CN116690470A - Automatic bolt tightening device and workpiece machining device - Google Patents

Abstract

The application discloses an automatic bolt tightening device, which is arranged in a workpiece processing main body and comprises: the sleeve switching mechanism and the automatic torsion fixing mechanism; the first adjusting end of the automatic torque-setting mechanism is connected with the workpiece processing main body, so that the second adjusting end of the automatic torque-setting mechanism moves to a first appointed position relative to the switching end of the sleeve switching mechanism under the driving of the workpiece processing main body, and after the first appointed position is reached, the second adjusting end of the automatic torque-setting mechanism automatically adjusts a second appointed position relative to the switching end of the sleeve switching mechanism; the part of the locating end of the sleeve switching mechanism is arranged on the ground, the locating end of the sleeve switching mechanism can be located and adjusted relative to a bolt on a workpiece, the switching end of the sleeve switching mechanism is arranged relative to the bolt on the workpiece processing main body, and after the switching end is switched to a corresponding target sleeve, the second adjusting end of the automatic torsion fixing mechanism is connected with the target sleeve and drives the target sleeve to screw the bolt.

Description

Automatic bolt tightening device and workpiece machining device

Technical Field

The application relates to the technical field of intelligent storage, in particular to an automatic bolt tightening device and a workpiece processing device.

Background

With the continued advancement of manufacturing mechanization, more and more automated devices are being utilized in product processing. However, in some small workpiece processing processes, manual work is generally required to complete, for example, for assembling a bolt, when manual bolt screwing is completed, a screwing value of the screwed bolt cannot be recorded, and the problems of unfixed screwing sequence, missed screwing and the like exist, so that the production efficiency is reduced, and meanwhile, the problem of defects in workpiece assembling is also existed.

Therefore, how to improve the accuracy of workpiece assembly while improving the production efficiency is a urgent problem for those skilled in the art.

Disclosure of Invention

The embodiment of the application provides an automatic bolt tightening device, which aims to solve the problems of improving the production efficiency and the accuracy of workpiece assembly in the prior art.

The embodiment of the application provides an automatic bolt tightening device which is arranged in a workpiece processing main body and comprises: the sleeve switching mechanism and the automatic torsion fixing mechanism;

the first adjusting end of the automatic torque setting mechanism is connected with the workpiece processing main body, so that the second adjusting end of the automatic torque setting mechanism moves to a first appointed position relative to the switching end of the sleeve switching mechanism under the driving of the workpiece processing main body, and after the first appointed position is reached, the second adjusting end of the automatic torque setting mechanism self-adjusts the second appointed position relative to the switching end of the sleeve switching mechanism;

The part of the locating end of the sleeve switching mechanism is arranged on the ground, the locating end of the sleeve switching mechanism can be located and adjusted relative to a bolt on a workpiece, the switching end of the sleeve switching mechanism is arranged relative to the bolt on the workpiece processing main body, and after the switching end is switched to a corresponding target sleeve, the second adjusting end of the automatic torsion fixing mechanism is connected with the target sleeve and drives the target sleeve to screw the bolt.

Optionally, the first adjusting end of the automatic torsion fixing mechanism comprises a connecting upright post, a connecting transverse post, a sliding track, a butt joint track, a first driving cylinder driving rod, a first connecting guide seat and a second connecting guide seat;

one end of the connecting upright post is connected with the workpiece processing main body so as to move along with the workpiece processing main body, and the other end of the connecting upright post is connected with the connecting transverse post;

the sliding rails are arranged at two edges of the bottom end face of the connecting cross column and distributed along the length direction of the connecting cross column;

the first driving cylinder is fixed on the connecting cross column, and the first connecting guide seat is arranged on the end face of the bottom and positioned between the sliding rails;

The driving rod is connected with the first driving cylinder and is movably inserted into the first connecting guide seat;

the second connecting guide seat is fixedly connected to the driving rod, and the butt joint track is arranged on the second connecting guide seat and is in butt joint with the sliding track so as to slide along the sliding track.

Optionally, the second adjusting end of the automatic torsion fixing mechanism includes at least a first torsion fixing component and a second torsion fixing component;

the fixed end of the first torsion fixing component is connected with the connecting transverse column so as to synchronously move along with the connecting transverse column; the fixed torsion end of the first fixed torsion assembly moves to a first appointed position relative to the switching end of the sleeve switching mechanism along with the fixed end of the first fixed torsion assembly;

the fixed end of the second fixed torsion component is connected with the second connecting guide seat so as to synchronously move along with the second connecting guide seat, and the fixed torsion end of the second fixed torsion component is self-adjusted along with the fixed end of the second fixed torsion component to be opposite to a second appointed position of the switching end of the sleeve switching mechanism.

Optionally, the fixed torsion end of the first fixed torsion assembly and the fixed torsion end of the second fixed torsion assembly respectively comprise a support shell, a first rotating motor and a first connecting rotating shaft;

The support shell is connected with the fixed ends of the first fixed torsion component and the second fixed torsion component respectively;

the first rotating motor is fixed in the support shell, one end of the first connecting rotating shaft is connected with the output end of the first rotating motor, the other end of the first connecting rotating shaft is connected with the target sleeve, and the target sleeve is driven to screw the bolt.

Optionally, the switching end of the sleeve switching mechanism comprises a sleeve positioning assembly, a clamping assembly and at least one target sleeve;

the sleeve positioning assembly is connected with the positioning end of the sleeve switching mechanism, and the target sleeve is arranged on the sleeve positioning assembly;

the fixed part of the clamping assembly is connected with the positioning end of the sleeve switching mechanism, and the clamping part of the clamping assembly can clamp the target sleeve on the sleeve positioning assembly.

