CN115816047A - Manipulator capable of mounting and screwing nut - Google Patents
Manipulator capable of mounting and screwing nut Download PDFInfo
- Publication number
- CN115816047A CN115816047A CN202310048701.1A CN202310048701A CN115816047A CN 115816047 A CN115816047 A CN 115816047A CN 202310048701 A CN202310048701 A CN 202310048701A CN 115816047 A CN115816047 A CN 115816047A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 15
- 238000001514 detection method Methods 0.000 claims description 13
- 238000012544 monitoring process Methods 0.000 claims description 5
- 239000003292 glue Substances 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 abstract description 5
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 3
- 239000012790 adhesive layer Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000010410 layer Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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Abstract
The invention discloses a manipulator capable of mounting and screwing a nut, which comprises: at least one center post, one end can be dismantled with the arm and be connected, and the other end is provided with the location and surveys the module, at least one spout, and the axial setting is in the periphery of center post, and the slider, one end sliding connection are in the spout, and the other end exposes in the spout, and driving motor sets up on the slider, and driving motor's drive end is provided with torque sensor and drive wheel, and the nut pipe sets up on the slider for the stack nut, the nut pipe includes: the manipulator capable of installing and screwing nuts can replace manual nut installation and screwing, production efficiency is improved, a plurality of nuts can be continuously installed through the nut tubes, and accurate and constant nut screwing force is guaranteed by friction transmission of the driving wheels and the driving wheels.
Description
Technical Field
The invention belongs to the technical field of automobile assembly nut installation, and particularly relates to a manipulator capable of installing and screwing a nut.
Background
With the rapid development of the automobile industry, the appearance of the automobile is also diversified. The research and production of the existing company redesigns the original independent side board of the compartment into an A board and a B board, and the A board and the B board are assembled and connected together to form the side board with a cavity structure. In the process of connecting the plate A and the plate B, the plate A is provided with a stud, the stud on the plate A penetrates through the plate B and then is exposed, and then the stud is screwed and fixed through a nut. The nut needs manual matching, and the studs at different positions on the A plate have different sizes, so that the manual placement and tightening connection workload of workers are high, and the efficiency is low.
Disclosure of Invention
The invention aims to solve the problems that studs at different positions on the existing A plate have different sizes, the connection workload is large by means of manual placement and screwing of workers, and the efficiency is low in the prior art.
In order to achieve the above object, the present invention provides a robot capable of mounting and tightening a nut, comprising:
one end of the central column is detachably connected with the mechanical arm, and the other end of the central column is provided with a positioning detection module;
at least one chute axially disposed on an outer periphery of the center post;
one end of the sliding block is connected in the sliding groove in a sliding mode, and the other end of the sliding block is exposed out of the sliding groove;
the driving motor is arranged on the sliding block, and a torque sensor and a driving wheel are arranged at the driving end of the driving motor;
nut pipe sets up on the slider for the closed assembly nut, nut pipe includes:
the hexagonal through groove is axially formed in the pipe body and matched with the nut;
the inner periphery of the bearing is connected with the outer periphery of the pipe body, and the outer periphery of the bearing is connected with the sliding block through a bracket;
the clamping mechanism is arranged at the head end of the pipe body and used for preventing the nut from automatically sliding out of the pipe body;
the driving mechanism is arranged at the tail end of the pipe body and can drive the nut of the pipe body to be close to the head end of the pipe body;
the driving wheel is sleeved on the periphery of the pipe body and is in friction transmission with the driving wheel;
and the control module is at least connected with the mechanical arm, the positioning detection module and the driving motor, can detect the position of the stud by using the positioning detection module and controls the mechanical arm to drive the central column to be close to the stud.
Optionally, the transmission wheel and the driving wheel are respectively a helical gear, and an elastic adhesive layer is arranged on the periphery of the driving wheel.
Optionally, the chucking mechanism comprises:
the blind hole is arranged at the head end of the pipe body;
the ball is arranged in the blind hole, and one end of the ball is exposed out of the blind hole and can be contacted with the periphery of the nut;
and two ends of the elastic component are respectively connected with the ball and the bottom of the blind hole, and one end of the ball is exposed out of the blind hole.
