CN211759715U

CN211759715U - Portable bolt is screwed up manipulator in advance

Info

Publication number: CN211759715U
Application number: CN202020073399.7U
Authority: CN
Inventors: 张广鹏; 穆卫谊; 朱凌; 黄玉美
Original assignee: Xian University of Technology
Current assignee: Xi'an Linglong aircraft parts manufacturing Co.,Ltd.
Priority date: 2020-01-14
Filing date: 2020-01-14
Publication date: 2020-10-27
Anticipated expiration: 2030-01-14

Abstract

The utility model discloses a portable bolt pre-tightening manipulator, wherein a rotatable upright post is sleeved on a vertical rotating shaft of a base; the back of the upright post is respectively provided with a cooling fan, four motor drivers and two electric connectors, and the four motor drivers are respectively connected with the corresponding motors in a control way; the fixed end of the first motor is fixedly connected with the upright post, and the output end of the first motor is fixedly connected with the input end of the first harmonic reducer; the fixed interface of the linear module is fixedly connected with the upright post, the input end of the linear module is connected with the output shaft of the motor II, and the output end of the linear module is connected with the large arm; the large arm is connected with the small arm through a second harmonic reducer; the motor tee joint is in transmission connection with the flexible paw through the hollow shaft. The utility model discloses the device has realized placing, the full automatization operation of screwing up in advance bolt automatic identification, location.

Description

Portable bolt is screwed up manipulator in advance

Technical Field

The utility model belongs to the technical field of the bolt rigging equipment, a manipulator is screwed up in advance to portable bolt is related to.

Background

Threads are common connection modes in mechanical equipment and have wide application in the field of machinery. In a traditional assembly production process, a bolt is generally manually placed in a screw hole and is manually screwed into the screw hole for a certain stroke, the bolt is pre-screwed, and then the bolt is screwed by special bolt screwing equipment or a press machine. The process consumes manpower and material resources, and reduces the production efficiency and the automation degree. Therefore, the existing bolt tightening production line has not reached complete automation yet, the automation of the whole process of selecting bolts, correctly placing and pre-tightening can not be realized, and the pure manual operation has high cost, large labor intensity and lower production efficiency.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a manipulator is screwed up in advance to portable bolt has solved among the prior art and has placed, screw up full automatization degree in advance to bolt automatic identification, location low, and manual work is with high costs, and intensity of labour is big, the lower scheduling problem of production efficiency.

The technical scheme adopted by the utility model is that the portable bolt pre-tightening manipulator comprises a base, wherein a rotatable upright post is sleeved on a vertical rotating shaft of the base;

the back of the upright post is respectively provided with a cooling fan, four motor drivers and two electric connectors, wherein the four motor drivers are respectively in control connection with respective corresponding motors, namely a motor I is correspondingly connected with the motor drivers, a motor II is correspondingly connected with the motor drivers, a motor III is correspondingly connected with the motor drivers, and a motor IV is correspondingly connected with the motor drivers;

the first harmonic reducer and the first motor are arranged on the lower portion of the upright post, the fixed end of the first motor is fixedly connected with the upright post, and the output end of the first motor is fixedly connected with the input end of the first harmonic reducer;

the front side of the upright post is provided with a linear module, a second motor is fixed at the top of the upright post, a fixed interface of the linear module is fixedly connected with the upright post, the input end of the linear module is connected with the output shaft of the second motor, and the output end of the linear module is connected with the large arm; the large arm is connected with the small arm through a second harmonic reducer, the large arm is fixedly connected with the fixed end of the second harmonic reducer, the input end of the second harmonic reducer is connected with a fourth motor through a first belt pulley and a fourth belt pulley, and the output end of the second harmonic reducer is fixedly connected with the small arm; the motor III is in transmission connection with the hollow shaft through the belt wheel II and the belt wheel III, and the hollow shaft is in transmission connection with the output shaft of the flexible paw;

the upper surface of big arm is provided with big arm upper cover, and motor three and motor four all install on big arm upper cover.

The utility model discloses a manipulator is screwed up in advance to portable bolt, its characterized in that still lies in:

the two electric connectors are fixed on the stand column through respective fixing assemblies, seven electric components mounted on the back of the stand column are covered with a protective shell, and the upper end face of the upper cover of the large arm is fixedly connected with a motor shell.

The transmission structure of the small arm and the flexible paw is that a first belt wheel is fixedly connected with an output shaft of a motor, the first belt wheel is in transmission connection with a fourth belt wheel through a second synchronous belt, the fourth belt wheel is fixedly connected with an input end of a second harmonic speed reducer, and an output end of the second harmonic speed reducer is connected with the rear end of the small arm; the output end of the motor is fixedly connected with a belt wheel II, the belt wheel II is in transmission connection with a belt wheel III through a synchronous belt I, the belt wheel III is fixedly connected with the input end of a hollow shaft at the rear end of the small arm, the output end of the hollow shaft is fixedly connected with a belt wheel V, the belt wheel V is in transmission connection with a belt wheel V through a synchronous belt III, the belt wheel V is in transmission connection with an output shaft at the front end of the small arm, and the output shaft is in transmission connection with the flexible.

The belt wheel I adopts a flexible tensioning structure which comprises a tensioning bolt I, wherein the tensioning bolt I is connected to a motor sliding table I through an L-shaped plate I, the other end of the tensioning bolt I penetrates through a fixed boss I on the large arm, a spring II is sleeved on the tensioning bolt I, one end of the spring II is fixed on the boss, and the other end of the spring II is fixed on the L-shaped plate I; the motor four-way joint is connected to the motor sliding table I through the positioning hole and a bolt; a groove I is formed in the groove in the large arm corresponding to the motor sliding table I, and a motor fixing bolt penetrates through the U-shaped groove I and the U-shaped groove III on the two sides.

