CN211867017U - Bolt grabbing and wire recognizing fastening system based on robot - Google Patents

Bolt grabbing and wire recognizing fastening system based on robot Download PDF

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Publication number
CN211867017U
CN211867017U CN201921766240.7U CN201921766240U CN211867017U CN 211867017 U CN211867017 U CN 211867017U CN 201921766240 U CN201921766240 U CN 201921766240U CN 211867017 U CN211867017 U CN 211867017U
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bolt
clamping jaw
robot
fastening system
locate
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CN201921766240.7U
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王朋
卢松
高立林
李海亮
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Aerospace Intelligent Manufacturing Shanghai Technology Co ltd
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Aerospace Intelligent Manufacturing Shanghai Technology Co ltd
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Abstract

The utility model relates to a bolt snatchs and recognizes a fastening system based on robot, including industrial robot, locate positioner on the industrial robot, locate the terminal flange of industrial robot, locate the casing of flange one end, locate the bolt runner assembly in the casing, locate the clamping jaw displacement cylinder on the casing to and the pneumatic clamping jaw subassembly of being connected with clamping jaw displacement cylinder transmission. Compared with the prior art, the utility model discloses a positioner discerns the location to the bolt position, adopts the automatic double-screw bolt that snatchs of pneumatic clamping jaw subassembly, adopts the automatic precession of bolt rotating assembly to recognize the silk, and for ordinary artifical mounting means, this system improves the installation accuracy, reduces labour cost, reduces installation time, improves the installation effectiveness to guarantee production quality, improve automatic level.

