CN112192195A - Manipulator capable of synchronously and accurately assembling multiple nuts - Google Patents
Manipulator capable of synchronously and accurately assembling multiple nuts Download PDFInfo
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- CN112192195A CN112192195A CN202011005075.0A CN202011005075A CN112192195A CN 112192195 A CN112192195 A CN 112192195A CN 202011005075 A CN202011005075 A CN 202011005075A CN 112192195 A CN112192195 A CN 112192195A
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- manipulator
- fixed
- nuts
- arm
- synchronously
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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
- B23P19/069—Multi-spindle machines
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Abstract
The invention relates to the field of industrial production assembly, in particular to a manipulator capable of synchronously and accurately assembling a plurality of nuts, which comprises: the mechanical claw comprises a fixed clamping jaw and a mounting clamping jaw; the fixed clamping jaw is transversely adjusted by the transverse telescopic mechanism to meet the transverse size requirements of different installation parts, and is longitudinally adjusted by the longitudinal telescopic mechanism to meet the longitudinal size requirements of different installation parts, and meanwhile, the elbow part at the tail end of the longitudinal telescopic mechanism clamps the installation parts to be fixed; the mechanical arm is fixed on the mechanical claw by the mounting structure; in the use, initiative slewing mechanism rotates the back, through the driving medium with power transfer to driven slewing mechanism all around, drives the nut installed part of fixing on driven slewing mechanism from this again to this realizes a plurality of nuts of synchronous installation, guarantees the installation accuracy, simplifies the installation procedure, and save time raises the efficiency, reduce cost.
Description
Technical Field
The invention relates to the field of industrial production assembly, in particular to a manipulator capable of synchronously and accurately assembling a plurality of nuts.
Background
The manipulator is an automatic operation device which can imitate certain action functions of human hands and arms and is used for grabbing and carrying objects or operating tools according to a fixed program, the greatest difference of the manipulator and the human arms lies in flexibility and strength, the manipulator can repeatedly do the same action and can never feel tired under the normal condition of a machine, and the manipulator is high-tech automatic production equipment which is developed in recent decades.
The existing process of assembling nuts by using a manipulator in industrial production adopts a single method of sequential installation, so that the problem that a plurality of nuts need to be installed synchronously in the assembling process to ensure that the installation surface of an installation workpiece is installed in parallel with the surface needing to be attached can not be solved, and the installation can be caused to have too many repeated actions, thereby wasting time, reducing the efficiency and increasing the time cost.
Disclosure of Invention
The invention aims to provide a manipulator capable of synchronously and accurately assembling a plurality of nuts, and aims to solve the problems that a plurality of nuts cannot be synchronously assembled and installed by adopting a single sequential installation method in the nut assembling process of the manipulator applied to industrial production, the installation surface of an installation workpiece is parallel to the surface needing to be attached, too many repeated installation actions are caused, the time is wasted, the efficiency is reduced, and the time cost is increased.
In order to achieve the above object, the present invention provides a robot capable of assembling a plurality of nuts simultaneously and precisely, comprising:
the mechanical claw comprises a fixed clamping jaw and a mounting clamping jaw;
the fixed clamping jaw is transversely adjusted by the transverse telescopic mechanism to meet the transverse size requirements of different installation parts, is longitudinally adjusted by the longitudinal telescopic mechanism to meet the longitudinal size requirements of different installation parts, and meanwhile, the elbow part at the tail end of the longitudinal telescopic mechanism clamps the installation parts to be fixed;
the mounting clamping jaw is driven to the driven rotating mechanisms at the periphery by the driving rotating mechanism positioned at the center through the power of the transmission piece, and the driven rotating mechanisms are driven to rotate in a manner of being in power fit with the nut mounting pieces to complete nut mounting;
and the mechanical arm is fixed on the mechanical claw by a mounting structure.
In the gripper, the mechanical arm comprises a base, a mechanical arm structure and a mechanical joint structure, wherein the mechanical arm structure comprises a mechanical arm I, a mechanical arm II, a mechanical arm III and a mechanical arm IV; the mechanical joint structure comprises a mechanical joint I, a mechanical joint II, a mechanical joint III and a mechanical joint IV; the base is connected through mechanical joint I rotation with arm I, and arm I rotates through mechanical joint II with arm II to be connected, and arm II rotates through mechanical joint III with arm III to be connected, and arm III rotates through mechanical joint IV with arm IV to be connected.
