CN215035186U

CN215035186U - Screw up module and robot system of screwing up

Info

Publication number: CN215035186U
Application number: CN202121420937.6U
Authority: CN
Inventors: 张新冬; 庄安全; 李成芳
Original assignee: KUKA Flexible Systems Shanghai Co Ltd
Current assignee: KUKA Flexible Systems Shanghai Co Ltd
Priority date: 2021-06-24
Filing date: 2021-06-24
Publication date: 2021-12-07
Anticipated expiration: 2031-06-24

Abstract

The application provides a screwing module and a robot screwing system, wherein the screwing module comprises a feeding port and a carrying piece, the carrying piece can move between the feeding port and a preset piece taking position and is configured to be capable of receiving a fastener from the feeding port and carrying the received fastener to the preset piece taking position through movement; a tightening mechanism configured to be capable of performing a tightening action; the first driving device is in transmission fit with the carrying piece and is configured to drive the carrying piece to be carried to the feeding port from a preset piece taking position in the process that the tightening mechanism executes the tightening action. This application sets up at the in-process of screwing up the mechanism execution and screwing up the action, and a drive arrangement drive carrier carries to pay-off mouth department from predetermineeing a position and receives the fastener, treats to screw up the rifle and once work completion back last time, and the rifle head is sent to the fastener in step fast, and it is shorter to send the nail required time, improves production efficiency.

Description

Screw up module and robot system of screwing up

Technical Field

The application relates to the technical field of bolt tightening devices, in particular to a tightening module and a robot tightening system.

Background

In engine, gearbox and battery assembly lines, the use of mechanisms for fully automatically feeding nails and tightening a plurality of screws at different positions using robots is becoming more and more common. There are several suppliers on the market. The existing nail feeding mechanism carries out nail feeding and screwing in sequence, and needs certain waiting time, so that the nail feeding efficiency is low.

SUMMERY OF THE UTILITY MODEL

One object of the present application is to provide a tightening module.

In order to solve the technical problem, the following technical scheme is adopted in the application:

a tightening module, comprising:

a feed port;

a carrier movable between the feed port and a preset take-off location and configured to be capable of receiving fasteners from the feed port and to move to carry the received fasteners to the preset take-off location;

a tightening mechanism configured to be capable of performing a tightening action;

the first driving device is in transmission fit with the carrying piece and is configured to drive the carrying piece to be carried to the feeding port from the preset piece taking position in the process that the tightening mechanism executes the tightening action.

According to an aspect of the present application, according to an embodiment of the present application, the carrier includes a locking structure, the locking structure is movable between the feeding port and the preset pickup position, and is configured to be able to fasten or loosen the fastener, and the tightening module further includes:

a second drive arrangement in driving engagement with the tightening mechanism and configured and adapted to drive the tightening mechanism from a first position to a second position, wherein the tightening mechanism is engageable with the fastener on the locking structure at the predetermined take-off position when the tightening mechanism is in the first position;

wherein when the locking structure releases the fastener at the predetermined take-off position, the second drive drives the tightening mechanism from the first position to the second position.

According to an embodiment of the application, the tightening mechanism is configured to perform the tightening action in the second position.

According to an embodiment of the application, the locking structure comprises jaws that can be closed or opened to respectively tighten or loosen the fastener;

the carrier further comprises a third driving device, and the third driving device is in transmission fit with the clamping jaws and is configured to drive the clamping jaws to close or open.

According to an embodiment of the present application, the third driving device includes a movable member and a first driving cylinder, and the first driving cylinder is engaged with the movable member and adapted to drive the movable member to move;

one of the clamping jaw and the movable piece is provided with a guide hole, the other one of the clamping jaw and the movable piece is provided with a sliding block, the sliding block extends into the guide hole to be in sliding fit with the guide hole, and when the movable piece moves, the clamping jaw is closed or opened.

According to an embodiment of the application, the first driving device comprises a second driving cylinder and a carrier part, the second driving cylinder is matched with the carrier part and is suitable for driving the carrier part to move;

the clamping jaw and the third driving device are arranged on the carrier part.

