CN117226809B - Large-torque no-counter-force screw operation robot - Google Patents
Large-torque no-counter-force screw operation robot Download PDFInfo
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- CN117226809B CN117226809B CN202311481460.6A CN202311481460A CN117226809B CN 117226809 B CN117226809 B CN 117226809B CN 202311481460 A CN202311481460 A CN 202311481460A CN 117226809 B CN117226809 B CN 117226809B
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- 230000017105 transposition Effects 0.000 claims abstract description 18
- 238000010030 laminating Methods 0.000 claims abstract description 14
- 229910000831 Steel Inorganic materials 0.000 claims description 13
- 239000010959 steel Substances 0.000 claims description 13
- 230000003068 static effect Effects 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000009776 industrial production Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000245 forearm Anatomy 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
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Abstract
The invention relates to the technical field of screw operation robots, in particular to a large-torque no-counterforce screw operation robot which comprises a moving mechanism, a transposition mechanism, a clamping mechanism, a fixing mechanism, a laminating mechanism and a rotating mechanism, wherein one end of the moving mechanism is provided with the transposition mechanism, the lower end of the transposition mechanism is provided with the clamping mechanism, one end of the clamping mechanism is provided with the fixing mechanism, one end of the fixing mechanism is provided with the laminating mechanism, the lower end of the laminating mechanism is provided with the rotating mechanism, screws with different sizes can be screwed through connecting different sizes with the lower ends of a plurality of first sliding rods, the bottom plate can be applied to the surface of a workpiece with the same force on the uneven surface of the workpiece by adopting the structure, and larger static friction force can be generated between the bottom plate and the workpiece, so that the damage to a mechanical arm caused by torque force generated when screwing the screws is avoided.
Description
Technical Field
The invention relates to the technical field of screw operation robots, in particular to a high-torque no-back screw operation robot.
Background
When industrial production is carried out, a manipulator is required to replace manual work to finish work, in industrial production, a traditional manual large screw driver usually needs an operator to manually rotate screws or use a wrench to fasten, the method is low in efficiency, requires a large amount of manpower and time, and is easy to cause human errors, in contrast, the screw driving robot is special equipment for realizing automatic operation, can rapidly and accurately finish the task of driving screws, and greatly saves time and energy of people.
The screw tightening robot has the characteristics of high precision, high efficiency and high reliability, the screw tightening robot is widely applied in various fields, the traditional manual locking screw has low precision and depends on experience of screw twisting personnel, the traditional manual locking screw has low torque, the traditional manual locking screw has low precision and depends on experience of screw twisting personnel, the traditional screw tightening robot usually needs workers to replace screwdrivers of different sizes to continuously work and waste time and labor when screwing screws, and when some assembly works are completed, the traditional robot can transmit larger tightening torque to a five-shaft, four-shaft, forearm tube, three shafts, large arms, waist seat and base by six shafts, so that the whole robot body receives larger tightening torque, the failure rate and the shutdown loss of the robot are increased, the service life of the robot are reduced, and the damage of equipment structures can be caused due to the fact that the excessive torque is generated in the screw tightening process, so that equipment failure and production safety accidents can be possibly caused.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a large-torque no-back screw operation robot.
The technical scheme adopted for solving the technical problems is as follows: the large-torque no-back screw operation robot comprises a moving mechanism, a transposition mechanism, a clamping mechanism, a fixing mechanism, a laminating mechanism and a rotating mechanism, wherein one end of the moving mechanism is provided with the transposition mechanism, the lower end of the transposition mechanism is provided with the clamping mechanism, one end of the clamping mechanism is provided with the fixing mechanism, one end of the fixing mechanism is provided with the laminating mechanism, and the lower end of the laminating mechanism is provided with the rotating mechanism;
preferably, the moving mechanism comprises a base, base upper end fixedly connected with arm, arm one end fixedly connected with first sleeve, the spout has been seted up to the inside lateral wall of first sleeve, the inside sliding connection of spout has first sliding block, the inside lateral wall fixedly connected with telescopic cylinder of first sleeve, the inside sliding connection of telescopic cylinder has first baffle.
Preferably, the moving mechanism further comprises a first spring, the upper end of the first baffle is fixedly connected with the first spring, the upper end of the first spring is fixedly connected with the telescopic cylinder, the lower end of the first baffle is fixedly connected with a telescopic rod, the lower end of the telescopic rod is fixedly connected with a top plate, and the lower end of the top plate is fixedly connected with a supporting plate.
Preferably, the transposition mechanism comprises a hydraulic cylinder, pneumatic cylinder one end and roof fixed connection, the first slide bar of pneumatic cylinder lower extreme fixedly connected with, first slide bar lateral wall fixedly connected with first stopper, first stopper lateral wall and casing fixed connection, the inside lateral wall fixedly connected with director of casing, director lateral wall and casing fixed connection, first square hole has been seted up to the inside of first stopper, first slide bar lateral wall fixedly connected with second stopper, second square hole has been seted up to the inside of second stopper, first slide bar lower extreme fixedly connected with first fixed block, first fixed block lower extreme fixedly connected with first bearing outer lane.