Optionally, the drive mechanism comprises:
the inflator pump is arranged at the tail end of the tube body;
the air bag is corrugated, one end of the air bag is connected with the inflator pump through a hard tube, the side wall of the hard tube is provided with a pressure release valve, and the other end of the air bag is axially arranged in the tube body;
and the air pressure module is connected with the inflator pump and used for monitoring the air pressure of the air bag.
Optionally, the central column comprises:
one end of the column core is detachably inserted with the mechanical arm;
the column sleeve is rotatably sleeved on the column core, and the sliding groove is formed in the periphery of the column sleeve;
the positioning detection module includes:
the baffle is disc-shaped, the end part of the column core is concentrically arranged, and a through groove capable of penetrating through the sliding block and the nut pipe is formed in the baffle;
a marking unit for emitting a laser mark;
the image acquisition units are distributed on the periphery of the baffle and used for acquiring the positions of the laser marks;
the positioning unit is used for adjusting the position of the central column according to the positions of the laser marks acquired by the image acquisition units so as to enable the central column to be concentric with the studs;
and the compensation unit is used for calculating the relative position of the nut pipe and the stud according to the relative position of the nut pipe and the central column.
Optionally, the sliding groove is provided with a plurality of sliding grooves, and the circle centers of the plurality of nut pipes are respectively located on the circumference of the concentric circle of the central column.
Optionally, the robotic arm comprises:
the workpiece fixing frames are arranged on two sides of the periphery of the base at intervals;
the base is connected to the base in a sliding mode;
and two ends of the six-shaft transmission arm are respectively connected with the central column and the base.
Optionally, the method further comprises:
the assembly platforms are arranged on one side of the base at intervals;
the two ends of the conveying belt are respectively connected with the assembly table and the base;
and the clamping holes are matched with the central column.
Optionally, a clamping jaw is arranged on the mechanical arm, and a clamping groove matched with the clamping jaw is formed in one end of the central column.
Optionally, the clamping jaw is circumferentially provided with at least three.
The invention provides a manipulator capable of mounting and screwing a nut, which has the beneficial effects that:
the manipulator capable of installing and screwing the nuts can replace manual nut installation and screwing, production efficiency is improved, a plurality of nuts can be continuously installed through the nut pipes, and the nut screwing force is guaranteed to be accurate and constant through friction transmission of the driving wheels and the driving wheels.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent by describing in more detail exemplary embodiments thereof with reference to the attached drawings, in which like reference numerals generally represent like parts throughout.
Fig. 1 shows a schematic structural diagram of a nut mountable and tightenable manipulator center post according to an embodiment of the present invention.
Figure 2 shows a side view schematic of a nut mountable and tightening robot in accordance with one embodiment of the present invention.
Fig. 3 is a schematic structural view of a tubular body of a robot capable of mounting and tightening a nut according to an embodiment of the present invention.
Figure 4 shows an enlarged view at a of figure 3 of a nut mountable and tightenable robot in accordance with one embodiment of the present invention.
Figure 5 illustrates a top view of a nut mountable and tightening robot in accordance with one embodiment of the present invention.
Description of reference numerals:
1. a central column; 2. A slider; 3. A mechanical arm; 4. A drive wheel; 5. a tube body; 6. and a transmission wheel; 7. a ball bearing; 8. an elastic component; 9. an inflator pump; 10. an air bag; 11. a pressure relief valve; 12. a baffle plate; 13. a marking unit; 14. an image acquisition unit; 15. a base; 16. a base; 17. an assembly table; 18. a conveyor belt; 19. a stud; 20. a clamping jaw.