According to an embodiment of the present application, the method further includes:

and the fourth driving device is matched with the tightening mechanism and is suitable for driving the tightening mechanism to move to the preset taking position, so that the tightening mechanism receives the fastener from the carrier at the preset taking position.

According to an embodiment of the present application, the carrier is located at one end of the tightening mechanism, and the carrier and the tightening mechanism together form an L-shape; and/or

The moving direction of the carrier between the feeding port and the preset workpiece taking position is perpendicular to the moving direction of the tightening mechanism from the preset workpiece taking position to the workpiece tightening position.

According to an embodiment of the application, the carrier member is rotatably connected to the tightening mechanism such that the carrier member is rotatable relative to the tightening mechanism.

According to an embodiment of the application, the rotation angle of the carrier with respect to the tightening mechanism is a multiple of 15 °; and/or

The tightening module comprises a first base body and a second base body, the carrier is arranged on the first base body, the tightening mechanism is arranged on the second base body, and the first base body is rotatably connected with the second base body, so that the carrier is rotatably connected with the tightening mechanism.

According to an embodiment of the present application, the tightening mechanism includes:

screwing down the gun;

the sleeve, with screw up rifle detachably and connect, the sleeve is equipped with recognizes the cap interface, recognize the cap interface can with the fastener cooperation.

According to an embodiment of the application, telescopic one end is equipped with the pullover, pullover cover is established screw up the outside of rifle, just pullover with screw up and be provided with the sealing member between the rifle.

According to an embodiment of the application, be equipped with the backstop portion in the pullover, backstop portion with screw up rifle backstop is in order to screw up rifle axial spacing.

According to an embodiment of the present application, the tightening mechanism further comprises:

and the pressure reduction system is communicated with the cap recognition interface.

According to another aspect of the present application, there is also provided a robotic tightening system, comprising:

the tightening module of any one of the above embodiments;

and the nail feeding device is communicated with the feeding port of the screwing module.

In the application, the first driving device drives the carrier to carry the fastener from the preset fastener taking position to the feeding port to receive the fastener in the process of executing the tightening action by the tightening mechanism, the fastener can be quickly and synchronously sent to the gun head after the last work of the tightening gun is finished, the time for sending the fastener is shorter, and the production efficiency is greatly improved; the detachable sleeve is arranged, so that the maintenance cost is low, and the sleeve is more convenient to replace; the carrying piece is positioned at one end of the tightening mechanism, and the carrying piece and the tightening mechanism form an L shape together, so that the product is small and compact in structure; the carrier and the tightening mechanism are rotatably connected, so that the carrier can rotate relative to the tightening mechanism, and the product can be prevented from interfering with other products.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

The above and other objects, features and advantages of the present application will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings.

Fig. 1 is a schematic structural view of a tightening module according to an embodiment of the present disclosure.

Fig. 2 is a schematic front view of a tightening module according to an embodiment of the present disclosure.

Fig. 3 is a partially enlarged schematic view of fig. 2.

Fig. 4 is a schematic side view of a tightening module according to an embodiment of the present disclosure.

The reference numerals are explained below:

the tightening module 100, the feeding port 110, the carrier 120, the locking structure 121, the clamping jaw 1211, the guide hole 1212, the slider 1213, the third driving device 122, the movable member 1221, the first driving cylinder 1222, the tightening mechanism 130, the tightening gun 131, the sleeve 132, the cap interface 1321, the sleeve head 1322, the stopper 1323, the vacuum system 133, the support 1331, the optical axis 1332, the first driving device 140, the second driving cylinder 141, the carrier portion 142, the second driving device 150, the fourth driving device 160, the first substrate 170, the second substrate 180, and the sealing member 190.

Detailed Description

While this application is susceptible of embodiment in different forms, there is shown in the drawings and will herein be described in detail only some specific embodiments thereof with the understanding that the present disclosure is to be considered as an exemplification of the principles of the application and is not intended to limit the application to that as illustrated herein.

