CN216264494U - Bolt installation device and bolt installation robot - Google Patents

Abstract

The utility model provides a bolt installation device and a bolt installation robot, belonging to the technical field of bolt installation and comprising: a mounting seat; the clamping mechanism comprises a clamping assembly and a driving assembly, the clamping assembly is suitable for clamping a bolt and placing the bolt in a hole to be installed, and the driving assembly is suitable for driving the clamping assembly to rotate and pre-tightening the bolt; and the tightening mechanism is suitable for fastening the pre-tightened bolt in the hole to be installed. According to the bolt mounting device provided by the utility model, the clamping mechanism is used for clamping the bolt, the clamping mechanism is used for placing the bolt in the hole to be mounted, the bolt can be rotationally pre-tightened, and then the pre-tightened bolt is fastened in the hole to be mounted through the tightening mechanism, so that the clamping mechanism is arranged to ensure that the bolt is stably arranged in the hole to be mounted, the bolt cannot be inclined in the process of converting the clamping mechanism and the tightening mechanism, the bolt is smoothly tightened, and the bolt and the hole to be mounted cannot be damaged.

Description

Bolt installation device and bolt installation robot

Technical Field

The utility model relates to the technical field of bolt installation, in particular to a bolt installation device and a bolt installation robot.

Background

The bolt connection is a widely used detachable fixed connection structure, has the advantages of simple structure, reliable connection, convenient assembly and disassembly and the like, and is widely applied to various large and heavy mechanical equipment. In the assembling process of mechanical equipment, the number of bolts required to be installed is large, time and labor are easily consumed and the torque force cannot meet the requirement easily due to manual installation. Therefore, in the prior art, a bolt installation device is generally used for installing a bolt, and the bolt installation device clamps the bolt, places the bolt at a predetermined hole position, and then screws the bolt. However, when the bolt mounting device is used for placing the bolt in the hole site and then loosening the bolt, the bolt is easily skewed in the process of being screwed by the bolt screwing part, so that the bolt mounting device is not easy to screw the bolt, and the threads in the bolt and the hole site are damaged.

SUMMERY OF THE UTILITY MODEL

Therefore, the technical problem to be solved by the utility model is to overcome the defects that the bolt mounting device in the prior art is not easy to screw the bolt and can damage the bolt and the threads in the hole position, thereby providing the bolt mounting device.

In order to solve the above problems, the present invention provides a bolt mounting apparatus including: a mounting seat; the clamping mechanism is arranged on the mounting seat and comprises a clamping assembly and a driving assembly, the clamping assembly is suitable for clamping a bolt and placing the bolt in a hole to be mounted, and the driving assembly is suitable for driving the clamping assembly to rotate and pre-tighten the bolt; and the tightening mechanism is arranged on the mounting seat and is suitable for fastening the pre-tightened bolt in the hole to be mounted.

Optionally, press from both sides and get the subassembly and press from both sides cylinder and clamping jaw including getting, it is provided with a plurality of pneumatic fingers to press from both sides on the cylinder to get, the clamping jaw is provided with a plurality ofly, and respectively with a plurality of pneumatic finger corresponds the connection.

Optionally, the drive assembly includes driving motor and pneumatic rotary joint, driving motor with pneumatic rotary joint's rotating part and press from both sides and get the cylinder transmission and connect, pneumatic rotary joint's rotating part pass through the gas pipeline with it is linked together to press from both sides the cylinder of getting.

Optionally, the tightening mechanism includes a rotary tightening assembly rotatable in a first direction relative to a counter force support assembly adapted to be secured in abutment and apply a force to the tightening mechanism opposite the first direction.

Optionally, the rotary tightening assembly includes a rotary shaft sleeve and a tightening shaft, the rotary shaft sleeve is rotatably disposed with the mounting seat, the tightening shaft is rotatably disposed in the rotary shaft sleeve, a tightening sleeve is disposed at an end of the tightening shaft, and the counter force support assembly is connected with the rotary shaft sleeve.

