CN114750189A - Size self-adaptive nut and bolt assembling manipulator - Google Patents
Size self-adaptive nut and bolt assembling manipulator Download PDFInfo
- Publication number
- CN114750189A CN114750189A CN202210353935.2A CN202210353935A CN114750189A CN 114750189 A CN114750189 A CN 114750189A CN 202210353935 A CN202210353935 A CN 202210353935A CN 114750189 A CN114750189 A CN 114750189A
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- Prior art keywords
- rotating shaft
- palm
- connecting rod
- hollow inner
- inner rotating
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/083—Gripping heads and other end effectors having finger members with means for locking the fingers in an open or closed position
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
A size-adaptive nut and bolt assembling manipulator adopts a three-jaw structure, fingers are arranged below a palm support, and a palm shell is arranged above the palm support; the finger opening and closing driving motor is fixedly arranged at the top end inside the palm shell, and a motor shaft of the finger opening and closing driving motor is coaxially and fixedly connected with the upper end of the lead screw; the screw nut is sleeved on the screw rod, and the hollow inner rotating shaft is coaxially sleeved on the outer side of the screw rod and fixedly connected with the screw nut; the guide sleeve is coaxially sleeved on the outer side of the hollow inner rotating shaft and fixedly connected with the palm shell, and the hollow inner rotating shaft can only move linearly; the hollow inner rotating shaft extends downwards to the lower part of the palm support and is connected with a finger opening and closing force transmission frame through a bearing; the hollow outer rotating shaft is coaxially sleeved outside the hollow inner rotating shaft and is connected with the palm shell through a bearing; the lower end of the hollow outer rotating shaft is fixedly connected with the palm support through a force transmission disc; the worm wheel is fixedly sleeved on the hollow outer rotating shaft; and the screwing driving motor is fixedly arranged outside the palm shell, the worm is connected with the palm shell through the bearing and is meshed with the worm wheel, and the worm is fixedly connected with a motor shaft of the screwing driving motor.
Description
Technical Field
The invention belongs to the technical field of manipulators, and particularly relates to a size-adaptive nut and bolt assembling manipulator.
Background
With the rapid development of automation technology, a machine gradually replaces a human to perform operation, which becomes a development trend in the future, and a manipulator as an automation device is widely applied to many modern industrial production lines.
The appearance of the manipulator can replace manual work to finish work with high repeatability more efficiently and accurately, and the assembly operation capacity of the manipulator is far beyond the scope of manpower.
However, in some assembling operations of nuts and bolts, although some assembling manipulators are also applied, most of the assembling manipulators belong to a socket wrench type structure, which can only fit nuts or bolts of one type, and once the type of the nut or bolt is changed, a plurality of sets of manipulators need to be prepared to fit nuts or bolts of different types, which inevitably results in a great increase in equipment cost.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides the size-adaptive nut and bolt assembling manipulator, a three-jaw structure is adopted, only one set of manipulator needs to be prepared during actual assembling operation, the assembling operation of nuts or bolts of different types can be adapted, and the equipment cost is effectively reduced.
