CN205733748U - Robot automatic tightening system - Google Patents
Robot automatic tightening system Download PDFInfo
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- CN205733748U CN205733748U CN201620525593.8U CN201620525593U CN205733748U CN 205733748 U CN205733748 U CN 205733748U CN 201620525593 U CN201620525593 U CN 201620525593U CN 205733748 U CN205733748 U CN 205733748U
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Abstract
This utility model open a kind of robot automatic tightening system, including support arm, this support arm front portion is provided with autowrench, and the work portion of this autowrench is provided with floating rifle head, and the support arm near this floating rifle head is provided with vision positioning device.The remarkable result using robot of the present utility model automatic tightening system is that vision positioning device can carry out image sampling clearly, and floating rifle head plays cushioning effect, and improves stability when tightening；Autowrench can be with floating rifle head fast assembling-disassembling, it is simple to maintenance.
Description
Technical field
This utility model relates to a kind of system automatically twisting bolt, is specifically related to a kind of robot automatic tightening system.
Background technology
Owing to the general assembly factory of automotive seat is a labour-intensive region, the various accessories such as traditional seat frame, seat basin
Assembling be all that manual work completes, big to the demand of manpower, use manual work in human cost, process, quality, merit
The aspect performances such as effect, man-hour are also not as automation equipment；And the equipment of automatization uses and is possible not only to reduce the demand to personnel,
Can also improve at aspects such as process, quality, effect, man-hours, therefore occur in that a kind of automatic feeding tightening system is for seat
Seat frame and the assembling of seat basin, in this system workman by workpiece prepackage reach the standard grade, complete confirm after flow to assembly station, position laggard
The assembling of row mechanization, this assembling process needs to be arranged in seat frame seat basin by screw etc., seat basin and the connection spiral shell of seat frame
What silk had a vertical direction also has incline direction, and this assembling process needs detent mechanism and wire feed tightening mechanism jointly to complete, but
Its range is narrower.Applicant proposed China's application, Application No.: 201310565798.X later, have employed CCD
Vision positioning device, application is more flexible, but it tightens work portion and bolt hard contact, and vibration amplitude is big, unstable.
Utility model content
For solving above technical problem, this utility model provides a kind of robot automatic tightening system.
Technical scheme is as follows:
A kind of robot automatic tightening system, it it is critical only that: includes support arm, and this support arm front portion is provided with pulls automatically
Hands, the work portion of this autowrench is provided with floating rifle head, and the support arm near this floating rifle head is provided with vision positioning device.
The remarkable result using above technical scheme is that vision positioning device carries out vision localization, and autowrench drives
Bolt is tightened by floating rifle head, and floating rifle head plays cushioning effect, improves stability when tightening.
Above-mentioned floating rifle head includes mounting cylinder, is provided with position-limiting drum in this mounting cylinder, and this position-limiting drum is arranged on institute by bearing
Stating in mounting cylinder, in described position-limiting drum, axial activity is equipped with floating rotating axle, axially sets on the barrel of described position-limiting drum
Having at least one floating chute, described floating rotating axle to be provided with sliding part, this sliding part is positioned at described floating chute edge
It slides, and the front end of described floating rotating axle connects cutter head, is provided with floating multiple in the position-limiting drum of described floating rotating shaft tail end
Position spring, described position-limiting drum is the most concentric with the output shaft of described autowrench to be connected.Using above technical scheme, cutter head is with floating
Dynamic rotary shaft slides axially, and this sliding part coordinates with floating chute, and floating rotating axle can be made to slide axially, to transmitting it
Moment so that it is rotating, floating back-moving spring makes floating rotating axle and cutter head have trend forward all the time, both made cutter head steady with bolt
Fixed connection, can play again the effect of damping.
The front opening of above-mentioned position-limiting drum, and tail end closing, described floating chute at least two, described floating chute
Front end passes the leading edge of described position-limiting drum respectively, and described sliding part includes connecting cylinder, and this connecting cylinder activity is plugged in described limit
In the cylinder of position, described floating rotating shaft tail end axial restraint is plugged in this connecting cylinder, described with each on the outer wall of this connecting cylinder
Floating chute is correspondingly provided with slide block respectively, and the front portion of described floating back-moving spring is positioned at described connecting cylinder, and described floating resets
The rear end of spring pushes against with described position-limiting drum.Using above technical scheme, sliding part slides more steady, and moment transmission effect is more
Good.
Above-mentioned vision positioning device includes the image acquisition device being fixed on support arm, and this image acquisition device dead ahead is provided with
Annular light source, this annular light source is arranged on described support arm by adjustment seat.Using above technical scheme, annular light source plays photograph
Bright effect, image acquisition device carries out image acquisition to bolted connection, for vision positioning device analyzing and positioning.