Optionally, the counter-force supporting component comprises a counter-force arm, a rotary limiting block and a fixed limiting block, the counter-force arm is close to the rotary shaft sleeve, one end of the tightening sleeve is connected with the rotary shaft sleeve, the rotary limiting block is connected with the other end of the rotary shaft sleeve, the fixed limiting block is arranged on the mounting seat and provided with a plurality of fixed limiting blocks, and the rotary limiting block is located between the two adjacent fixed limiting blocks.

Optionally, a reset elastic element is connected between the rotation limiting block and the mounting seat.

Optionally, the mounting seat further includes a fixed shaft sleeve disposed on the mounting seat, the rotating shaft sleeve is rotatably disposed in the fixed shaft sleeve, and the fixed limiting block is disposed on the fixed shaft sleeve.

Optionally, a sliding mechanism is arranged on the mounting seat, the clamping mechanism is connected with the sliding mechanism, and the sliding mechanism can drive the clamping mechanism to slide along the mounting seat.

The utility model also provides a bolt mounting robot which comprises the bolt mounting device.

The utility model has the following advantages:

1. according to the bolt mounting device provided by the utility model, the clamping mechanism is used for clamping the bolt, the clamping mechanism is used for placing the bolt in the hole to be mounted, the bolt can be rotationally pre-tightened, and then the pre-tightened bolt is fastened in the hole to be mounted through the tightening mechanism, so that the clamping mechanism is arranged to ensure that the bolt is stably arranged in the hole to be mounted, the bolt cannot be inclined in the process of converting the clamping mechanism and the tightening mechanism, the bolt is smoothly tightened, and the bolt and the hole to be mounted cannot be damaged.

2. According to the bolt mounting device provided by the utility model, the clamping cylinder and the clamping jaw are used for clamping the bolt, and the clamping mode is simple and reliable.

3. According to the bolt installation device provided by the utility model, the driving motor is utilized to drive the rotating part and the clamping cylinder of the pneumatic rotary joint to rotate, and the rotating part of the pneumatic rotary joint is communicated with the clamping cylinder through the gas transmission pipeline, so that the rotating part and the clamping cylinder of the pneumatic rotary joint can synchronously rotate, the gas transmission pipeline also synchronously rotates with the rotating part and the clamping cylinder of the pneumatic rotary joint, and the gas transmission pipeline can be stably connected between the rotating part and the clamping cylinder of the pneumatic rotary joint, namely the rotating part of the pneumatic rotary joint plays a role in supplying gas for the clamping cylinder in a rotating manner, the gas transmission pipeline is prevented from being distorted and extended in the rotating process of the clamping cylinder, and stable gas supply to the clamping cylinder is ensured.

4. According to the bolt mounting device provided by the utility model, the bolt mounting device is supported in an abutting mode through the reaction force supporting assembly, and the reaction force supporting assembly can apply an acting force opposite to the rotating direction of the rotating tightening assembly to the bolt mounting device in the process of screwing the bolt through the rotating tightening assembly, so that the tightening torque of the rotating tightening assembly is ensured.

5. According to the bolt mounting device provided by the utility model, the rotary limiting blocks are arranged between the two adjacent fixed limiting blocks, so that the rotary shaft sleeve can drive the reaction arm to rotate within a range limited by the two fixed limiting blocks, and the reaction arm can be adjusted to a proper supporting position.

6. According to the bolt mounting device provided by the utility model, the sliding mechanism is arranged so that the clamping mechanism can slide along the mounting seat, and the clamping mechanism can slide to a proper position to clamp a bolt.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic view showing the overall structure of a bolt mounting apparatus provided by an embodiment of the present invention;

FIG. 2 illustrates a front view of a bolt mounting arrangement provided by an embodiment of the present invention;

FIG. 3 is a left side view of FIG. 2;

FIG. 4 is a top view of FIG. 2;

FIG. 5 is an enlarged view taken at A in FIG. 1;

FIG. 6 illustrates a front view of a jaw provided by an embodiment of the present invention;

FIG. 7 illustrates a perspective view of a jaw provided by an embodiment of the present invention;

FIG. 8 illustrates a perspective view of a connection station provided by an embodiment of the present invention;

FIG. 9 illustrates a perspective view of a mount provided by an embodiment of the present invention;

FIG. 10 is an enlarged view at B in FIG. 2;

FIG. 11 is a partial cross-sectional view taken along line D-D of FIG. 2;

FIG. 12 is an enlarged view at C of FIG. 1;

fig. 13 shows a perspective view of a reaction arm provided by an embodiment of the present invention.