Optionally, the sleeve positioning assembly comprises a positioning plate, a positioning support cylinder, a first reset spring and a limiting pin;

the positioning plate is connected with the positioning end of the sleeve switching mechanism, the positioning support cylinder is accommodated in the accommodating hole of the positioning plate, and the inside of the positioning support cylinder is relatively communicated and has a morphological structure matched with the positioning connecting end of the target sleeve;

The first reset spring is arranged at the side of the morphological structure, and the limiting pin penetrates through the circumferential end face of the positioning support cylinder and can be abutted against the positioning connection end of the target sleeve accommodated in the positioning support cylinder;

after the bolt connection end of the target sleeve passes through the positioning support cylinder, the positioning connection end of the target sleeve is assembled in the morphological structure, and the limiting pin clamps the positioning connection end while compressing the first return spring so as to limit the movement of the target sleeve.

Optionally, the positioning connection end of the target sleeve includes a first positioning connection structure and a second positioning connection structure;

the first positioning connection structure is positioned on the outer wall of the positioning connection end and is assembled on the morphological structure inside the positioning support cylinder;

the second positioning connection structure is arranged on the inner wall of the positioning connection end relative to the first positioning connection structure, and the second positioning connection structure is arranged to be matched with the second adjusting end of the automatic torsion fixing mechanism.

Optionally, the number of the accommodating holes of the positioning plate is at least two, and the number of the corresponding positioning support cylinders is at least two.

Optionally, the sleeve positioning assembly further comprises a second rotating motor and a second connecting rotating shaft;

the second rotating motor is connected with the positioning end of the sleeve switching mechanism, and the second rotating motor is connected with one end of the second connecting rotating shaft; the other end of the second connecting rotating shaft is connected with the positioning plate, and the second connecting rotating shaft is driven by the second rotating motor so as to drive the positioning plate to rotate.

Optionally, the clamping part of the clamping assembly comprises a supporting seat, a second driving cylinder, a rotating shaft, a swinging block and a clamping piece;

the supporting seat is connected with the positioning plate, and the second driving cylinder is fixedly arranged on the supporting seat;

the rotating shaft is movably arranged on the supporting seat, and the axial direction of the rotating shaft is arranged along the horizontal direction;

the swinging block is arranged on the rotating shaft, and is connected with the output end of the second driving cylinder, and when the second driving cylinder stretches out along the vertical direction, the swinging block can be driven to rotate according to a first preset rotating angle through the rotating shaft;

the clamping piece is arranged on the swinging block and is provided with a clamping angle relative to the target sleeve, when the swinging block swings according to the first preset rotating angle, the clamping piece swings from an initial position to a clamping position which can be clamped with the target sleeve according to the clamping angle, and the target sleeve is pressed and positioned.

Optionally, the clamping member includes a connecting arm and a clamping jaw;

one end of the connecting arm is connected to the appointed position of the swinging piece, and the other end of the connecting arm is connected to the clamping claw; the clamping claw is provided with a clamping structure matched with the target sleeve; the clamping structures are at least two.

Optionally, the clamping assembly further comprises a clamping arm, a second reset spring, a linkage belt and a third driving cylinder;

the third driving air cylinder is arranged on the connecting arm, the second reset spring is arranged in the opposite wall body of the clamping structure of the clamping claw, the clamping arm is in butt joint with the second reset spring and is connected with one end of the linkage belt, and the linkage belt penetrates through the second reset spring and enables the other end of the linkage belt to be connected with the output end of the third driving air cylinder;

the output end of the third driving cylinder contracts to drive the linkage belt to drive the clamping arm to move towards the direction of compressing the second reset spring, so that the clamping arm is in an unclamped state; otherwise, the output end of the third driving cylinder is reset, and the second reset spring enables the clamping arm to be in a clamping state through self reset elastic force.

Optionally, the device further comprises a positioning recognition mechanism, wherein the positioning recognition mechanism comprises a recognition device and a positioning assembly;

the recognition device is fixedly connected to the connecting transverse column, and the recognition end of the recognition device is arranged towards the workpiece;

the positioning assembly is arranged on the connecting transverse column at a preset distance relative to the identification device, and is used for positioning a workpiece.

Optionally, the identification end of the identification device comprises a camera.

Optionally, the positioning component comprises a connecting support arm, a first electric cylinder, a clamping hook and a positioning pin;

the connecting support arm is arranged on the connecting cross column at a preset distance relative to the identification device, and the first electric cylinder is arranged on the connecting support arm; the clamping hook is connected to the output end of the first electric cylinder so as to perform clamping or loosening actions along with the output end of the first electric cylinder;

the positioning pins are clamped on the clamping hooks, and the positioning pins are vertically arranged relative to the workpiece.

Optionally, the positioning assembly further comprises a second electric cylinder, the second electric cylinder is arranged on the connecting support arm, and an output end of the second electric cylinder is connected with the first electric cylinder so as to drive the first electric cylinder to reciprocate up and down.

Optionally, the device further comprises a marking mechanism, wherein the marking mechanism is arranged on the connecting support arm and is used for marking the screwed bolt.

Optionally, the marking mechanism comprises a laser marking mechanism.

The embodiment of the application also provides a workpiece processing device which comprises the automatic bolt tightening device and a workpiece processing main body connected with the automatic bolt tightening device.

Compared with the prior art, the application has the following advantages:

the embodiment of the application provides an automatic bolt tightening device which is arranged in a workpiece processing main body and comprises: the sleeve switching mechanism and the automatic torsion fixing mechanism; the first adjusting end of the automatic torque setting mechanism is connected with the workpiece processing main body, so that the second adjusting end of the automatic torque setting mechanism moves to a first appointed position relative to the switching end of the sleeve switching mechanism under the driving of the workpiece processing main body, and after the first appointed position is reached, the second adjusting end of the automatic torque setting mechanism self-adjusts the second appointed position relative to the switching end of the sleeve switching mechanism; the part of the locating end of the sleeve switching mechanism is arranged on the ground, the locating end of the sleeve switching mechanism can be located and adjusted relative to a bolt on a workpiece, the switching end of the sleeve switching mechanism is arranged relative to the bolt on the workpiece processing main body, and after the switching end is switched to a corresponding target sleeve, the second adjusting end of the automatic torsion fixing mechanism is connected with the target sleeve and drives the target sleeve to screw the bolt.