As a further scheme of the invention: the transverse telescopic mechanism is a transverse telescopic rod, the longitudinal telescopic mechanism is a longitudinal telescopic bent rod, the transverse telescopic rod is fixed on the mechanical arm, and the longitudinal telescopic bent rod is fixed on the transverse telescopic rod.
As a further scheme of the invention:
the driving transmission mechanism comprises a rotating motor and a driving gear, and the rotating motor is fixedly connected with the driving gear;
the driven rotating mechanism comprises a telescopic rod and a tower-shaped driven gear, and the telescopic rod is in bearing connection with the driven gear;
the transmission part is a chain and is used for transmitting the power of the driving rotating mechanism to the driven rotating mechanisms on the periphery;
the nut mounting piece is a nut mounting rod, and the nut mounting rod is in threaded connection with the tower-shaped driven gear;
the fixing structure comprises a fixing rod and a fixing disc which are fixedly connected.
As a further scheme of the invention: the rotating motor rotates to drive the driving gear to rotate, and the plurality of chains meshed with the driving gear transmit power to the tower-shaped driven gears around to enable the tower-shaped driven gears to rotate, so that different nut mounting rods fixed on different tower-shaped driven gears are driven to rotate together.
As above the tower type driven gear comprises a plurality of gears which are mutually overlapped and have different sizes, the fixed disc is provided with a plurality of pin holes for fixing the telescopic rod, and the tower type driven gear is fixed in the corresponding pin holes when the gears with different sizes are used, so that the position of the tower type driven gear is changed, and the requirements for installing different nut positions are met.
As a further scheme of the invention: the nut mounting rod is in threaded connection with the tower-shaped driven gear, so that nut fixing rods of different specifications can be replaced as required in the industrial production process, and nuts of different specifications can be conveniently mounted.
As a further scheme of the invention: the height of the tower-shaped driven gear is adjusted by the telescopic rod, and the end faces of the nut mounting rods are ensured to be on the same horizontal plane.
As a further scheme of the invention: the driving gear is fixedly connected with a rotating motor fixed on the fixed disc, the rotating motor drives the driving gear to rotate, and the chain transmits transmission to the tower-shaped driven gear, so that a nut mounting rod fixed on the tower-shaped driven gear is driven to rotate, and nut mounting is completed.
Compared with the prior art, the invention has the beneficial effects that: a mechanical claw capable of synchronously and accurately assembling a plurality of nuts comprises: the mechanical claw comprises a fixed clamping jaw and a mounting clamping jaw; the fixed clamping jaw is transversely adjusted by the transverse telescopic mechanism to meet the transverse size requirements of different installation parts, and is longitudinally adjusted by the longitudinal telescopic mechanism to meet the longitudinal size requirements of different installation parts, and meanwhile, the elbow part at the tail end of the longitudinal telescopic mechanism clamps the installation parts to be fixed; the mounting clamping jaw is driven to the driven rotating mechanisms at the periphery by the driving rotating mechanism positioned at the center through the power of the transmission part, so that the driven rotating mechanisms are driven to be in power fit with the nut mounting parts to rotate, and the nut mounting is completed; the mechanical arm is fixed on the mechanical claw by a mounting structure; in the use process of the nut mounting device, after the driving rotating mechanism rotates, the driving part transmits power to the driven rotating mechanisms on the periphery, and then the nut mounting parts fixed on the driven rotating mechanisms are driven, so that a plurality of nuts are synchronously mounted, the mounting precision is ensured, the mounting steps are simplified, the time is saved, the efficiency is improved, and the cost is reduced.
Drawings
Fig. 1 is a front view of a gripper capable of simultaneously and precisely assembling a plurality of nuts.
Fig. 2 is an enlarged schematic view of a point a in fig. 1.
Fig. 3 is a schematic view of a gripper for mounting a plurality of nuts in a gripper capable of simultaneously and accurately assembling the nuts.
Fig. 4 is a top view of fig. 3.
Fig. 5 is an enlarged schematic view of fig. 3 at B.