Preferably, the transposition mechanism further comprises a connecting ring, the lower end of the inner ring of the first bearing is fixedly connected with the connecting ring, the lower end of the connecting ring is fixedly connected with a second fixing block, the lower end of the second fixing block is fixedly connected with a screwdriver, the lower end of the first fixing block is fixedly connected with a first magnet, and the upper end of the second fixing block is fixedly connected with a second magnet.
Preferably, the clamping mechanism comprises a third fixed block, the inner side wall of the third fixed block is fixedly connected with the first sliding rod, the second sliding rod is slidably connected in the third fixed block, the second spring is fixedly connected to the side wall of the second sliding rod, one end of the second spring is fixedly connected with the third fixed block, and the steel wire rope is fixedly connected to the side wall of the second sliding rod.
Preferably, the clamping mechanism further comprises a rotating pin, the side wall of the steel wire rope is tightly attached with the rotating pin, one end of the rotating pin is rotationally connected with the third fixed block, one end of the steel wire rope is fixedly connected with the second sliding block, and the side wall of the second sliding block is in sliding connection with the second fixed block.
Preferably, the fixing mechanism comprises a second sleeve, the side wall of the second sleeve is fixedly connected with the supporting plate, a third sliding rod is connected inside the second sleeve in a sliding mode, one end of the third sliding rod is fixedly connected with a second baffle, the second baffle is arranged inside the second sleeve, the upper end of the second baffle is fixedly connected with a third spring, the upper end of the third spring is fixedly connected with the second sleeve, a third baffle is arranged inside the second sleeve, and the third baffle is located at the lower end of the second baffle.
Preferably, the fixing mechanism further comprises a fourth spring, the lower end of the third baffle is fixedly connected with the fourth spring, the lower end of the fourth spring is fixedly connected with the second sleeve, the lower end of the third baffle is fixedly connected with the first sliding plate, the first sliding plate is fixedly connected with the bottom plate, the side wall of the first sliding plate is fixedly connected with the stop block, the side wall of the first sliding plate is fixedly connected with the rack, one end of the rack is meshed with the first straight gear, the center of the first straight gear is fixedly connected with the rotating shaft, one end of the rotating shaft is rotationally connected with the shell, and the other end of the rotating shaft is rotationally connected with the supporting plate.
Preferably, the laminating mechanism comprises a third sleeve, the side wall of the third sleeve is fixedly connected with the shell, a fourth sliding rod is connected inside the third sleeve in a sliding manner, one end of the fourth sliding rod is rotationally connected with a roller, the other end of the fourth sliding rod is fixedly connected with an arc-shaped plate, the side wall inside the arc-shaped plate is slidably connected with a clamping block, the lower end of the clamping block is slidably connected with a second bearing inner ring, and the second bearing outer ring is fixedly connected with the shell.
Preferably, the rotating mechanism comprises a motor, the upper end of the motor is fixedly connected with the bottom wall of the third sleeve, one end of the motor is fixedly connected with a rotating rod, one end of the rotating rod is fixedly connected with a second spur gear, and one end of the second spur gear is meshed with a side gear.
The invention has the beneficial effects that:
(1) According to the large-torque no-counterforce screw operation robot, the mechanical arm is controlled by the control system to align with the screw to be screwed, the target screw is automatically aligned, the screwing steps of low-speed seating and high-speed screwing are completed, the inside of the first square hole in the first limiting block is provided with a plurality of first sliding rods and screwdrivers connected with the lower ends of the first sliding rods, screws with different sizes can be screwed, the first sliding rods can move downwards and simultaneously drive the second sliding blocks to spread outwards by adopting the arranged linkage structure, and when the second fixed blocks are clamped by inward movement of the clamping blocks, the second sliding blocks spread outwards and can be prevented from sliding upwards when the screwdrivers are screwed.
(2) According to the large-torque no-back screw operation robot, the first magnets are arranged at the lower ends of two sides of the opposite sides of the square first fixed block, the second magnets are arranged at the upper ends of two sides of the opposite sides of the square second fixed block, so that the edges between the first fixed block and the second fixed block can be overlapped whenever the screwdriver stops rotating, and the purpose of the arrangement is to correct the square second fixed block to be flush with the clamping block so as to facilitate subsequent clamping.
(3) According to the large-torque no-back screw operation robot, the bottom plate can be applied to the surface of an uneven workpiece with the same force through the arranged structure, so that larger static friction force can be generated between the bottom plate and the workpiece, and damage to the mechanical arm caused by torque force generated when screwing screws is avoided. When the bottom plate contacts the surface of the workpiece and drives the stop block to move upwards for a certain distance, the clamping block is driven to clamp the second fixing block, so that the second fixing block is automatically clamped and limited conveniently and rapidly.
Drawings
The invention will be further described with reference to the drawings and examples.