Thus, a feature indicated in this specification is intended to describe one of the features of an embodiment of the application and does not imply that every embodiment of the application must have the described feature. Further, it should be noted that this specification describes many features. Although some features may be combined to show a possible system design, these features may also be used in other combinations not explicitly described. Thus, the combinations illustrated are not intended to be limiting unless otherwise specified.

In the embodiments shown in the drawings, directional references (such as up, down, left, right, front, and rear) are used to explain the structure and movement of the various elements of the present application not absolutely, but relatively. These descriptions are appropriate when the elements are in the positions shown in the drawings. If the description of the positions of these elements changes, the indication of these directions changes accordingly.

Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these example embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The drawings are merely schematic illustrations of the present application and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus their repetitive description will be omitted.

The preferred embodiments of the present application will be further described in detail below with reference to the accompanying drawings of the present specification.

The module of screwing up of this embodiment can use the robot to carry out full-automatic nail of sending and screw up a plurality of screws in different positions on engine, gearbox and battery assembly line, blows in next screw in advance through the in-process of screwing up a set of screw and comes save time, improves production efficiency, to the product that need screw up a lot of screw quantity at a station, and the time is saved more and is showing.

Referring to fig. 1, fig. 1 is a schematic structural diagram of a tightening module according to an embodiment of the present application.

The present embodiment provides a tightening module 100, and the tightening module 100 includes a feeding port 110, a carrier 120 (see fig. 4 in particular), a tightening mechanism 130 (see fig. 2 in particular), and a first driving device 140.

The feeder port 110 is used for conveying fasteners, the carrier 120 is movable between the feeder port 110 and a preset picking position and configured to receive the fasteners from the feeder port 110 and to carry the received fasteners to the preset picking position by movement, a screwing action is performed by the screwing mechanism 130, and the first driving device 140 is in driving engagement with the carrier 120 and configured to drive the carrier 120 to be carried from the preset picking position to the feeder port 110 during the screwing action performed by the screwing mechanism 130. By moving the carrier 120 to the feed port 110 to receive the next fastener while performing the tightening action, time is saved and production efficiency is improved.

The predetermined pickup position in the embodiment of the present application is a position where the tightening mechanism 130 can pick up the fastener carried from the carrier 120.

In more detail, as shown in fig. 4, the carrier 120 includes a locking structure 121, the locking structure 121 is movable between the feeding port 110 and the preset picking position and is configured to be capable of fastening or unfastening a fastener, and specifically, the locking structure 121 receives and fastens the fastener at the feeding port 110 and is capable of unfastening the fastener when the preset picking position is reached so that the fastener can be received by the tightening mechanism 130. The locking structure 121 is set to enable the fastener to be matched with the tightening mechanism 130 more stably when the fastener is fed from the feeding port 110 to the preset picking position, and the efficiency is high.

In one embodiment, as shown in fig. 1, the tightening module 100 further includes:

the second driving device 150 is in transmission fit with the tightening mechanism 130 and can drive the tightening mechanism 130 to move from the first position to the second position, wherein when the tightening mechanism 130 is located at the first position, the tightening mechanism 130 can be matched with a fastener on the locking structure 121 at the preset picking position;

wherein when the locking structure 121 releases the fastener at the predetermined take-off position, the second driving device 150 drives the tightening mechanism 130 from the first position to the second position. The first position herein refers in this embodiment to the position of the tightening mechanism 130 when it is capable of receiving a fastener, and the second position herein is the position where the workpiece needs to be tightened. When the locking structure 121 loosens the fastener, the tightening mechanism 130 is matched with the fastener and moves to the position of the workpiece to be tightened under the action of the second driving device 150, so that the time for the tightening mechanism 130 to perform tightening action can be effectively shortened, and the production efficiency is improved.

In certain more specific embodiments, the second drive device 150 is a second drive cylinder.

Further, the tightening mechanism 130 is configured to perform a tightening action in the second position. That is, when the tightening mechanism 130 with the fastener is reaching the second position, the tightening mechanism 130 immediately performs a tightening action so that the fastener can be quickly fastened to the workpiece.