In the figure: 1-a base; 2-mechanical arm joint I; 3-a mechanical arm I; 4-mechanical arm joint II; 5, a mechanical arm II; 6-mechanical arm joint III; 7-mechanical arm III; 8-mechanical arm joint IV; 9-a mechanical arm IV; 10-a fixed jaw; 11-mounting a clamping jaw; 101-a transverse telescopic rod; 102-longitudinal telescopic bent rod; 111-fixing bars; 112-a fixed disk; 113-a telescopic rod; 114-a chain; a 115-tower type driven gear; 116-nut mounting rods; 117-drive gear; 118-rotating motor.
Detailed Description
The technical solution of the present invention is further described in detail with reference to the following embodiments:
the invention aims to provide a manipulator capable of synchronously and accurately assembling a plurality of nuts, and aims to solve the problems that a plurality of nuts cannot be synchronously assembled and installed by adopting a single sequential installation method in the nut assembling process of the manipulator applied to industrial production, the installation surface of an installation workpiece is parallel to the surface needing to be attached, too many repeated installation actions are caused, the time is wasted, the efficiency is reduced, and the time cost is increased.
As shown in fig. 1, in an embodiment of the present invention, a robot capable of assembling a plurality of nuts simultaneously and precisely includes:
a gripper comprising a fixed jaw 10 and a mounting jaw 11; the fixed clamping jaw 10 comprises a transverse telescopic rod 101 and a longitudinal telescopic rod 102, the transverse telescopic rod 101 is fixed on the mechanical arm, the longitudinal telescopic rod 102 is fixed on the transverse telescopic rod 101, and when the fixed clamping jaw works, the transverse telescopic rod 101 and the longitudinal telescopic rod 102 adjust and fix workpieces according to the sizes of the fixed workpieces. The mechanical arm is fixed on the mechanical claw by a mounting structure;
in the use process of the nut mounting device, the mechanical arms and the mechanical joints are matched to rotate, the mechanical claw fixed with the mechanical arms and the mechanical joints is conveyed to a working position, the workpiece is clamped and fixed by the fixed clamping jaw, the driving rotating mechanism in the mounting clamping jaw rotates, power is conveyed to the driven rotating mechanisms on the periphery through the transmission parts, and then the nut mounting parts fixed on the driven rotating mechanisms are driven, so that the plurality of nuts are synchronously mounted, the mounting precision is ensured, the mounting steps are simplified, the time is saved, the efficiency is improved, and the cost is reduced.
As shown in fig. 1, in the embodiment of the present invention, the robot includes a base 1, a robot joint i 2, a robot i 3, a robot joint ii 4, a robot ii 5, a robot joint iii 6, a robot iii 7, a robot joint iv 8, and a robot iv 9.
As shown in fig. 1, in the embodiment of the present invention, the base 1 is connected to a mechanical arm joint i 2 through a bearing; arm joint I2 and arm I3 fixed connection, arm I3 is connected with arm joint II 4 bearing, arm II 5 and arm joint II 4 fixed connection, arm II 5 is connected for the bearing with arm joint III 6, arm III 7 is fixed connection with arm joint III 6, arm III 7 is connected with arm joint VI 8 bearing, arm IV 9 is fixed connection with arm joint IV 8, a plurality of arms and a plurality of mechanical structure cooperation are rotated, remove the gripper to operating position.
As shown in fig. 3 to 5, in the embodiment of the present invention,
the driving transmission mechanism comprises a rotating motor 118 and a driving gear 117, the rotating motor 118 is fixedly connected with the driving gear 117, the driven rotation mechanism comprises an expansion link 113 and a tower-shaped driven gear 115, the expansion link 113 is in bearing connection with the tower-shaped driven gear 115, the transmission part is a chain 114, the rotating motor 118 drives the driving gear to rotate, transmission is transmitted to the driven gear 115 through the chain 114, and power transmission is completed; in practical use, other transmission members with transmission capability, such as belts, racks, etc., can be used, and the specific manner is not limited as long as the transmission structure meets the rotation requirement, and the preferred transmission member is the chain 114;
the nut mounting piece is a nut mounting rod 116 which is in threaded connection with the tower-shaped driven gear 115, the nut mounting rod 116 and the tower-shaped driven gear 115 rotate simultaneously, other connection modes such as bolt connection, clamping hook connection and the like can be used in practical use, the specific use mode is not limited, as long as the transmission structure meets the connection requirement, and the preferred connection mode is threaded connection;
the fixing structure comprises a fixing rod 111 and a fixing disc 112, the fixing rod is fixedly connected with the fixing disc, the driving transmission mechanism is fixed on the fixing disc 112, and the mounting clamping jaw 11 is fixedly connected with the mechanical arm IV through the fixing rod 11.