FIG. 1 is a schematic view of the overall structure provided by the present invention;
FIG. 2 is a schematic view of a first sleeve structure;
FIG. 3 is a schematic diagram of a chute structure;
FIG. 4 is a schematic view of a connection structure of a top plate and a support plate;
FIG. 5 is a schematic view of a connection structure of a telescopic rod and a telescopic cylinder;
FIG. 6 is a schematic view of a housing structure;
FIG. 7 is a schematic diagram of a hydraulic cylinder and first slide rod connection;
FIG. 8 is a schematic diagram illustrating a connection structure between the first sliding rod and the first limiting block;
FIG. 9 is a schematic view of a connection structure of a rotation pin and a first sliding rod;
FIG. 10 is a schematic view of a connection structure of a first bearing and a connecting ring;
FIG. 11 is a schematic view of a connection structure between the second sleeve and the first sliding plate;
FIG. 12 is a schematic view of a connection structure between a third sliding rod and a second baffle;
FIG. 13 is a schematic view of a connection structure between a stopper and a first sliding plate;
FIG. 14 is a schematic view of a third sleeve and fourth slide bar connection structure;
fig. 15 is a schematic diagram of a connection structure between a rotating rod and a second spur gear.
In the figure: 1. a moving mechanism; 11. a base; 12. a mechanical arm; 13. a first sleeve; 14. a chute; 15. a first slider; 16. a telescopic rod; 17. a first baffle; 18. a telescopic cylinder; 19. a first spring; 110. a top plate; 111. a support plate; 2. a transposition mechanism; 21. a hydraulic cylinder; 22. a first slide bar; 23. a first limiting block; 24. a first square hole; 25. a second limiting block; 26. a second square hole; 27. a first fixed block; 28. a first bearing; 29. a connecting ring; 210. a second fixed block; 211. a screwdriver; 212. a first magnet; 213. a second magnet; 214. a housing; 215. a guide; 3. a clamping mechanism; 31. a third fixed block; 32. a second slide bar; 33. a second spring; 34. a wire rope; 35. a rotation pin; 36. a second slider; 4. a fixing mechanism; 41. a second sleeve; 42. a third slide bar; 43. a second baffle; 44. a third spring; 45. a first sliding plate; 46. a third baffle; 47. a fourth spring; 48. a bottom plate; 49. a stop block; 410. a rack; 411. a first straight gear; 412. a rotating shaft; 5. a bonding mechanism; 51. a third sleeve; 52. a fourth slide bar; 53. a roller; 54. an arc-shaped plate; 55. a clamping block; 56. a second bearing; 6. a rotating mechanism; 61. a motor; 62. a rotating rod; 63. a second spur gear; 64. side gears.
Detailed Description
The invention is further described in connection with the following detailed description in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the invention easy to understand.
As shown in fig. 1-15, the large-torque no-back screw operation robot comprises a moving mechanism 1, a transposition mechanism 2, a clamping mechanism 3, a fixing mechanism 4, a laminating mechanism 5 and a rotating mechanism 6, wherein one end of the moving mechanism 1 is provided with the transposition mechanism 2, the lower end of the transposition mechanism 2 is provided with the clamping mechanism 3, one end of the clamping mechanism 3 is provided with the fixing mechanism 4, one end of the fixing mechanism 4 is provided with the laminating mechanism 5, and the lower end of the laminating mechanism 5 is provided with the rotating mechanism 6; through being connected with different size screwdrivers 211 at a plurality of first slide bar 22 lower extreme, can twist the screw of equidimension like this, adopt the structure that sets up can make the bottom plate also can apply on the work piece surface with the same big or small power on uneven work piece surface, thereby make the bottom plate 48 can produce great static friction with the work piece between the moment of torsion that produces when screwing up the screw and avoid producing the damage to arm 12, adopt the structure that sets up can accomplish automatic centre gripping and spacing convenient and fast to second fixed block 210.
Preferably, the moving mechanism 1 includes a base 11, an upper end of the base 11 is fixedly connected with a mechanical arm 12, one end of the mechanical arm 12 is fixedly connected with a first sleeve 13, a sliding groove 14 is formed in an inner side wall of the first sleeve 13, a first sliding block 15 is slidably connected in the sliding groove 14, a telescopic cylinder 18 is fixedly connected in the inner side wall of the first sleeve 13, a first baffle 17 is slidably connected in the telescopic cylinder 18, a first spring 19 is fixedly connected to an upper end of the first baffle 17, an upper end of the first spring 19 is fixedly connected with the telescopic cylinder 18, a telescopic rod 16 is fixedly connected to a lower end of the first baffle 17, a top plate 110 is fixedly connected to a lower end of the telescopic rod 16, and a support plate 111 is fixedly connected to a lower end of the top plate 110; the mechanical arm 12 is started to drive the first sleeve 13 to be placed at the upper end of the chassis, the mechanical arm 12 is controlled by the control system to align the screw to be screwed, the target screw is automatically aligned, and the screwing steps of low-speed seating and high-speed screwing are completed.