Detailed Description
Preferred embodiments of the present invention will be described in more detail below. While the following describes preferred embodiments of the present invention, it should be understood that the present invention may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
As shown in fig. 1 to 5, a robot capable of mounting and tightening a nut includes:
one end of the central column 1 is connected with the mechanical arm 3, and the other end of the central column is provided with a positioning detection module;
at least one sliding groove is axially arranged on the periphery of the central column 1;
one end of the sliding block 2 is connected in the sliding groove in a sliding mode, and the other end of the sliding block is exposed out of the sliding groove;
the driving motor is arranged on the sliding block 2, and a torque sensor and a driving wheel 4 are arranged at the driving end of the driving motor;
nut pipe sets up on slider 2 for the closed assembly nut, the nut pipe includes:
a hexagonal through groove matched with the nut is axially arranged on the pipe body 5;
the inner periphery of the bearing is connected with the outer periphery of the tube body 5, and the outer periphery of the bearing is connected with the sliding block 2 through a bracket;
the clamping mechanism is arranged at the head end of the pipe body 5 and used for preventing the nut from automatically sliding out of the pipe body 5;
the driving mechanism is arranged at the tail end of the pipe body 5 and can drive the nut of the pipe body 5 to be close to the head end of the pipe body 5;
the transmission wheel 6 is sleeved on the periphery of the pipe body 5 and is in friction transmission with the driving wheel 4;
and the control module is at least connected with the mechanical arm 3, the positioning detection module and the driving motor, can detect the position of the stud by using the positioning detection module, and controls the mechanical arm 3 to drive the central column 1 to be close to the stud.
Specifically, nuts are sequentially stacked in the pipe body 5, the driving wheel 6 is in friction connection with the driving wheel 4, the torque sensor can monitor the tightening force of the nuts, when the nuts are screwed to be fastened or are clamped in the tightening process, the driving wheel 6 stops rotating, the driving wheel 4 and the driving wheel 6 slip and rotate independently to avoid the damage of the nuts and the studs 19, the torque sensor informs the control module to stop or give an alarm, and the driving mechanism provides force for keeping the nuts close to the head ends;
when the device is used, the control module finds a stud 19 on the surface of a workpiece through the positioning monitoring module, the central column 1 is close to the stud 19 through the mechanical arm 3, the nut tube is enabled to coincide with the axis of the stud 19 through preset compensation deviation data, then the sliding block 2 slides out of the sliding groove to enable the nut tube to be close to the stud 19 until the nut on the outermost side of the head end is contacted with the stud 19, then the driving wheel 4 is used for driving the driving wheel 6 to enable the pipe body 5 to rotate, the nut is rotatably installed on the stud 19, the sliding block 2 can gradually slide out of the sliding groove according to the height of the stud 19 to enable the nut to be installed at the root of the stud 19, and the nut is installed at the root and fastened to enable the driving wheel 4 to be disengaged from the driving wheel 6;
after the nuts are fastened, the slide block 2 firstly retracts by the thickness of x nuts according to the number x of the installation nuts of the studs 19, so that the nuts to be installed are separated from the tube body 5, and then the tube body 5 is reversely rotated and reset, so that the mounting height of the studs 19 is suitable for the situation that the thickness of the nuts is larger than that of the studs.
Further, the mechanical arm 3 can also be a simulation arm mechanism or a multi-axis coordinate system mechanism, the sliding block 2 can stay at any position in the sliding groove, and the control module can also be used for controlling a driving mechanism or a clamping mechanism.
In this embodiment, the transmission wheel 6 and the driving wheel 4 are helical gears, respectively, and the periphery of the driving wheel 4 is provided with an elastic glue layer.
Specifically, the oblique angle of helical gear is 45 degrees, and convenient cooperation is used, and the elasticity glue film does benefit to the compensation fit clearance simultaneously, has both guaranteed normal conduction revolving force, guarantees again that the nut is twisted soon to fasten or screw up the in-process card die effectively and take off the cunning with drive wheel 6.
Furthermore, the thickness of the driving wheel 6 is larger than that of the driving wheel 4, so that a contact surface is ensured, and the matching of the driving wheels 6 with different diameters and the driving wheel 4 is facilitated.
In the present embodiment, the chucking mechanism includes:
the blind hole is arranged at the head end of the pipe body 5;
the ball 7 is arranged in the blind hole, and one end of the ball is exposed out of the blind hole and can be contacted with the periphery of the nut;
and two ends of the elastic component 8 are respectively connected with the ball 7 and the bottom of the blind hole, and one end of the ball 7 is exposed out of the blind hole.
Specifically, the interference nut is prevented from coming out of the tube 5 by the balls 7.