As shown in fig. 3 to 4, in the embodiment of the present invention, the rotation motor 118 rotates to drive the driving gear 117 to rotate, and the plurality of chains 114 engaged with the driving gear 117 transmit power to the tower-shaped driven gears 115 around to rotate, so as to drive the nut mounting rods 116 fixed to different tower-shaped driven gears to rotate together.
As shown in fig. 3, in the embodiment of the present invention, the tower-shaped driven gear 115 includes a plurality of gears with different sizes stacked on each other, the fixed plate 112 has a plurality of pin holes for fixing the telescopic rod 113, and the tower-shaped driven gear 115 is fixed to different pin holes when using gears with different sizes, so as to change the position of the tower-shaped driven gear to meet the requirements of installing different nut positions.
As shown in fig. 3, in the embodiment of the present invention, the nut mounting rod 116 is in threaded connection with the tower-shaped driven gear 115, the driving gear 117 is fixedly connected with the rotating motor 118 fixed on the fixed disk, and is driven by the rotating motor 118 to rotate, and the rotation is transmitted to the tower-shaped driven gear 115 through the chain 114, and then the nut mounting rod fixed on the tower-shaped driven gear 115 is driven to rotate, so as to complete the nut mounting.
As shown in fig. 3, in the embodiment of the present invention, the height of the tower-shaped driven gear is adjusted by the telescopic rod 113, so as to ensure that the end surfaces of the nut mounting rods 116 are on the same horizontal plane.
The mechanical claw capable of synchronously and accurately assembling a plurality of nuts has the advantages that: a gripper comprising a fixed jaw 10 and a mounting jaw 11; the fixed clamping jaw 10 is transversely adjusted by a transverse telescopic mechanism and longitudinally adjusted by a longitudinal telescopic mechanism, and meanwhile, an elbow part at the tail end of the longitudinal telescopic mechanism clamps the mounting piece for fixing; the mounting clamping jaw 11 consists of a driving rotating mechanism, a transmission piece and a driven rotating mechanism which are positioned at the center; the mechanical arm comprises a base 1, a plurality of mechanical arm structures and a plurality of mechanical joint structures, and is fixed on the mechanical claw by a mounting structure; in the use process of the invention, the mechanical claw fixed on the mechanical arm IV is moved to be installed through the rotational matching of a plurality of mechanical arm structures and a plurality of mechanical joint mechanisms, the fixed clamping jaw 10 fixes an installation workpiece through the transverse telescopic rod 101 and the longitudinal telescopic rod 102, the rotating motor 118 on the installation clamping jaw 11 drives the driving gear 117 to rotate, the rotation is transmitted to the tower-shaped driven gear 115 through the chain 114, and the nut installation rod fixed on the tower-shaped driven gear 115 is driven to rotate, so that the synchronous installation of a plurality of nuts is realized, the assembling requirement of synchronously installing a plurality of nuts in the assembling process is met, simultaneously, the assembling step is simplified, the time is saved, and the cost is reduced.
In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
While the preferred embodiments of the present invention have been described in detail, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.
Claims (9)
1. A manipulator capable of synchronously and accurately assembling a plurality of nuts is characterized by comprising:
the mechanical claw comprises a fixed clamping jaw and a mounting clamping jaw;
the fixed clamping jaw is transversely adjusted by a transverse telescopic mechanism and longitudinally adjusted by a longitudinal telescopic mechanism, and the longitudinal telescopic mechanism clamps the fixed mounting part by using the tail end elbow part;
the mounting clamping jaw is driven to the driven rotating mechanisms at the periphery by the driving rotating mechanism positioned at the center through the power of the transmission part, so that the driven rotating mechanisms are driven to be in power fit with the nut mounting parts to rotate, and the nut mounting is completed;
and the mechanical arm is fixed on the mechanical claw by a mounting structure.