In one embodiment, as shown in FIG. 4, the locking structure 121 includes jaws 1211 that can be closed or opened to tighten or loosen, respectively, a fastener;

the carrier 120 further comprises a third drive arrangement 122, the third drive arrangement 122 being in driving engagement with the jaws and being configured to drive the jaws to close or open. In this way, a quick closing or opening of the jaws can be achieved, i.e. a faster tightening or loosening of the fastening element can be achieved.

In more detail, the third driving device 122 includes a movable element 1221 and a first driving cylinder 1222, the first driving cylinder 1222 is engaged with the movable element 1221 and is adapted to drive the movable element 1221 to move, that is, the movable element 1221 is connected to a cylinder rod of the first driving cylinder 1222, the movable element 1221 is a connecting plate, and the movable element 1221 is controlled by the first driving cylinder 1222 to extend and retract.

One of the clamping jaw 1211 and the movable element 1221 is provided with a guide hole 1212, and the other is provided with a sliding block 1213, the sliding block 1213 extends into the guide hole 1212 to be slidably engaged with the guide hole 1212, when the movable element 1221 moves, the sliding block 1213 slides in the guide hole 1212, and the sliding blocks 1213 are respectively located at two ends of the guide hole 1212 to enable the clamping jaw 1211 to be closed or opened. The first driving cylinder 1222 drives the moving member 1221 to move and further drives the sliding block 1213 to slide in the guiding hole 1212, so as to open or close the clamping jaw 1211, and the mechanical mechanisms cooperate with each other, so that the operation is simple and quick.

In one embodiment, as shown in fig. 1, the first driving device 140 includes a second driving cylinder 141 and a carrier portion 142, the second driving cylinder 141 is engaged with the carrier portion 142 and adapted to drive the carrier portion 142 to move, where the carrier portion 142 is connected to a cylinder rod of the second driving cylinder 141, and the second driving cylinder 141 expands and contracts to control the movement of the carrier portion 142.

In some more specific embodiments, the carrier portion 142 is a carrier plate.

When mounted, the clamping jaw 1211 and the third drive device 122 are arranged on the carrier part 142. This arrangement enables a reasonable layout of the gripper 1211 and the third driving device 122, so that the overall structure is smaller and more compact, and the space utilization rate is higher.

In one embodiment, as shown in fig. 1, a fourth driving device 160 is further included, the fourth driving device 160 cooperating with the tightening mechanism 130 and being capable of driving the tightening mechanism 130 to move from the initial position to the preset take-off position, such that the tightening mechanism 130 receives the fastener from the carrier 120 at the preset take-off position. In this way, the fourth driving device 160 drives the tightening mechanism 130 to move, so that the tightening mechanism 130 has higher flexibility, wider applicable scenes, higher practicability and wider applicability.

In a more specific embodiment, fourth drive 160 is a fourth drive cylinder.

In one embodiment, as shown in fig. 1, 2 and 4, the carrier 120 is located at one end of the tightening mechanism 130, and the carrier 120 and the tightening mechanism 130 form an L-shape; and/or

The direction of movement of the carrier 120 between the feed port 110 and the preset pickup position is perpendicular to the direction of movement of the tightening mechanism 130 from the preset pickup position to the workpiece tightening position. Thus, the carrier 120 and the tightening mechanism 130 are arranged in an L-shaped position relationship, so that the carrier 120 and the tightening mechanism 130 are more reasonable in position layout, smaller and more compact in structure and high in space utilization rate.

In one embodiment, the carrier 120 is rotatably coupled to the tightening mechanism 130 such that the carrier 120 can rotate relative to the tightening mechanism 130. Like this, the structure installation that realizes the product that can be better is more appropriate, and can avoid this product to interfere with other products for the use scene of product is more extensive, and the suitability is higher.

Further, the rotation angle of the carrier 120 with respect to the tightening mechanism 130 is a multiple of 15 °; the product is prevented from interfering with other products by the aid of the arrangement, and can be adjusted according to a certain angle, so that the product is more reasonable in structural adjustment, more convenient to adjust and high in applicability.

In more detail, the tightening module 100 includes a first base 170 and a second base 180, the carrier 120 is disposed on the first base 170, the tightening mechanism 130 is disposed on the second base 180, and the first base 170 and the second base 180 are rotatably coupled to each other such that the carrier 120 and the tightening mechanism 130 are rotatably coupled to each other. In a specific embodiment, the first base 170 is a mounting plate, the second base 180 is a fixing block, the first base 170 is rotatably connected to one end of the second base 180, that is, the mounting plate is rotatably connected to one end of the fixing block, and the mounting plate and the fixing block are connected to form an L shape, so that the mounting of the carrier 120 and the tightening mechanism 130 can be more reasonable, the space utilization rate is higher, the product applicability is higher, and the structural connection of the product is more compact.

In one embodiment, as shown in FIG. 2, the tightening mechanism 130 includes a tightening gun 131 and a sleeve 132, the tightening gun 131 being rotatable to perform a tightening action on a fastener, the sleeve 132 being removably coupled to the tightening gun 131. Therefore, the product is convenient to maintain, the maintenance cost is low, and the sleeve 132 is simple in structure, low in cost and more convenient to replace.

The cap recognition interface 1321 is arranged at the position, matched with the fastener, of the sleeve 132, the cap recognition interface 1321 can be matched with the fastener, and therefore the connection between the fastener and the sleeve 132 can be better stable, and the fastener is not prone to falling off from the sleeve 132.

Further, as shown in fig. 3, a sleeve 1322 is disposed at one end of the sleeve 132, the sleeve 1322 is disposed at an outer side of the tightening gun 131, and a sealing member 190 is disposed between the sleeve 1322 and the tightening gun 131. The ferrule 1322 and the cap interface 1321 are respectively disposed at two ends of the sleeve 132 and are integrally connected with the sleeve 132. Thus, the sleeve 132 and the tightening gun 131 are sleeved, so that the sleeve 132 can be detached from the tightening gun 131 more conveniently, the sleeve 132 can be replaced conveniently, and the cost is low.

The seal 190 is a seal ring, and the seal 190 is provided between the socket 1322 and the tip of the tightening gun 131, so that the connection between the socket 1322 and the tightening gun 131 can be more sealed, and the fastener cannot fall off from the cap interface 1321 due to poor sealing when the fastener is attached to the cap interface 1321.

Furthermore, a stopper 1323 is disposed in the sleeve 1322, and the stopper 1323 is stopped by the tightening gun 131 to axially limit the tightening gun 131. In this manner, the ferrule 1322 can be more easily attached to the tightening gun 131.

In one embodiment, as shown in fig. 1 and 2, the tightening mechanism 130 further comprises a pressure reduction system, the pressure reduction system is in communication with the cap interface 1321, in some more specific embodiments, the pressure reduction system is configured as a suction device, the suction device is in sealed connection with the tightening gun 131 through the vacuum system 133, the vacuum system 133 establishes a vacuum through the seat 1331 and the optical axis 1332, and the screw is sucked to the sleeve 132 by negative pressure. Thus, air pressure is provided through the pressure reducing system, so that the screw can be adsorbed on the cap recognizing interface 1321 and recognized and can be more stably fixed at the cap recognizing interface 1321, the screwing mechanism 130 firmly sends the screw to a position where a workpiece needs to be screwed under the action of the pressure reducing system and then performs screwing action, and after the screwing action is performed, the pressure reducing system releases the pressure, so that the screw falls off from the cap recognizing interface 1321.

In certain more specific embodiments, the fasteners are screws herein.

According to another aspect of the present application, a robot tightening system is further provided, which includes a screw feeding device and the tightening module 100 of any one of the above embodiments, wherein the screw feeding device is communicated with the feeding port 110 of the tightening module 100, and screws are provided by the screw feeding device.

In some more specific embodiments, the staple feeder is a staple feeder, and the jaws 1211 are closed directly in front of the feed opening 110 when the second drive cylinder 141 and the first drive cylinder 1222 are in a retracted state; the feeder position blows a screw through the feed port into the jaws 1211 with compressed air.