The belt pulley II adopts a flexible tensioning structure and comprises a tensioning bolt II, the tensioning bolt II is connected to the motor sliding table II through an L-shaped plate II, and the other end of the tensioning bolt II penetrates through a fixed boss II on the large arm; a third spring is sleeved on the second tensioning bolt, one end of the third spring is fixed on the boss, and the other end of the third spring is fixed on the second L-shaped plate; a threaded hole and a positioning hole for mounting the motor III are formed in the motor II, and the motor III is mounted on the motor II through the positioning hole and a bolt; a groove opening II is formed in the groove in the large arm corresponding to the motor sliding table II, and the motor fixing bolt penetrates through the U-shaped groove II and the U-shaped groove IV on the two sides.

The flexible paw structurally comprises an output shaft, wherein a belt wheel six is fixedly sleeved on the upper part of the outer surface of the output shaft and is fixed with the output shaft into a whole through a belt wheel fixing piece; a paw flange is sleeved in an inner hole of the output shaft, and the lower end face of the paw flange is fixedly connected with the lower end face of the output shaft through a countersunk head screw; a claw shaft is sleeved in an inner hole of the claw flange and is a stepped shaft, a first spring is arranged on the circumferential surface of the upper part of the claw shaft, the lower end of the first spring is pressed against the stepped surface of the claw shaft, the upper end of the first spring is pressed against the inner edge of the step at the upper end of the claw flange, a guide flat key is arranged in a guide groove in the circumferential surface of the lower part of the claw shaft, and a key groove is correspondingly formed in the inner cavity wall of the claw flange; the lower end of the paw shaft is connected with a magnetic attraction component through an inserting nail.

The utility model has the advantages that the manipulator comprises a vertical moving joint and three horizontal rotary joints, and can position and grab bolts and threaded holes at different positions in the horizontal plane; the transmission mode of the rotary joint of the manipulator adopts a rear structure of multi-stage belt transmission, so that the rotary inertia of the tail end of the manipulator can be reduced, the load capacity is improved, and the control signal wiring is more convenient; the magnetic flexible claw can place and pre-tighten the bolt, and can automatically replace the sleeve according to the types of different bolts, so that the threaded assembly of different types at the same station is realized; the manipulator is also provided with a visual perception device, so that the recognition and the positioning of a threaded hole, a bolt and a sleeve can be realized, and the accurate operation of the manipulator can be realized through visual driving; the electric control part of the manipulator is arranged in the manipulator body, and compared with a common manipulator, the manipulator does not need to build an external control cabinet, effectively integrates the mechanical and control system, and is more compact and portable in structure.

Drawings

FIG. 1 is a schematic view of the installation position of the manipulator of the present invention on the production line;

fig. 2 is a schematic structural view of a robot work object (workpiece) according to the present invention;

FIG. 3 is a schematic structural view of a sleeve tray matched with the manipulator of the present invention

FIG. 4 is a schematic structural view of a bolt tray matched with the manipulator of the present invention;

fig. 5 is a first schematic structural diagram of the manipulator (with protective shell) of the present invention;

fig. 6 is a schematic structural diagram ii of the manipulator (with the protective shell removed) of the present invention;

FIG. 7 is a schematic view of the transmission structure of the small arm and the flexible paw in the manipulator of the present invention;

fig. 8 is a schematic view of a flexible tensioning structure of a pulley in the robot of the present invention;

fig. 9 is a schematic structural view of a U-shaped groove on a large arm in the manipulator of the present invention;

fig. 10 is a schematic structural view of a flexible gripper in the robot hand according to the present invention.

In the figure, 1, a production line, 2, a manipulator, 3, a workpiece, 4, a tool, 5, a sleeve material disc, 6, a bolt material disc, 2-1, a base, 2-2-A, a first harmonic reducer, 2-2-B, a second harmonic reducer, 2-3, an upright post, 2-4-A, a first motor, 2-4-B, a second motor, 2-4-C, a third motor, 2-4-D, a fourth motor, 2-5, a motor shell, 2-6, a fixed component, 2-7, an electric connector, 2-8, a shell, 2-9, a large arm upper cover, 2-10-A, a first belt pulley, 2-10-B, a second belt pulley, 2-10-C, a third belt pulley, 2-10-D, a fourth belt pulley, and 2-10-E, 2-10-F, six belt wheels, 2-11, a big arm, 2-12, a small arm, 2-13, a small arm cover plate, 2-15, a hollow shaft, 2-16, an output shaft, 2-17-A, a first bearing, 2-17-B, a second bearing, 2-18, a bearing end cover, 2-19, a claw shaft, 2-20, a claw flange, 2-21, a linear module, 2-22, a module dust cover, 2-23-A, a first motor driver, 2-23-B, a second motor driver, 2-23-C, a third motor driver, 2-23-D, a fourth motor driver, 2-24, a cooling fan, 2-25-A, a first drag chain adapter, 2-25-B, and 2-26, a drag chain, 2-27 parts of a guide flat key, 2-28 parts of a spring I, 2-29 parts of a magnetic suction assembly, 2-30-A parts of a synchronous belt I, 2-30-B parts of a synchronous belt II, 2-30-C parts of a synchronous belt III, 2-31-A parts of a large arm end cover, 2-31-B parts of a small arm end cover and 2-32 parts of a belt wheel fixing piece; 3-1, a base, 3-2, a threaded hole and 3-3, a circular truncated cone; 5-1, sleeve information target, 5-2, sleeve; 6-1 bolt information target, 6-2 bolt, 6-3 bolt coding hole site, 7 camera, 8 flexible paw, 9-1-A tensioning bolt I, 9-1-B tensioning bolt II, 9-2-A.L template I, 9-2-B.L template II, 9-3-A motor sliding table I, 9-3-B motor sliding table II, 9-4-A spring II, 9-4-B spring III, 9-5-A fixing boss I, 9-5-B fixing boss II, 10-1 groove, 10-2-A.U groove I, 10-2-B.U groove II, 10-2-C.U III, 10-2-D.U groove IV, 10-3-A notch I, 10-3-B, notch II.