Above-mentioned adjustment seat is provided with at least two bar shaped regulation through holes being parallel to each other, the length of described bar shaped regulation through hole
Direction is consistent with image acquisition device lens axis direction, is respectively equipped with clamping screw, described lock in described bar shaped regulation through hole
Tight bolt is threadeded with described support arm.Use above technical scheme, regulate through hole scalable image acquisition device by bar shaped
And the distance between annular light source, adjust suitable light position.
Above-mentioned adjustment seat is plate-shaped, and the front portion of described adjustment seat is bent to form light resource installing section to side, and this light source is installed
Offering image acquisition hole in portion, the hole heart line in this image acquisition hole overlaps with described image acquisition device lens axis, described ring
Shape light source is arranged in described light resource installing section around this image acquisition hole, and described annular light source and image acquisition device lay respectively at
Described light resource installing section both sides.Above technical scheme, illuminated position is used to be not likely to produce shade, beneficially image sampling.
Above-mentioned support arm includes joint arm and is positioned at the installing plate in this joint arm front, and the front end of described joint arm is provided with even
Fishplate bar, arbitrary side of this connecting plate is fixing with the back side edge of described installing plate to be connected, between described installing plate and connecting plate just
Strengthening swash plate to being provided with two pieces, described autowrench and image acquisition device are separately fixed at described installing plate both sides, described floating
Rifle head and image acquisition device are positioned at described installing plate homonymy, and described floating rifle head is through the work of described installing plate with autowrench
Portion connects.Using above technical scheme, autowrench, image acquisition device and floating rifle head position are reasonable, and sampling is convenient.
Be provided with switching perforation in above-mentioned installing plate front portion, described mounting cylinder is located in this switching perforation, in described installation
Cylinder is outer is installed with ring flange, and described mounting cylinder is arranged on described installing plate by described ring flange, and described mounting cylinder tail end is opened
Mouthful, the housing at described autowrench work portion and described mounting cylinder against, the tail end end face of described position-limiting drum is provided with axle
To connecting hole, the output shaft of described autowrench is axially plugged in this axial connecting hole and locks.Use above technical scheme,
Autowrench can carry out fast assembling-disassembling with floating rifle head,
Being provided with anchor ear seat on described installing plate, described autowrench is fixedly mounted on described anchor ear seat by anchor ear.
Use above technical scheme, between autowrench energy and installing plate, carry out fast assembling-disassembling or adjustment.
Above-mentioned autowrench is pneumatic impact spanner or electric wrench.
Beneficial effect: use robot of the present utility model automatic tightening system, vision positioning device can be carried out clearly
Image sampling, floating rifle head plays cushioning effect, and improves stability when tightening；Autowrench quickly can be torn open with floating rifle head
Dress, it is simple to maintenance.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the structural representation of support arm a；
Fig. 3 is the structural representation of vision positioning device d；
Fig. 4 is the structural representation of floating rifle head c；
Fig. 5 is the structural representation of sliding part c5.
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing, the utility model is described in further detail.
As shown in Fig. 1 to Fig. 5, a kind of robot automatic tightening system, including support arm a, this support arm a front portion is provided with certainly
Wrench b, the work portion of this autowrench b is provided with floating rifle head c, is provided with vision near the support arm a of this floating rifle head c
Positioner d, described autowrench b are pneumatic impact spanner or electric wrench, and described autowrench b includes housing and work portion, its
Work is provided with output shaft in portion, and the output shaft in its work portion passes housing.
Described floating rifle head c includes mounting cylinder c1, is provided with position-limiting drum c2 in this mounting cylinder c1, and this position-limiting drum c2 passes through bearing
Being arranged in described mounting cylinder c1, in described position-limiting drum c2, axial activity is equipped with floating rotating axle c3, at described position-limiting drum
It is axially arranged with at least one floating chute c4, described floating rotating axle c3 on the barrel of c2 and is provided with sliding part c5, this sliding part
C5 is positioned at described floating chute c4 and slides along, and the front end of described floating rotating axle c3 connects cutter head c6, described floating
The output of floating back-moving spring c7, described position-limiting drum c2 and described autowrench b it is provided with in the position-limiting drum c2 of rotary shaft c3 tail end
Axle connects the most with one heart；
The front opening of described position-limiting drum c2, and tail end closing, described floating chute c4 at least two, described floating
The front end of chute c4 passes the leading edge of described position-limiting drum c2 respectively, and described sliding part c5 includes connecting cylinder c8, this connecting cylinder c8
Activity is plugged in described position-limiting drum c2, and described floating rotating axle c3 tail end axial restraint is plugged in this connecting cylinder c8, and this is even
Connect and be correspondingly provided with slide block c9, the front portion of described floating back-moving spring c7 respectively with each described floating chute c4 on the outer wall of a c8
Being positioned at described connecting cylinder c8, the rear end of described floating back-moving spring c7 pushes against with described position-limiting drum c2.