Preferably, the transposition mechanism 2 includes a hydraulic cylinder 21, one end of the hydraulic cylinder 21 is fixedly connected with the top plate 110, the lower end of the hydraulic cylinder 21 is fixedly connected with a first sliding rod 22, the side wall of the first sliding rod 22 is fixedly connected with a first limiting block 23, the side wall of the first limiting block 23 is fixedly connected with a housing 214, the inner side wall of the housing 214 is fixedly connected with a guide 215, the side wall of the guide 215 is fixedly connected with the housing 214, a first square hole 24 is formed in the first limiting block 23, the side wall of the first sliding rod 22 is fixedly connected with a second limiting block 25, a second square hole 26 is formed in the second limiting block 25, the lower end of the first sliding rod 22 is fixedly connected with a first fixed block 27, the lower end of the first fixed block 27 is fixedly connected with a first bearing 28 outer ring, the lower end of an inner ring of the first bearing 28 is fixedly connected with a connecting ring 29, the lower end of the connecting ring 29 is fixedly connected with a second fixed block 210, the lower end of the second fixed block 210 is fixedly connected with a screw 211, the lower end of the first fixed block 27 is fixedly connected with a first magnet 212, and the upper end of the second fixed block 212 is fixedly connected with a second magnet 213; when the screwdriver 211 with the required size is required, the corresponding hydraulic cylinder 21 is driven to move downwards through the control system, the hydraulic cylinder 21 moves downwards to drive the first sliding rod 22 to move downwards, the first sliding rod 22 moves downwards to drive the first fixing block 27 to move downwards, the first fixing block 27 moves downwards to drive the first bearing 28 to move downwards, the first bearing 28 moves downwards to drive the connecting ring 29 to move downwards, the connecting ring 29 moves downwards to drive the second fixing block 210 to move downwards, the first bearing 28 is arranged at the lower end of the first fixing block 27, so that the first fixing block 27 and the second fixing block 210 can be connected in a rotating manner, first magnets 212 are arranged at the lower ends of two opposite sides of the square first fixing block 27, and second magnets 213 are arranged at the upper ends of two opposite sides of the square second fixing block 210, so that the edges between the first fixing block 27 and the second fixing block 210 can be overlapped whenever the screwdriver 211 stops rotating, the square second fixing block 210 is enabled to be aligned with the clamping block 55, the second fixing block 55 is enabled to be enabled to move downwards, and the screwdriver can be easily clamped in the direction of the inside of the square body 23 through the screw 23, and the screw driver can be easily moved downwards, and the screw driver can be easily clamped by the screw driver can be moved downwards through the limiting blocks 23, and the lower ends of the screw driver can be easily moved through the limiting blocks 23.
Preferably, the locking mechanism 3 includes a third fixed block 31, an inner side wall of the third fixed block 31 is fixedly connected with the first sliding rod 22, a second sliding rod 32 is slidably connected inside the third fixed block 31, a second spring 33 is fixedly connected with a side wall of the second sliding rod 32, one end of the second spring 33 is fixedly connected with the third fixed block 31, a steel wire rope 34 is fixedly connected with a side wall of the second sliding rod 32, a rotating pin 35 is tightly attached to a side wall of the steel wire rope 34, one end of the rotating pin 35 is rotatably connected with the third fixed block 31, one end of the steel wire rope 34 is fixedly connected with a second sliding block 36, and the side wall of the second sliding block 36 is slidably connected with the second fixed block 210; the third fixed block 31 is driven to move downwards in the process of the downward movement of the first sliding rod 22, the second sliding rod 32 is driven to move upwards by the contact of the downward movement of the third fixed block 31 and the second limiting block 25, the second spring 33 is compressed by the upward movement of the second sliding rod 32, the steel wire rope 34 is driven to move upwards while the second sliding rod 32 moves upwards, the second sliding block 36 is driven to move outwards by the upward movement of the steel wire rope 34, and the second sliding block 36 is driven to be outwards unfolded while the downward movement of the first sliding rod 22 is realized by adopting the arranged linkage structure.