Description

Bolt grabbing and wire recognizing fastening system based on robot
Technical Field
The utility model belongs to the technical field of the machine-building, a bolt snatchs and thinks a fastening system based on robot is related to.
Background
In the assembly process of the wind power industry, a plurality of workpieces, such as a pitch control part and a bearing, a yaw part and the bearing, and a brake part and a brake pad are connected and installed through bolts. At present, mostly rely on the manual work to accomplish the bolt in industry and get and take the installation, and a host computer has several hundred or even several thousand bolts of variation in size, if adopt artifical mounting means, rely on the manual work to bend the mounting bolt of taking at every turn promptly, then need at least to spend 1 day time just can accomplish, consuming time difficultly, be unfavorable for improving long-distance economic benefits.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a bolt snatchs and thinks a fastening system in order to overcome the defect that above-mentioned prior art exists for replace the hand labor power, accurate accomplishing getting of bolt fast is taken and is felt a fastening installation task.
The purpose of the utility model can be realized through the following technical scheme:
the utility model provides a bolt snatchs and thinks a fastening system based on robot, includes industrial robot, locates positioner on the industrial robot, locates the terminal flange of industrial robot, locate the casing of flange one end, locate the bolt runner assembly in the casing, locate the clamping jaw displacement cylinder on the casing to and the pneumatic clamping jaw subassembly of being connected with clamping jaw displacement cylinder transmission.
Positioner guide industrial robot make near the terminal bolt that moves to on the bolt storage rack of industrial robot, remove pneumatic clamping jaw subassembly through clamping jaw displacement cylinder, make pneumatic clamping jaw subassembly take off the bolt and install on bolt rotating assembly, positioner guide industrial robot is terminal to be removed to bolt mounted position afterwards, bolt rotating assembly work accomplishes the line of thinking and the fastening installation process of bolt.
Further, positioner including locating industrial camera and the laser range finder on industrial robot, through positioner to the accurate positioning of bolt placement position and bolt mounted position on the storage rack.
Furthermore, the bolt rotating assembly comprises a bolt screwing component arranged in the shell and a bolt fixing component in transmission connection with the bolt screwing component.
The head of the bolt is clamped and fixed on the bolt fixing part and rotates along with the bolt fixing part under the drive of the bolt screwing part, and the bolt screwing part is used for performing the thread recognizing process and the screwing installation process of the bolt.
Further, the bolt-screwing member includes an electric tightening tool.
The front end output shaft of the electric tightening tool, namely the rotating shaft, has a telescopic function and can extend forwards along with the tightening process of the bolt.
Further, the bolt fixing part comprises a sleeve or a chuck matched with the bolt.
Furthermore, a torque sensor is arranged between the bolt screwing component and the bolt fixing component and used for monitoring the tightening degree of the bolt, so that the bolt screwing component works according to the set torque, and the workpiece to be installed is prevented from being damaged.
Furthermore, the bolt rotating assembly is also provided with a displacement sensor for assisting the thread recognizing process, namely controlling the bolt screwing component to rotate forward or backward quickly, and the displacement sensor is used for detecting whether the bolt is screwed in so as to judge the screwing direction of the thread and finish the thread recognizing process; in addition, the displacement sensor can also be used for detecting the screwing length of the bolt so as to ensure the installation quality.
Preferably, the displacement sensor is adapted to a front-section output shaft of the electric tightening tool, and the screwing condition of the bolt is judged by detecting the displacement condition of the front-section output shaft.
Further, the pneumatic clamping jaw assembly comprises a clamping jaw air cylinder in transmission connection with the clamping jaw displacement air cylinder and a pneumatic clamping jaw in transmission connection with the clamping jaw air cylinder.
The pneumatic clamping jaw can be a clamping jaw which is commonly used in industry and has an opening and closing function, and is driven by a clamping jaw air cylinder, and the clamping jaw air cylinder controls the pneumatic clamping jaw to be attracted and opened through compressed air and an electronic valve, so that the bolt can be clamped or released.
As an optimal technical scheme, the pneumatic clamping jaw is made of a nylon material and used for avoiding damage to the surface of the stud in the grabbing process.
Furthermore, the clamping jaw displacement cylinder comprises a transverse moving cylinder arranged on the shell and a longitudinal moving cylinder in transmission connection with the transverse moving cylinder, and the clamping jaw cylinder is in transmission connection with the longitudinal moving cylinder.
The moving direction of the transverse moving cylinder is parallel to the rotating axial direction of the bolt screwing component, the moving direction of the longitudinal moving cylinder is perpendicular to the rotating axial direction of the bolt screwing component, the pneumatic clamping jaws accurately clamp the bolt through the transverse moving cylinder and the longitudinal moving cylinder, the bolt is installed on the bolt screwing component through the transverse moving cylinder, and finally the pneumatic clamping jaws are moved away through the longitudinal moving cylinder, so that the installation process is prevented from being influenced.
Further, the system also comprises a controller which is electrically connected with the industrial robot, the positioning device, the bolt rotating assembly, the clamping jaw displacement cylinder and the pneumatic clamping jaw assembly respectively.
As a preferred technical scheme, the controller is a PLC controller, and the controller is also electrically connected with the displacement sensor and the torque sensor respectively.
In the positioning process, the positioning device can recognize the thread and the end face appearance of the thread, and the end face appearance of the bolt and the bolt, and feeds back the recognized appearance to the controller to determine the circle center position of the end face, and the controller further sends out a control signal to control the industrial robot to move so as to realize the targeted positioning of the storage position and the installation position of the bolt;
in the process of screwing the bolt, the PLC can control the rotating speed and the torque of the bolt screwing part according to the feedback signals of the displacement sensor and the torque sensor, so that the mounting quality of the bolt is ensured.