The first driving cylinder 1222 is extended and the jaws 1211 are opened; the second driving cylinder 141 retracts, and the clamping jaw 1211 retracts to the position right in front of the feed port 110; the first driving cylinder 1222 is retracted and the jaws 1211 are closed; the feeder position blows the next screw into the jaw 1211 with compressed air.

The system of screwing up module and robot of this embodiment can realize following effect:

1. this product is screwed up the in-process at last time, can send the screw to simultaneously and screw up the rifle limit, treats to screw up the rifle and once work is accomplished the back, can send the rifle head to the screw fast in step, send the nail required time for being shorter, improves production efficiency greatly, to the product that need screw up a lot of bolt quantity at a station, the time is saved more and is showing.

2. The maintenance is convenient, and the maintenance cost is low; the sleeve has simple structure and low cost; and the sleeve can be dismantled with screwing up the rifle, and this product is easily changed the sleeve for it is shorter to change the required time of sleeve.

3. The carrying piece is located the one end of screwing up the mechanism, and the carrying piece constructs L shape with screwing up the mechanism jointly for the product structure is small and exquisite compact, easily installs on the robot, carries out multiaxis and screws up simultaneously.

4. The carrying piece is rotatably connected with the screwing mechanism, so that the carrying piece can rotate relative to the screwing mechanism, the interference of the product and other products can be avoided, and the applicability is higher.

All parts interact with each other, so that the product is convenient and quick to operate.

While the present application has been described with reference to several exemplary embodiments, it is understood that the terminology used is intended to be in the nature of words of description and illustration, rather than of limitation. As the present application may be embodied in several forms without departing from the spirit or essential characteristics thereof, it should also be understood that the above-described embodiments are not limited by any of the details of the foregoing description, but rather should be construed broadly within its spirit and scope as defined in the appended claims, and therefore all changes and modifications that fall within the meets and bounds of the claims, or equivalences of such meets and bounds are therefore intended to be embraced by the appended claims.

Claims

1. A tightening module, comprising:

a feed port;

2. The tightening module of claim 1, wherein the carrier includes a locking structure movable between the feed port and the preset take-off position and configured to tighten or loosen the fastener, the tightening module further comprising:

3. The tightening module according to claim 2,

the tightening mechanism is configured to perform the tightening action in the second position.

4. The tightening module according to claim 2,

the locking structure comprises jaws that can be closed or opened to tighten or loosen the fastener, respectively;

5. The tightening module according to claim 4,

the third driving device comprises a moving part and a first driving cylinder, and the first driving cylinder is matched with the moving part and is suitable for driving the moving part to move;

6. A tightening module according to claim 4,

the first driving device comprises a second driving air cylinder and a carrier part, and the second driving air cylinder is matched with the carrier part and is suitable for driving the carrier part to move;

the clamping jaw and the third driving device are arranged on the carrier part.

7. The tightening module according to any one of claims 2 to 6, further comprising:

8. The tightening module according to any one of claims 1 to 6,

the carrier is positioned at one end of the tightening mechanism, and the carrier and the tightening mechanism form an L shape together; and/or

9. The tightening module according to any one of claims 1 to 6,

the carrier member is rotatably coupled to the tightening mechanism such that the carrier member is rotatable relative to the tightening mechanism.

10. The tightening module according to claim 9,

the rotation angle of the carrier relative to the tightening mechanism is a multiple of 15 degrees; and/or

11. The tightening module according to any one of claims 1 to 6, wherein the tightening mechanism comprises:

screwing down the gun;

12. The tightening module according to claim 11,

the telescopic one end is equipped with the pullover, pullover cover is established the outside of screwing up the rifle, just pullover with it is provided with the sealing member to screw up between the rifle.

13. The tightening module according to claim 12,

the sleeve head is internally provided with a stopping part, and the stopping part and the tightening gun are stopped to axially limit the tightening gun.

14. The tightening module of claim 12, wherein the tightening mechanism further comprises:

15. A robotic tightening system, comprising:

the tightening module according to any one of claims 1 to 14;