CN203221335U - Nut screwing robot - Google Patents

Nut screwing robot Download PDF

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Publication number
CN203221335U
CN203221335U CN 201320269256 CN201320269256U CN203221335U CN 203221335 U CN203221335 U CN 203221335U CN 201320269256 CN201320269256 CN 201320269256 CN 201320269256 U CN201320269256 U CN 201320269256U CN 203221335 U CN203221335 U CN 203221335U
Authority
CN
China
Prior art keywords
motor
tooth bar
sleeve
wheel
forearm
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN 201320269256
Other languages
Chinese (zh)
Inventor
金济民
叶江涛
王挺锋
顾凯健
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhejiang Institute of Mechanical and Electrical Engineering Co Ltd
Original Assignee
Zhejiang Institute of Mechanical and Electrical Engineering Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zhejiang Institute of Mechanical and Electrical Engineering Co Ltd filed Critical Zhejiang Institute of Mechanical and Electrical Engineering Co Ltd
Priority to CN 201320269256 priority Critical patent/CN203221335U/en
Application granted granted Critical
Publication of CN203221335U publication Critical patent/CN203221335U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

A nut screwing robot comprises a car frame. Rear wheels connected with a trundle motor and front wheels capable of rotating freely are arranged at the bottom of the car frame, lower caterpillar bands are connected between the front wheels and the rear wheels, a column is positioned on one side of the car frame, a sliding sleeve capable of sliding up and down along the column is embedded on the column, a rack and a front arm are arranged out the sliding sleeve, a lifting motor is positioned on the lateral side of the car frame, a lifting gear is arranged on the lifting motor, the lifting gear and the rack are meshed, a T-shaped rack is positioned on the front arm, a front arm motor installation plate is positioned on one side of the front arm, a front arm motor is positioned on the front arm motor installation plate, a front arm gear is positioned on the front arm motor, the front arm gear is meshed with the T-shaped rack, a rotating motor is arranged at the outer end of the T-shaped rack, a rotating motor shaft is connected with a sleeve, a barrel-shaped rack is embedded into the sleeve, and the barrel-shaped rack can slide up and down in the sleeve. A grabbing motor is positioned on one side of the sleeve, a grabbing gear is arranged on the grabbing motor, the grabbing gear and the barrel-shaped rack are meshed, and the lower end of the sleeve is connected with a grabber.