2. The manipulator capable of synchronously and accurately assembling a plurality of nuts according to claim 1, wherein the transverse telescopic mechanism is a transverse telescopic rod, and the transverse telescopic rod is fixed on the mechanical arm; the longitudinal telescopic mechanism is a longitudinal telescopic bent rod which is fixed on the transverse telescopic rod.
3. The manipulator of claim 1, wherein the driving mechanism comprises a rotating motor and a driving gear, and the rotating motor and the driving gear are fixedly connected.
4. The manipulator capable of synchronously and accurately assembling the plurality of nuts according to the claim 1, wherein the driven rotating mechanism comprises a telescopic rod and a tower-shaped driven gear, the tower-shaped driven gear comprises a plurality of gears with different sizes which are mutually overlapped, and the telescopic rod is connected with the tower-shaped driven gear through a bearing; the nut mounting piece is a nut mounting rod, and the nut mounting rod is in threaded connection with the tower-shaped driven gear.
5. The manipulator capable of assembling a plurality of nuts synchronously and accurately according to claim 1, wherein the transmission member is a chain for transmitting the power of the driving rotating mechanism to the driven rotating mechanism.
6. The manipulator capable of assembling a plurality of nuts synchronously and accurately according to claim 1, wherein the fixing structure comprises a fixing rod and a fixing disk, the fixing rod and the fixing disk are fixedly connected, the fixing rod is fixed on the manipulator, the driven rotating mechanism comprises a telescopic rod and a tower-type driven gear, and the telescopic rod and the fixing disk are fixedly connected with the nuts.
7. The manipulator capable of synchronously and accurately assembling a plurality of nuts according to claim 4, wherein the height of the tower-shaped driven gear is adjusted by the telescopic rod.
8. The manipulator capable of assembling a plurality of nuts synchronously and accurately according to claim 6, wherein the fixed plate has a plurality of pin holes for fixing the telescopic rod, and the tower-shaped driven wheel is fixed in different pin holes when gears with different sizes are used for transmission.
9. The manipulator capable of synchronously and accurately assembling the plurality of nuts according to claim 1, wherein the manipulator comprises a base, a manipulator structure and a mechanical joint structure, and the manipulator structure comprises a manipulator I, a manipulator II, a manipulator III and a manipulator IV; the mechanical joint structure comprises a mechanical joint I, a mechanical joint II, a mechanical joint III and a mechanical joint IV; the base is connected through mechanical joint I rotation with arm I, and arm I rotates through mechanical joint II with arm II to be connected, and arm II rotates through mechanical joint III with arm III to be connected, and arm III rotates through mechanical joint IV with arm IV to be connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011005075.0A CN112192195A (en) | 2020-09-22 | 2020-09-22 | Manipulator capable of synchronously and accurately assembling multiple nuts |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011005075.0A CN112192195A (en) | 2020-09-22 | 2020-09-22 | Manipulator capable of synchronously and accurately assembling multiple nuts |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112192195A true CN112192195A (en) | 2021-01-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011005075.0A Withdrawn CN112192195A (en) | 2020-09-22 | 2020-09-22 | Manipulator capable of synchronously and accurately assembling multiple nuts |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112192195A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113681279A (en) * | 2021-09-09 | 2021-11-23 | 四川大学 | Automatic equipment system of calibration precision |
| CN115213673A (en) * | 2022-08-19 | 2022-10-21 | 杭州凯达电力建设有限公司 | Tightening device for live-wire operation mechanical arm |
-
2020
- 2020-09-22 CN CN202011005075.0A patent/CN112192195A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113681279A (en) * | 2021-09-09 | 2021-11-23 | 四川大学 | Automatic equipment system of calibration precision |
| CN115213673A (en) * | 2022-08-19 | 2022-10-21 | 杭州凯达电力建设有限公司 | Tightening device for live-wire operation mechanical arm |
| CN115213673B (en) * | 2022-08-19 | 2023-09-26 | 杭州凯达电力建设有限公司 | Tightening device for live working mechanical arm |
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20210108 |
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| WW01 | Invention patent application withdrawn after publication |