Described vision positioning device d is CCD vision positioning device, and described vision positioning device d includes being fixed on support arm a
On image acquisition device d1, this image acquisition device d1 dead ahead is provided with annular light source d2, this annular light source d2 pass through adjustment seat d3
It is arranged on described support arm a；
Described adjustment seat d3 is provided with at least two bar shaped regulation through hole d4 being parallel to each other, described bar shaped regulation through hole d4
Length direction consistent with image acquisition device d1 lens axis direction, described bar shaped regulation through hole d4 in be respectively equipped with locking screw
Bolt d5, described clamping screw d5 are threadeded with described support arm a；
Described adjustment seat d3 is plate-shaped, and the front portion of described adjustment seat d3 is bent to form light resource installing section to side, this light source
Offering image acquisition hole on installation portion, described annular light source d2 is arranged on described light resource installing section around this image acquisition hole
On, the hole heart line in this image acquisition hole overlaps with described image acquisition device d1 lens axis, and described annular light source d2 and image are adopted
Storage d1 lays respectively at described light resource installing section both sides.
It is how image to be analyzed location as CCD vision positioning device, is well known to those skilled in the art
, do not repeat at this.
Described support arm a includes joint arm a1 and is positioned at the installing plate a3 in this joint arm a1 front, described joint arm a1's
Front end is provided with connecting plate a2, and arbitrary side of this connecting plate a2 is fixing with the back side edge of described installing plate a3 to be connected, described installation
Between plate a3 and connecting plate a2 just to be provided with two pieces strengthen swash plate a4, described autowrench b and image acquisition device d1 fix respectively
In described installing plate a3 both sides, described floating rifle head c and image acquisition device d1 is positioned at described installing plate a3 homonymy, described floating rifle
Head c is connected through the work portion of described installing plate a3 and autowrench b.
Be provided with switching perforation in described installing plate a3 front portion, described mounting cylinder c1 is located in this switching perforation, described
Being installed with ring flange outside mounting cylinder c1, described mounting cylinder c1 is arranged on described installing plate a3 by described ring flange, described peace
Fitted tube c1 tail end opening, the housing at described autowrench b work portion and described mounting cylinder c1 against, described position-limiting drum c2's
Tail end end face is provided with axial connecting hole, and the output shaft of described autowrench b is axially plugged in this axial connecting hole and locks,
Being provided with anchor ear seat on described installing plate a3, described autowrench b is fixedly mounted on described anchor ear seat by anchor ear.
After vision positioning device d uses image and positions, joint arm a1 drives autowrench b motion, makes floating rifle head c move
Moving relevant position, tighten bolt, this process is well-known to those skilled in the art, and has in existing file
A large amount of recording, applicant does not protect relevant control process, method.
It is last it should be noted that foregoing description is only preferred embodiment of the present utility model, the common skill of this area
Art personnel, under enlightenment of the present utility model, on the premise of this utility model objective and claim, can make
Represent as multiple types, within such conversion each falls within protection domain of the present utility model.
Claims (10)
1. a robot automatic tightening system, it is characterised in that: including support arm (a), this support arm (a) front portion is provided with automatically
Spanner (b), the work portion of this autowrench (b) is provided with floating rifle head (c), on the support arm (a) of this floating rifle head (c)
It is provided with vision positioning device (d).
Robot the most according to claim 1 automatic tightening system, it is characterised in that: described floating rifle head (c) includes peace
Fitted tube (c1), is provided with position-limiting drum (c2) in this mounting cylinder (c1), this position-limiting drum (c2) is arranged on described mounting cylinder by bearing
(c1), in, in described position-limiting drum (c2), axial activity is equipped with floating rotating axle (c3), at the barrel of described position-limiting drum (c2)
On be axially arranged with at least one floating chute (c4), described floating rotating axle (c3) is provided with sliding part (c5), this sliding part
(c5) being positioned at described floating chute (c4) and slide along, the front end of described floating rotating axle (c3) connects cutter head (c6),
Being provided with floating back-moving spring (c7) in the position-limiting drum (c2) of described floating rotating axle (c3) tail end, described position-limiting drum (c2) is with described
The output shaft of autowrench (b) connects the most with one heart.
Robot the most according to claim 2 automatic tightening system, it is characterised in that: the front end of described position-limiting drum (c2) is opened
Mouthful, and tail end closing, described floating chute (c4) at least two, the front end of described floating chute (c4) passes described limit respectively
The leading edge of position cylinder (c2), described sliding part (c5) includes that connecting cylinder (c8), this connecting cylinder (c8) activity are plugged in described spacing
In cylinder (c2), described floating rotating axle (c3) tail end axial restraint is plugged in this connecting cylinder (c8), outside this connecting cylinder (c8)
Being correspondingly provided with slide block (c9) respectively with each described floating chute (c4) on wall, the front portion of described floating back-moving spring (c7) is positioned at
In described connecting cylinder (c8), the rear end of described floating back-moving spring (c7) pushes against with described position-limiting drum (c2).
4. according to the robot automatic tightening system described in Claims 2 or 3, it is characterised in that: described vision positioning device (d)
Including the image acquisition device (d1) being fixed on support arm (a), this image acquisition device (d1) dead ahead is provided with annular light source (d2),
This annular light source (d2) is arranged on described support arm (a) by adjustment seat (d3).
Robot the most according to claim 4 automatic tightening system, it is characterised in that: described adjustment seat (d3) be provided with to
Few two bar shapeds regulation through hole (d4) being parallel to each other, the length direction of described bar shaped regulation through hole (d4) and image acquisition device
(d1) lens axis direction is consistent, is respectively equipped with clamping screw (d5), described locking screw in described bar shaped regulation through hole (d4)
Bolt (d5) is threadeded with described support arm (a).
Robot the most according to claim 4 automatic tightening system, it is characterised in that: described adjustment seat (d3) is plate-shaped,
The front portion of described adjustment seat (d3) is bent to form light resource installing section to side, and this light resource installing section offers image acquisition hole,
Described annular light source (d2) is arranged in described light resource installing section around this image acquisition hole, the hole heart line in this image acquisition hole with
Described image acquisition device (d1) lens axis overlaps, and described annular light source (d2) and image acquisition device (d1) lay respectively at described light
Installation portion both sides, source.
Robot the most according to claim 4 automatic tightening system, it is characterised in that: described support arm (a) includes joint
Arm (a1) and be positioned at the installing plate (a3) in this joint arm (a1) front, the front end of described joint arm (a1) is provided with connecting plate (a2),
Arbitrary side of this connecting plate (a2) is fixing with the back side edge of described installing plate (a3) to be connected, described installing plate (a3) and connecting plate
(a2) just to being provided with two pieces of reinforcements swash plate (a4) between, described autowrench (b) and image acquisition device (d1) are separately fixed at institute
State installing plate (a3) both sides, described floating rifle head (c) and image acquisition device (d1) and be positioned at described installing plate (a3) homonymy, described floating
Dynamic rifle head (c) is connected through described installing plate (a3) with the work portion of autowrench (b).
Robot the most according to claim 7 automatic tightening system, it is characterised in that: set in described installing plate (a3) front portion
Having switching perforation, described mounting cylinder (c1) is located in this switching perforation, is installed with ring flange, institute outside described mounting cylinder (c1)
State mounting cylinder (c1) to be arranged on described installing plate (a3) by described ring flange, described mounting cylinder (c1) tail end opening, described
Housing at autowrench (b) work portion and described mounting cylinder (c1) against, the tail end end face of described position-limiting drum (c2) sets
Axial connecting hole, the output shaft of described autowrench (b) is had axially to be plugged in this axial connecting hole and lock.
Robot the most according to claim 7 automatic tightening system, it is characterised in that: set on described installing plate (a3)
Having anchor ear seat, described autowrench (b) is fixedly mounted on described anchor ear seat by anchor ear.