Preferably, the fixing mechanism 4 includes a second sleeve 41, a side wall of the second sleeve 41 is fixedly connected with the support plate 111, a third sliding rod 42 is slidably connected in the second sleeve 41, one end of the third sliding rod 42 is fixedly connected with a second baffle 43, the second baffle 43 is disposed in the second sleeve 41, an upper end of the second baffle 43 is fixedly connected with a third spring 44, an upper end of the third spring 44 is fixedly connected with the second sleeve 41, a third baffle 46 is disposed in the second sleeve 41, the third baffle 46 is disposed at a lower end of the second baffle 43, a fourth spring 47 is fixedly connected at a lower end of the third baffle 46, a lower end of the fourth spring 47 is fixedly connected with the second sleeve 41, a lower end of the third baffle 46 is fixedly connected with a first sliding plate 45, the first sliding plate 45 is fixedly connected with a bottom plate 48, a stop block 49 is fixedly connected with a side wall of the first sliding plate 45, a side wall of the first sliding plate 45 is fixedly connected with a rack 411, a first straight rack 410 is meshed with a first gear 412, a first straight rack 412 is meshed with a second end of the first straight rack 412, a first rotating housing is fixedly connected with the second end of the rotary shaft 111, and the other end of the rotary shaft is fixedly connected with the rotary shaft 412; the second sleeve 41 is driven to move downwards while the supporting plate 111 moves downwards, the second sleeve 41 moves downwards to drive the first sliding plate 45 to move downwards, the first sliding plate 45 moves downwards to drive the bottom plate 48 to move downwards, the third baffle 46 is driven to move upwards when the bottom plate 48 moves downwards and contacts the surface of a workpiece, the third baffle 46 moves upwards to drive the fourth spring 47 to stretch, the design is such that the bottom plate 48 moves upwards a certain distance when contacting the workpiece, if the surface of the workpiece has no uneven height, the third baffle 46 moves upwards to drive the second baffle 43 to move upwards, the second baffle 43 moves upwards to drive the third sliding rod 42 to move upwards, the second baffle 43 moves upwards to compress the third spring 44, the rack 410 moves upwards while the first sliding plate 45 moves upwards to drive the rack 410 to move upwards to drive the first straight gear 411 to rotate, the first straight gear 411 rotates to drive, when the bottom plates 48 on two sides are contacted with a workpiece, the first straight gear 411 stops rotating, at the moment, the mechanical arm 12 drives the first sleeve 13 to move downwards to drive the first baffle 17 to move upwards to compress the first spring 19, the force of the first spring 19 is transmitted to the bottom plates 48 on two sides, the bottom plates 48 on two sides are applied to the surfaces of the workpiece with the same force, larger static friction force is generated between the bottom plates 48 and the workpiece, so that the damage to the mechanical arm caused by torque force generated when screwing is avoided, the bottom plates 48 can be applied to the surface of the workpiece with the same force on the uneven surface of the workpiece through the arranged structure, and larger static friction force is generated between the bottom plates 48 and the workpiece, so that the damage to the mechanical arm caused by torque force generated when screwing is avoided.
Preferably, the attaching mechanism 5 includes a third sleeve 51, a side wall of the third sleeve 51 is fixedly connected with the housing 214, a fourth sliding rod 52 is slidably connected inside the third sleeve 51, one end of the fourth sliding rod 52 is rotatably connected with a roller 53, the other end of the fourth sliding rod 52 is fixedly connected with an arc plate 54, a clamping block 55 is slidably connected with the side wall inside the arc plate 54, the lower end of the clamping block 55 is slidably connected with an inner ring of a second bearing 56, and an outer ring of the second bearing 56 is fixedly connected with the housing 214; the first sliding plate 45 moves upwards and drives the stop block 49 to move upwards, the stop block 49 moves upwards and the roller 53 moves inwards, the roller 53 moves inwards to drive the fourth sliding rod 52 to move inwards, the fourth sliding rod 52 moves inwards to drive the arc plate 54 to move inwards, the arc plate 54 moves inwards to drive the clamping block 55 to move inwards, the clamping block 55 moves inwards to clamp the second fixing block 210 because the inner wall of the clamping block 55 and the outer wall of the second fixing block 210 are square with the same size, the second sliding block 36 expands outwards to prevent the screwdriver 211 from sliding upwards when the screwdriver 211 is screwed, the mechanical arm 12 drives the screwdriver 211 to press downwards on the screwdriver 211 when the screwdriver 211 is screwed down, and at the moment, the screwdriver 211 also generates an upward reaction force on the screwdriver, so that the upper end of the clamping block 55 is designed to be positioned at the second sliding block 36, the screwdriver 211 can be prevented from moving upwards, and the clamping block 55 can be driven to clamp the second fixing block 210 when the bottom plate 48 contacts the surface of a workpiece and drives the stop block 49 to move upwards for a certain distance through the arranged structure, so that the second fixing block 210 can be clamped automatically, and the second fixing block 210 can be clamped conveniently and rapidly.
Preferably, the rotating mechanism 6 includes a motor 61, the upper end of the motor 61 is fixedly connected with the bottom wall of the third sleeve 51, one end of the motor 61 is fixedly connected with a rotating rod 62, one end of the rotating rod 62 is fixedly connected with a second spur gear 63, and one end of the second spur gear 63 is meshed with a side gear 64; at this time, the motor 61 is started to rotate, the motor 61 rotates to drive the rotating rod 62 to rotate, the rotating rod 62 rotates to drive the second straight gear 63 to rotate, the second straight gear 63 rotates to drive the side gear 64 to rotate, the side gear 64 rotates to drive the inner ring of the second bearing 56 to rotate, the inner ring of the second bearing 56 rotates to drive the clamping block 55 to rotate, the clamping block 55 rotates to drive the second fixing block 210 to rotate, the second fixing block 210 rotates to drive the screwdriver 211 to rotate, the screwdriver 211 rotates to drive the screw to rotate, and therefore the effect of screwing the screw to be screwed is achieved, and the screw is screwed at a high speed through the arranged structure.