Further, the periphery of the nut is provided with a chamfer, and the diameter of the ball 7 is smaller than the height of the chamfer, so that the surface of a workpiece is prevented from being abraded.
In the present embodiment, the drive mechanism includes:
the inflator pump 9 is arranged at the tail end of the tube body 5;
the air bag 10 is corrugated, one end of the air bag is connected with the inflator pump 9 through a hard tube, the side wall of the hard tube is provided with a pressure release valve 11, and the other end of the air bag is axially arranged in the tube body 5;
and the air pressure module is connected with the inflator pump 9 and used for monitoring the air pressure of the air bag 10.
Specifically, the air bag 10 is expanded through the inflator pump 9, so that a nut in the pipe body 5 is extruded to be close to the head end, the pressure of the air bag 10 can be relieved through the pressure relief valve 11 when the air bag 10 is extruded in a rotating installation state, and meanwhile, the air pressure monitoring module confirms the state of the air bag 10 according to an air pressure value.
Further, the air bag 10 in the first air pressure range expands to press the nut in the air pipe body 5 to be close to the head end state, and the stud 19 and/or the nut in the second air pressure range reversely press the air bag 10 state.
In the present embodiment, the center pillar 1 includes:
one end of the column core is detachably inserted with the mechanical arm 3;
the column sleeve is rotatably sleeved on the column core, and the sliding chute is arranged on the periphery of the column sleeve;
the positioning detection module includes:
the baffle 12 is disc-shaped, the end part of the column core is concentrically arranged, and a through groove capable of penetrating through the sliding block 2 and the nut pipe is formed in the baffle 12;
a marking unit 13 for emitting a laser mark;
a plurality of image acquisition units 14 distributed on the periphery of the baffle 12 and used for acquiring the positions of the laser marks;
the positioning unit is used for adjusting the position of the central column 1 according to the positions of the laser marks acquired by the image acquisition units 14 so as to enable the central column 1 to be concentric with the studs 19;
and the compensation unit is used for calculating the relative position of the nut pipe and the stud 19 according to the relative position of the nut pipe and the central column 1.
Specifically, the stud 19 and the central column 1 are positioned firstly, and then the nut pipe and the stud 19 are positioned, so that the positioning accuracy is ensured.
Further, after any stud 19 is captured, images of the studs 19 are acquired through the plurality of image acquisition units 14, and the size of the type of the stud 19 is calculated.
In this embodiment, the sliding groove is provided in plurality, and the centers of a plurality of nut pipes are respectively located on the circumference of the concentric circle of the central column 1.
Specifically, the corresponding slide block 2 passes through the through groove by rotating the central column, and the compensation value does not need to be reset.
In the present embodiment, the robot arm 3 includes:
a base 15, on which workpiece fixing frames are arranged at intervals on two sides of the periphery;
a base 16 slidably connected to the base 15;
and two ends of the six-shaft transmission arm are respectively connected with the central column 1 and the base 16.
Specifically, the base 16 moves the six-shaft transmission arm to reciprocate close to the workpieces on two sides of the periphery of the base 15, so that the requirement of flow production is met.
In this embodiment, the method further includes:
a mounting table 17 spaced apart from one side of the base 15;
a conveyor belt 18, both ends of which are respectively connected with the assembly table 17 and the base 15;
a plurality of clamping holes are matched with the central column 1.
Specifically, the central column 1 is transferred back and forth by the conveyor 18, and nuts are replenished at the work station.
In this embodiment, the robot arm 3 is provided with a clamping jaw 20, and one end of the central column 1 is provided with a clamping groove matched with the clamping jaw 20.
Specifically, one end of the mechanical arm 3 is axially inserted into the center post 1, and the center post 1 is clamped and fixed by the clamping jaw 20, and the inserted part can be used as a data command transmission end.
In the present embodiment, at least three clamping jaws 20 are circumferentially arranged.