The working principle is as follows: aiming at the problem of low efficiency of manual bolt installation, the system provides a full-automatic bolt grabbing and wire recognizing installation device which consists of an industrial robot, a positioning device, a bolt rotating assembly, a clamping jaw displacement cylinder and a pneumatic clamping jaw assembly; the position of a bolt on a bolt storage rack is determined through a positioning device and fed back to a controller, the controller controls an industrial robot to enable the tail end of the industrial robot to be close to the bolt, a clamping jaw displacement cylinder works to move a pneumatic clamping jaw to be close to the bolt, then the clamping jaw cylinder works to enable the pneumatic clamping jaw to clamp the bolt and install the bolt on a bolt fixing part through the clamping jaw displacement cylinder, then the controller controls the industrial robot to enable the tail end of the bolt to be close to the bolt installation position and be aligned with an installation hole, a bolt screwing part drives the bolt to rotate, a displacement sensor detects whether the bolt is screwed in or not to recognize the bolt, after the screwing direction is determined, the bolt screwing part quickly screws the bolt, when the displacement sensor detects that the screwing length of the bolt reaches a set length, the bolt screwing part automatically stops working under the control of the controller to ensure the consistency of the screwing length, then the industrial robot moves, the bolt fixing member is separated from the bolt, and the next bolt is mounted.
Compared with the prior art, the utility model has the characteristics of it is following:
1) the utility model discloses a position guide mode of positioner discerns the bolt position, adopts the clamping jaw to snatch the double-screw bolt automatically, adopts to revolve to twist the part and screw in and think the silk automatically, and compared with ordinary manual installation mode, this system improves the installation accuracy, reduces labour cost, promotes the automation level, effectively reduces the installation time, shortens to 3h from nearly 24h when making a host computer install, is showing and is improving the installation effectiveness;
2) the utility model discloses a positioner guide improves the speed of snatching the bolt and the accuracy nature of snatching, through torque sensor and displacement sensor, guarantees production quality to improve the retrench high efficiency of automation technology.
Drawings
Fig. 1 is a right side sectional view of a robot-based bolt grasping, wire recognizing and fastening system of the present invention;
fig. 2 and fig. 3 are schematic perspective views of a robot-based bolt grasping and wire-recognizing fastening system according to the present invention;
fig. 4 is a left side view of a robot-based bolt grasping, wire recognizing and fastening system of the present invention;
the notation in the figure is:
the clamping jaw device comprises a bolt 1, a clamping jaw cylinder 2, a pneumatic clamping jaw 3, a clamping jaw displacement cylinder 4, a transverse moving cylinder 401, a longitudinal moving cylinder 402, a bolt screwing part 5, a connecting flange 6, a shell 7 and a bolt fixing part 8.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. The embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
Example 1:
a bolt grabbing and wire recognizing fastening system based on a robot as shown in figures 2, 3 and 4 comprises an industrial robot, a positioning device arranged on the industrial robot, a connecting flange 6 arranged at the tail end of the industrial robot, a shell 7 arranged at one end of the connecting flange 6, a bolt rotating assembly arranged in the shell 7, a clamping jaw displacement cylinder 4 arranged on the shell 7 and a pneumatic clamping jaw assembly in transmission connection with the clamping jaw displacement cylinder 4.
Wherein, positioner is for locating industrial camera and the laser range finder on industrial robot.
The bolt rotating assembly comprises a bolt screwing part 5 arranged in the shell 7 and a bolt fixing part 8 in transmission connection with the bolt screwing part 5. The bolt screwing part 5 is an electric screwing tool, an output shaft at the front end of the electric screwing tool has a telescopic function and can extend forwards along with the screwing process of the bolt 1, and the bolt fixing part 8 is a sleeve matched with the bolt 1. A torque sensor is arranged between the electric tightening tool and the sleeve. And a displacement sensor matched with the front end output shaft of the electric tightening tool is also arranged on the bolt rotating assembly.
As shown in fig. 1, the pneumatic clamping jaw assembly comprises a clamping jaw cylinder 2 in transmission connection with a clamping jaw displacement cylinder 4, and a pneumatic clamping jaw 3 made of nylon material in transmission connection with the clamping jaw cylinder 2. The clamping jaw displacement cylinder 4 comprises a transverse moving cylinder 401 arranged on the shell 7 and a longitudinal moving cylinder 402 in transmission connection with the transverse moving cylinder 401, and the clamping jaw cylinder 2 is in transmission connection with the longitudinal moving cylinder 402.
The system also comprises a PLC controller which is respectively electrically connected with the industrial robot, the positioning device, the bolt rotating assembly, the torque sensor, the displacement sensor, the clamping jaw displacement cylinder 4, the pneumatic clamping jaw 3 and the clamping jaw cylinder 2.
The working principle is as follows: aiming at the problem of low efficiency of manual bolt installation, the system provides a full-automatic bolt grabbing and wire recognizing installation device which consists of an industrial robot, a positioning device, a bolt rotating assembly, a clamping jaw displacement cylinder 4 and a pneumatic clamping jaw assembly; the position of a bolt 1 on a bolt storage rack is determined through a positioning device and fed back to a PLC (programmable logic controller), the PLC controls an industrial robot to enable the tail end of the industrial robot to be close to the bolt 1, a clamping jaw displacement cylinder 4 works to move a pneumatic clamping jaw 2 to be close to the bolt 1, then the clamping jaw cylinder 2 works to enable the pneumatic clamping jaw 2 to clamp the bolt 1, the bolt 1 is installed on a bolt fixing part 8 through the clamping jaw displacement cylinder 4, then the PLC controls the industrial robot to enable the tail end of the bolt 1 to be close to the bolt installation position and to be aligned with an installation hole, a bolt screwing part 5 drives the bolt 1 to rotate, a displacement sensor detects whether the bolt 1 is screwed in to recognize the bolt 1, after the screwing direction is determined, the bolt screwing part 5 fast screws the bolt 1, when the displacement sensor detects that the screwing length of the bolt 1 reaches a set length, the bolt screwing part 5 automatically stops working under the control of the, to ensure the consistency of the screwing length, and then the industrial robot moves backwards to separate the bolt fixing part 8 from the bolt 1 for the next installation of the bolt 1.
Example 2:
the bolt fixing member 8 in this embodiment is a chuck adapted to the bolt 1, and the rest is the same as embodiment 1.
The embodiments described above are intended to facilitate the understanding and use of the invention by those skilled in the art. It will be readily apparent to those skilled in the art that various modifications to these embodiments may be made, and the generic principles described herein may be applied to other embodiments without the use of the inventive faculty. Therefore, the present invention is not limited to the above embodiments, and those skilled in the art should make improvements and modifications within the scope of the present invention according to the disclosure of the present invention.