Working principle: when the invention is used, the mechanical arm 12 is started to drive the first sleeve 13 to be placed at the upper end of the chassis, the mechanical arm 12 is controlled by the control system to align the screw to be screwed, the target screw is automatically aligned, and the screwing steps of low-speed seating and high-speed screwing are completed.
When the screwdriver 211 with the required size is required, the corresponding hydraulic cylinder 21 is driven to move downwards through the control system, the hydraulic cylinder 21 moves downwards to drive the first sliding rod 22 to move downwards, the first sliding rod 22 moves downwards to drive the first fixing block 27 to move downwards, the first fixing block 27 moves downwards to drive the first bearing 28 to move downwards, the first bearing 28 moves downwards to drive the connecting ring 29 to move downwards, the connecting ring 29 moves downwards to drive the second fixing block 210 to move downwards, the first bearing 28 is arranged at the lower end of the first fixing block 27, so that the first fixing block 27 and the second fixing block 210 can be connected in a rotating manner, first magnets 212 are arranged at the lower ends of two opposite sides of the square first fixing block 27, and second magnets 213 are arranged at the upper ends of two opposite sides of the square second fixing block 210, so that the edges between the first fixing block 27 and the second fixing block 210 can be overlapped whenever the screwdriver 211 stops rotating, the square second fixing block 210 is enabled to be aligned with the clamping block 55, the second fixing block 55 is enabled to be enabled to move downwards, and the screwdriver can be easily clamped in the direction of the inside of the square body 23 through the screw 23, and the screw driver can be easily moved downwards, and the screw driver can be easily clamped by the screw driver can be moved downwards through the limiting blocks 23, and the lower ends of the screw driver can be easily moved through the limiting blocks 23.
The third fixed block 31 is driven to move downwards in the process of the downward movement of the first sliding rod 22, the second sliding rod 32 is driven to move upwards by the contact of the downward movement of the third fixed block 31 and the second limiting block 25, the second spring 33 is compressed by the upward movement of the second sliding rod 32, the steel wire rope 34 is driven to move upwards while the second sliding rod 32 moves upwards, the second sliding block 36 is driven to move outwards by the upward movement of the steel wire rope 34, and the second sliding block 36 is driven to be outwards unfolded while the downward movement of the first sliding rod 22 is realized by adopting the arranged linkage structure.
The second sleeve 41 is driven to move downwards while the supporting plate 111 moves downwards, the second sleeve 41 moves downwards to drive the first sliding plate 45 to move downwards, the first sliding plate 45 moves downwards to drive the bottom plate 48 to move downwards, the third baffle 46 is driven to move upwards when the bottom plate 48 moves downwards and contacts the surface of a workpiece, the third baffle 46 moves upwards to drive the fourth spring 47 to stretch, the design is such that the bottom plate 48 moves upwards a certain distance when contacting the workpiece, if the surface of the workpiece has no uneven height, the third baffle 46 moves upwards to drive the second baffle 43 to move upwards, the second baffle 43 moves upwards to drive the third sliding rod 42 to move upwards, the second baffle 43 moves upwards to compress the third spring 44, the rack 410 moves upwards while the first sliding plate 45 moves upwards to drive the rack 410 to move upwards to drive the first straight gear 411 to rotate, the first straight gear 411 rotates to drive, when the bottom plates 48 on two sides are contacted with a workpiece, the first straight gear 411 stops rotating, at the moment, the mechanical arm 12 drives the first sleeve 13 to move downwards to drive the first baffle 17 to move upwards to compress the first spring 19, the force of the first spring 19 is transmitted to the bottom plates 48 on two sides, the bottom plates 48 on two sides are applied to the surfaces of the workpiece with the same force, larger static friction force is generated between the bottom plates 48 and the workpiece, so that the damage to the mechanical arm caused by torque force generated when screwing is avoided, the bottom plates 48 can be applied to the surface of the workpiece with the same force on the uneven surface of the workpiece through the arranged structure, and larger static friction force is generated between the bottom plates 48 and the workpiece, so that the damage to the mechanical arm caused by torque force generated when screwing is avoided.