Description

A kind of nutting machine people
Technical field
The utility model relates to a kind of machinery equipment, especially a kind of nutting machine people.
Background technology
More and more for the design of robot at present, general robot is according to its structure of required design.Now need to design a kind of robot, need stride across width and the degree of depth is the river of 400mm all, and the high 200mm that is is arranged on the river, and wide is the beam of 30mm, adjacency has on the step goes to river, the korneforos is anhydrous, after crossing the river, grasps bearing, pad and nut that the opposite, river is placed on large, medium and small 3 kinds of different sizes of fixed position, pack into respectively in the assigned address screw rod, and when loading nut, require nut screwing clamping on screw rod, post-tensioning penoncel is finished.
The utility model content
The utility model will solve the shortcoming of above-mentioned prior art, provides a kind of nutting machine people, its reasonable in design, flexible operation.
The utility model solves the technical scheme that its technical problem adopts: this nutting machine people, comprise vehicle frame, bottom of frame is provided with the trailing wheel of connecting pin turbin generator and the front-wheel that freely rotates, be connected crawler belt down between front-wheel and the trailing wheel, one side of vehicle frame is provided with column, column is nested with the sliding sleeve that can slide up and down along column outward, sliding sleeve is equipped with tooth bar and forearm outward, the side of vehicle frame is equipped with the lifting motor installing plate, on the lifting motor installing plate lifting motor is installed, lifter wheel is installed on the lifting motor, the engagement of lifting tooth wheel and rack, T type tooth bar is housed on the forearm, forearm one side is equipped with the forearm motor mounting plate, and the forearm motor is installed on the forearm motor mounting plate, and preceding arm gear is installed on the forearm motor, preceding arm gear and the engagement of T type tooth bar, T type tooth bar outer end is equipped with the electric rotating machine installing plate, mounting rotary electric machine on the electric rotating machine installing plate, and spin motor shaft is connected with sleeve, sleeve inner is nested with the tubular tooth bar, and the tubular tooth bar can slide up and down in sleeve; Sleeve one side is equipped with the extracting motor mounting plate, grasps on the motor mounting plate extracting motor is installed, and grasps on the motor extracting gear is installed, and grasps the engagement of gear and tubular tooth bar; The sleeve lower end connects steel ring, is with equally distributed three handgrips on the steel ring, and the other end of handgrip is enclosed within on the pivot pin of tubular tooth bar lower end.
One side of vehicle frame also is equipped with the gap bridge motor, and the gap bridge trailing wheel is installed on the gap bridge motor, and the gap bridge trailing wheel is installed in the groove of vehicle frame, and the gap bridge front-wheel also is installed in the vehicle frame front slot, is connected crawler belt between gap bridge front-wheel and the gap bridge trailing wheel.
The effect that the utility model is useful is: the utility model reasonable in design, realize the movement of robot by the elevating mechanism on the vehicle frame, front and back slide mechanism and grasping mechanism, and control handgrip and grasp object.
Description of drawings
Fig. 1 is front view of the present utility model;
Fig. 2 is left view of the present utility model;
Fig. 3 is the cutaway view on the A-A direction among Fig. 2;
Fig. 4 is the cutaway view on the B-B direction among Fig. 1.
Description of reference numerals: vehicle frame 1, trailing wheel 2, front-wheel 3, following crawler belt 4, drive motors 5, column 6, sliding sleeve 7, tooth bar 8, forearm 9, lifting motor installing plate 10, lifting motor 11, lifter wheel 12, T type tooth bar 13, forearm motor mounting plate 14, forearm motor 15, preceding arm gear 16, electric rotating machine installing plate 17, electric rotating machine 18, sleeve 19, tubular tooth bar 20 grasps motor mounting plate 21, grasp motor 22, grasp gear 23, steel ring 24, handgrip 25, pivot pin 26, gap bridge motor 27, gap bridge trailing wheel 28, gap bridge front-wheel 29, last crawler belt 30.
The specific embodiment
The utility model is described in further detail below in conjunction with accompanying drawing:
With reference to accompanying drawing: this nutting machine people, comprise vehicle frame 1, vehicle frame 1 bottom is provided with the trailing wheel 2 of connecting pin turbin generator 5 and the front-wheel 3 that freely rotates, be connected crawler belt 4 down between front-wheel 3 and the trailing wheel 2, one side of vehicle frame 1 is provided with column 6, column 6 is outer to be nested with the sliding sleeve 7 that can slide up and down along column 6, sliding sleeve 7 outer tooth bar 8 and the forearms 9 of being equipped with, the side of vehicle frame 1 is equipped with lifting motor installing plate 10, lifting motor 11 is installed on the lifting motor installing plate 10, lifter wheel 12 is installed on the lifting motor 11, lifter wheel 12 and tooth bar 8 engagements, T type tooth bar 13 is housed on the forearm 9, forearm 9 one sides are equipped with forearm motor mounting plate 14, forearm motor 15 is installed on the forearm motor mounting plate 14, arm gear 16 before being equipped with on the forearm motor 15, preceding arm gear 16 and 13 engagements of T type tooth bar, T type tooth bar 13 outer ends are equipped with electric rotating machine installing plate 17, mounting rotary electric machine 18 on the electric rotating machine installing plate 17, electric rotating machine 18 is connected with sleeve 19, sleeve 19 nested inside have tubular tooth bar 20, and tubular tooth bar 20 can slide up and down in sleeve 19; Sleeve 19 1 sides are equipped with and grasp motor mounting plate 21, grasp to be equipped with on the motor mounting plate 21 and grasp motor 22, grasp to be equipped with on the motor 22 and grasp gear 23, grasp gear 23 and 20 engagements of tubular tooth bar; Sleeve 19 lower ends are connected with steel ring 24, are with equally distributed three handgrips 25 on the steel ring 24, and the other end of handgrip 25 is enclosed within on the pivot pin 26 of tubular tooth bar 20 lower ends.
One side of vehicle frame 1 also is equipped with gap bridge motor 27, and gap bridge trailing wheel 28 is installed on the gap bridge motor 27, and gap bridge trailing wheel 28 is installed in the groove of vehicle frame 1, in the end slot gap bridge front-wheel 29 is installed also before the vehicle frame 1, is connected crawler belt 30 between gap bridge front-wheel 29 and the gap bridge trailing wheel 28.
When starting castor motor 5, drive trailing wheel 2 rotates, and crawler belt 4 drives front-wheel 3 rotations under passing through again, and robot just advances like this, when left and right sides castor motor 5 rotating speeds can not realized turning simultaneously.When robot advances to upper beam limit, river, make the groove of vehicle frame 1 aim at beam, start gap bridge motor 27 simultaneously, make gap bridge trailing wheel 28 drive front-wheel by last crawler belt 30 and rotate, robot is advanced along beam, cross the river, to correct position, start forearm motor 15 and lifting motor 11, arm gear 16 rotated before forearm motor 15 drove, by with the engagement of T type tooth bar 13, T type tooth bar 13 can be stretched, in like manner, lifting motor 11 drives tooth bar 8 and makes forearm 9 liftings, when grasping part, start and grasp motor 22, make and grasp gear 23 rotations, drive tubular tooth bar 20 and move up and down, thereby make three handgrips 25 realize the action of grasping and decontroling, during nutting, start electric rotating machine 18, make whole handgrip 25 rotations, thereby reach the purpose of nutting.
Though the utility model illustrates and describes by the reference preferred embodiment,, those skilled in the art should understand, and in the scope of claims, can do the various variation on form and the details.