According to the embodiment, the first adjusting end of the automatic torque setting mechanism drives the second adjusting end of the automatic torque setting mechanism to move to the first appointed position relative to the switching end of the sleeve switching mechanism, the second adjusting end of the automatic torque setting mechanism self-adjusts the second appointed position relative to the switching end of the sleeve switching mechanism, the self-alignment of the automatic torque setting mechanism relative to the switching end of the sleeve switching mechanism is achieved, after the switching end of the sleeve switching mechanism is automatically switched to a corresponding target sleeve, the second adjusting end of the automatic torque setting mechanism is connected with the target sleeve, and the target sleeve is driven to screw down the bolt, so that the automatic assembly of the bolt by the automatic bolt screwing device is achieved, and the accuracy of bolt assembly can be improved while the bolt assembly efficiency is improved.

Drawings

Fig. 1 is a schematic structural view of an automatic bolt tightening device according to an embodiment of the present application.

Fig. 2 is a schematic structural diagram of an automatic torsion fixing mechanism according to an embodiment of the present application.

Fig. 3 is a schematic structural diagram of a first adjustment end of the automatic torque determination mechanism according to an embodiment of the present application.

Fig. 4 is a schematic structural diagram of a part of a first adjusting end of the automatic torque determining mechanism according to an embodiment of the present application.

Fig. 5 is a schematic structural diagram of a second adjustment end of the automatic torque determining mechanism according to an embodiment of the present application.

Fig. 6 is a schematic structural diagram of a sleeve switching mechanism according to an embodiment of the present application.

Fig. 7 is a schematic structural diagram of a switching end of a sleeve switching mechanism according to an embodiment of the present application.

Fig. 8 is a schematic structural diagram of a target sleeve according to an embodiment of the present application.

Reference numerals: the automatic bolt tightening device 100, the automatic fixing and twisting mechanism 200, the first adjusting end 1, the connecting upright post 10, the connecting cross post 11, the sliding rail 12, the abutting rail 13, the first driving cylinder 14, the driving rod 15, the first connecting guide seat 16, the second connecting guide seat 17, the second adjusting end 2, the first fixing and twisting component 21, the second fixing and twisting component 22, the supporting shell 23, the first connecting rotating shaft 24, the first fixing end 25, the second fixing end 26, the sleeve switching mechanism 300, the switching end 3, the sleeve positioning component 4, the positioning plate 41, the positioning supporting cylinder 42, the limiting pin 43, the accommodating hole 44, the clamping component 5, the supporting seat 51, the second driving cylinder 52, the rotating shaft 53, the swinging block 54, the clamping piece 55, the connecting arm 551, the clamping claw 552, the clamping structure 553, the positioning end 712, the target sleeve 7, the positioning connecting end 71, the first positioning connecting structure 711, the second positioning connecting structure, the bolt connecting end 72, the positioning identification mechanism 8, the identification device 81, the positioning component 82, the connecting arm 83, the first electric cylinder 84, the clamping hook 85, the positioning pin 85, the positioning identification pin 86, and the 9.

Detailed Description

For a better understanding of the objects, technical solutions and advantages of the embodiments of the present application, those skilled in the art will clearly and completely describe the technical solutions of the embodiments of the present application with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments, but not all embodiments of the present application.

It is further noted that terms like "on," "connected to" another element may be directly on, connected to, or may exist with respect to the other element. In contrast, when an element is referred to as being "directly on" or "directly connected to" another element, there are no intervening elements present.

In the embodiments of the present application, the terms "first," "second," "third," and the like are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. The data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprise," "include," "contain," and the like, mean that there are stated features, but do not exclude one or more other features. Spatially relative terms such as "upper," "lower," "left," "right," "front," "rear," and the like, may be used to refer to a spatial relationship of one feature to another in the drawings, and it is understood that the spatially relative terms may be used to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, when the device in the figures is inverted, features that are "below" its features are described as "above" its features.

The embodiment of the application provides an automatic bolt tightening device, which aims to solve the problems of improving the production efficiency and the accuracy of workpiece assembly in the prior art. Fig. 1 is a schematic structural view of an automatic bolt tightening device according to an embodiment of the present application. Fig. 2 is a schematic structural diagram of an automatic torsion fixing mechanism according to an embodiment of the present application. Fig. 3 is a schematic structural diagram of a first adjustment end of the automatic torque determination mechanism according to an embodiment of the present application. Fig. 4 is a schematic structural diagram of a part of a first adjusting end of the automatic torque determining mechanism according to an embodiment of the present application. Fig. 5 is a schematic structural diagram of a second adjustment end of the automatic torque determining mechanism according to an embodiment of the present application. Fig. 6 is a schematic structural diagram of a sleeve switching mechanism according to an embodiment of the present application. Fig. 7 is a schematic structural diagram of a switching end of a sleeve switching mechanism according to an embodiment of the present application. Fig. 8 is a schematic structural diagram of a target sleeve according to an embodiment of the present application.