Detailed Description

The present invention will be described in detail with reference to the accompanying drawings and specific embodiments.

Referring to fig. 1 and 5, the installation position diagram of the manipulator in the work site of the present invention is shown, the utility model discloses the work object of manipulator 1 is work piece 3, and every work piece 3 corresponds and settles on a frock 4, and all frock 4 set up on production line 1, and work piece 3 conveys forward on production line 1 along with frock 4 in proper order. The manipulator 2, the sleeve material tray 5 and the bolt material tray 6 are arranged on the same side of the production line 1, and the sleeve material tray 5 and the bolt material tray 6 are respectively positioned on two sides of the manipulator 2 and are arranged in the operation space range of the manipulator 2; the flexible gripper 8 for gripping a bolt and the camera 7 for recognition and positioning are disposed at the foremost end of the small arms 2 to 12 of the manipulator 2.

Referring to fig. 2, a specific structure of the workpiece 3 is that a circular truncated cone 3-3 is arranged in the center of the upper surface of a rectangular base 3-1, seven threaded holes 3-2 are formed in the upper surface of the circular truncated cone 3-3, one threaded hole 3-2 is arranged in the center of the circular truncated cone 3-3, and the other six threaded holes 3-2 are wound into a circle around the threaded hole 3-2 in the center position.

Referring to fig. 3, a structure of a sleeve tray (or wrench tray) 5 matched with the manipulator 2 of the present invention is that different coding positions are arranged on the tray surface of the sleeve tray 5, each coding position is preset with a sleeve 5-2 correspondingly, the openings of all the sleeves 5-2 are downward, a sleeve information target 5-1 is arranged at one corner of the tray surface of the sleeve tray 5, and the sleeve information target 5-1 can adopt the forms of two-dimensional codes, bar codes, specific shapes, etc. and is used for recording different coding positions and the corresponding models of the sleeves 5-2 in the sleeve tray 5; the shape of the sleeve tray 5 and the number, model and position of the sleeves 5-2 arranged in the sleeve tray can be made according to actual needs, and is not limited to the structural form shown in the embodiment of fig. 3.

Referring to fig. 4, one structure of the bolt tray 6 matched with the manipulator 2 of the present invention is that a plurality of bolt coding hole sites 6-3 are opened on the tray surface of the bolt tray 6, one bolt 6-2 is preset in each bolt coding hole site 6-3, and the heads of all the bolts 6-2 are upward, so that the camera 7 can conveniently recognize and the flexible paw 8 can conveniently grab; a bolt information target 6-1 is arranged at one corner of the disc surface of the bolt tray 6, and the bolt information target 6-1 can be in the form of two-dimensional codes, bar codes, specific shapes and the like and is used for recording different coding hole positions in the bolt tray 6 and the types of corresponding bolts 6-2; the shape of the bolt tray 6 and the number, kinds, positions, etc. of the bolts 6-2 arranged therein can be made according to actual needs, and are not limited to the structural form shown in the embodiment of fig. 4.

The sleeve tray 5 can be expanded and comprises a sleeve library suitable for outer hexagon bolts, a hexagon wrench library suitable for inner hexagon bolts, a parallel-shaped screwdriver library suitable for parallel-shaped countersunk head screws, a parallel-shaped screwdriver library suitable for parallel-shaped screws and the like as required.

Correspondingly, the bolt material tray 6 can also be expanded, and is respectively and correspondingly arranged to comprise an outer hexagon bolt library, an inner hexagon bolt library, a cross bolt library, a straight bolt library and the like according to needs.

Referring to fig. 5, 6 and 7, the manipulator 2 of the present invention comprises a base 2-1, wherein the base 2-1 is fixed beside a production line 1 for supporting the whole manipulator 2, and a rotatable upright 2-3 is sleeved on a vertical rotating shaft of the base 2-1;

the back surface (the surface facing away from the production line 1) of the upright post 2-3 is respectively provided with a cooling fan 2-24, four motor drivers (the numbers are respectively 2-23-A, 2-23-B, 2-23-C and 2-23-D) and two electric connectors 2-7 (the electric connectors 2-7 are used for wire connection and switching), the two electric connectors 2-7 are fixed on the upright post 2-3 through respective fixing components 2-6, seven electric components arranged on the back surface of the upright post 2-3 are jointly covered with a protective shell 2-8, so that the whole control part and the upright post 2-3 are integrally arranged and are uniformly arranged in the protective shell 2-8, the control cabinet is called a submersible control, and the separate construction of a control cabinet is avoided, the flexibility of the manipulator 2 is greatly improved; the four motor drivers are respectively in control connection with the corresponding motors (the numbers are respectively 2-4-A, 2-4-B, 2-4-C and 2-4-D), namely, the motor I2-4-A is correspondingly connected with the motor driver I2-23-A, the motor II 2-4-B is correspondingly connected with the motor driver II 2-23-B, the motor III 2-4-C is correspondingly connected with the motor driver III 2-23-C, and the motor IV 2-4-D is correspondingly connected with the motor driver IV 2-23-D;

the first harmonic reducer 2-2-A and the first motor 2-4-A are installed on the lower portion of the upright post 2-3, the fixed end of the first motor 2-4-A is fixedly connected with the upright post 2-3, the output end of the first motor 2-4-A is fixedly connected with the input end of the first harmonic reducer 2-2-A, and the first motor 2-4-A drives the first harmonic reducer 2-2-A to drive the upright post 2-3 to rotate relative to the base 2-1, so that accurate control and driving force of the manipulator 2 in the horizontal rotary motion process are provided;