The first sliding plate 45 moves upwards and drives the stop block 49 to move upwards, the stop block 49 moves upwards and the roller 53 moves inwards, the roller 53 moves inwards to drive the fourth sliding rod 52 to move inwards, the fourth sliding rod 52 moves inwards to drive the arc plate 54 to move inwards, the arc plate 54 moves inwards to drive the clamping block 55 to move inwards, the clamping block 55 moves inwards to clamp the second fixing block 210 because the inner wall of the clamping block 55 and the outer wall of the second fixing block 210 are square with the same size, the second sliding block 36 expands outwards to prevent the screwdriver 211 from sliding upwards when the screwdriver 211 is screwed, the mechanical arm 12 drives the screwdriver 211 to press downwards on the screwdriver 211 when the screwdriver 211 is screwed down, and at the moment, the screwdriver 211 also generates an upward reaction force on the screwdriver, so that the upper end of the clamping block 55 is designed to be positioned at the second sliding block 36, the screwdriver 211 can be prevented from moving upwards, and the clamping block 55 can be driven to clamp the second fixing block 210 when the bottom plate 48 contacts the surface of a workpiece and drives the stop block 49 to move upwards for a certain distance through the arranged structure, so that the second fixing block 210 can be clamped automatically, and the second fixing block 210 can be clamped conveniently and rapidly.
At this time, the motor 61 is started to rotate, the motor 61 rotates to drive the rotating rod 62 to rotate, the rotating rod 62 rotates to drive the second straight gear 63 to rotate, the second straight gear 63 rotates to drive the side gear 64 to rotate, the side gear 64 rotates to drive the inner ring of the second bearing 56 to rotate, the inner ring of the second bearing 56 rotates to drive the clamping block 55 to rotate, the clamping block 55 rotates to drive the second fixing block 210 to rotate, the second fixing block 210 rotates to drive the screwdriver 211 to rotate, the screwdriver 211 rotates to drive the screw to rotate, and therefore the effect of screwing the screw to be screwed is achieved, and the screw is screwed at a high speed through the arranged structure.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the foregoing examples, and that the foregoing description and description are merely illustrative of the principles of this invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. A high torque no-back screw operated robot, characterized in that: the automatic assembling device comprises a moving mechanism (1), a transposition mechanism (2), a clamping mechanism (3), a fixing mechanism (4), a laminating mechanism (5) and a rotating mechanism (6), wherein one end of the moving mechanism (1) is provided with the transposition mechanism (2), the lower end of the transposition mechanism (2) is provided with the clamping mechanism (3), one end of the clamping mechanism (3) is provided with the fixing mechanism (4), one end of the fixing mechanism (4) is provided with the laminating mechanism (5), and the lower end of the laminating mechanism (5) is provided with the rotating mechanism (6);
the moving mechanism (1) comprises a base (11), wherein the upper end of the base (11) is fixedly connected with a mechanical arm (12), one end of the mechanical arm (12) is fixedly connected with a first sleeve (13), a sliding groove (14) is formed in the inner side wall of the first sleeve (13), a first sliding block (15) is connected in the sliding groove (14) in a sliding manner, a telescopic cylinder (18) is fixedly connected in the inner side wall of the first sleeve (13), and a first baffle (17) is connected in the telescopic cylinder (18) in a sliding manner;
the moving mechanism (1) further comprises a first spring (19), the upper end of the first baffle plate (17) is fixedly connected with the first spring (19), the upper end of the first spring (19) is fixedly connected with the telescopic cylinder (18), the lower end of the first baffle plate (17) is fixedly connected with the telescopic rod (16), the lower end of the telescopic rod (16) is fixedly connected with the top plate (110), and the lower end of the top plate (110) is fixedly connected with the supporting plate (111);
the transposition mechanism (2) comprises a hydraulic cylinder (21), one end of the hydraulic cylinder (21) is fixedly connected with a top plate (110), the lower end of the hydraulic cylinder (21) is fixedly connected with a first sliding rod (22), the side wall of the first sliding rod (22) is fixedly connected with a first limiting block (23), the side wall of the first limiting block (23) is fixedly connected with a shell (214), the inner side wall of the shell (214) is fixedly connected with a guide (215), the side wall of the guide (215) is fixedly connected with the shell (214), a first square hole (24) is formed in the first limiting block (23), the side wall of the first sliding rod (22) is fixedly connected with a second limiting block (25), a second square hole (26) is formed in the second limiting block (25), the lower end of the first sliding rod (22) is fixedly connected with a first fixing block (27), and the lower end of the first fixing block (27) is fixedly connected with a first bearing (28) outer ring.
2. A high torque no-back screw operating robot as defined in claim 1, wherein: the transposition mechanism (2) further comprises a connecting ring (29), the lower end of the inner ring of the first bearing (28) is fixedly connected with the connecting ring (29), the lower end of the connecting ring (29) is fixedly connected with a second fixing block (210), the lower end of the second fixing block (210) is fixedly connected with a screwdriver (211), the lower end of the first fixing block (27) is fixedly connected with a first magnet (212), and the upper end of the second fixing block (210) is fixedly connected with a second magnet (213).
3. A high torque no-back screw operating robot as defined in claim 1, wherein: the clamping mechanism (3) comprises a third fixed block (31), the inner side wall of the third fixed block (31) is fixedly connected with a first sliding rod (22), a second sliding rod (32) is connected inside the third fixed block (31) in a sliding mode, a second spring (33) is fixedly connected to the side wall of the second sliding rod (32), one end of the second spring (33) is fixedly connected with the third fixed block (31), and a steel wire rope (34) is fixedly connected to the side wall of the second sliding rod (32).