Claims (2)

1. nutting machine people, comprise vehicle frame (1), it is characterized in that: described vehicle frame (1) bottom is provided with the trailing wheel (2) of connecting pin turbin generator (5) and the front-wheel (3) that freely rotates, be connected crawler belt (4) down between front-wheel (3) and the trailing wheel (2), one side of vehicle frame (1) is provided with column (6), column (6) is outer to be nested with the sliding sleeve (7) that can slide up and down along column (6), outer tooth bar (8) and the forearm (9) of being equipped with of sliding sleeve (7), the side of vehicle frame (1) is equipped with lifting motor installing plate (10), lifting motor (11) is installed on the lifting motor installing plate (10), lifter wheel (12) is installed on the lifting motor (11), lifter wheel (12) and tooth bar (8) engagement, T type tooth bar (13) is housed on the forearm (9), forearm (9) one sides are equipped with forearm motor mounting plate (14), forearm motor (15) is installed on the forearm motor mounting plate (14), preceding arm gear (16) is installed on the forearm motor (15), preceding arm gear (16) and T type tooth bar (13) engagement, T type tooth bar (13) outer end is equipped with electric rotating machine installing plate (17), electric rotating machine installing plate (17) is gone up mounting rotary electric machine (18), electric rotating machine (18) is connected with sleeve (19), sleeve (19) nested inside has tubular tooth bar (20), and tubular tooth bar (20) can slide up and down in sleeve (19); Sleeve (19) one sides are equipped with and grasp motor mounting plate (21), grasp to be equipped with on the motor mounting plate (21) and grasp motor (22), grasp to be equipped with on the motor (22) and grasp gear (23), grasp gear (23) and tubular tooth bar (20) engagement; Sleeve (19) lower end is connected with steel ring (24), is with equally distributed three handgrips (25) on the steel ring (24), and the other end of handgrip (25) is enclosed within on the pivot pin (26) of tubular tooth bar (20) lower end.
2. nutting machine people according to claim 1, it is characterized in that: a side of described vehicle frame (1) also is equipped with gap bridge motor (27), gap bridge trailing wheel (28) is installed on the gap bridge motor (27), gap bridge trailing wheel (28) is installed in the groove of vehicle frame (1), in the preceding end slot of vehicle frame (1) gap bridge front-wheel (29) is installed also, is connected crawler belt (30) between gap bridge front-wheel (29) and the gap bridge trailing wheel (28).
CN 201320269256 2013-05-17 2013-05-17 Nut screwing robot Expired - Fee Related CN203221335U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201320269256 CN203221335U (en) 2013-05-17 2013-05-17 Nut screwing robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 201320269256 CN203221335U (en) 2013-05-17 2013-05-17 Nut screwing robot