the front side (the side facing the production line 1) of the upright post 2-3 is provided with a linear module 2-21, a motor II 2-4-B is fixed at the top of the upright post 2-3, a fixed interface of the linear module 2-21 is fixedly connected with the upright post 2-3, the input end of the linear module 2-21 is connected with the output shaft of the motor II 2-4-B, the output end of the linear module 2-21 is connected with the large arm 2-11, and the linear module 2-21 drives the large arm 2-11 to move up and down to realize the movement in the vertical direction; the large arm 2-11 is connected with the small arm 2-12 through a second harmonic reducer 2-2-B, the large arm 2-11 is fixedly connected with the fixed end of the second harmonic reducer 2-2-B, the input end of the second harmonic reducer 2-2-B is connected with a fourth motor 2-4-D through a first belt pulley 2-10-A and a fourth belt pulley 2-10-D, the output end of the second harmonic reducer 2-2-B is fixedly connected with the small arm 2-12, and the fourth motor 2-4-D is used for driving the small arm 2-12 to do rotary motion around the axis of the second harmonic reducer 2-2-B; the motor III 2-4-C is in transmission connection with the hollow shaft 2-15 through the belt wheel II 2-10-B and the belt wheel III 2-10-C, and the hollow shaft 2-15 is in transmission connection with the output shaft 2-16 of the flexible paw 8 to provide rotary motion of the flexible paw 8;

the upper surface of the big arm 2-11 is provided with a big arm upper cover 2-9, a motor three 2-4-C and a motor four 2-4-D are both arranged on the big arm upper cover 2-9, and the upper end surface of the big arm upper cover 2-9 is fixedly connected with a motor shell 2-5 for protecting the motor three 2-4-C and the motor four 2-4-D;

referring to FIG. 7, the transmission structure of the small arm 2-12 and the flexible paw 8 is that the output shaft of the motor four 2-4-D is fixedly connected with a belt wheel one 2-10-A, the belt wheel one 2-10-A is in transmission connection with a belt wheel four 2-10-D through a synchronous belt two 2-30-B, the belt wheel four 2-10-D is fixedly connected with the input end of a harmonic reducer two 2-2-B, the output end of the harmonic reducer two 2-2-B is connected with the rear end of the small arm 2-12, and power is transmitted to the output end of the harmonic reducer two 2-2-B through the rotation of the motor four 2-4-D to provide the rotary motion of the small arm 2-12; the output end of the motor III 2-4-C is fixedly connected with a belt wheel II 2-10-B, the belt wheel II 2-10-B is in transmission connection with a belt wheel III 2-10-C through a synchronous belt I2-30-A, the belt wheel III 2-10-C is fixedly connected with the input end of a hollow shaft 2-15 at the rear end of a small arm 2-12, the output end (namely the lower end in the figure 7) of the hollow shaft 2-15 is fixedly connected with a belt wheel V2-10-E, the belt wheel V2-10-E is in transmission connection with a belt wheel VI 2-10-F through a synchronous belt III 2-30-C, the belt wheel VI 2-10-F is in transmission connection with an output shaft 2-16 at the front end of the small arm 2-12, and the output shaft 2-16 is in transmission connection, the flexible gripper 8 is driven to perform a swiveling motion.

Referring to fig. 8 and 9, a second belt wheel 2-10-B needs to sense the tension force of the bolt 6-2 after being screwed in place, and a flexible tension structure adopted by the second belt wheel 2-10-B comprises a second tension bolt 9-1-B, the second tension bolt 9-1-B is connected to a second motor sliding table 9-3-B through a second L-shaped plate 9-2-B, and the other end of the second tension bolt 9-1-B penetrates through a second fixing boss 9-5-B on a large arm 2-11, so that the second tension bolt 9-1-B is positioned by the second L-shaped plate 9-2-B and the second boss 9-5-B; a spring III 9-4-B is sleeved on the tensioning bolt II 9-1-B, one end of the spring III 9-4-B is fixed on the boss 9-5-B, and the other end of the spring III is fixed on the L-shaped plate II 9-2-B; a threaded hole and a positioning hole for mounting the motor III 2-4-C are formed in the motor sliding table II 9-3-B, and the motor III 2-4-C is mounted on the motor sliding table II 9-3-B through the positioning hole and a bolt; a second notch 10-3-B is formed in the groove 10-1 on the large arm 2-11 corresponding to the second motor sliding table 9-3-B, a third motor 2-4-C and a transmission shaft thereof can slide back and forth in the second notch 10-3-B, and a motor fixing bolt passes through the second U-shaped groove 10-2-B and the fourth U-shaped groove 10-2-D on the two sides, so that the second motor sliding table 9-3-B can slide back and forth in the large groove 10-1;

when the belt wheel II 2-10-B is assembled, the spring III 9-4-B on the tensioning bolt II 9-1-B is pressed, the bolt 9-1-B is pushed by the spring III 9-4-B, and the tension force transmitted to the L-shaped plate II 9-2-B after the synchronous belt I2-30-A is tensioned is balanced, so that self-adaptive tensioning is realized; when the belt pulley II 2-10-B is used for a period of time, the synchronous belt I2-30-A and the belt pulley II 2-10-B are loosened due to the long-time tension action of materials, the spring III 9-4-B pushes the L-shaped plate II 9-2-B and the motor sliding table II 9-3-B to slide together, the motor III 2-4-C also slides backwards, the synchronous belt I2-30-A on the belt pulley II 2-10-B is tensioned, and self-adaptive tensioning is achieved again.

Referring to fig. 8 and 9, for the same reason, the first belt wheel 2-10-a also needs to sense the tension force of the bolt 6-2 after being screwed in place, the first belt wheel 2-10-a adopts a flexible tension structure which comprises a first tension bolt 9-1-a, the first tension bolt 9-1-a is connected to the first motor sliding table 9-3-a through a first L-shaped plate 9-2-a, the other end of the first tension bolt 9-1-a penetrates through a first fixing boss 9-5-a on the large arm 2-11, therefore, the first tension bolt 9-1-a is positioned by the first L-shaped plate 9-2-a and the boss 9-5-a, a second spring 9-4-a is sleeved on the first tension bolt 9-1-a, one end of the second spring 9-4-a is fixed on the boss 9-5-a, the other end is fixed on the L-shaped plate I9-2-A; a threaded hole and a positioning hole for mounting the motor IV 2-4-D are formed in the motor sliding table I9-3-A, and the motor IV 2-4-D is connected to the motor sliding table I9-3-A through the positioning hole and a bolt; a groove 10-1 on the large arm 2-11 is provided with a notch I10-3-A corresponding to the motor sliding table I9-3-A, a motor IV 2-4-D and a transmission shaft thereof can slide back and forth in the notch I10-3-A, and a motor fixing bolt passes through the U-shaped groove I10-2-A and the U-shaped groove III 10-2-C on two sides, so that the motor sliding table I9-3-A can slide back and forth in the groove 10-1;

when the belt wheel I2-10-A is installed, the spring II 9-4-A on the tensioning bolt I9-1-A is pressed, the bolt 9-1-A is pushed by the spring II 9-4-A, and the tension force transmitted to the L-shaped plate I9-2-A after the synchronous belt II 2-30-B is tensioned is balanced, so that self-adaptive tensioning is realized; when the belt wheel I2-10-A is used for a period of time, the synchronous belt II 2-30-B and the belt wheel I2-10-A are loosened due to the long-time tension action of materials, the spring II 9-4-A pushes the L-shaped plate I9-2-A and the motor sliding table I9-3-A to slide together, the motor II 2-4-D also slides backwards, the synchronous belt II 2-30-B on the belt wheel I2-10-A is tensioned, and self-adaptive tensioning is achieved again.

Referring to FIG. 10, the flexible paw 8 has a structure comprising an output shaft 2-16, wherein a belt wheel six 2-10-F is fixedly sleeved on the upper part of the outer surface of the output shaft 2-16, the belt wheel six 2-10-F is fixed with the output shaft 2-16 into a whole through a belt wheel fixing member 2-32, the lower part of the outer surface of the output shaft 2-16 is supported in a bearing mounting seat in a lower small arm cover 2-13 through a pair of bearings (namely a bearing I2-17-A and a bearing II 2-17-B), the lower parts of the pair of bearings are supported through bearing end covers 2-18, and the bearing end covers 2-18 are fixedly connected with the lower small arm cover 2-13 through screws; the inner hole of the output shaft 2-16 is sleeved with a paw flange 2-20, the lower end face of the paw flange 2-20 is fixedly connected with the lower end face of the output shaft 2-16 through a countersunk head screw, and the paw flange 2-20 and the output shaft 2-16 are ensured to rotate together; the inner hole of the paw flange 2-20 is sleeved with the paw shaft 2-19, the paw shaft 2-19 is a stepped shaft, the circumferential surface of the upper part (thin neck) of the paw shaft 2-19 is provided with a spring I2-28, the lower end of the spring I2-28 is pressed on the stepped surface of the paw shaft 2-19, the upper end of the spring I2-28 is pressed on the inner edge of the step of the upper end of the paw flange 2-20, a guide flat key 2-27 is arranged in a guide groove of the circumferential surface of the lower part (thick diameter) of the paw shaft 2-19, the inner cavity wall of the paw flange 2-20 is correspondingly provided with a key groove, and the paw shaft 2-19 can slide up and down while rotating together with the output shaft 2-16 through the cooperation of the guide flat key 2-27 on the paw shaft 2-19 and the spring I2-28; the lower end of the paw shaft 2-19 is connected with a magnetic attraction component 2-29 through an inserted nail, after the magnetic attraction component 2-29 is electrified, the sleeve 5-2 and the bolt 6-2 are attracted by magnetic force, and the sleeve 5-2 and the bolt 6-2 are attracted and grabbed.

Referring to fig. 5, 6 and 7, the robot 2 is arranged in a routing manner that a lower surface of the small arm 2-12 is provided with a small arm cover plate 2-13; the camera 7 is fixedly connected to the foremost end of the small arm cover plates 2-13; the large arm cover plate 2-9 is fixedly connected with a large arm end cover 2-31-A, and the lower surface of the small arm cover plate 2-13 is fixedly connected with a small arm end cover 2-31-B; the big arm cover plate 2-9 is sealed at the part of the big arm end cover 2-31-A and is provided with a wiring hole, and the tail end of the side surface of the big arm is provided with a wiring hole; the part of the small arm cover plate 2-13 sealed on the large arm end cover 2-31-B is provided with a wiring hole; the electric wiring of the flexible paw 8 can pass through the inner cavity of the small arm 2-12, pass through the wiring hole on the small arm cover plate 2-13 to the hollow shaft 2-15, then pass through the hollow shaft 2-15 to the big arm cover plate 2-9, pass through the wiring hole on the big arm cover plate 2-9 to the inner cavity of the big arm, pass through the inner cavity of the big arm, and pass through the wiring hole at the end of the side surface of the big arm to the drag chain 2-26. One end of the drag chain 2-26 is connected with the electrical component in the large arm 2-11 through the drag chain adaptor 2-25-A, and the other end of the drag chain 2-26 is connected with the electrical component in the upright post 2-3 through the drag chain adaptor 2-25-B. The whole circuit is distributed in the mechanical arm, external wiring is avoided, and the structure is compact and attractive.