When the manipulator capable of mounting and tightening the nut is used in the embodiment, the nut is mounted and used on the side plate of the vehicle body as an example,
assembling and matching the plate A and the plate B, and acquiring the size of the nut matched with the bolt distribution and the bolts at each position according to preset parameters by using a manipulator capable of installing the nut and screwing;
scanning the position of the capturing stud 19 through a positioning detection module, and simultaneously taking a nut pipe of a nut with a corresponding size to the through groove;
adjusting the positioning central column 1 and the stud 19, and then performing compensation correction to align the nut tube with the stud 19;
the sliding block 2 slides out of the sliding groove to enable the nut tube to be close to the stud 19, the stud 19 is connected with the nut on the outermost side of the head end of the tube body 5, the air bag 10 is compressed under increased pressure when in contact, contact is further confirmed, then the driving motor drives the tube body 5 to rotate through the driving wheel 4 and the driving wheel 6, and the nut in the tube body 5 is rotatably installed on the stud 19;
when backing, if a plurality of nuts are mounted on the same stud 19, the slide block 2 firstly backs by one nut thickness, the clamping mechanism is positioned between the nuts on the outermost side and the next outer side of the head end, so that the nut connected to the root of the stud is separated from the pipe body 5, then the pipe body 5 is rotated reversely and gradually backs, and the redundant nut is taken down from the stud 19.
Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments.
Claims (10)
1. A nut mountable and tightenable manipulator, comprising:
one end of the central column (1) is detachably connected with the mechanical arm (3), and the other end of the central column is provided with a positioning detection module;
at least one sliding groove axially arranged on the periphery of the central column (1);
one end of the sliding block (2) is connected in the sliding groove in a sliding mode, and the other end of the sliding block is exposed out of the sliding groove;
the driving motor is arranged on the sliding block (2), and a torque sensor and a driving wheel (4) are arranged at the driving end of the driving motor;
nut pipe sets up on slider (2) for the closed assembly nut, nut pipe includes:
the pipe body (5) is axially provided with a hexagonal through groove matched with the nut;
the inner periphery of the bearing is connected with the outer periphery of the pipe body (5), and the outer periphery of the bearing is connected with the sliding block (2) through a support;
the clamping mechanism is arranged at the head end of the pipe body (5) and used for preventing the nut from automatically sliding out of the pipe body (5);
the driving mechanism is arranged at the tail end of the pipe body (5) and can drive the nut of the pipe body (5) to be close to the head end of the pipe body (5);
the driving wheel (6) is sleeved on the periphery of the pipe body (5) and is in friction transmission with the driving wheel (4);
the control module is at least connected with the mechanical arm (3), the positioning detection module and the driving motor, can detect the position of a stud (19) by using the positioning detection module, and controls the mechanical arm (3) to drive the central column (1) to be close to the stud (19).
2. The nut-mountable and tightening manipulator according to claim 1, wherein the transmission wheel (6) and the driving wheel (4) are helical gears, respectively, and the driving wheel (4) is provided with an elastic glue layer on the periphery.
3. The nut mountable and tightenable robot of claim 1, wherein the chucking mechanism comprises:
the blind hole is arranged at the head end of the pipe body (5);
the ball (7) is arranged in the blind hole, and one end of the ball is exposed out of the blind hole and can be in contact with the periphery of the nut;
and two ends of the elastic component (8) are respectively connected with the ball (7) and the bottom of the blind hole, and one end of the ball (7) is exposed out of the blind hole.
4. The nut mountable and tightenable robot of claim 1, wherein the drive mechanism comprises:
the inflator pump (9) is arranged at the tail end of the pipe body (5);
the air bag (10) is corrugated, one end of the air bag is connected with the inflator pump (9) through a hard tube, the side wall of the hard tube is provided with a pressure release valve (11), and the other end of the air bag is axially arranged in the tube body (5);
and the air pressure module is connected with the inflator pump (9) and is used for monitoring the air pressure of the air bag (10).
