CN205968128U - Multiaxis shifts formula robot and screws up machine - Google Patents
Multiaxis shifts formula robot and screws up machine Download PDFInfo
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- CN205968128U CN205968128U CN201620892921.8U CN201620892921U CN205968128U CN 205968128 U CN205968128 U CN 205968128U CN 201620892921 U CN201620892921 U CN 201620892921U CN 205968128 U CN205968128 U CN 205968128U
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Abstract
The utility model discloses a multiaxis shifts formula robot and screws up machine, including the manipulator, its characterized in that: the manipulator on be connected with and screw up the device, the device of tightening include a direct support frame of being connected with the manipulator, the bottom of support frame be annular to be overlapped, puts in the annular to be provided with two sets symmetrically and to tighten actuating mechanism, overlap the internalization in the annular and has cup jointed the endotheca, put in and be provided with two sets also symmetrically and tighten actuating mechanism, be provided with arc rack outside the annular cover, serve in servo motor's work with the setting of arc rack meshed gears, and servo motor then lie in and put in, tighten the servo electric jar that actuating mechanism includes that a level setting and fixed connection put in or at the annular cover, serve the step motor who is provided with the longitudinal distribution in the work of servo electric jar, step motor's work is served and is provided with the tappet head.
Description
Technical field
This utility model is related to a kind of mechanical assembly equipment, particularly a kind of multiaxis displacement type robot tightening machine.
Background technology
When carrying out the assembling of some workpiece, need to tighten bolt using tightening machine, to realize A workpiece on B workpiece
Installation, the workpiece that traditional tightening machine can only be directed to certain several specification mostly carry out tightening operation, and versatility is poor, for needing
The mix flow of different types of machines to be applied, then be difficult to efficient, quickly tighten operation, that is, traditional tightening machine flexibility
It is impossible to be commonly applied in the mix flow project be applied to different types of machines, there is more significantly versatility not enough in deficiency
Defect.Therefore need now a kind of method or apparatus that can solve the problem that the problems referred to above.
Content of the invention
This utility model is to solve the above-mentioned deficiency existing for prior art, proposing a kind of structure simply, design is skilful
Wonderful, highly versatile, the relative position of multiple tappet heads can be changed as needed, to adapt to the multiaxis of multiple different workpieces assemblings
Displacement type robot tightening machine.
Technical solution of the present utility model is：A kind of multiaxis displacement type robot tightening machine, including mechanical hand 1, its
It is characterised by：Device for screwing up 2 is connected with described mechanical hand 1, described device for screwing up 2 includes a direct and mechanical hand 1
The bracing frame 3 connecting, the bottom of bracing frame 3 is annular sleeve 4, is symmetrically provided with two cover screwing actuators in annular sleeve 4
5, in annular sleeve 4, movable sleeve is connected to inner sleeve 6, and described inner sleeve 6 is also symmetrically provided with two cover screwing actuators 5,
It is provided with arc-shaped rack 7 outside annular sleeve 4, be arranged on the working end of servomotor 8 with arc-shaped rack 7 meshed gears, and institute
The servomotor 8 stated then is located in inner sleeve 6, described tighten actuator 5 and include one be horizontally disposed with and be fixedly connected on annular
Servo electric cylinders 9 on set 4 or inner sleeve 6, are provided with the motor of genesis analysis, described step on the working end of servo electric cylinders 9
Tappet head 10 is provided with the working end of stepper motor.