Claims (10)

1. The utility model provides a bolt snatchs and thinks a fastening system based on robot, its characterized in that, this system include industrial robot, locate industrial robot on positioner, locate industrial robot terminal flange (6), locate casing (7) of flange (6) one end, locate the bolt rotating assembly in casing (7), locate clamping jaw displacement cylinder (4) on casing (7) to and the pneumatic clamping jaw subassembly of being connected with clamping jaw displacement cylinder (4) transmission.
2. The robot-based bolt grabbing and wire recognizing fastening system as claimed in claim 1, wherein said positioning device comprises an industrial camera and a laser range finder mounted on an industrial robot.
3. The robot-based bolt grabbing and threading fastening system according to claim 1, wherein the bolt rotating assembly comprises a bolt screwing component (5) arranged in the housing (7) and a bolt fixing component (8) in transmission connection with the bolt screwing component (5).
4. The robot-based bolt grabbing and wire recognizing fastening system according to claim 3, wherein the bolt screwing component (5) comprises an electric screwing tool.
5. The robot-based bolt grabbing and threading fastening system according to claim 3, wherein the bolt fixing part (8) comprises a sleeve or a chuck adapted to the bolt (1).
6. The robot-based bolt grabbing and wire recognizing fastening system according to claim 3, wherein a torque sensor is arranged between the bolt screwing part (5) and the bolt fixing part (8).
7. The robot-based bolt grabbing and wire recognizing fastening system as claimed in claim 1, wherein a displacement sensor is further provided on the bolt rotation assembly.
8. The robot-based bolt grabbing, wire recognizing and fastening system according to claim 1, wherein the pneumatic clamping jaw assembly comprises a clamping jaw cylinder (2) in transmission connection with a clamping jaw displacement cylinder (4), and a pneumatic clamping jaw (3) in transmission connection with the clamping jaw cylinder (2).
9. The robot-based bolt grabbing, wire recognizing and fastening system according to claim 8, wherein the clamping jaw displacement cylinder (4) comprises a transverse displacement cylinder (401) arranged on the shell (7) and a longitudinal displacement cylinder (402) in transmission connection with the transverse displacement cylinder (401), and the clamping jaw cylinder (2) is in transmission connection with the longitudinal displacement cylinder (402).
10. The robot-based bolt grasping, wire-recognizing and fastening system according to claim 1, further comprising a controller electrically connected to the industrial robot, the positioning device, the bolt rotation assembly, the jaw displacement cylinder (4) and the pneumatic jaw assembly, respectively.
CN201921766240.7U 2019-10-21 2019-10-21 Bolt grabbing and wire recognizing fastening system based on robot Active CN211867017U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201921766240.7U CN211867017U (en) 2019-10-21 2019-10-21 Bolt grabbing and wire recognizing fastening system based on robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201921766240.7U CN211867017U (en) 2019-10-21 2019-10-21 Bolt grabbing and wire recognizing fastening system based on robot

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CN211867017U true CN211867017U (en) 2020-11-06

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112872784A (en) * 2021-02-06 2021-06-01 海天塑机集团有限公司 Automatic mold adjusting nut grabbing and pre-screwing machine
CN114059426A (en) * 2021-11-17 2022-02-18 武汉市市政工程机械化施工有限公司 Mechanized rapid construction equipment and method for prefabricated road slab
CN114310282A (en) * 2022-01-27 2022-04-12 国电联合动力技术(连云港)有限公司 Yaw variable pitch bolt recognition grabbing robot

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112872784A (en) * 2021-02-06 2021-06-01 海天塑机集团有限公司 Automatic mold adjusting nut grabbing and pre-screwing machine
CN114059426A (en) * 2021-11-17 2022-02-18 武汉市市政工程机械化施工有限公司 Mechanized rapid construction equipment and method for prefabricated road slab
CN114059426B (en) * 2021-11-17 2023-08-29 武汉市市政工程机械化施工有限公司 Prefabricated pavement slab mechanized rapid construction equipment and method
CN114310282A (en) * 2022-01-27 2022-04-12 国电联合动力技术(连云港)有限公司 Yaw variable pitch bolt recognition grabbing robot

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