5. Nut-mountable and screwable manipulator according to claim 1, characterized in that the central column (1) comprises:
one end of the column core is detachably inserted with the mechanical arm (3);
the column sleeve is rotatably sleeved on the column core, and the sliding groove is formed in the periphery of the column sleeve;
the positioning detection module includes:
the baffle (12) is disc-shaped, the end part of the column core is concentrically arranged, and a through groove capable of penetrating through the sliding block (2) and the nut pipe is formed in the baffle (12);
a marking unit (13) for emitting a laser mark;
the image acquisition units (14) are distributed on the periphery of the baffle (12) and are used for acquiring the positions of the laser marks;
the positioning unit is used for adjusting the position of the central column (1) according to the positions of the laser marks acquired by the image acquisition units (14) so as to enable the central column (1) and the studs (19) to be concentric;
and the compensation unit is used for calculating the relative position of the nut pipe and the stud (19) according to the relative position of the nut pipe and the central column (1).
6. The nut-mountable and tightening manipulator according to claim 1, wherein the slide groove is provided in plural, and the centers of the plural nut pipes are respectively located on the circumferences of concentric circles of the central shaft.
7. Nut-mountable and screw-down robot according to claim 1, characterized in that the robot arm (3) comprises:
the workpiece fixing frame is arranged on two sides of the periphery of the base (15) at intervals;
a base (16) slidably connected to the base (15);
and two ends of the six-shaft transmission arm are respectively connected with the central column (1) and the base (16).
8. The nut mountable and tightenable manipulator of claim 7, further comprising:
the assembling table (17) is arranged on one side of the base (15) at intervals;
a conveyor belt (18) with two ends respectively connected with the assembly table (17) and the base (15);
a plurality of clamping holes are matched with the central column (1).
9. Nut mountable and tightening manipulator according to claim 8, characterized in that the robot arm (3) is provided with a clamping jaw (20), and the end of the center column (1) is provided with a clamping slot cooperating with the clamping jaw (20).
10. Nut-mountable and screwable manipulator according to claim 9, characterized in that the gripping jaws (20) are provided at least three times circumferentially.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310048701.1A CN115816047A (en) | 2023-02-01 | 2023-02-01 | Manipulator capable of mounting and screwing nut |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310048701.1A CN115816047A (en) | 2023-02-01 | 2023-02-01 | Manipulator capable of mounting and screwing nut |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115816047A true CN115816047A (en) | 2023-03-21 |
Family
ID=85520666
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310048701.1A Pending CN115816047A (en) | 2023-02-01 | 2023-02-01 | Manipulator capable of mounting and screwing nut |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115816047A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10146730A (en) * | 1996-11-18 | 1998-06-02 | Yashima Kogyo Kk | Automatic nut tightening method |
| JP2002219660A (en) * | 2001-01-24 | 2002-08-06 | Ishikawajima Harima Heavy Ind Co Ltd | Thread engagement release confirming mechanism for remote bolt |
| UA20194U (en) * | 2006-07-10 | 2007-01-15 | Univ Lviv State Agrarian | Head of nut wrench |
| CN111730319A (en) * | 2020-06-15 | 2020-10-02 | 东风华神汽车有限公司 | Step-by-step assembly quality of flange face nut |
| US20220168856A1 (en) * | 2020-11-27 | 2022-06-02 | Sumeeko Industries Co., Ltd. | Automatic nut screwing device |
| CN115647784A (en) * | 2022-09-06 | 2023-01-31 | 北京信息科技大学 | Nut screwing mechanism for aeroengine blind cavity and robot |
-
2023
- 2023-02-01 CN CN202310048701.1A patent/CN115816047A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10146730A (en) * | 1996-11-18 | 1998-06-02 | Yashima Kogyo Kk | Automatic nut tightening method |
| JP2002219660A (en) * | 2001-01-24 | 2002-08-06 | Ishikawajima Harima Heavy Ind Co Ltd | Thread engagement release confirming mechanism for remote bolt |
| UA20194U (en) * | 2006-07-10 | 2007-01-15 | Univ Lviv State Agrarian | Head of nut wrench |
| CN111730319A (en) * | 2020-06-15 | 2020-10-02 | 东风华神汽车有限公司 | Step-by-step assembly quality of flange face nut |
| US20220168856A1 (en) * | 2020-11-27 | 2022-06-02 | Sumeeko Industries Co., Ltd. | Automatic nut screwing device |
| CN115647784A (en) * | 2022-09-06 | 2023-01-31 | 北京信息科技大学 | Nut screwing mechanism for aeroengine blind cavity and robot |
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Application publication date: 20230321 |