Description of reference numerals:

100. a mounting seat; 110. fixing the shaft sleeve; 120. mounting grooves; 130. a third porous body; 140. a fourth porous body; 150. a second connecting column; 160. a boss; 200. a gripping mechanism; 210. a gripping assembly; 211. a clamping cylinder; 2111. a third air supply port; 212. a clamping jaw; 2121. a connecting portion; 2122. a clamping portion; 2123. a first aperture body; 2124. a limiting concave part; 220. a drive assembly; 221. a drive motor; 222. a pneumatic rotary joint; 2221. a rotating part; 2222. a fixed part; 2223. a first air supply port; 2224. a second air supply port; 223. a coupling; 230. a buffer assembly; 231. a connecting table; 2311. a first connecting plate; 2312. a second connecting plate; 2313. a cylinder; 2314. a second aperture body; 232. a floating guide post; 233. an elastic structure; 300. a tightening mechanism; 310. rotating the tightening assembly; 311. rotating the shaft sleeve; 312. screwing a shaft; 3121. a drive shaft; 3122. a connecting sleeve; 3123. a connecting shaft; 313. screwing down the sleeve; 320. a counter-force support assembly; 321. a reaction arm; 3211. connecting the sleeve body; 3212. a support column; 3213. a fifth porous body; 322. rotating the limiting block; 3221. a first connecting column; 323. fixing a limiting block; 324. a restoring elastic member; 400. a sliding mechanism; 410. a slide rail; 420. a sliding plate; 430. a support plate; 440. reinforcing the strips; 450. a driver; 460. an adapter; 500. and replacing the gun plate.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

One embodiment of the bolt installation apparatus shown in fig. 1 to 13 includes: the mounting seat 100, the clamping mechanism 200 and the tightening mechanism 300 are arranged on the mounting seat 100, and the clamping mechanism 200 and the tightening mechanism 300 are arranged on the mounting seat 100. The clamping mechanism 200 comprises a clamping assembly 210 and a driving assembly 220, the bolt is clamped and placed in the hole to be installed through the clamping assembly 210, the driving assembly 220 drives the clamping assembly 210 to rotate and pre-tighten the bolt, and the pre-tightened bolt is fastened in the hole to be installed through a tightening mechanism 300.

Utilize to press from both sides and get mechanism 200 and press from both sides the bolt and get to press from both sides mechanism 200 and place the bolt in treating the mounting hole after, can rotate the pretension to the bolt, later the rethread is tightened the bolt fastening after the pretension in treating the mounting hole of mechanism 300, therefore, press from both sides mechanism 200 and guarantee that the bolt is stable to set up in treating the mounting hole through setting up, press from both sides the in-process bolt of getting mechanism 200 and tightening mechanism 300 conversion and can not take place crooked, the smooth screwing up of bolt has been guaranteed, and can not cause the damage to the bolt and treat the mounting hole.

As shown in fig. 5, the gripping assembly 210 includes a gripping cylinder 211 and a plurality of gripping jaws 212, a plurality of pneumatic fingers are disposed on the gripping cylinder 211, a plurality of gripping jaws 212 are disposed, and the plurality of gripping jaws 212 and the plurality of pneumatic fingers are disposed in a one-to-one correspondence manner. The clamping cylinder 211 and the clamping jaws 212 are used for clamping the bolt, and the clamping mode is simple and reliable. Specifically, as shown in fig. 6 and 7, the clamping jaw 212 includes a connecting portion 2121 and a clamping portion 2122, the connecting portion 2121 is provided with a first hole 2123, the clamping jaw 212 is connected to the pneumatic finger through the first hole 2123 and a bolt disposed in the first hole 2123, the clamping portion 2122 is provided with a limiting recess 2124, and the head of the bolt is clamped and limited by the limiting recess 2124, so as to ensure the clamping stability.