In order to achieve the purpose, the invention adopts the following technical scheme: a size-adaptive nut and bolt assembling manipulator adopts a three-jaw structure and comprises fingers, a palm support, a palm shell, a screwing driving motor, a worm gear, a hollow outer rotating shaft, a finger opening and closing driving motor, a screw rod, a nut, a hollow inner rotating shaft and a finger opening and closing force transmission frame; the fingers are arranged below the palm support, the number of the fingers is three, and the three fingers are uniformly distributed along the circumferential direction; the palm shell is arranged above the palm support; the finger opening and closing driving motor is positioned at the top end inside the palm shell and fixedly connected with the palm shell; the lead screw is positioned in the palm shell, and the upper end of the lead screw is coaxially and fixedly connected with a motor shaft of the finger opening and closing driving motor; the screw nut is sleeved on the screw rod, the hollow inner rotating shaft is coaxially sleeved on the outer side of the screw rod, and the hollow inner rotating shaft is fixedly connected with the screw nut; a guide sleeve is coaxially sleeved on the outer side of the hollow inner rotating shaft and fixedly connected with the palm shell, and the hollow inner rotating shaft only has linear movement freedom relative to the guide sleeve; a hollow inner rotating shaft penetrating hole is formed in the middle of the palm support and extends to the position below the palm support through the hollow inner rotating shaft penetrating hole, and a linear bearing is arranged between the hollow inner rotating shaft and the hollow inner rotating shaft penetrating hole; the finger opening and closing force transmission frame is of an annular structure, the finger opening and closing force transmission frame is sleeved on a hollow inner rotating shaft extending to the lower part of the palm support, and a first support bearing is arranged between the finger opening and closing force transmission frame and the hollow inner rotating shaft; the hollow outer rotating shaft is positioned in the palm shell, the hollow outer rotating shaft is coaxially sleeved outside the hollow inner rotating shaft, the upper end of the hollow outer rotating shaft is connected with the palm shell through a second supporting bearing, and the lower end of the hollow outer rotating shaft is connected with the palm shell through a third supporting bearing; the lower end of the hollow outer rotating shaft is fixedly connected with the palm support through a force transmission disc; the worm wheel is coaxially and fixedly sleeved on the hollow outer rotating shaft; the screwing driving motor is positioned outside the palm shell and fixedly connected with the palm shell; the worm is positioned in the palm shell and meshed with the worm wheel, and the rear end of the worm is coaxially and fixedly connected with a motor shaft of the screwing driving motor; the front end of the worm is connected with the palm shell through a fourth supporting bearing, and the rear end of the worm is connected with the palm shell through a fifth supporting bearing.
The fingers adopt a parallelogram structure and comprise a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod and a dowel bar; the top end of the first connecting rod is fixedly connected with the palm support; one end of the second connecting rod is hinged with the bottom end of the first connecting rod, and the other end of the second connecting rod is hinged with the bottom end of the third connecting rod; one end of the fourth connecting rod is hinged to the middle of the first connecting rod, and the other end of the fourth connecting rod is hinged to the top end of the third connecting rod; one end of the dowel bar is hinged to the middle part of the fourth connecting rod, and the other end of the dowel bar is hinged to the finger opening and closing dowel frame; the third connecting rod is used as a clamping rod of a nut or a bolt.
The invention has the beneficial effects that:
the size-adaptive nut and bolt assembling manipulator disclosed by the invention adopt a three-jaw structure, only one set of manipulator needs to be prepared during actual assembling operation, the assembling operation of nuts or bolts of different types can be adapted, and the equipment cost is effectively reduced.
Drawings
Fig. 1 is a schematic structural diagram (view one) of a size-adaptive nut and bolt assembling manipulator according to the present invention;
fig. 2 is a schematic structural diagram (view one) of a size-adaptive nut and bolt assembling manipulator (palm shell is not shown) of the present invention;
Fig. 3 is a schematic structural diagram (view one) of a size-adaptive nut and bolt assembling manipulator (a palm shell and a hollow outer rotating shaft are not shown) according to the present invention;
fig. 4 is a schematic structural diagram (view two) of a size-adaptive nut and bolt assembling manipulator according to the present invention;
fig. 5 is a schematic structural diagram (view two) of a size-adaptive nut and bolt assembling manipulator (a palm shell is not shown) of the present invention;
fig. 6 is a schematic structural diagram (view three) of a size-adaptive nut and bolt assembling manipulator according to the present invention;
FIG. 7 is a finger diagram of a size adaptive nut and bolt assembly robot of the present invention;
in the figure, 1-finger, 2-palm support, 3-palm shell, 4-screwing driving motor, 5-worm, 6-worm wheel, 7-hollow outer rotating shaft, 8-finger opening and closing driving motor, 9-lead screw, 10-hollow inner rotating shaft, 11-finger opening and closing force transmission frame, 12-guide sleeve, 13-linear bearing, 14-second supporting bearing, 15-third supporting bearing, 16-force transmission disc, 17-fourth supporting bearing, 18-fifth supporting bearing, 19-first connecting rod, 20-second connecting rod, 21-third connecting rod, 22-fourth connecting rod and 23-force transmission rod.
Detailed Description
The invention is described in further detail below with reference to the figures and the specific embodiments.
As shown in fig. 1 to 7, a size-adaptive nut and bolt assembling manipulator adopts a three-jaw structure, and includes a finger 1, a palm support 2, a palm housing 3, a screwing driving motor 4, a worm 5, a worm wheel 6, a hollow outer rotating shaft 7, a finger opening and closing driving motor 8, a screw rod 9, a nut, a hollow inner rotating shaft 10 and a finger opening and closing force transmission frame 11; the fingers 1 are arranged below the palm support 2, the number of the fingers 1 is three, and the three fingers 1 are uniformly distributed along the circumferential direction; the palm shell 3 is arranged above the palm bracket 2; the finger opening and closing driving motor 8 is positioned at the top end inside the palm shell 3, and the finger opening and closing driving motor 8 is fixedly connected with the palm shell 3; the lead screw 9 is positioned in the palm shell 3, and the upper end of the lead screw 9 is coaxially and fixedly connected with a motor shaft of the finger opening and closing driving motor 8; the screw nut is sleeved on the screw rod 9, the hollow inner rotating shaft 10 is coaxially sleeved on the outer side of the screw rod 9, and the hollow inner rotating shaft 10 is fixedly connected with the screw nut; a guide sleeve 12 is coaxially sleeved on the outer side of the hollow inner rotating shaft 10, the guide sleeve 12 is fixedly connected with the palm shell 3, and the hollow inner rotating shaft 10 only has a linear movement freedom degree relative to the guide sleeve 12; a hollow inner rotating shaft penetrating hole is formed in the middle of the palm support 2, the hollow inner rotating shaft 10 extends to the lower portion of the palm support 2 through the hollow inner rotating shaft penetrating hole, and a linear bearing 13 is arranged between the hollow inner rotating shaft 10 and the hollow inner rotating shaft penetrating hole; the finger opening and closing force transmission frame 11 is of a circular structure, the finger opening and closing force transmission frame 11 is sleeved on a hollow inner rotating shaft 10 extending to the lower part of the palm support 2, and a first support bearing is arranged between the finger opening and closing force transmission frame 11 and the hollow inner rotating shaft 10; the hollow outer rotating shaft 7 is positioned in the palm shell 3, the hollow outer rotating shaft 7 is coaxially sleeved outside the hollow inner rotating shaft 10, the upper end of the hollow outer rotating shaft 7 is connected with the palm shell 3 through a second supporting bearing 14, and the lower end of the hollow outer rotating shaft 7 is connected with the palm shell 3 through a third supporting bearing 15; the lower end of the hollow outer rotating shaft 7 is fixedly connected with the palm support 2 through a force transmission disc 16; the worm wheel 6 is coaxially and fixedly sleeved on the hollow outer rotating shaft 7; the screwing driving motor 4 is positioned outside the palm shell 3, and the screwing driving motor 4 is fixedly connected with the palm shell 3; the worm 5 is positioned in the palm shell 3, the worm 5 is meshed with the worm wheel 6, and the rear end of the worm 5 is coaxially and fixedly connected with a motor shaft of the screwing driving motor 4; the front end of the worm 5 is connected with the palm shell 3 through a fourth support bearing 17, and the rear end of the worm 5 is connected with the palm shell 3 through a fifth support bearing 18.
The finger 1 adopts a parallelogram structure and comprises a first connecting rod 19, a second connecting rod 20, a third connecting rod 21, a fourth connecting rod 22 and a dowel bar 23; the top end of the first connecting rod 19 is fixedly connected with the palm support 2; one end of the second connecting rod 20 is hinged with the bottom end of the first connecting rod 19, and the other end of the second connecting rod 20 is hinged with the bottom end of the third connecting rod 21; one end of the fourth connecting rod 22 is hinged at the middle part of the first connecting rod 19, and the other end of the fourth connecting rod 22 is hinged with the top end of the third connecting rod 21; one end of the dowel bar 23 is hinged to the middle part of the fourth connecting rod 22, and the other end of the dowel bar 23 is hinged to the finger opening and closing dowel frame 11; the third link 21 serves as a clamping rod for a nut or bolt.