4. A high torque no-back screw operated robot as defined in claim 3, wherein: the clamping mechanism (3) further comprises a rotating pin (35), the rotating pin (35) is tightly attached to the side wall of the steel wire rope (34), one end of the rotating pin (35) is rotationally connected with the third fixed block (31), one end of the steel wire rope (34) is fixedly connected with the second sliding block (36), and the side wall of the second sliding block (36) is in sliding connection with the second fixed block (210).
5. A high torque no-back screw operating robot as defined in claim 1, wherein: the fixed establishment (4) includes second sleeve (41), second sleeve (41) lateral wall and backup pad (111) fixed connection, second sleeve (41) inside sliding connection has third slide bar (42), third slide bar (42) one end fixedly connected with second baffle (43), second baffle (43) set up inside second sleeve (41), second baffle (43) upper end fixedly connected with third spring (44), third spring (44) upper end and second sleeve (41) fixed connection, second sleeve (41) are provided with third baffle (46), third baffle (46) lower extreme and first sliding plate (45) fixed connection.
6. A high torque no-back screw operating robot as defined in claim 5, wherein: the fixing mechanism (4) further comprises a fourth spring (47), the lower end of the third baffle plate (46) is fixedly connected with the fourth spring (47), the lower end of the fourth spring (47) is fixedly connected with the second sleeve (41), the lower end of the third baffle plate (46) is fixedly connected with the first sliding plate (45), the first sliding plate (45) is fixedly connected with the bottom plate (48), the side wall of the first sliding plate (45) is fixedly connected with the stop block (49), the side wall of the first sliding plate (45) is fixedly connected with the rack (410), one end of the rack (410) is meshed with the first straight gear (411), the center of the first straight gear (411) is fixedly connected with the rotating shaft (412), one end of the rotating shaft (412) is rotationally connected with the shell (214), and the other end of the rotating shaft (412) is rotationally connected with the supporting plate (111).
7. A high torque no-back screw operating robot as defined in claim 1, wherein: laminating mechanism (5) are including third sleeve (51), third sleeve (51) lateral wall and casing (214) fixed connection, third sleeve (51) inside sliding connection has fourth slide bar (52), fourth slide bar (52) one end rotation is connected with gyro wheel (53), fourth slide bar (52) other end fixedly connected with arc (54), inside lateral wall sliding connection of arc (54) has fixture block (55), fixture block (55) lower extreme sliding connection has second bearing (56) inner circle, second bearing (56) outer lane and casing (214) fixed connection.
8. A high torque no-back screw operating robot as defined in claim 7, wherein: the rotating mechanism (6) comprises a motor (61), the upper end of the motor (61) is fixedly connected with the bottom wall of the third sleeve (51), one end of the motor (61) is fixedly connected with a rotating rod (62), one end of the rotating rod (62) is fixedly connected with a second spur gear (63), and one end of the second spur gear (63) is meshed with a side gear (64).
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311481460.6A CN117226809B (en) | 2023-11-09 | 2023-11-09 | Large-torque no-counter-force screw operation robot |
| CN202410286525.XA CN117943824A (en) | 2023-11-09 | 2023-11-09 | Screw operation robot |
| CN202410306132.0A CN117961518B (en) | 2023-11-09 | 2023-11-09 | Fixing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311481460.6A CN117226809B (en) | 2023-11-09 | 2023-11-09 | Large-torque no-counter-force screw operation robot |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410286525.XA Division CN117943824A (en) | 2023-11-09 | 2023-11-09 | Screw operation robot |
| CN202410306132.0A Division CN117961518B (en) | 2023-11-09 | 2023-11-09 | Fixing mechanism |
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| Publication Number | Publication Date |
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| CN117226809A CN117226809A (en) | 2023-12-15 |
| CN117226809B true CN117226809B (en) | 2024-02-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202410286525.XA Pending CN117943824A (en) | 2023-11-09 | 2023-11-09 | Screw operation robot |
| CN202311481460.6A Active CN117226809B (en) | 2023-11-09 | 2023-11-09 | Large-torque no-counter-force screw operation robot |
| CN202410306132.0A Active CN117961518B (en) | 2023-11-09 | 2023-11-09 | Fixing mechanism |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202410286525.XA Pending CN117943824A (en) | 2023-11-09 | 2023-11-09 | Screw operation robot |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202410306132.0A Active CN117961518B (en) | 2023-11-09 | 2023-11-09 | Fixing mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117943824A (en) * | 2023-11-09 | 2024-04-30 | 广州信邦智能装备股份有限公司 | Screw operation robot |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN117961518B (en) | 2024-07-23 |
| CN117961518A (en) | 2024-05-03 |
| CN117226809A (en) | 2023-12-15 |
| CN117943824A (en) | 2024-04-30 |
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