Publications (1)

Publication Number Publication Date
CN203221335U true CN203221335U (en) 2013-10-02

Family

ID=49248352

Family Applications (1)

Application Number Title Priority Date Filing Date
CN 201320269256 Expired - Fee Related CN203221335U (en) 2013-05-17 2013-05-17 Nut screwing robot

Country Status (1)

Country Link
CN (1) CN203221335U (en)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103895011A (en) * 2014-03-28 2014-07-02 武汉协和齿环有限公司 Hot forging feeding electric-joint manipulator and operating method thereof
CN104625708A (en) * 2014-12-31 2015-05-20 大连运明自动化技术有限公司 Rotating screwing-in mechanical hand
CN105499970A (en) * 2015-12-05 2016-04-20 芜湖山野电器有限公司 Mounting detecting equipment for electric vehicle charging station
CN106003150A (en) * 2016-06-30 2016-10-12 苏州塞默机械有限公司 Mounting method of lightweight screw locking manipulator
CN106112422A (en) * 2016-06-24 2016-11-16 苏州威诺尔检测设备有限公司 The up-to-date assembly of tightening machine tighten unit
CN106346236A (en) * 2016-09-22 2017-01-25 中国航天科技集团公司长征机械厂 Automatic tightening device for thread locking
CN106553041A (en) * 2016-11-30 2017-04-05 苏州荣凯克精密机械有限公司 The gripping body of hay mover head section kludge
CN109014879A (en) * 2018-09-07 2018-12-18 谢森涛 A kind of nut disassembly system of petroleum machinery equipment
CN109531117A (en) * 2018-10-12 2019-03-29 盐城工学院 A kind of automobile six-joint robot visual grasping device

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103895011A (en) * 2014-03-28 2014-07-02 武汉协和齿环有限公司 Hot forging feeding electric-joint manipulator and operating method thereof
CN104625708A (en) * 2014-12-31 2015-05-20 大连运明自动化技术有限公司 Rotating screwing-in mechanical hand
CN105499970A (en) * 2015-12-05 2016-04-20 芜湖山野电器有限公司 Mounting detecting equipment for electric vehicle charging station
CN106112422A (en) * 2016-06-24 2016-11-16 苏州威诺尔检测设备有限公司 The up-to-date assembly of tightening machine tighten unit
CN106112422B (en) * 2016-06-24 2018-09-25 浙江博益电气有限公司 The newest assembly of tightening machine tightens unit
CN106003150A (en) * 2016-06-30 2016-10-12 苏州塞默机械有限公司 Mounting method of lightweight screw locking manipulator
CN106346236A (en) * 2016-09-22 2017-01-25 中国航天科技集团公司长征机械厂 Automatic tightening device for thread locking
CN106553041A (en) * 2016-11-30 2017-04-05 苏州荣凯克精密机械有限公司 The gripping body of hay mover head section kludge
CN109014879A (en) * 2018-09-07 2018-12-18 谢森涛 A kind of nut disassembly system of petroleum machinery equipment
CN109014879B (en) * 2018-09-07 2021-01-15 英特莱福油气技术河北股份有限公司 Nut dismounting system of petroleum machinery equipment
CN109531117A (en) * 2018-10-12 2019-03-29 盐城工学院 A kind of automobile six-joint robot visual grasping device

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Legal Events

Date Code Title Description
C14 Grant of patent or utility model
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20131002

Termination date: 20160517

CF01 Termination of patent right due to non-payment of annual fee