The one-time use process of the present invention is described below with reference to the accompanying drawings:
when nut or bolt that wait to assemble need be through the manipulator centre gripping, at first start finger open and close driving motor 8, open and close driving motor 8 through the finger and drive lead screw 9 and rotate, the rotary motion of lead screw 9 can synchronous conversion be the linear motion of screw, and then drive hollow internal rotation axle 10 and make linear motion, finger open and close dowel frame 11 can follow hollow internal rotation axle 10 synchronous motion this moment, and then drive the motion of dowel steel 23 on the finger 1, finally drive finger 1 and open or the closed action, be used for accomplishing the centre gripping of nut or bolt.
After the nut or the bolt is clamped and fixed by the fingers 1, the mechanical arm can drive the mechanical arm to move to the assembling position, if the nut is clamped, the nut is aligned to a screw rod to be assembled, and if the bolt is clamped, the bolt is aligned to a screw hole to be assembled. After the nut or the bolt is aligned to a screw rod or a screw hole to be assembled, the screwing driving motor 4 is started, the screwing driving motor 4 drives the worm 5 to rotate, the worm wheel 6 meshed with the worm is further driven to rotate, the hollow outer rotating shaft 7 is synchronously driven to rotate through the rotation of the worm wheel 6, the palm support 2 is driven to synchronously rotate through the force transmission disc 16, and finally the finger 1 clamping the nut or the bolt is driven to rotate, so that the screwing action of the nut or the bolt is realized, and meanwhile, the assembling operation of the nut or the bolt can be completed by matching with the feeding motion of the mechanical arm.
The embodiments are not intended to limit the scope of the present invention, and all equivalent implementations or modifications without departing from the scope of the present invention are intended to be included in the scope of the present invention.
Claims (2)
1. The utility model provides a size self-adaptation's nut and bolt assembly manipulator which characterized in that: the three-jaw type structure is adopted, and comprises fingers, a palm support, a palm shell, a screwing driving motor, a worm gear, a hollow outer rotating shaft, a finger opening and closing driving motor, a screw rod, a screw nut, a hollow inner rotating shaft and a finger opening and closing force transmission frame; the fingers are arranged below the palm support, the number of the fingers is three, and the three fingers are uniformly distributed along the circumferential direction; the palm shell is arranged above the palm support; the finger opening and closing driving motor is positioned at the top end inside the palm shell and fixedly connected with the palm shell; the lead screw is positioned in the palm shell, and the upper end of the lead screw is coaxially and fixedly connected with a motor shaft of the finger opening and closing driving motor; the screw nut is sleeved on the screw rod, the hollow inner rotating shaft is coaxially sleeved on the outer side of the screw rod, and the hollow inner rotating shaft is fixedly connected with the screw nut; a guide sleeve is coaxially sleeved on the outer side of the hollow inner rotating shaft and fixedly connected with the palm shell, and the hollow inner rotating shaft only has linear movement freedom relative to the guide sleeve; a hollow inner rotating shaft penetrating hole is formed in the middle of the palm support and extends to the position below the palm support through the hollow inner rotating shaft penetrating hole, and a linear bearing is arranged between the hollow inner rotating shaft and the hollow inner rotating shaft penetrating hole; the finger opening and closing force transmission frame is of an annular structure, the finger opening and closing force transmission frame is sleeved on a hollow inner rotating shaft extending to the lower part of the palm support, and a first support bearing is arranged between the finger opening and closing force transmission frame and the hollow inner rotating shaft; the hollow outer rotating shaft is positioned in the palm shell, the hollow outer rotating shaft is coaxially sleeved outside the hollow inner rotating shaft, the upper end of the hollow outer rotating shaft is connected with the palm shell through a second supporting bearing, and the lower end of the hollow outer rotating shaft is connected with the palm shell through a third supporting bearing; the lower end of the hollow outer rotating shaft is fixedly connected with the palm support through a force transmission disc; the worm wheel is coaxially and fixedly sleeved on the hollow outer rotating shaft; the screwing driving motor is positioned outside the palm shell and fixedly connected with the palm shell; the worm is positioned in the palm shell and meshed with the worm wheel, and the rear end of the worm is coaxially and fixedly connected with a motor shaft of the screwing driving motor; the front end of the worm is connected with the palm shell through a fourth supporting bearing, and the rear end of the worm is connected with the palm shell through a fifth supporting bearing.