As shown in fig. 1 and 5, the driving assembly 220 includes a driving motor 221 and a pneumatic rotary joint 222, the pneumatic rotary joint 222 includes a rotating portion 2221 and a fixing portion 2222, the driving motor 221 is in transmission connection with the rotating portion 2221 of the pneumatic rotary joint 222 and the clamping cylinder 211, and the rotating portion 2221 of the pneumatic rotary joint 222 is in communication with the clamping cylinder 211 through an air pipe.

Utilize driving motor 221 to drive the rotating part 2221 and the clamp cylinder 211 rotation of pneumatic rotary joint 222, and be linked together the rotating part 2221 of pneumatic rotary joint 222 with clamp cylinder 211 through the gas pipeline, therefore, the rotating part 2221 and the clamp cylinder 211 of pneumatic rotary joint 222 can rotate in step, the gas pipeline also rotates in step with the rotating part 2221 and the clamp cylinder 211 of pneumatic rotary joint 222, the gas pipeline can be connected in between the rotating part 2221 and the clamp cylinder 211 of pneumatic rotary joint 222 steadily, namely, the rotating part 2221 of pneumatic rotary joint 222 has played the effect for the rotatory air feed of clamp cylinder 211, avoided pressing from both sides the distortion and the extension that lead to the gas pipeline in-process that the clamp cylinder 211 rotates, guarantee to press from both sides the stable air feed of cylinder 211.

Specifically, in the present embodiment, as shown in fig. 5, the driving motor 221 is in transmission connection with the rotating portion 2221 of the pneumatic rotary joint 222 through the coupling 223, the fixing portion 2222 of the pneumatic rotary joint 222 is provided with a first air supply port 2223, the rotating portion 2221 of the pneumatic rotary joint 222 is provided with a second air supply port 2224, the gripping cylinder 211 is provided with a third air supply port 2111, the first air supply port 2223 is used for connecting an air source, the fixing portion 2222 of the pneumatic rotary joint 222 is used for supplying air to the rotating portion 2221 of the pneumatic rotary joint 222, the second air supply port 2224 is communicated with the third air supply port 2111 through an air supply line, and the rotating portion 2221 of the pneumatic rotary joint 222 is used for supplying air to the gripping cylinder 211.

As shown in fig. 1, a buffer assembly 230 is arranged between the clamping assembly 210 and the driving assembly 220, and the buffer assembly 230 buffers the stress and vibration of the clamping assembly 210 when clamping the bolt, so as to ensure the stability of clamping the bolt and the stability of the whole device.

Specifically, in the present embodiment, as shown in fig. 5, the buffering assembly 230 includes a connecting table 231, a floating guide post 232 and a resilient structure 233, wherein, as shown in fig. 8, the connecting table 231 includes a first connecting plate 2311, a second connecting plate 2312 and a cylinder 2313 connected between the first connecting plate 2311 and the second connecting plate 2312, which are oppositely spaced apart. As shown in fig. 5, the first connection plate 2311 is configured to be connected to the rotating portion 2221 of the pneumatic rotary joint 222, the second connection plate 2312 is provided with a second hole 2314, one end of the floating guide post 232 is inserted into the second hole 2314, the other end of the floating guide post 232 is connected to the clamping cylinder 211, the floating guide post 232 is sleeved with the elastic structure 233, and the elastic structure 233 is disposed between the second connection plate 2312 and the clamping cylinder 211. When the clamping bolt of the clamping assembly 210 is forced to vibrate, the floating guide post 232 can slide along the second hole 2314 to stretch or compress the elastic structure 233, so as to reduce the vibration of the clamping assembly 210. In this embodiment, the elastic structure 233 is a spring.