As shown in fig. 1 to 8, an embodiment of the present application provides an automatic bolt tightening device 100 disposed on a workpiece processing body, wherein the workpiece processing body includes an automatic robot for transporting and placing a workpiece (such as a tire) to place the workpiece at a corresponding processing position, so that the automatic bolt tightening device 100 tightens a bolt on the workpiece. The automatic bolt tightening apparatus 100 includes: the automatic torque setting mechanism 200 and the sleeve switching mechanism 300 are connected with the workpiece processing main body by the first adjusting end 1 of the automatic torque setting mechanism 200, so that the second adjusting end 2 of the automatic torque setting mechanism 200 moves to a first designated position relative to the switching end 3 of the sleeve switching mechanism 300 under the driving of the workpiece processing main body, and after reaching the first designated position, the second adjusting end 2 of the automatic torque setting mechanism 200 self-adjusts a second designated position relative to the switching end 3 of the sleeve switching mechanism 300. The part of the locating end 6 of the sleeve switching mechanism 300 is arranged on the ground, the locating end 6 of the sleeve switching mechanism 300 can be positioned and adjusted relative to a bolt on a workpiece, the switching end 3 of the sleeve switching mechanism 300 is arranged relative to the bolt on the workpiece processing main body, and after the switching end 3 is switched to a corresponding target sleeve 7, the second adjusting end 2 of the automatic torsion fixing mechanism 200 is connected with the target sleeve 7 and drives the target sleeve 7 to screw the bolt. The specific structure and connection manner of the sleeve switching mechanism 300 and the automatic torque setting mechanism 200 will be specifically described as follows:

In this embodiment, the first adjustment end 1 of the automatic torsion determination mechanism 200 includes a connection upright 10, a connection cross-post 11, a sliding rail 12, a docking rail 13, a first driving cylinder 14, a driving rod 15, and a first connection guide 16 and a second connection guide 17. Wherein, connect the vertical setting of stand 10, connect the one end and the work piece processing main part of stand 10 and be connected to remove along with the work piece processing main part, the other end is connected in linking diaphragm 11, links up the transverse setting of diaphragm 11. The sliding rails 12 are disposed at both edges of the bottom end surface of the engagement cross-post 11 and are distributed along the length direction of the engagement cross-post 11. The first driving cylinder 14 is fixed at the connection cross column 11, specifically is located the bottom of the connection cross column 11, the first connection guide seat 16 is arranged on the end face of the bottom and located between the sliding rails 12, the first connection guide seat 16 is arranged in two, the first connection guide seats are arranged at intervals along the extending direction of the output end of the first driving cylinder 14, and round holes matched with the driving rods 15 are formed in the middle of the first connection guide seat 16. The driving rod 15 is connected with the first driving cylinder 14 and is movably inserted into the first connecting guide seat 16. The second connection guide seat 17 is fixedly connected to the driving rod 15, and the docking track 13 is arranged on the second connection guide seat 17 and is docked with the sliding track 12 so as to slide along the sliding track 12. In this embodiment, the second connection guide 17 includes a bottom plate and a connection hole seat, the driving rod 15 is fixedly inserted into the connection hole seat, the connection hole seat is disposed on the bottom plate and located in the middle of the connection hole seat, and the connection hole seat and the first connection guide 16 are on the same straight line. The butt-joint track 13 is disposed on both sides thereof opposite to the connection hole seat and opposite to the slide track 12. The first driving cylinder 14 drives the driving rod 15 to extend or retract, so that the driving rod 15 drives the second connecting guide seat 17 to synchronously move forwards or backwards.

In this embodiment, the second adjusting end 2 of the automatic torsion fixing mechanism 200 includes at least a first torsion fixing component 21 and a second torsion fixing component 22, wherein the fixed end of the first torsion fixing component 21 is connected with the connecting cross-post 11 to move synchronously with the connecting cross-post 11, and the torsion fixing end of the first torsion fixing component 21 moves to a first designated position relative to the switching end 3 of the sleeve switching mechanism 300 along with the fixed end of the first torsion fixing component 21. The fixed end of the second torsion fixing component 22 is connected with the second connection guide seat 17 so as to move synchronously with the second connection guide seat 17, and the torsion fixing end of the second torsion fixing component 22 is self-adjusted to a second designated position relative to the switching end 3 of the sleeve switching mechanism 300 along with the fixed end of the second torsion fixing component 22. It can be seen that the first torsion fixing assembly 21 is driven by the workpiece processing main body, so as to move along with the linking cross column 11 to a first designated position corresponding to the switching end 3 of the sleeve switching mechanism 300, and after the positioning is completed, the second torsion fixing assembly 22 is self-adjusted to a second designated position corresponding to the switching end 3 of the sleeve switching mechanism 300, so that the adjustment and butt joint of the first torsion fixing assembly 21 and the second torsion fixing assembly 22 relative to the switching end 3 of the sleeve switching mechanism 300 are realized.

Further, in this embodiment, the first torsion fixing component 21 and the second torsion fixing component 22 may be set to one or multiple (the number of the two may be the same or different), which is not limited in particular, and the specific number of the first torsion fixing component 21 and the second torsion fixing component 22 may be set according to the requirement of the workpiece on the assembling bolt. The first fixing and twisting component 21 and the second fixing and twisting component 22 have the same structure, specifically, the fixing and twisting ends of the first fixing and twisting component 21 and the second fixing and twisting component 22 respectively comprise a support shell 23, a first rotating motor (not shown) and a first connecting rotating shaft 24, wherein the support shell 23 is connected with the fixing ends of the first fixing and twisting component 21 and the second fixing and twisting component 22 respectively, the support shell 23 is provided with a cylinder, the inside is an assembly space structure capable of accommodating and assembling a first rotating motor, the first rotating motor is fixed in the assembly space structure inside the support shell 23, one end of the first connecting rotating shaft 24 is connected with the output end of the first rotating motor, the other end of the first connecting rotating shaft 24 is connected with the target sleeve 7, and the first connecting rotating shaft 24 is driven by the rotation of the first rotating motor to drive the target sleeve 7 to screw bolts. In the present embodiment, the end of the first connecting and rotating shaft 24 (the end connected to the target sleeve 7) is configured as a square structure that can be inserted into a square groove (a specific form of the second positioning and connecting structure 712 described below) on the target sleeve 7 to define the degree of freedom of the first connecting and rotating shaft 24 in the circumferential direction, so that the target sleeve 7 can be driven to rotate.

