CN114378569A - Robot execution device with bolt automatic assembly function - Google Patents
Robot execution device with bolt automatic assembly function Download PDFInfo
- Publication number
- CN114378569A CN114378569A CN202210178907.1A CN202210178907A CN114378569A CN 114378569 A CN114378569 A CN 114378569A CN 202210178907 A CN202210178907 A CN 202210178907A CN 114378569 A CN114378569 A CN 114378569A
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- gear
- unit
- clamping
- mounting plate
- assembly
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a robot executing device with an automatic bolt assembling function. The clamping transmission unit can control clamping jaws in the rotary chuck unit to clamp and release bolts, the rotary chuck unit can drive the bolts clamped by the clamping jaws to rotate, the buffering vibration isolation unit can buffer impact force generated when the bolts are in contact with a workpiece to be operated, and the main control unit coordinately controls the clamping transmission unit and the rotary chuck unit. When an intermittent gear in the clamping transmission unit is meshed with a plane thread gear in the rotary chuck unit, the intermittent gear controls a jaw to clamp or release a bolt; when the intermittent gear and the plane thread gear are in a non-meshed state, the rotating motor is controlled to drive the bolt clamped by the clamping jaw to rotate, and therefore the assembling task is completed. The invention has simple structure and convenient assembly, can be directly arranged at the operation tail end of the movable robot and finishes the assembly operation of bolts of any type.
Description
Technical Field
The invention belongs to the technical field of mechanical automation, and particularly relates to a movable robot tail end executing device capable of realizing an automatic bolt assembling function.
Background
At present, in the manufacturing industries of heavy-duty machinery, transportation, aerospace and other equipment, the combination and fixation of different workpieces are realized in a bolt connection mode. In the traditional mode, after bolts are manually placed in corresponding hole positions of workpieces to be operated, locking operation is manually performed, and the production efficiency is low. In recent years, with the continuous development of robot operation technology, various end effectors with different functions are widely used in the manufacturing field, and the production efficiency is greatly improved. However, although some of the actuators can achieve automatic fastening and detaching of the bolts through hydraulic, pneumatic, electric and other methods, due to the variety of types of bolts in the manufacturing process of the equipment, the sleeves matched with the bolts need to be frequently replaced, and the production speed is severely limited. In addition, due to the defects of large structure, large occupied space, lack of collision buffer structures and the like, the movable robot cannot be directly installed at the tail end of the movable robot, and high-precision dynamic operation is performed under the condition that the base of the robot and a workpiece to be operated move relative to the ground, so that the application scene is limited undoubtedly, and the transformation requirement of related industrial intelligent production cannot be completely met.
Disclosure of Invention
The invention provides an executing device which is not limited by the variety of types of bolts and can be directly installed at the tail end of a mobile robot to automatically assemble the bolts. The device has simple structure's characteristics, and can accomplish the assembly task under the equal relative ground motion's of robot base and the work piece of treating to operate the condition.