This utility model compared with the existing technology, has the advantage that：
The multiaxis displacement type robot tightening machine of this kind of version, poor for current device for screwing up flexibility degree
Problem, devise and a kind of carry four tappet heads（Impact wrench）Structure, two in this four tappet heads can relatively
In two other rotation, this four tappet heads can also translate respectively in the horizontal direction simultaneously, so utilizes this device
That realizes multiple irregular arrangement bolts tightens task, by this project application in mix flow, can farthest save
About cost, for example：NGCP3 project, camshaft cover lid is tightened needs double using traditional holoaxial screwing structure, totally 28
Axle, is tightened using the displacement of robot band 4 axle servo and only needs to 1 robot, 4 tightening axles, 1 servomotor and 4 servos
Electric cylinders, save 24 axles.And it is leading that its technical specification, technical merit belong to international technology, it is blank to have filled up domestic technique,
Disclosure satisfy that domestic corresponding industry tightens demand to electromotor and change speed gear box assembly line, have versatility good, cost-effective,
Safe and reliable the advantages of.
Brief description
Fig. 1 is the front view of this utility model embodiment.
Fig. 2 is the top view of this utility model embodiment.
Fig. 3 is the use state figure of this utility model embodiment.
Specific embodiment
Below in conjunction with brief description specific embodiment of the present utility model.As shown in Figure 1 to Figure 3：A kind of multiaxis becomes
Wei Shi robot tightening machine, including a mechanical hand being matched with roller-way 1, is connected with the working end of mechanical hand 1 and tightens dress
Put 2, this device for screwing up 2 includes the bracing frame 3 based on, support frame as described above 3 is directly connected with mechanical hand 1, this
The bottom of bracing frame 3 is provided with annular sleeve 4, is symmetrically provided with two cover screwing actuators 5 in annular sleeve 2, and in annular
Go back movable sleeve in set 4 and be connected to inner sleeve 6, this inner sleeve 6 can rotate with respect to annular sleeve 4, is also symmetrically arranged in inner sleeve 6
There are two cover screwing actuators 5, be provided with arc-shaped rack 7 outside above-mentioned annular sleeve 4, the tooth being meshed with this arc-shaped rack 7
Wheel is then arranged on the working end of servomotor 8, and servomotor 8 is then fixedly connected with inner sleeve 6,
Tighten actuator 5 and include horizontally disposed servo electric cylinders 9, servo electric cylinders 9 here are fixedly connected on ring
On shape set 4 or inner sleeve 6, motor is then provided with the working end of servo electric cylinders 9, and described motor longitudinally sets
Put, tappet head 10 is then provided with the working end of motor.
The work process of the multiaxis displacement type robot tightening machine of this utility model embodiment is as follows：Needs carry out tightening behaviour
The workpiece made moves to this device place station in the presence of roller-way, and is clamped in the presence of positioner, positions, machine
Tool handss 1 drive device for screwing up 2 unitary rotation,
The bolt carrying out tightening operation is needed to be tetrad, the line between this four bolts is collectively forming one four
Side shape, for different workpiece, diverse location, the above-mentioned shape of tetragon, size are also different, and therefore mechanical hand 1 carries
Dynamic device for screwing up 2 is overall when being rotated, and allows two sets of lines tightened between actuator 5 being fixed in annular sleeve 4 first
Overlapping with the projection in the horizontal direction of one of diagonal of above-mentioned tetragon, then tighten in actuator 5 for this two
Servo electric cylinders 9 work, drive motor and tappet head 10 to move, until the axis of two tappet heads 10 respectively and with
The dead in line of its corresponding bolt, that is, complete the first successive step；
After above-mentioned adjustment terminates, servomotor 8 drive pinion rotation, due to gear be fixedly installed on outside annular sleeve 4
Arc-shaped rack 7 engages, and therefore above-mentioned action can drive inner sleeve 6 to do rotation with respect to annular sleeve 4 in annular sleeve 4, until interior
Another diagonal in line and above-mentioned tetragon between two cover screwing actuators 5 on set 6 is in the horizontal direction
Projection is overlapping, and then this two servo electric cylinders 9 tightened in actuator 5 work, and drives motor and tappet head 10 to transport
Dynamic, until the axis dead in line with corresponding bolt respectively of two tappet heads 10, that is, complete the second successive step,
Now four tappet heads 10 are corresponding with needing four bolts tightened respectively；
Mechanical hand 1 controls device for screwing up 2 descending, and after tappet head 10 and threaded bolt contacts, motor drives tappet head 11 to revolve
Turn, bolt is tightened；Then mechanical hand 1 drives device for screwing up 2 up, and workpiece converts attitude, is carried out on workpiece using this device
Other bolts tighten operation, or by roller-way transport come next workpiece carry out tightening operation.