In this embodiment, the structures of the fixed ends of the first fixing member 21 and the second fixing member 22 may have different or same structures, and mainly the connection objects corresponding to the respective fixed ends are different, the fixed ends of the first fixing member 21 and the second fixing member 22 may be connection plates with the same morphological structure or connection plates with different morphological structures, and the different structures are that the fixed ends of the first fixing member 21 are called the first fixed end 25, the fixed ends of the second fixing member 22 are called the second fixed end 26, and the scope of protection of this embodiment is provided as long as the structure that the fixed ends of the first fixing member 21 are connected with the connecting cross column 11, and the fixed ends of the second fixing member 22 are connected with the two connecting guide seats.

In this embodiment, the first torsion fixing assembly 21 and the second torsion fixing assembly 22 perform position adjustment relative to the switching end 3 of the sleeve switching mechanism 300, the switching end 3 of the sleeve switching mechanism 300 includes a sleeve positioning assembly 824, a clamping assembly 5 and at least one target sleeve 7, wherein the sleeve positioning assembly 824 is connected with the positioning end 6 of the sleeve switching mechanism 300, the positioning end 6 of the sleeve switching mechanism 300 includes a column, the target sleeve 7 is disposed on the sleeve positioning assembly 824, the sleeve positioning assembly 824 includes a positioning plate 41, a positioning support cylinder 42, a first return spring and a limiting pin 43, wherein the positioning plate 41 is connected with the positioning end 6 of the sleeve switching mechanism 300, that is, the positioning plate 41 is fixedly mounted on the column, one side of the positioning plate 41 is provided with a receiving hole 44, and the positioning support cylinder 42 is received on the receiving hole 44 of the positioning plate 41. The number of the receiving holes 44 of the positioning plate 41 is at least two (corresponding to the number of the first torsion fixing assembly 21 and the second torsion fixing assembly 22, which are one, respectively), and the number of the positioning support cylinders 42 is at least two. The inside of the positioning support cylinder 42 is relatively penetrated and has a morphology adapted to the positioning connection end 71 of the target sleeve 7 to stably mount the target sleeve 7 in the positioning support cylinder 42 through the positioning connection end 71 thereof. The first return spring is provided at the side of the form structure for having a return elastic force after the positioning connection end 71 of the target sleeve 7 is pressed. The stopper pin 43 is disposed so as to penetrate the circumferential end surface of the positioning support tube 42, and is capable of abutting against the positioning connection end 71 of the target sleeve 7 accommodated in the positioning support tube 42. The process of installing the target sleeve 7 inside the positioning support cylinder 42 is as follows: after the bolt connection end 72 of the target sleeve 7 passes through the positioning support cylinder 42, the positioning connection end 71 of the target sleeve 7 is assembled to the morphological structure, and the limiting pin 43 clamps the positioning connection end 71 to limit the movement of the target sleeve 7 while compressing the first return spring. When the target sleeve 7 needs to be taken out, the positioning connection end 71 of the target sleeve 7 is pressed again, and the clamping position of the positioning connection end 71 of the target sleeve 7 and the limiting pin 43 is misplaced, so that the target sleeve 7 is ejected under the reset elasticity of the first reset spring, and the target sleeve 7 is mounted and dismounted.

It should be noted that the positioning connection end 71 of the target sleeve 7 includes a first positioning connection structure 711 and a second positioning connection structure 712, where the first positioning connection structure 711 is located on an outer wall of the positioning connection end 71, and the first positioning connection structure 711 is adapted to a morphological structure of an interior of the positioning support cylinder 42, and the first positioning connection structure 711 is assembled to the morphological structure of the interior of the positioning support cylinder 42. The second positioning connection structure 712 is disposed on an inner wall of the positioning connection end 71 with respect to the first positioning connection structure 711, the second positioning connection structure 712 is configured to be adapted to the second adjustment end 2 of the automatic torsion setting mechanism 200 (specifically, the end of the first connection rotating shaft 24 is configured as a square structure), and the second positioning connection structure 712 includes a square groove. The bolting ends 72 of the target bush 7 are provided in groove shapes corresponding to respective bolt types, and the bolting end 72 of each groove shape corresponds to one target bush 7, thereby corresponding to one bolt to be screwed.

Further, in this embodiment, in order to facilitate adjusting the sleeve positioning assembly 824 to a position matching with the bolt on the workpiece, the sleeve positioning assembly 824 further includes a second rotating motor (not shown) and a second connecting rotating shaft (not shown), specifically, the second rotating motor is connected with the positioning end 6 of the sleeve switching mechanism 300 and may be fixedly disposed in the upright post, the second rotating motor is connected with one end of the second connecting rotating shaft to drive the second connecting rotating shaft to rotate, the other end of the second connecting rotating shaft is connected to the positioning plate 41, and the second rotating motor drives the second connecting rotating shaft to rotate so as to drive the positioning plate 41. Based on the positioning support cylinder 42 being arranged on the positioning plate 41, the target sleeve 7 is arranged in the positioning support cylinder 42, so that when the positioning plate 41 rotates, the target sleeve 7 also synchronously rotates, and further the target sleeve 7 is automatically adjusted to a position matched with a bolt on a workpiece.