2. The size-adaptive nut and bolt assembling manipulator according to claim 1, characterized in that: the fingers adopt a parallelogram structure and comprise a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod and a dowel bar; the top end of the first connecting rod is fixedly connected with the palm support; one end of the second connecting rod is hinged with the bottom end of the first connecting rod, and the other end of the second connecting rod is hinged with the bottom end of the third connecting rod; one end of the fourth connecting rod is hinged to the middle of the first connecting rod, and the other end of the fourth connecting rod is hinged to the top end of the third connecting rod; one end of the dowel bar is hinged to the middle part of the fourth connecting rod, and the other end of the dowel bar is hinged to the finger opening and closing dowel frame; the third connecting rod is used as a clamping rod of a nut or a bolt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210353935.2A CN114750189A (en) | 2022-04-06 | 2022-04-06 | Size self-adaptive nut and bolt assembling manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210353935.2A CN114750189A (en) | 2022-04-06 | 2022-04-06 | Size self-adaptive nut and bolt assembling manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114750189A true CN114750189A (en) | 2022-07-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210353935.2A Pending CN114750189A (en) | 2022-04-06 | 2022-04-06 | Size self-adaptive nut and bolt assembling manipulator |
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| CN (1) | CN114750189A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009018390A (en) * | 2007-07-12 | 2009-01-29 | Toyota Auto Body Co Ltd | Mechanical hand |
| CN203697028U (en) * | 2014-01-23 | 2014-07-09 | 南京聚特机器人技术有限公司 | Three-jaw clamp holder with manually adjustable angles between fingers |
| CN203853994U (en) * | 2014-05-14 | 2014-10-01 | 河北科技大学 | Carrying manipulator with multiple degrees of freedom |
| CN205928703U (en) * | 2016-04-26 | 2017-02-08 | 江南大学 | But underactuated manipulator of hard and soft coupling transposition finger |
| CN108656146A (en) * | 2018-05-29 | 2018-10-16 | 北京航空航天大学 | A kind of multi-functional three fingers mechanical paw of continuous rotation |
| EP3620269A1 (en) * | 2018-09-07 | 2020-03-11 | Fruitcore Gmbh | Hinge bearing for a robot comprising an elastically compressible pre-loading element |
| CN211682195U (en) * | 2019-12-25 | 2020-10-16 | 湖北三峡职业技术学院 | Mechanical gripper based on thread transmission |
-
2022
- 2022-04-06 CN CN202210353935.2A patent/CN114750189A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009018390A (en) * | 2007-07-12 | 2009-01-29 | Toyota Auto Body Co Ltd | Mechanical hand |
| CN203697028U (en) * | 2014-01-23 | 2014-07-09 | 南京聚特机器人技术有限公司 | Three-jaw clamp holder with manually adjustable angles between fingers |
| CN203853994U (en) * | 2014-05-14 | 2014-10-01 | 河北科技大学 | Carrying manipulator with multiple degrees of freedom |
| CN205928703U (en) * | 2016-04-26 | 2017-02-08 | 江南大学 | But underactuated manipulator of hard and soft coupling transposition finger |
| CN108656146A (en) * | 2018-05-29 | 2018-10-16 | 北京航空航天大学 | A kind of multi-functional three fingers mechanical paw of continuous rotation |
| EP3620269A1 (en) * | 2018-09-07 | 2020-03-11 | Fruitcore Gmbh | Hinge bearing for a robot comprising an elastically compressible pre-loading element |
| CN211682195U (en) * | 2019-12-25 | 2020-10-16 | 湖北三峡职业技术学院 | Mechanical gripper based on thread transmission |
Non-Patent Citations (1)
| Title |
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| 覃海挥;: "浅谈助力机械手在汽车总装线上的运用", 企业技术开发, no. 17 * |
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