Claims (1)
1. a kind of multiaxis displacement type robot tightening machine, including mechanical hand（1）It is characterised in that：In described mechanical hand（1）On
It is connected with device for screwing up（2）, described device for screwing up（2）Including a direct and mechanical hand（1）The bracing frame connecting（3）, support
Frame（3）Bottom be annular sleeve（4）, in annular sleeve（4）On be symmetrically provided with two cover screwing actuators（5）, in annular sleeve
（4）Interior movable sleeve is connected to inner sleeve（6）, described inner sleeve（6）On be also symmetrically provided with two cover screwing actuators（5）, in ring
Shape set（4）It is provided with outward arc-shaped rack（7）, with arc-shaped rack（7）Meshed gears is arranged on servomotor（8）Working end
On, and described servomotor（8）Then it is located at inner sleeve（6）On, described tightens actuator（5）It is horizontally disposed with including one and solid
Surely it is connected to annular sleeve（4）Or inner sleeve（6）On servo electric cylinders（9）, in servo electric cylinders（9）Working end on be provided with longitudinally point
The motor of cloth, the working end of described motor is provided with tappet head（10）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620892921.8U CN205968128U (en) | 2016-08-17 | 2016-08-17 | Multiaxis shifts formula robot and screws up machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620892921.8U CN205968128U (en) | 2016-08-17 | 2016-08-17 | Multiaxis shifts formula robot and screws up machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205968128U true CN205968128U (en) | 2017-02-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620892921.8U Active CN205968128U (en) | 2016-08-17 | 2016-08-17 | Multiaxis shifts formula robot and screws up machine |
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| CN (1) | CN205968128U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106112499A (en) * | 2016-08-17 | 2016-11-16 | 大连豪森瑞德设备制造有限公司 | Multiaxis displacement type robot tightening machine |
| CN110449856A (en) * | 2019-08-21 | 2019-11-15 | 苏州阿特拉斯机器人系统工程有限公司 | A kind of multifunction manipulator for the installation of highly integrated ion purifier stack of laminations |
| CN111515668A (en) * | 2020-05-19 | 2020-08-11 | 广东电网有限责任公司东莞供电局 | Manipulator assembly |
| CN113084502A (en) * | 2021-04-12 | 2021-07-09 | 天津中德应用技术大学 | Intelligent manufacturing production line for electric cylinder |
-
2016
- 2016-08-17 CN CN201620892921.8U patent/CN205968128U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106112499A (en) * | 2016-08-17 | 2016-11-16 | 大连豪森瑞德设备制造有限公司 | Multiaxis displacement type robot tightening machine |
| CN110449856A (en) * | 2019-08-21 | 2019-11-15 | 苏州阿特拉斯机器人系统工程有限公司 | A kind of multifunction manipulator for the installation of highly integrated ion purifier stack of laminations |
| CN111515668A (en) * | 2020-05-19 | 2020-08-11 | 广东电网有限责任公司东莞供电局 | Manipulator assembly |
| CN111515668B (en) * | 2020-05-19 | 2021-06-11 | 广东电网有限责任公司东莞供电局 | Manipulator assembly |
| CN113084502A (en) * | 2021-04-12 | 2021-07-09 | 天津中德应用技术大学 | Intelligent manufacturing production line for electric cylinder |
| CN113084502B (en) * | 2021-04-12 | 2023-02-24 | 天津中德应用技术大学 | Intelligent manufacturing production line for electric cylinder |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |