CN211804231U

CN211804231U - Automatic tapping device for thin plates

Info

Publication number: CN211804231U
Application number: CN201922058570.7U
Authority: CN
Inventors: 刁燕; 杨邵勇; 罗华; 樊庆怡; 黎彪; 田兴国
Original assignee: Sichuan University
Current assignee: Sichuan University
Priority date: 2019-11-26
Filing date: 2019-11-26
Publication date: 2020-10-30
Anticipated expiration: 2029-11-26

Abstract

The utility model discloses a be used for automatic chasing bar of sheet class, its component part includes robot, terminal quick change tapping tool, centre gripping and positioner, rotary platform, treats the machined part. The utility model discloses used six degree of freedom KUKA industrial robot commonly used in the industry to drive the motion of terminal quick change tapping instrument in the space, its velocity of motion is fast, and machinery and control accuracy are high, compact structure, and occupation space is little, and the workspace coverage is big. The robot is connected with the terminal quick-change tapping tool through the connecting flange, the structure is simple and reliable, the terminal quick-change tapping tool outputs stable rotary motion through the servo motor, the speed is reduced through the harmonic reducer, and the screw tap is driven to tap. Its working range is wide, can realize carrying out the tapping operation to the hole in the space on a large scale. Through the automatic tapping of robot, realize the tapping automation, improved work efficiency.

Description

Automatic tapping device for thin plates

Technical Field

The utility model relates to a manufacturing machining field especially relates to a be used for automatic chasing bar of sheet metal class.

Background

The long nut, the blind nut and various threaded holes are widely applied in daily life and appear frequently. Tapping is an essential step in the manufacturing, mounting and whole machine assembly processes of mechanical parts. Although people can also use a drilling machine or a traditional tapping machine to achieve the purpose of tapping on a plurality of working sites, the tapping machine has the defects of complex process, low quality, difficult processing when threaded holes are distributed in large span and irregular distribution, and the like. The present design is intended to eliminate some of the disadvantages that arise in the above-described tapping process.

SUMMERY OF THE UTILITY MODEL

In order to overcome the drawback of current tapping technique screw hole course of working, the utility model provides a be used for automatic chasing bar of sheet metal class improves and needs manual operation tapping equipment to carry out the tapping current situation at present. Automatic tapping is realized, and tapping efficiency is improved.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

the utility model provides a be used for automatic tapping device of sheet metal class, a serial communication port, its component part includes six industrial robot, terminal quick change tapping tool, centre gripping and positioner, rotary platform, treat the machined part, its terminal quick change tapping tool is used for the tapping, including servo motor, the harmonic speed reducer ware, flange, connecting sleeve, soft joint, the screw tap, wherein, bolted fixation is used at the end of industrial robot arm for flange, its servo motor is connected with the harmonic speed reducer ware through the stay bolt, the harmonic speed reducer ware passes through the stay bolt to be fixed on flange, connecting sleeve pot head is on the output shaft of harmonic speed reducer ware, the other end is used for installing soft joint, the screw tap is installed on soft joint. The robot drives the terminal quick change chasing bar of moving and realizes treating the tapping of machined part in the space motion, and centre gripping and positioner realize treating the centre gripping and the location of machined part.

According to the automatic tapping device, the soft joint connected to the tail end quick-change tapping tool can realize manual quick change, screw taps with different diameters can be installed, and machining of threaded holes with different sizes is realized.

The robot is connected with the terminal quick-change tapping tool through the connecting flange, the structure is simple and reliable, the terminal quick-change tapping tool outputs stable rotary motion through the servo motor, the speed is reduced through the harmonic reducer, and the screw tap is driven to tap. Its working range is wide, can realize carrying out the tapping operation to the hole in the space on a large scale. Through the automatic tapping of robot, realize the tapping automation, improved work efficiency.

Preferably, the robot is a six-axis industrial robot commonly used in the industry.

The mechanical arm of the robot is formed by connecting six rigid rod bodies and five rotary joints and is an open-loop joint chain, one end of the open chain is fixedly connected to a base, and the other end of the open chain is freely provided with a tail end quick-change tapping tool.

This automatic tapping device has used six degree of freedom KUKA industrial robot commonly used in the industry to drive the motion of terminal quick change tapping instrument in the space, and its motion speed is fast, and machinery and control accuracy are high, compact structure, and occupation space is little, and the workspace coverage is big.

Preferably, the pneumatic clamping device further comprises a standard universal pneumatic clamping head and a positioning pin, wherein the pneumatic clamping head is fixed on the rotating platform through a fixing and clamping device, and the positioning pin is fixed in a threaded hole in the rotating platform through transition fit. The clamping and the positioning of the workpiece to be processed can be realized.

The clamping device of the automatic tapping device is a standard universal pneumatic chuck, has a simple and reliable structure, and can be detachably mounted at any position of a rotating platform to adapt to the placing and clamping operation of plates with different sizes, thicknesses and models. And two positioning pins are arranged on the rotating platform so as to realize the space positioning of the workpiece to be processed.

Preferably, the workpiece to be processed is a thin plate part, is placed on the rotating platform and is positioned and clamped through the positioning pins and the four pneumatic chucks, and the pneumatic chucks are standard universal chucks and are placed on the rotating platform by using a fixing device.

The sheet type parts can be plate pieces with different sizes, thicknesses and models in a certain range.

Preferably, the lower end of the rotary platform is fixed on the ground through anchor bolts and can rotate 360 degrees in the circumferential direction.

The rotary platform and the robot are unified and integrated, the robot can identify the position and the rotation angle of the rotary platform, and the rotary platform can increase the working range of the tapping of the robot through the rotary motion in the horizontal plane.

Has the advantages that:

1. the automatic tapping device can realize full automation, and the automatic tapping device is simple in components and convenient and reliable to install. The position of the hole to be tapped can be accurately identified through the designed clamping and positioning device and the teaching of the robot.

2. This automatic tapping device has used six degree of freedom KUKA industrial robot commonly used in the industry to drive the motion of terminal quick change tapping instrument in the space, and its motion speed is fast, and machinery and control accuracy are high, compact structure, and occupation space is little, and the workspace coverage is big. The robot is connected with the terminal quick-change tapping tool through the connecting flange, the structure is simple and reliable, the terminal quick-change tapping tool outputs stable rotary motion through the servo motor, the speed is reduced through the harmonic reducer, and the screw tap is driven to tap. Its working range is wide, can realize carrying out the tapping operation to the hole in the space on a large scale. The tapping automation is realized through the automatic tapping of the robot, and the working efficiency is improved;

3. according to the automatic tapping device, the soft joint connected to the tail end quick-change tapping tool can realize manual quick change, screw taps with different diameters can be installed, and the processing of threaded holes with different sizes is realized;

4. the clamping device of the automatic tapping device is a standard universal pneumatic chuck, has a simple and reliable structure, and can be detachably mounted at any position of a rotating platform to adapt to the placing and clamping operation of plates with different sizes, thicknesses and models. Two positioning pins are arranged on the rotary platform to realize the space positioning of the workpiece to be processed;

5. the thin plate type parts of the automatic tapping device can be plates with different sizes, thicknesses and models within a certain range.

6. According to the automatic tapping device, the rotary platform and the robot are unified and integrated, the robot can identify the position and the rotation angle of the rotary platform, and the rotary platform can increase the working range of robot tapping through rotary motion in the horizontal plane.

Drawings

FIG. 1 is a schematic view of the overall structure of an automatic tapping device for thin plates according to the present invention;

FIG. 2 is a top view of the automatic tapping device for thin plates of the present invention;

FIG. 3 is a side view of the automatic tapping device for thin plates of the present invention;

fig. 4 is a schematic structural view of a terminal quick-change tapping tool for a thin plate automatic tapping device of the present invention;

fig. 5 is a schematic view of a plate to be processed for the automatic tapping device for thin plates of the present invention.

Reference numerals:

1. a six-axis industrial robot; 2. a tapping tool is quickly replaced at the tail end; 2-1, a servo motor; 2-2, harmonic reducer; 2-3, connecting a flange; 2-4, connecting a sleeve; 2-5, soft joints; 2-6, a screw tap; 3. positioning pins; 4. rotating the platform; 5. fixing the clamping device; 6. and (5) processing the plate.

Detailed Description

The present invention will be further explained with reference to the accompanying drawings:

example 1:

fig. 1 is a general layout diagram of an automatic tapping device, which comprises a six-axis industrial robot 1 and a quick-change terminal tapping tool 2 connected to the tail end of a robot arm, wherein a connecting flange 2-3 is connected with the tail end of the robot arm through a long nut, a standard universal chuck and a positioning pin 3 are used for placing a workpiece 6 to be machined and can realize clamping and positioning of the workpiece 6 to be machined, the standard universal pneumatic chuck is installed on a rotating platform 4 through a fastening device, and the positioning pin 3 is positioned on the rotating platform 4 in a transition fit mode.

Example 2:

embodiment 2 is based on embodiment 1, and as shown in fig. 2 and fig. 3, they are a top view and a side view of the overall arrangement of the automatic tapping device, it can be seen from the figure that the rotating platform 4 is placed right in front of the six-axis industrial robot 1, the robot 1 can identify the position of the rotating platform 4 after being debugged by a built-in control system, and a global spatial rectangular coordinate system with the chassis center of the robot as a coordinate center is established, so as to realize the positioning of the rotating platform 4, two positioning pins 3 are installed on the rotating platform 4, so as to realize the positioning of the spatial position of the processing plate, and realize the spatial integrated positioning of the robot 1, the rotating platform 4, and the workpiece 6 to be processed.

Example 3:

embodiment 3 is based on embodiment 2, and fig. 4 is a structural diagram of a terminal quick-change tapping tool 2, and it can be seen that the terminal quick-change tapping tool 2 comprises a servo motor 2-1, a harmonic reducer 2-2 and a connecting sleeve 2-4 connected to a rotating shaft of the harmonic reducer 2-2, the rotating shaft of the harmonic reducer 2-2 passes through a hole of the connecting flange 2-3 and is fixed on the connecting flange 2-3 by a long bolt, and the other end of the connecting flange 2-3 is fixedly connected to the end of a manipulator by a long bolt. One end of the sleeve 2-4 is in clearance fit and fastened on a rotating shaft of the speed reducer 2-2 by using a screw, wherein the other side of the connecting sleeve 2-4 is provided with a standard component soft joint 2-5, tapping screw taps 2-6 with different diameters and sizes can be arranged on the soft joint 2-5, and the screw taps 2-6 can be arranged and fixed by putting the screw taps 2-6 into the soft joint 2-5 and screwing an end cover.

Example 4:

embodiment 4 is based on embodiment 3, fig. 5 is a schematic diagram of a part 6 to be machined, a sheet metal part is taken as an experimental example, the plate 6 is clamped and positioned through a pneumatic chuck and a positioning pin 3, and threaded holes to be machined with different diameters exist on the front surface and the side surface of the plate.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention.

Claims

1. An automatic tapping device for sheets is characterized by comprising a robot (1), a tail end quick-change tapping tool (2), a clamping and positioning device, a rotary platform (4) and a workpiece to be machined (6), wherein the tail end quick-change tapping tool (2) is used for tapping and comprises a servo motor (2-1), a harmonic reducer (2-2), a connecting flange (2-3), a connecting sleeve (2-4), a soft joint (2-5) and a screw tap (2-6), the connecting flange (2-3) is fixed at the tail end of an arm of the industrial robot (1) through a bolt, the servo motor (2-1) is connected with the harmonic reducer (2-2) through a long bolt, the harmonic reducer (2-2) is fixed on the connecting flange (2-3) through the long bolt, one end of the connecting sleeve (2-4) is sleeved on the output shaft of the harmonic reducer (2-2), the other end of the connecting sleeve is used for installing a soft joint (2-5), and the screw tap (2-6) is installed on the soft joint (2-5).

2. Device for the automatic tapping of sheet-like objects according to claim 1, characterized in that said robot is a six-axis industrial robot (1).

3. The automatic tapping device for thin plates as claimed in claim 1, further comprising a pneumatic chuck and a positioning pin (3), wherein the pneumatic chuck is fixed on the rotating platform (4) by a fixed clamping device (5), and the positioning pin is fixed in a threaded hole on the rotating platform (4) by transition fit.

4. The device for the automatic tapping of sheet type according to claim 3, wherein the piece (6) to be worked is a sheet type part which is placed on the rotary platform (4) and is clamped and positioned by four pneumatic chucks and two positioning pins (3).

5. The automatic tapping device for sheet type objects according to claim 1, wherein the lower end of the rotary platform (4) is fixed to the ground by means of anchor bolts.