All the electric parts are connected with a master controller, in addition, related information on the sleeve material disc 5 and the bolt material disc 6 can be scanned through an (industrial digital) camera 7 to obtain position and target information, and the master controller is responsible for information collection, processing and action instruction output of all the electric parts to realize integral coordination and consistent operation.

And a torque sensing mechanism is arranged on an output shaft of the motor III 2-4-C, can sense the torque resistance in the bolt tightening and rotating process, feeds back the torque resistance to a master controller of the motor driver 2-23-C and the manipulator 2, and realizes the self-adaptive pre-tightening of the thread tightening torque through touch drive control.

The working principle of the utility model is that the flexible paw 8 can replace the sleeve (or wrench) with the required model according to the bolt to be grabbed, the camera 7 scans the sleeve information target 5-1 in the sleeve tray 5 to obtain the model and the position information of the required sleeve, the flexible paw 8 is moved to the position above the sleeve placed in the sleeve tray 5 in advance, the magnetic attraction component 2-29 on the flexible paw 8 is attracted by the electrified electromagnet, the locked sleeve enters the flexible paw 8, and the tool changing process is completed; then, the manipulator 2 moves to the position above the bolt tray 6 to sweep the bolt information target 6-1 to obtain the model and position information of the bolt to be grabbed, the locked bolt is grabbed, and the locked bolt is firmly sleeved with the sleeve replaced in the previous step; a workpiece 3 is fixed on each tool 4 on the production line 1, each tool 4 moves to a working position to stop for a short time, during the stopping period, the manipulator 2 moves to the workpiece 3 to screw a locked bolt into a preset screw hole, after the pre-tightening operation is completed, the flexible claw 8 moves back to the sleeve tray 5, the magnetic attraction assemblies 2-29 are powered off, the electromagnet loses magnetic force, the sleeve used at this time is placed back, the next time taking is facilitated, and the grabbing and pre-tightening of one bolt are completed.

The utility model discloses the working process of device is, implements according to following step:

step 1: and (4) preparing.

According to the actual working condition requirement, the positions of a sleeve material tray 5, a bolt material tray 6 and a mechanical arm 2 are set according to the operation requirement of a production line 1, the mechanical arm 2 is fixed at the set position and the initial position of the mechanical arm is calibrated, a tool 4 and a workpiece 3 are placed on the production line 1, a camera 7 is installed at the tail end of the mechanical arm 2, various parameters of the camera 7 are initialized, a sleeve information target 5-1 is set according to the type and the position of the sleeve 5-1 on the sleeve material tray 5, and a sleeve information target 6-1 is set according to the type and the position of the bolt 6-2 on the bolt material tray 6.

Step 2: the size of the screw hole in the workpiece 3 and its position are identified.

The movement of the manipulator 2 is controlled through linkage movement, namely a first motor driver 2-23-A sends a control instruction to a first motor 2-4-A to drive an upright post 2-3 to do rotary motion around a base 2-1; the motor driver II 2-23-B sends a control instruction to the motor II 2-4-B to drive the linear module 2-21 to realize that the large arm 2-11 vertically lifts along the upright post 2-3; the motor driver IV 2-23-D sends a control instruction to the motor IV 2-4-D to drive the small arm 2-12 to rotate around the harmonic reducer II 2-2-B at the output end of the large arm 2-11; the motor driver III 2-23-C sends a control instruction to the motor III 2-4-C to drive the flexible paw 8 to rotate around the output end of the small arm 2-12; the coordinated linkage motion of the rotation motion of the upright post 2-3, the lifting motion of the large arm 2-11 and the rotation motion of the small arm 2-12 controls the camera 7 to move to the upper part of the workpiece 3 in a three-dimensional space, and collects the position and size information of the screw hole 3-2 on the workpiece 3.

And step 3: identify and grasp the sleeve 5-2.

Through coordinated cooperation of rotary motion of the upright post 2-3, lifting motion of the large arm 2-11 and rotary motion of the small arm 2-12, the camera 7 is controlled to move to the position above a sleeve information target 5-1 of the sleeve material tray 5 to read target information, the model of the sleeve 5-2 to be matched is searched according to the information of the screw hole 3-2 on the identified workpiece 3, after matching is completed, the flexible claw 8 of the manipulator 2 is controlled to move to the position above the corresponding sleeve 5-2 according to the matching information, and the flexible claw 8 is driven to move downwards through vertical motion of the linear module 2-21; in order to facilitate alignment and matching with the sleeve 5-2, the flexible paw 8 is driven to do rotary motion, and when the motor II 2-4-B detects force sense feedback information of the contact of the flexible paw 8 and the sleeve 5-2, the descending speed of the flexible paw 8 is reduced; when the motor II 2-4-B detects force sense feedback information that the flexible claw 8 is completely matched with the sleeve 5-2, the magnetic attraction component 2-29 is started, the sleeve 5-2 is attracted by the magnetic attraction component 2-29, and magnetic attraction clamping of the sleeve 5-2 is achieved; and then controlling the linear module 2-21 to move upwards to complete the identification and grabbing of the selected sleeve 5-2.

And 4, step 4: identify and capture bolt 6-2.

Controlling the manipulator 2 to move above the bolt tray 6 through linkage motion, ensuring that the camera 7 is right above a bolt information target 6-1 of the bolt tray 6 to read the type and position information of the bolt 6-2, and determining a proper bolt type according to the information of the screw hole 3-2 on the identified workpiece 3 and the information of the selected sleeve 5-2; controlling the manipulator 2 through linkage motion according to the matching information, so that the flexible paw 8 moves to a position right above the selected bolt 6-2; the flexible paw 8 is driven to move downwards through the linear module 2-21, in order to be convenient for alignment and matching with the sleeve 5-2, the flexible paw 8 is driven to rotate, when the motor II 2-4-B detects force sense feedback information of the contact between the sleeve 5-2 in the flexible paw 8 and the selected bolt 6-2, the descending speed of the flexible paw 8 is reduced, when the motor II 2-4-B detects force sense feedback information of the complete matching between the sleeve 5-2 in the flexible paw 8 and the selected bolt 6-2, the magnetic attraction force of the magnetic attraction component 2-29 is increased, and the adsorption and grasping of the selected bolt 6-2 are realized; the linear module 2-21 is then controlled to move upward to remove the selected bolt 6-2 from the bolt magazine 6.

And 5: the bolts are pre-tightened.

Controlling the manipulator 2 to move to a position above the corresponding screw hole 3-2 identified in the step 2 through linkage motion, ensuring that a bolt 6-2 carried by the manipulator 2 is positioned right above the screw hole 3-2 at the position to be installed through visual feedback of a camera 7, controlling a linear module 2-21 to downwards drive a flexible paw 8 to downwards move, and simultaneously driving the flexible paw 8 to do rotary motion; in order to realize the spiral motion, according to the thread pitch of the bolt 6-2, when the motor II 2-4-B detects force sense feedback information that the bolt 6-2 in the flexible claw 8 is in contact with the screw hole 3-2, the flexible claw 8 is strictly controlled to move downwards and rotate to realize the spiral motion, when the motor II 2-4-B detects force sense feedback information that the bolt 6-2 in the flexible claw 8 is primarily matched with the screw hole 3-2, the torque of the rotary motion of the flexible claw 8 is increased, the rotary speed is reduced, and at the moment, under the compression action of the spring I2-28, the self-adaptive pre-tightening operation of the bolt 6-2 is realized; when the motor III 2-4-C detects that force sense feedback information of the bolt 6-2 in the flexible claw 8 matched with the screw hole 3-2 meets the requirement, the rotary motion of the flexible claw 8 is closed, the magnetic attraction force of the magnetic attraction component 2-29 is reduced, and the attraction force of the screwed bolt 6-2 is eliminated; the flexible claw 8 is controlled to move upwards, and the sleeve 5-2 is separated from the screwed bolt 6-2.

Step 6: the sleeve 5-2 is replaced.

Controlling the manipulator 2 to move to the position of the sleeve 5-2 identified in the step 3 through linkage motion, adopting a flow opposite to the process of grabbing the sleeve 5-2 to complete the replacement of the sleeve 5-2, closing the magnetic attraction component 2-29 and returning the sleeve 5-2; controlling the flexible paw 8 to move upwards to realize the separation of the flexible paw 8 and the sleeve 5-2;

thus, the operation of grabbing and pre-tightening the bolt 6-2 of one screw hole 3-2 on the workpiece 3 is completed.

And 7: the manipulator 2 is reset.

Repeating the steps 2 to 6 until all the screw holes 3-2 on the workpiece 3 complete the grabbing and pre-tightening operations of the corresponding bolts 6-2;

after all the screw holes 3-2 on the workpiece 3 are assembled with the bolts 6-2, the manipulator 2 is reset to the initial position to wait for the bolt grabbing and pre-tightening operation of the next workpiece 3, and the flow process is realized.

Claims

1. The utility model provides a manipulator is screwed up in advance to portable bolt which characterized in that: comprises a base (2-1), wherein a vertical rotating shaft of the base (2-1) is sleeved with a rotatable upright post (2-3);

the back of the upright post (2-3) is respectively provided with a cooling fan (2-24), four motor drivers and two electric connectors (2-7), the four motor drivers are respectively connected with the control of the corresponding motors, namely a motor I (2-4-A) is correspondingly connected with a motor driver I (2-23-A), a motor II (2-4-B) is correspondingly connected with a motor driver II (2-23-B), a motor III (2-4-C) is correspondingly connected with a motor driver III (2-23-C), and a motor IV (2-4-D) is correspondingly connected with a motor driver IV (2-23-D);

the first harmonic reducer (2-2-A) and the first motor (2-4-A) are installed on the lower portion of the upright post (2-3), the fixed end of the first motor (2-4-A) is fixedly connected with the upright post (2-3), and the output end of the first motor (2-4-A) is fixedly connected with the input end of the first harmonic reducer (2-2-A);

the front side of the upright post (2-3) is provided with a linear module (2-21), a second motor (2-4-B) is fixed at the top of the upright post (2-3), a fixed interface of the linear module (2-21) is fixedly connected with the upright post (2-3), the input end of the linear module (2-21) is connected with the output shaft of the second motor (2-4-B), and the output end of the linear module (2-21) is connected with the large arm (2-11); the large arm (2-11) is connected with the small arm (2-12) through a second harmonic reducer (2-2-B), the large arm (2-11) is fixedly connected with the fixed end of the second harmonic reducer (2-2-B), the input end of the second harmonic reducer (2-2-B) is connected with a fourth motor (2-4-D) through a first belt pulley (2-10-A) and a fourth belt pulley (2-10-D), and the output end of the second harmonic reducer (2-2-B) is fixedly connected with the small arm (2-12); the motor III (2-4-C) is in transmission connection with the hollow shaft (2-15) through the belt wheel II (2-10-B) and the belt wheel III (2-10-C), and the hollow shaft (2-15) is in transmission connection with the output shaft (2-16) of the flexible claw (8);

the upper surface of the big arm (2-11) is provided with a big arm upper cover (2-9), and the motor three (2-4-C) and the motor four (2-4-D) are both arranged on the big arm upper cover (2-9).