The technical scheme of the invention is as follows:
the invention discloses a robot executing device with an automatic bolt assembling function. The rotary chuck unit comprises a rotary motor, a rotary motor fixing plate, a transmission shaft, a pressure spring, a jaw assembly and a unit mounting plate, wherein the jaw assembly comprises an assembly supporting bearing, a base, a shell, a planar threaded gear supporting bearing and a jaw, the rotary motor fixing plate is fixedly connected to the unit mounting plate, the rotary motor is further installed on the rotary motor, an output shaft of the rotary motor is fixedly connected with the transmission shaft, the transmission shaft is provided with the pressure spring and the base of the jaw assembly, the pressure spring is installed between the transmission shaft and the base and used for reducing axial vibration of the transmission shaft, so that axial impact force generated when a bolt on an end execution device is contacted with a workpiece to be operated is buffered, the shell in the jaw assembly is installed on the base, the base is installed on the unit mounting plate through the assembly supporting bearing, the shaft of the base is provided with the planar threaded gear supporting bearing, and the planar threaded gear is installed on the bearing, the plane thread gear is provided with equidistant spiral lines, the clamping jaws are arranged in the grooves of the shell and matched with the equidistant spiral lines on the plane thread gear, when the plane thread gear rotates, the clamping jaws can be controlled to be closed and released, the moving range of the clamping jaws can be determined by jackscrews arranged in positioning screw holes of the shell, and the line type of the equidistant spiral lines on the plane thread gear can be properly adjusted according to the size of the clamping jaws; the clamping transmission unit comprises a clamping motor and an intermittent gear, the clamping motor is arranged on a unit mounting plate of the rotary chuck unit and controls the intermittent gear arranged on a shaft of the rotary chuck unit to move, the intermittent gear can drive the plane thread gear to rotate so as to control the closing and the releasing of the clamping jaws, and the number of teeth of the clamping transmission unit can be adjusted according to system requirements; the buffering vibration isolation unit comprises a vibration isolation frame mounting plate, a buffering vibration isolation frame and a main mounting plate, wherein the buffering vibration isolation frame is made of a buffering material and is fixed on the main mounting plate through the vibration isolation frame mounting plate, so that the tail end execution device main body is isolated from the main mounting plate, and transverse impact force possibly generated when a bolt clamped by a clamping jaw is contacted with a workpiece to be operated can be buffered; the main control unit comprises a motion control card and a motor driver.
The working principle of the robot actuating device with the automatic bolt assembling function is that when the bolt is assembled and disassembled, the main control unit controls the intermittent gear to rotate, and when the intermittent gear and the plane thread gear are in a meshed state, the intermittent gear can control three clamping jaws to clamp or release the bolt; when the intermittent gear and the plane thread gear are in a non-meshed state, the main control unit controls the rotary motor to drive the bolt clamped by the clamping jaw to rotate, and therefore the assembling task is completed.
Compared with the prior art, the invention has the following characteristics:
1. the assembly operation of bolts of any type can be completed by matching the intermittent gear of the clamping transmission unit with the plane thread gear of the rotary chuck unit;
2. the pressure spring is utilized to reduce the axial vibration of the transmission shaft, so that the axial impact force generated when the bolt is contacted with a workpiece to be operated is buffered;
3. the main body of the tail end execution device is isolated from the main mounting plate through a buffering vibration isolation frame, and the transverse impact force generated when a bolt is in contact with a workpiece to be operated is buffered;
4. simple structure, the assembly of being convenient for can direct mount at mobile robot's operation end.
Drawings
Fig. 1 is a side view and a front view of a robot actuator having an automatic bolt assembling function according to the present invention.
Reference numbers in the figures: 1: a spin chuck unit; 2: a clamping transmission unit; 3: and a buffer vibration isolation unit.
Fig. 2 is an isometric view of the spin-chuck unit of the present invention.
Reference numbers in the figures: 10: a rotating electric machine; 11: a rotating motor fixing plate; 12: a drive shaft; 13: a pressure spring; 14: a jaw assembly; 15: and (7) mounting the unit.
Figure 3 is a front and isometric view of the jaw assembly of the present invention.
Reference numbers in the figures: 140: an assembly support bearing; 141: a base; 142: a housing; 143: a planar screw gear; 144: a planar threaded gear support bearing; 145: a claw is provided.
Figure 4 is an assembly view of the face threaded gear, face threaded gear support bearing and jaws of the jaw assembly of the present invention.
Reference numbers in the figures: 143: a planar screw gear; 144: a planar threaded gear support bearing; 145: a claw is provided.
Figure 5 is a front elevational and isometric view of the housing of the jaw assembly of the present invention.
Reference numbers in the figures: 1420: positioning the screw hole; 142: a housing.
Figure 6 is a front and isometric view of the clamping drive unit of the present invention.
Reference numbers in the figures: 20: clamping the motor; 21: intermittent gear
Fig. 7 is a front view and a rear view of the buffering vibration-isolating unit according to the present invention.
Reference numbers in the figures: 30: a vibration isolation frame mounting plate; 31: a buffer vibration isolation frame; 32: the main mounting panel.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Referring to fig. 1, the robot executing device with the automatic bolt assembling function includes a rotating chuck unit 1, a clamping transmission unit 2, a buffering vibration isolation unit 3 and a main control unit, wherein the clamping transmission unit 2 is installed on the buffering vibration isolation unit 3 through the rotating chuck unit 1.
Referring to fig. 2 to 5, the spin chuck unit 1 includes a spin motor 10, a spin motor fixing plate 11, a transmission shaft 12, a pressure spring 13, a jaw assembly 14 and a unit mounting plate 15, the jaw assembly 14 includes an assembly supporting bearing 140, a base 141, a housing 142, a flat screw gear 143, a flat screw gear supporting bearing 144 and jaws 145, the spin motor fixing plate 11 is fixedly connected to the unit mounting plate 15, the spin motor 10 is further mounted thereon, an output shaft of the spin motor 10 is fixedly connected to the transmission shaft 12, the transmission shaft 12 is mounted with the pressure spring 13 and the base 141 of the jaw assembly 14, wherein the pressure spring 13 is mounted between the transmission shaft 12 and the base 141 for reducing axial vibration of the transmission shaft 12, thereby buffering axial impact force generated when a bolt on an end effector comes into contact with a workpiece to be operated, the housing 142 of the jaw assembly 14 is mounted on the base 141, the base 141 is installed on the unit installation plate 15 through the assembly support bearing 140, the shaft of the base 141 is installed with the plane thread gear support bearing 144, the plane thread gear 143 is installed on the bearing and is in interference fit with the plane thread gear 143, the plane thread gear 143 is provided with equidistant spiral lines, the clamping jaws 145 are installed in the grooves of the housing 142 and are matched with the equidistant spiral lines on the plane thread gear 143, when the plane thread gear 143 rotates, the clamping jaws 145 can be controlled to be closed and released, the moving range of the clamping jaws 145 can be determined by the top threads installed in the positioning screw holes 1420 of the housing 142, and the equidistant spiral line type on the plane thread gear 143 can be properly adjusted according to the size of the clamping jaws 145.
Referring to fig. 3-5, the assembly steps of jaw assembly 14 are
1) Mounting the base 141 on the module support bearing 140;
2) the flat screw gear support bearing 144 is mounted on the base 141;
3) the flat screw gear 143 is mounted on the flat screw gear support bearing 144;
4) mounting the housing 142 on the base 141;
5) the pawl 145 is mounted in a slot in the housing 142.
With reference to FIG. 2, the assembly steps of the spin chuck unit are
1) Mounting the rotating electric machine fixing plate 11 on the unit mounting plate 15;
2) mounting a rotating motor 10 on a rotating motor fixing plate 11;
3) mounting a drive shaft 12 on the rotary electric machine 10;
4) a pressure spring 13 is arranged on the transmission shaft 12;
5) the assembly support bearing 140 in the jaw assembly 14 is mounted on the unit mounting plate 15 while the base 141 in the jaw assembly 14 is mounted on the drive shaft 12.
Referring to fig. 6, the clamping transmission unit 2 includes a clamping motor 20 and an intermittent gear 21, the clamping motor 20 is mounted on the unit mounting plate 15 of the rotary chuck unit 1 and controls the movement of the intermittent gear 21 mounted on its shaft, when the intermittent gear 21 is in a meshed state with the planar threaded gear 143, the intermittent gear 21 can control the jaws 145 of the jaw assembly 14 to clamp or release the bolt, when the intermittent gear 21 is in a non-meshed state with the planar threaded gear 143, the rotary motor 10 drives the bolt clamped by the jaws 145 to rotate, thereby completing the assembly task, and the number of teeth of the intermittent gear 21 can be adjusted according to the system requirements.
Referring to fig. 7, the buffering and vibration isolating unit 3 includes a vibration isolating frame mounting plate 30, a buffering and vibration isolating frame 31 and a main mounting plate 32, the buffering and vibration isolating frame 31 is made of a buffering material and isolates the main body of the end effector from the main mounting plate 32, and can buffer a lateral impact force which may be generated when a bolt held by three jaws 145 of the jaw assembly 14 contacts a workpiece to be operated, and the buffering and vibration isolating frame 31 and a unit mounting plate 15 of the spin chuck unit 1 are fixed on the main mounting plate 32 by the vibration isolating frame mounting plate 30.
Claims (5)
1. A robot execution device with a bolt automatic assembly function is characterized in that: the clamping device comprises a rotary chuck unit, a clamping transmission unit, a buffering vibration isolation unit and a main control unit, wherein the clamping transmission unit is arranged on the rotary chuck unit;
the rotary chuck unit comprises a rotary motor, a rotary motor fixing plate, a transmission shaft, a pressure spring, a jaw assembly and a unit mounting plate, wherein the jaw assembly comprises an assembly supporting bearing, a base, a shell, a plane thread gear supporting bearing and a jaw, the rotary motor fixing plate is fixedly connected on the unit mounting plate, the rotary motor is further installed on the rotary motor, an output shaft of the rotary motor is fixedly connected with the transmission shaft, the transmission shaft is provided with the pressure spring and the base of the jaw assembly, the pressure spring is installed between the transmission shaft and the base and used for reducing axial vibration of the transmission shaft, so that axial impact force generated when a bolt on an end execution device is contacted with a workpiece to be operated is buffered, the shell in the jaw assembly is installed on the base, the base is installed on the unit mounting plate through the assembly supporting bearing, and the plane thread gear supporting bearing is installed on a shaft of the base, the plane thread gear is arranged on the bearing and is in interference fit with the bearing, and the claw is arranged in the groove of the shell.
2. The robot actuator with automatic bolt assembling function according to claim 1, wherein: the equidistant helix has on the plane screw gear among the rotary chuck unit, the jack catch install the inslot of casing and with plane screw gear on the equidistant helix cooperate, when plane screw gear rotated, can control the jack catch closed and release, the moving range of jack catch can be confirmed by the jackscrew of installing in casing location screw hole, the line type of equidistant helix on the plane screw gear can be adjusted according to the size of jack catch.
3. The robot actuator with automatic bolt assembling function according to claim 2, wherein: the assembly steps of the jaw components are as follows
1) Mounting the base on the assembly support bearing;
2) installing a plane thread gear supporting bearing on a base;
3) installing a planar threaded gear on a planar threaded gear support bearing;
4) mounting the housing on a base;
5) the jaws are mounted in the housing slots.
4. The robot actuator with automatic bolt assembling function according to claim 3, wherein: the clamping transmission unit comprises a clamping motor and an intermittent gear, the clamping motor is arranged on a unit mounting plate of the rotary chuck unit and controls the intermittent gear arranged on a shaft of the rotary chuck unit to move, when the intermittent gear and the plane threaded gear are in a meshed state, the intermittent gear can control a clamping jaw in a clamping jaw assembly to clamp or release a bolt to be assembled, when the intermittent gear and the plane threaded gear are in a non-meshed state, the rotary motor drives the bolt clamped by the clamping jaw to rotate, so that an assembly task is completed, and the tooth number of the intermittent gear can be adjusted according to system requirements.