After the target sleeve 7 is assembled to the positioning support cylinder 42, in order to further improve the stability of the assembly of the target sleeve 7, a clamping assembly 5 is provided, and a fixing portion of the clamping assembly 5 is connected to the positioning end 6 of the sleeve switching mechanism 300, or a fixing portion of the clamping assembly 5 is connected to the positioning plate 41 of the cylinder positioning assembly 82, so as to rotate synchronously with the positioning plate 41 of the cylinder positioning assembly 82. The clamping portion of the clamping assembly 5 can clamp the target sleeve 7 to the sleeve positioning assembly 824. Specifically, the clamping portion of the clamping assembly 5 includes a support base 51, a second driving cylinder 52, a rotating shaft 53, a swinging block 54, and a clamping member 55. The supporting seat 51 is connected to the positioning plate 41 or directly connected to the column. The second driving cylinder 52 is fixedly arranged on the supporting seat 51, the rotating shaft 53 is movably arranged on the supporting seat 51, and the axial direction of the rotating shaft 53 is arranged along the horizontal direction. The swinging block 54 is arranged on the rotating shaft 53, and the swinging block 54 is connected with the output end of the second driving cylinder 52, and when the second driving cylinder 52 stretches out along the vertical direction, the swinging block 54 can be driven to rotate according to a first preset rotation angle through the rotating shaft 53. The holder 55 is provided on the swinging block 54 and has a holding angle with respect to the target sleeve 7. When the swinging block 54 swings at the first preset rotation angle, the holding member 55 swings from the initial position to the holding position with the target sleeve 7 at the holding angle, and presses and positions the target sleeve 7. The first preset rotation angle and the clamping angle are determined by the rotation of the swinging block 54 and the setting position and the swinging angle of the clamping member 55. Moreover, the length of the second driving cylinder 52 extending in the vertical direction also determines the first preset rotation angle and the clamping angle at the same time.

In the present embodiment, the clamp 55 includes the connection arm 551 and the clamp claws 552, wherein one end of the connection arm 551 is connected to a designated position of the swing member, the other end is connected to the clamp claws 552, the clamp claws 552 have the clamp structures 553 adapted to the target sleeve 7, and the clamp structures 553 are provided in at least two. The number of the holding structures 553 corresponds to the number of the positioning support cylinders 42. The direction of pressure in which the clamp 55 presses the target sleeve 7 is mainly vertically downward. The holding claws 552 can define three degrees of freedom of the target sleeve 7 in the horizontal direction.

In the present embodiment, in order to further clamp the target sleeve 7, the clamping assembly 5 further includes a clamping arm (not shown), a second return spring (not shown), a linkage belt (not shown), and a third driving cylinder (not shown). The third driving cylinder is disposed on the connecting arm 551, the second return spring is disposed in the opposite wall of the clamping structure 553 of the clamping claw 552, the clamping arm is abutted to the second return spring and connected to one end of the linkage belt, and the linkage belt penetrates the second return spring and connects the other end of the linkage belt with the output end of the third driving cylinder. In this embodiment, a communication hole may be provided in the wall of the holding claw 552, and a protection sleeve is sleeved in the communication hole, and the linkage belt penetrates through the second return spring, and the other end of the linkage belt penetrates through the protection sleeve and then is connected to the output end of the third driving cylinder. The wall of the clamping claw 552 is provided with a communication hole, so that the linkage belt is arranged in the communication hole, and the aesthetic property of the whole structure can be improved. The output end of the third driving cylinder contracts to drive the linkage belt to drive the clamping arm to move towards the direction of compressing the second reset spring, so that the clamping arm is in an unclamped state. On the contrary, the output end of the third driving cylinder is reset, the second reset spring enables the clamping arm to be in a clamping state through self reset elastic force, and meanwhile the clamping arm straightens the linkage belt.

Of course, in other examples, the above structure may be other structures, for example, a group of clamping mechanisms (not shown) may be added separately, the clamping mechanisms include a fourth driving cylinder and a clamping arm, the fourth driving cylinder is disposed on the positioning plate 41 of the cylinder positioning assembly 82, one end of the clamping arm is connected to the fourth driving cylinder, and the other end of the clamping arm may be clamped with the target sleeve 7, and the clamping and releasing states of the clamping arm are driven by the extending and contracting states of the fourth driving cylinder.

In addition, in this embodiment, in order to realize automatic replacement of the corresponding target sleeve 7 by the clamping assembly 5, the second driving cylinder 52 may perform a retracting action in the vertical direction, where the retracting action is performed at the initial position, that is, the clamping member 55 is in a state of not pressing the target sleeve 7, and the second driving cylinder 52 performs the retracting action to drive the swinging block 54 to rotate through the rotating shaft 53 according to a second preset rotation angle, where the rotation direction of the second preset rotation angle is opposite to the rotation direction of the first preset rotation angle. When the swinging block 54 swings at the second preset rotation angle, the holding member 55 swings from the initial position to the holding position where it can be held with the target sleeve 7 to be replaced according to the holding angle, thereby holding the target sleeve 7 (the holding operation is performed by the holding mechanism described above). After the target sleeve 7 is clamped, the second driving cylinder 52 performs an extending action to drive the swinging block 54 to reset to the initial position and continues to perform the extending action to drive the swinging block 54 to rotate through the rotating shaft 53 according to the first preset rotating angle, when the swinging block 54 swings according to the first preset rotating angle, the clamping piece 55 swings from the initial position to a position capable of being assembled with the positioning support cylinder 42 according to the clamping angle, and a new target sleeve 7 is assembled in the positioning support cylinder 42 and then pressed for positioning. Of course, the previous target sleeve 7 may be taken out to perform the reverse execution steps as described above, which will not be described in detail here. The second preset rotation angle and the clamping angle are determined by the rotation of the swinging block 54 and the setting position and the swinging angle of the clamping member 55. Moreover, the contracted length of the second driving cylinder 52 in the vertical direction also determines the second preset rotation angle and the clamping angle at the same time.

In this embodiment, before the bolt is assembled to the workpiece, the workpiece is further required to be identified and positioned, and then the automatic bolt tightening device 100 further comprises a positioning identification mechanism 8, the positioning identification mechanism 8 comprises an identification device 81 and a positioning assembly 82, wherein the identification device 81 is fixedly connected to the connecting transverse column 11, the identification end of the identification device 81 is arranged towards the workpiece, the identification end of the identification device 81 comprises a camera, and the camera is used for photographing to identify the forms of different workpieces, so that accurate positioning is performed. The positioning component 82 is arranged on the joint cross column 11 at a preset distance relative to the identification device 81, and the positioning component 82 is used for positioning the workpiece. The positioning assembly 82 includes a connecting arm 83, a first electric cylinder 84, a clamping hook 85 and a positioning pin 86, the connecting arm 83 is disposed on the connecting cross post 11 at a predetermined distance from the identifying device 81, the first electric cylinder 84 is disposed on the connecting arm 83, and the clamping hook 85 is connected to an output end of the first electric cylinder 84 to perform a clamping or releasing action along with the output end of the first electric cylinder 84. The positioning pin 86 is clamped to the clamping hook 85, and the positioning pin 86 is vertically disposed with respect to the workpiece.

In this embodiment, to realize the up and down movement of the positioning pin 86, the positioning assembly 82 further includes a second electric cylinder (not shown) disposed on the connecting arm 83, and an output end of the second electric cylinder is connected to the first electric cylinder 84 to drive the first electric cylinder 84 to reciprocate up and down, so that the first electric cylinder 84 drives the clamping hook 85 and the positioning pin 86 to reciprocate up and down. In this embodiment, the workpiece processing body may also directly drive the positioning assembly 82 to perform positioning operation, where the positioning operation includes driving the positioning assembly 82 to reciprocate up and down. It should be noted that, based on the direct connection between the positioning and identifying mechanism 8 and the first adjustment end 1 (the engagement cross post 11) of the automatic torsion fixing mechanism 200, when the first adjustment end 1 of the automatic torsion fixing mechanism 200 is driven by the workpiece processing body, the positioning and identifying mechanism 8 is also synchronously driven to move, that is, the positioning and identifying mechanism 8 positions the workpiece, and the torsion fixing end of the first torsion fixing component 21 also positions the target sleeve 7 (relative to the bolt).

After the bolt is tightened, in order to accurately know that the bolt has been assembled, the automatic bolt tightening apparatus 100 further includes a marking mechanism 9, the marking mechanism 9 being provided on the connecting arm 83 for marking the tightened bolt. Wherein the marking means 9 comprises a laser marking means 9. After the bolt is assembled, the laser marking mechanism 9 can be used for carrying out laser marking on the assembled bolt so as to realize the marking of the assembled bolt, prevent the possibility that the bolt is repeatedly assembled after the assembly is completed, and further improve the accuracy and the assembly efficiency of the assembly.

The embodiment of the application provides an automatic bolt tightening device 100, which is arranged in a workpiece processing main body and comprises: a sleeve switching mechanism 300 and an automatic torque setting mechanism 200; the first adjusting end 1 of the automatic torque setting mechanism 200 is connected with the workpiece processing main body, so that the second adjusting end 2 of the automatic torque setting mechanism 200 moves to a first designated position relative to the switching end 3 of the sleeve switching mechanism 300 under the driving of the workpiece processing main body, and after reaching the first designated position, the second adjusting end 2 of the automatic torque setting mechanism 200 self-adjusts to a second designated position relative to the switching end 3 of the sleeve switching mechanism 300; the part of the positioning end 6 of the sleeve switching mechanism 300 is arranged on the ground, the positioning end 6 of the sleeve switching mechanism 300 can be positioned and adjusted relative to a bolt on a workpiece, the switching end 3 of the sleeve switching mechanism 300 is arranged relative to the bolt on the workpiece processing main body, and after the switching end 3 is switched to a corresponding target sleeve 7, the second adjusting end 2 of the automatic torque-fixing mechanism 200 is connected with the target sleeve 7 and drives the target sleeve 7 to screw the bolt.

In this embodiment, the first adjusting end 1 of the automatic torque setting mechanism 200 drives the second adjusting end 2 of the automatic torque setting mechanism 200 to move to a first designated position corresponding to the switching end 3 of the sleeve switching mechanism 300, and then the second adjusting end 2 of the automatic torque setting mechanism 200 self-adjusts to a second designated position corresponding to the switching end 3 of the sleeve switching mechanism 300, so as to achieve self-alignment of the automatic torque setting mechanism 200 relative to the switching end 3 of the sleeve switching mechanism 300, and after the switching end 3 of the sleeve switching mechanism 300 is automatically switched to a corresponding target sleeve 7, the second adjusting end 2 of the automatic torque setting mechanism 200 is connected with the target sleeve 7 and drives the target sleeve 7 to screw the bolt, so as to achieve automatic assembly of the bolt by the automatic bolt screwing device 100.

The embodiment of the application also provides a workpiece processing device, which comprises the automatic bolt tightening device 100 and a workpiece processing main body connected with the automatic bolt tightening device 100, wherein the content of the automatic bolt tightening device 100 will not be repeated here.

In this embodiment, the workpiece processing main body includes a robot, and the specific process of the workpiece processing device for processing a workpiece is as follows:

when a workpiece needs to be machined, the main machining content is to assemble a bolt to the workpiece, firstly, the workpiece machining main body places the workpiece at a designated position, and then, the first adjusting end 1 of the workpiece machining main body driving automatic torsion fixing mechanism 200 drives the first torsion fixing component 21 to move to a first designated position opposite to the switching end 3 of the sleeve switching mechanism 300. Then, the second torsion-fixing assembly 22 moves synchronously with the second connection guide seat 17, and the torsion-fixing end of the second torsion-fixing assembly 22 self-adjusts to a second designated position of the switching end 3 of the sleeve switching mechanism 300 along with the fixed end of the second torsion-fixing assembly 22. The switching end 3 of the sleeve switching mechanism 300 is arranged opposite to a bolt on a workpiece on the workpiece processing main body, and after the switching end 3 is switched to a corresponding target sleeve 7, the second adjusting end 2 of the automatic torsion fixing mechanism 200 is connected with the target sleeve 7, and drives the target sleeve 7 to screw the bolt.

While the application has been described with respect to the preferred embodiments, the scope of the application is not limited thereto, and any person skilled in the art can make possible variations and modifications within the scope of the application without departing from the spirit and scope of the application. Therefore, the protection scope of the present application should be defined by the claims.