2. The portable bolt pre-tightening robot of claim 1, wherein: the two electric connectors (2-7) are fixed on the upright posts (2-3) through respective fixing assemblies (2-6), seven electric components mounted on the back surfaces of the upright posts (2-3) are covered with a protective shell (2-8), and the upper end surfaces of the large arm upper covers (2-9) are fixedly connected with motor shells (2-5).

3. The portable bolt pre-tightening robot of claim 1, wherein: the transmission structure of the small arms (2-12) and the flexible paw (8) is that,

an output shaft of the motor IV (2-4-D) is fixedly connected with a belt wheel I (2-10-A), the belt wheel I (2-10-A) is in transmission connection with a belt wheel IV (2-10-D) through a synchronous belt II (2-30-B), the belt wheel IV (2-10-D) is fixedly connected with an input end of a harmonic reducer II (2-2-B), and an output end of the harmonic reducer II (2-2-B) is connected with the rear end of the small arm (2-12);

the output end of the motor III (2-4-C) is fixedly connected with a belt wheel II (2-10-B), the belt wheel II (2-10-B) is in transmission connection with the belt wheel III (2-10-C) through a synchronous belt I (2-30-A), the belt wheel III (2-10-C) is fixedly connected with the input end of a hollow shaft (2-15) at the rear end of the small arm (2-12), the output end of the hollow shaft (2-15) is fixedly connected with a belt wheel V (2-10-E), the belt wheel V (2-10-E) is in transmission connection with a belt wheel VI (2-10-F) through the synchronous belt III (2-30-C), the belt wheel VI (2-10-F) is in transmission connection with an output shaft (2-16) at the front end of the small arm (2-12), the output shafts (2-16) are in transmission connection with the flexible paw (8).

4. The portable bolt pre-tightening robot of claim 3, wherein: the flexible tensioning structure adopted by the belt wheel I (2-10-A) comprises a tensioning bolt I (9-1-A), the tensioning bolt I (9-1-A) is connected to a motor sliding table I (9-3-A) through an L-shaped plate I (9-2-A), the other end of the tensioning bolt I (9-1-A) penetrates through a fixed boss I (9-5-A) on the large arm (2-11), a spring II (9-4-A) is sleeved on the tensioning bolt I (9-1-A), one end of the spring II (9-4-A) is fixed on the boss I (9-5-A), and the other end of the spring II (9-4-A) is fixed on the L-shaped plate I (9-2-A); a threaded hole and a positioning hole for mounting with a motor IV (2-4-D) are formed in the motor sliding table I (9-3-A), and the motor IV (2-4-D) is connected to the motor sliding table I (9-3-A) through the positioning hole and a bolt; a groove (10-1) on the large arm (2-11) is provided with a first notch (10-3-A) corresponding to the first motor sliding table (9-3-A), and a motor fixing bolt penetrates through the first U-shaped groove (10-2-A) and the third U-shaped groove (10-2-C) on the two sides.

5. The portable bolt pre-tightening robot of claim 3, wherein: the flexible tensioning structure adopted by the second belt wheel (2-10-B) comprises a second tensioning bolt (9-1-B), the second tensioning bolt (9-1-B) is connected to the second motor sliding table (9-3-B) through a second L-shaped plate (9-2-B), and the other end of the second tensioning bolt (9-1-B) penetrates through a second fixing boss (9-5-B) on the large arm (2-11); a spring III (9-4-B) is sleeved on the tensioning bolt II (9-1-B), one end of the spring III (9-4-B) is fixed on the boss (9-5-B), and the other end of the spring III (9-4-B) is fixed on the L-shaped plate II (9-2-B); a threaded hole and a positioning hole for mounting the motor III (2-4-C) are formed in the motor sliding table II (9-3-B), and the motor III (2-4-C) is mounted on the motor sliding table II (9-3-B) through the positioning hole and a bolt; a groove opening II (10-3-B) is formed in the groove (10-1) on the large arm (2-11) corresponding to the motor sliding table II (9-3-B), and a motor fixing bolt penetrates through the U-shaped groove II (10-2-B) and the U-shaped groove IV (10-2-D) on the two sides.

6. The portable bolt pre-tightening robot of claim 3, wherein: the flexible paw (8) structurally comprises an output shaft (2-16), wherein a belt wheel six (2-10-F) is fixedly sleeved on the upper part of the outer surface of the output shaft (2-16) in a fixing mode, the belt wheel six (2-10-F) is fixed with the output shaft (2-16) into a whole through a belt wheel fixing piece (2-32), the lower part of the outer surface of the output shaft (2-16) is supported in a bearing mounting seat in a lower forearm cover (2-13) through a pair of bearings, the lower parts of the pair of bearings are supported through bearing end covers (2-18), and the bearing end covers (2-18) are fixedly connected with the lower forearm cover (2-13) through screws;

the inner hole of the output shaft (2-16) is sleeved with a paw flange (2-20), and the lower end face of the paw flange (2-20) is fixedly connected with the lower end face of the output shaft (2-16) through a countersunk head screw; the inner hole of the paw flange (2-20) is sleeved with a paw shaft (2-19), the paw shaft (2-19) is a stepped shaft, the circumferential surface of the upper part of the paw shaft (2-19) is provided with a first spring (2-28), the lower end of the first spring (2-28) is pressed against the stepped surface of the paw shaft (2-19), the upper end of the first spring (2-28) is pressed against the inner edge of the step of the upper end of the paw flange (2-20), a guide flat key (2-27) is arranged in a guide groove of the circumferential surface of the lower part of the paw shaft (2-19), and the inner cavity wall of the paw flange (2-20) is correspondingly provided with a key groove;

the lower end of the paw shaft (2-19) is connected with a magnetic suction component (2-29) through a plug pin.