In the present embodiment, as shown in fig. 5, a plurality of floating guide posts 232 are arranged at intervals along the circumferential direction of the second connecting plate 2312, and each floating guide post 232 is provided with one elastic structure 233.

As shown in fig. 1, a sliding mechanism 400 is disposed on the mounting base 100, the clamping mechanism 200 is connected to the sliding mechanism 400, and the sliding mechanism 400 can drive the clamping mechanism 200 to slide on the mounting base 100, so as to facilitate the clamping mechanism 200 to slide to a proper position to clamp the bolt.

Specifically, in the present embodiment, as shown in fig. 5, the sliding mechanism 400 includes a sliding rail 410, a sliding plate 420 and a supporting plate 430, as shown in fig. 5 and fig. 9, the sliding rail 410 is disposed in the mounting groove 120 formed in the mounting base 100, the sliding plate 420 is slidably connected to the sliding rail 410, one end of the supporting plate 430 is connected to the sliding plate 420, the other end of the supporting plate 430 is connected to the coupler 223, and a reinforcing bar 440 is connected between the supporting plate 430 and the fixing portion 2222 of the pneumatic rotary joint 222, that is, the supporting plate 430 can support the clamping mechanism 200.

In this embodiment, as shown in fig. 2 and 10, the sliding mechanism 400 further includes a driver 450 and an adapter 460, the driver 450 is connected to the bottom of the mounting base 100, and the driving end of the driver 450 is connected to the sliding plate 420 through the adapter 460. Specifically, in this embodiment, the driver 450 is a driving cylinder, one end of the adapter 460 is connected to an output end of the driving cylinder, the other end of the adapter 460 penetrates through the third hole 130 formed in the mounting base 100 and then is connected to the sliding plate 420, and the driving cylinder drives the sliding plate 420 to slide along the sliding rail 410 through the adapter 460.

In the present embodiment, as shown in fig. 9, a pair of mounting grooves 120 is oppositely disposed at an interval to facilitate mounting of a pair of slide rails 410, and the third hole body 130 is opened between the pair of mounting grooves 120.

As shown in fig. 1, the tightening mechanism 300 includes a rotary tightening unit 310 and a reaction force support unit 320, the rotary tightening unit 310 being rotatable in a first direction with respect to the reaction force support unit 320, and the reaction force support unit 320 being capable of abutting and being fixed and applying a force opposite to the first direction to the tightening mechanism 300.

By providing the reaction force supporting member 320 to support the bolt mounting device in abutment, the reaction force supporting member 320 can apply an acting force opposite to the rotation direction of the rotation tightening member 310 to the bolt mounting device in the process of tightening the bolt by the rotation tightening member 310, thereby ensuring the tightening torque of the rotation tightening member 310.

Specifically, in the present embodiment, as shown in fig. 1 and 11, the rotary tightening assembly 310 includes a rotary sleeve 311 and a tightening shaft 312, the mounting base 100 is provided with a fourth hole 140, the fixed sleeve 110 is fixedly disposed in the fourth hole 140, the rotary sleeve 311 is rotatably mounted in the fixed sleeve 110, the tightening shaft 312 is rotatably disposed in the rotary sleeve 311, and a tightening sleeve 313 is disposed at an end of the tightening shaft 312. As shown in fig. 1 and 12, the reaction force supporting assembly 320 includes a reaction force arm 321, a rotation limiting block 322 and a fixed limiting block 323, the reaction force arm 321 is connected to one end of the rotating shaft sleeve 311 close to the tightening sleeve 313 (i.e., the lower end of the rotating shaft sleeve 311 shown in fig. 1), the rotation limiting block 322 is connected to the other end of the rotating shaft sleeve 311 (i.e., the upper end of the rotating shaft sleeve 311 shown in fig. 1), the fixed limiting block 323 is disposed on the upper end surface of the fixed shaft sleeve 110, a plurality of the fixed limiting blocks 323 are disposed at intervals along the circumferential direction of the fixed shaft sleeve 110, and the rotation limiting block 322 is disposed between two adjacent fixed limiting blocks 323. Therefore, the rotating shaft sleeve 311 can drive the reaction arm 321 to rotate within the range defined by the two fixed limiting blocks 323, and the reaction arm 321 can be adjusted to a proper supporting position.

