38, the outer wall for leaking out sleeve 67
It is contradicted with rubber guard ring 38, it is therefore prevented that sleeve 67 falls off naturally, after the first hydraulic motor 63 selectes sleeve 67, can incite somebody to action
The sleeve 67 extracted out of corresponding anti-dropout notch 39 (sleeve 67 takes out upwards, used after insert back again in situ
Set), it drives master gear 33 to rotate by second stepper motor 30, so that rotary type tub 5 be driven slowly to rotate, makes to be selected
Sleeve 67 is located at the top of rotary type tub 5, and takes rotary type tub 5 to by third hydraulic lifting arm 31 and gone up and down,
To be picked up for the first hydraulic motor 63, when rotary type tub 5, which drives selected sleeve 67 to rise to, to be aligned with barrel shell 51, third
Hydraulic lifting arm 31 stops lifting, and cylinder body 41 cooperates piston rod 48 to drive 6 transverse shifting of hydraulic pressure moving platform at this time, to make first
Hydraulic motor 63 picks up corresponding sleeve until the outer end insertion barrel shell 51 of the sleeve 67 is completed to pick up close to selected sleeve 67
After 67, rotary type tub 5 falls back to initial position, and then hydraulic pressure moving platform 6 continues to carry out fastening spiral shell close to fastener plate 2
The selection of bolt 66 enables 2 transverse shifting of fastener plate by the cooperation of the first stepper motor 22 and the first rack gear 24, leads to
Crossing the second rack gear 46 and the cooperation of second gear 45 enables 63 transverse shifting of the first hydraulic motor, passes through the second hydraulic lifting arm
17 and the 4th hydraulic lifting arm 42 drive fastener plate 2 and the first hydraulic motor 63 to move up and down respectively, to make barrel shell 51
On sleeve 67 fastening bolt 66 of any position on fastener plate 2 can be picked up, complete fastening bolt 66 and pick up
After taking, fastening bolt 66 is directly stretched out and is mounted in machinery equipment by the preset clearance between inner support item 9 after taking out,
During assembly, the equipment that is assembled is loaded by equipment station and platform (or external manipulator) fixed clamp and is kept
Stablize, each station platform that is loaded corresponds to a space coordinates, and the coordinate of 66 installation site of fastening bolt, which is in, to be filled
It is loaded in the coordinate system of platform with equipment station, the coordinate value for each bolt assembly point being assembled in equipment is saved by editor
In the programmable logic controller (PLC) 7 of automatic assembling machine people, to be assembled during realizing automatic assembling to each bolt
The accurate positionin of point, while by the mobile cooperation between each component, determines shortest assembly movement routine, every kind of specification it is tight
The corresponding assembly torque magnitude of fixing bolt 66 is all different, and the torsion needed for fastening bolt 66 is more than the first hydraulic motor 63
When acrotorque, torque detects gear 53 since torsion not enough stops operating, and the connection of hydraulic clutch 54 at this time makes two second
Hydraulic motor 55 rotates in same direction, so that two third gears 59 are further rotated with dynamic torque detection gear 53, to improve
The torsion of first hydraulic motor 63 accurately controls the torque value promoted, institute in robot by moment of torsion control pressure sensor 56
Some hydraulic circuit on-off and pressure are controlled by solenoid valve 61, and all solenoid valves 61 are controlled by programmable logic controller (PLC) 7.
The above described is only a preferred embodiment of the present invention, not making any limit to technical scope of the invention
System, therefore any subtle modifications, equivalent variations and modifications to the above embodiments according to the technical essence of the invention,
In the range of still falling within technical solution of the present invention.
Claims (2)
1. a kind of torque control mechanism of fastener automatic assembling machine people's dynamical system, it is characterised in that: detected including one
Bracket (52), torque detection gear (53), a hydraulic clutch (54), two the second hydraulic motors (55) and a torsion
Square controls pressure sensor (56), and detection support (52) is vertically arranged, be provided in the middle part of detection support (52) one it is vertical
It accommodating gap (58), torque detection gear (53), which is vertically arranged in, to be accommodated in gap (58), and torque detection gear (53)
What both ends can rotate connect with detection support (52), and hydraulic clutch (54) is fixed at the one of detection support (52)
Side, two the second hydraulic motors (55) are symmetricly set on the lower section of hydraulic clutch (54), accommodate and are additionally provided in gap (58)
Two third gears (59), two third gears (59) are engaged with torque detection gear (53), two the second hydraulic motors
(55) output shaft both passes through detection support (52) and is fixedly connected with two third gears (59) in detector gap respectively, turns round
It is provided with several at the side center of square detection gear (53) and synchronizes slot (60), at the center of the other side and hydraulic clutch
(54) connect, moment of torsion control pressure sensor (56) be arranged detection support (52) outside and with two the second hydraulic motors
(55) oil inlet pipe connection.
2. a kind of torque control mechanism of fastener automatic assembling machine people's dynamical system according to claim 1, special
Sign is: the diameter of two third gears (59) is equal, and the diameter of third gear (59) is less than torque detection gear (53)
Diameter.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810950058.0A CN109249208A (en) | 2018-08-20 | 2018-08-20 | A kind of torque control mechanism of fastener automatic assembling machine people's dynamical system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810950058.0A CN109249208A (en) | 2018-08-20 | 2018-08-20 | A kind of torque control mechanism of fastener automatic assembling machine people's dynamical system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114654190A (en) * | 2022-04-24 | 2022-06-24 | 毕红海 | Quick positioning and conveying device for automobile spare and accessory parts |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114654190B (en) * | 2022-04-24 | 2024-03-01 | 毕红海 | Quick positioning and conveying device for automobile parts |
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