Claims (10)

1. An automatic screw-down device of bolt sets up in the work piece processing main part, its characterized in that includes: the sleeve switching mechanism and the automatic torsion fixing mechanism;

the first adjusting end of the automatic torque setting mechanism is connected with the workpiece processing main body, so that the second adjusting end of the automatic torque setting mechanism moves to a first appointed position relative to the switching end of the sleeve switching mechanism under the driving of the workpiece processing main body, and after the first appointed position is reached, the second adjusting end of the automatic torque setting mechanism self-adjusts the second appointed position relative to the switching end of the sleeve switching mechanism;

the part of the locating end of the sleeve switching mechanism is arranged on the ground, the locating end of the sleeve switching mechanism can be located and adjusted relative to a bolt on a workpiece, the switching end of the sleeve switching mechanism is arranged relative to the bolt on the workpiece processing main body, and after the switching end is switched to a corresponding target sleeve, the second adjusting end of the automatic torsion fixing mechanism is connected with the target sleeve and drives the target sleeve to screw the bolt.

2. The automatic bolt tightening device according to claim 1, wherein the first adjustment end of the automatic torque determination mechanism comprises a connecting column, a connecting cross column, a sliding rail, a docking rail, a first driving cylinder driving rod, a first connecting guide seat and a second connecting guide seat;

One end of the connecting upright post is connected with the workpiece processing main body so as to move along with the workpiece processing main body, and the other end of the connecting upright post is connected with the connecting transverse post;

the sliding rails are arranged at two edges of the bottom end face of the connecting cross column and distributed along the length direction of the connecting cross column;

the first driving cylinder is fixed on the connecting cross column, and the first connecting guide seat is arranged on the end face of the bottom and positioned between the sliding rails;

the driving rod is connected with the first driving cylinder and is movably inserted into the first connecting guide seat;

the second connecting guide seat is fixedly connected to the driving rod, and the butt joint track is arranged on the second connecting guide seat and is in butt joint with the sliding track so as to slide along the sliding track.

3. The automatic bolt tightening device according to claim 2, wherein the second adjustment end of the automatic torque setting mechanism comprises at least a first torque setting assembly and a second torque setting assembly;

the fixed end of the first torsion fixing component is connected with the connecting transverse column so as to synchronously move along with the connecting transverse column; the fixed torsion end of the first fixed torsion assembly moves to a first appointed position relative to the switching end of the sleeve switching mechanism along with the fixed end of the first fixed torsion assembly;

The fixed end of the second fixed torsion component is connected with the second connecting guide seat so as to synchronously move along with the second connecting guide seat, and the fixed torsion end of the second fixed torsion component is self-adjusted along with the fixed end of the second fixed torsion component to be opposite to a second appointed position of the switching end of the sleeve switching mechanism.

4. The automatic bolt tightening device according to claim 3, wherein the fixed torsion end of the first fixed torsion assembly and the fixed torsion end of the second fixed torsion assembly respectively comprise a support housing, a first rotating motor and a first connecting rotating shaft;

the support shell is connected with the fixed ends of the first fixed torsion component and the second fixed torsion component respectively;

the first rotating motor is fixed in the support shell, one end of the first connecting rotating shaft is connected with the output end of the first rotating motor, the other end of the first connecting rotating shaft is connected with the target sleeve, and the target sleeve is driven to screw the bolt.

5. The automatic bolt tightening device according to claim 1, wherein the switching end of the sleeve switching mechanism comprises a sleeve positioning assembly, a clamping assembly, and at least one target sleeve;

the sleeve positioning assembly is connected with the positioning end of the sleeve switching mechanism, and the target sleeve is arranged on the sleeve positioning assembly;

The fixed part of the clamping assembly is connected with the positioning end of the sleeve switching mechanism, and the clamping part of the clamping assembly can clamp the target sleeve on the sleeve positioning assembly.

6. The automatic bolt tightening device according to claim 5, wherein the sleeve positioning assembly comprises a positioning plate, a positioning support cylinder, a first return spring, and a limiting pin;

the positioning plate is connected with the positioning end of the sleeve switching mechanism, the positioning support cylinder is accommodated in the accommodating hole of the positioning plate, and the inside of the positioning support cylinder is relatively communicated and has a morphological structure matched with the positioning connecting end of the target sleeve;

the first reset spring is arranged at the side of the morphological structure, and the limiting pin penetrates through the circumferential end face of the positioning support cylinder and can be abutted against the positioning connection end of the target sleeve accommodated in the positioning support cylinder;

after the bolt connection end of the target sleeve passes through the positioning support cylinder, the positioning connection end of the target sleeve is assembled in the morphological structure, and the limiting pin clamps the positioning connection end while compressing the first return spring so as to limit the movement of the target sleeve.

7. The automatic bolt tightening device according to claim 6, wherein the positioning connection end of the target sleeve includes a first positioning connection structure and a second positioning connection structure;

the first positioning connection structure is positioned on the outer wall of the positioning connection end and is assembled on the morphological structure inside the positioning support cylinder;

the second positioning connection structure is arranged on the inner wall of the positioning connection end relative to the first positioning connection structure, and the second positioning connection structure is arranged to be matched with the second adjusting end of the automatic torsion fixing mechanism.

8. The automatic bolt tightening device according to claim 6, wherein at least two receiving holes are provided in the positioning plate, and at least two corresponding positioning support cylinders are provided.

9. The automatic bolt tightening device according to claim 5, wherein the sleeve positioning assembly further comprises a second rotating motor and a second connecting rotating shaft;

the second rotating motor is connected with the positioning end of the sleeve switching mechanism, and the second rotating motor is connected with one end of the second connecting rotating shaft; the other end of the second connecting rotating shaft is connected with the positioning plate, and the second connecting rotating shaft is driven by the second rotating motor so as to drive the positioning plate to rotate.

10. A workpiece processing apparatus comprising the automatic bolt tightening apparatus according to any one of claims 1 to 9, and a workpiece processing body connected to the automatic bolt tightening apparatus.