10. according to the robot automatic tightening system described in claim 1,2 or 3, it is characterised in that: described autowrench (b)
For pneumatic impact spanner or electric wrench.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620525593.8U CN205733748U (en) | 2016-06-01 | 2016-06-01 | Robot automatic tightening system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620525593.8U CN205733748U (en) | 2016-06-01 | 2016-06-01 | Robot automatic tightening system |
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| Publication Number | Publication Date |
|---|---|
| CN205733748U true CN205733748U (en) | 2016-11-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620525593.8U Active CN205733748U (en) | 2016-06-01 | 2016-06-01 | Robot automatic tightening system |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105921989A (en) * | 2016-06-01 | 2016-09-07 | 重庆延锋江森汽车部件系统有限公司 | Automatic screwing device |
| CN108213939A (en) * | 2018-03-06 | 2018-06-29 | 天津市多思机械设备有限公司 | Double-end stud nail feeding tail end locking device |
| CN108453497A (en) * | 2018-04-20 | 2018-08-28 | 陈云 | It is a kind of to tighten robot from the nonstandard precision screw of reply |
| CN109333586A (en) * | 2018-12-11 | 2019-02-15 | 广西玉柴机器股份有限公司 | It is a kind of can quickly connect robot tighten bracing strut |
| CN109352682A (en) * | 2018-12-11 | 2019-02-19 | 广西玉柴机器股份有限公司 | One kind can quickly connect robot and variable bit tightens shaft device |
| CN109571341A (en) * | 2018-12-17 | 2019-04-05 | 西安理工大学 | A kind of portable bolt disassembly device |
| CN110394619A (en) * | 2019-07-09 | 2019-11-01 | 博飞特(江苏)汽车设备自动化有限公司 | A kind of automatic centering tightening system |
| CN112621192A (en) * | 2020-11-12 | 2021-04-09 | 上海发那科机器人有限公司 | Man-machine cooperation floating screwing device and working method thereof |
| CN115156895A (en) * | 2022-08-17 | 2022-10-11 | 江苏理工学院 | Novel automatic screw tightening device for production line |
| CN115338625A (en) * | 2022-08-16 | 2022-11-15 | 四川成焊宝玛焊接装备工程有限公司 | Bolt is with device of alighting |
-
2016
- 2016-06-01 CN CN201620525593.8U patent/CN205733748U/en active Active
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105921989B (en) * | 2016-06-01 | 2018-11-09 | 重庆延锋安道拓汽车部件系统有限公司 | A kind of automatic screwing device |
| CN105921989A (en) * | 2016-06-01 | 2016-09-07 | 重庆延锋江森汽车部件系统有限公司 | Automatic screwing device |
| CN108213939A (en) * | 2018-03-06 | 2018-06-29 | 天津市多思机械设备有限公司 | Double-end stud nail feeding tail end locking device |
| CN108213939B (en) * | 2018-03-06 | 2023-12-22 | 天津市多思机械设备有限公司 | Locking device for screw feeding end of double-end stud |
| CN108453497B (en) * | 2018-04-20 | 2020-04-03 | 兰泽(荆门)智能科技有限公司 | Self-return nonstandard precision screw tightening robot |
| CN108453497A (en) * | 2018-04-20 | 2018-08-28 | 陈云 | It is a kind of to tighten robot from the nonstandard precision screw of reply |
| CN109333586A (en) * | 2018-12-11 | 2019-02-15 | 广西玉柴机器股份有限公司 | It is a kind of can quickly connect robot tighten bracing strut |
| CN109352682A (en) * | 2018-12-11 | 2019-02-19 | 广西玉柴机器股份有限公司 | One kind can quickly connect robot and variable bit tightens shaft device |
| CN109571341A (en) * | 2018-12-17 | 2019-04-05 | 西安理工大学 | A kind of portable bolt disassembly device |
| CN110394619A (en) * | 2019-07-09 | 2019-11-01 | 博飞特(江苏)汽车设备自动化有限公司 | A kind of automatic centering tightening system |
| CN112621192A (en) * | 2020-11-12 | 2021-04-09 | 上海发那科机器人有限公司 | Man-machine cooperation floating screwing device and working method thereof |
| CN115338625A (en) * | 2022-08-16 | 2022-11-15 | 四川成焊宝玛焊接装备工程有限公司 | Bolt is with device of alighting |
| CN115156895A (en) * | 2022-08-17 | 2022-10-11 | 江苏理工学院 | Novel automatic screw tightening device for production line |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 401122 No. 4, long Fuxi Road, North District, Yubei District economic and Technological Development Zone, Chongqing Patentee after: Chongqing Yanfeng Johnson Automotive Parts System Co.,Ltd. Address before: 401122 No. 4, long Fuxi Road, North District, Yubei District economic and Technological Development Zone, Chongqing Patentee before: CHONGQING YANFENG JOHNSON CONTROLS AUTOMOBILE PARTS SYSTEMS, Inc. Address after: 401122 No. 4, long Fuxi Road, North District, Yubei District economic and Technological Development Zone, Chongqing Patentee after: Chongqing andotuo Auto Parts System Co.,Ltd. Address before: 401122 No. 4, long Fuxi Road, North District, Yubei District economic and Technological Development Zone, Chongqing Patentee before: Chongqing Yanfeng Johnson Automotive Parts System Co.,Ltd. |