5. The robot actuator with automatic bolt assembling function according to claim 4, wherein: the buffering vibration isolation unit comprises a vibration isolation frame mounting plate, a buffering vibration isolation frame and a main mounting plate, wherein the buffering vibration isolation frame is made of a buffering material and isolates the main body of the tail end execution device from the main mounting plate, so that the transverse impact force generated when bolts clamped by three clamping jaws in the clamping jaw assembly are contacted with a workpiece to be operated can be buffered, and the buffering vibration isolation frame and a unit mounting plate in the rotary chuck unit are fixed on the main mounting plate by the vibration isolation frame mounting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210178907.1A CN114378569B (en) | 2022-02-25 | 2022-02-25 | Robot executive device with bolt automatic assembly function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210178907.1A CN114378569B (en) | 2022-02-25 | 2022-02-25 | Robot executive device with bolt automatic assembly function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114378569A true CN114378569A (en) | 2022-04-22 |
| CN114378569B CN114378569B (en) | 2023-08-18 |
Family
ID=81206340
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210178907.1A Active CN114378569B (en) | 2022-02-25 | 2022-02-25 | Robot executive device with bolt automatic assembly function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114378569B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4627786A (en) * | 1983-03-10 | 1986-12-09 | Mitsubishi Denki Kabushiki Kaisha | Industrial robot |
| JPH09267287A (en) * | 1996-03-29 | 1997-10-14 | Plus Eng:Kk | Four-claw chuck |
| CN203197918U (en) * | 2013-05-08 | 2013-09-18 | 浙江机电职业技术学院 | Assembling mechanical hand |
| CN103753597A (en) * | 2014-01-22 | 2014-04-30 | 北京航空航天大学 | Tong device with posture correction function |
| CN206455682U (en) * | 2016-12-21 | 2017-09-01 | 江苏德罗智能科技有限公司 | A kind of manipulator fixture for being used to bakee biscuit automatic box packing machine |
| WO2017161927A1 (en) * | 2016-03-23 | 2017-09-28 | 华南理工大学 | Robot elastic joint with adjustable rigidity |
| CN211332951U (en) * | 2019-10-23 | 2020-08-25 | 昆明理工大学 | Adjustable ratchet wrench structure |
| CN211682161U (en) * | 2019-12-16 | 2020-10-16 | 刘朝龙 | Flexible servo jack catch executor in robot end |
| CN113134717A (en) * | 2021-03-08 | 2021-07-20 | 杭州电子科技大学 | Automatic assembling equipment and method for multipurpose O-shaped sealing ring |
-
2022
- 2022-02-25 CN CN202210178907.1A patent/CN114378569B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4627786A (en) * | 1983-03-10 | 1986-12-09 | Mitsubishi Denki Kabushiki Kaisha | Industrial robot |
| JPH09267287A (en) * | 1996-03-29 | 1997-10-14 | Plus Eng:Kk | Four-claw chuck |
| CN203197918U (en) * | 2013-05-08 | 2013-09-18 | 浙江机电职业技术学院 | Assembling mechanical hand |
| CN103753597A (en) * | 2014-01-22 | 2014-04-30 | 北京航空航天大学 | Tong device with posture correction function |
| WO2017161927A1 (en) * | 2016-03-23 | 2017-09-28 | 华南理工大学 | Robot elastic joint with adjustable rigidity |
| CN206455682U (en) * | 2016-12-21 | 2017-09-01 | 江苏德罗智能科技有限公司 | A kind of manipulator fixture for being used to bakee biscuit automatic box packing machine |
| CN211332951U (en) * | 2019-10-23 | 2020-08-25 | 昆明理工大学 | Adjustable ratchet wrench structure |
| CN211682161U (en) * | 2019-12-16 | 2020-10-16 | 刘朝龙 | Flexible servo jack catch executor in robot end |
| CN113134717A (en) * | 2021-03-08 | 2021-07-20 | 杭州电子科技大学 | Automatic assembling equipment and method for multipurpose O-shaped sealing ring |
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| Publication number | Publication date |
|---|---|
| CN114378569B (en) | 2023-08-18 |
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