In this embodiment, as shown in fig. 1 and 12, a reset elastic member 324 is connected between the rotation limiting block 322 and the mounting base 100, and the elastic member 324 drives the reaction arm 321 to reset. Specifically, as shown in fig. 12, a first connecting column 3221 is disposed on an upper surface of the rotation limiting block 322, a second connecting column 150 is disposed on an upper surface of the mounting base 100, and the elastic resetting member 324 is connected between the first connecting column 3221 and the second connecting column 150. In the present embodiment, the return elastic member 324 is a spring.

In this embodiment, as shown in fig. 4, a plurality of sets of the rotation limiting block 322 and the elastic restoring member 324 are provided.

In this embodiment, as shown in fig. 11, the tightening shaft 312 includes a driving shaft 3121, a connecting sleeve 3122 and a connecting shaft 3123, which are sequentially connected, the driving shaft 3121 and the connecting sleeve 3122 are engaged with each other by a cylindrical pin, an upper end of the connecting shaft 3123 is inserted into the connecting sleeve 3122 and engaged with the connecting sleeve 3122 by a cylindrical pin, and a lower end of the connecting shaft 3123 is connected with the tightening sleeve 313.

In this embodiment, as shown in fig. 11 and 13, the reaction arm 321 includes a connecting sleeve body 3211 and a supporting cylinder 3212. The connecting sleeve body 3211 is provided with a fifth hole 3213, the reaction arm 321 is detachably connected to the rotating shaft sleeve 311 through the fifth hole 3213 and the bolts penetrating through the fifth hole 3213, the fifth hole 3213 is provided with a plurality of groups at intervals along the circumferential direction of the connecting sleeve body 3211, and each group includes a plurality of fifth holes 3213, so as to ensure the connection strength between the reaction arm 321 and the rotating shaft sleeve 311. The supporting column 3212 is connected to the outer periphery of the connecting sleeve body 3211 and extends perpendicular to the connecting sleeve body 3211, and one end of the supporting column 3212, which is away from the connecting sleeve body 3211, is used for abutting against and supporting a proper position of the bolt at a position to be mounted.

In the present embodiment, as shown in fig. 1 and 2, the gripping mechanism 200 and the tightening mechanism 300 are disposed perpendicular to each other, and it is possible to ensure that the gripping mechanism 200 and the tightening mechanism 300 do not interfere with the workpiece at the time of gripping or tightening. The mounting seat 100 is provided with a gun changing plate 500, the robot is connected with the bolt mounting device through the gun changing plate 500, and the robot drives the bolt mounting device to rotate, so that the clamping mechanism 200 or the tightening mechanism 300 can mount the bolt. Specifically, as shown in fig. 9, a boss 160 is provided on the mounting base 100, and the gun changing plate 500 is mounted on the boss 160.

Of course, the clamping mechanism 200 and the tightening mechanism 300 may be disposed at other angles, or the clamping mechanism 200 and the tightening mechanism 300 may be disposed in parallel, and the robot may drive the bolt installation device to translate.

The embodiment also provides a concrete implementation mode of the bolt installation robot, which comprises the bolt installation device, and the robot is detachably connected with the bolt installation device through the gun replacing disk 500.

When the bolt mounting device of the present embodiment is used, first, the clamping mechanism 200 is used to clamp the bolt, the driving cylinder drives the sliding plate 420 to slide along the sliding rail 410, so that the clamping jaw 212 moves to the bolt, and the clamping cylinder 211 drives the clamping jaw 212 to clamp the bolt; then, the robot puts the bolt into the hole to be installed under the guidance of vision, the driving motor 221 drives the rotating part 2221 of the pneumatic rotary joint 222 and the clamping cylinder 211 to synchronously rotate, so that the clamping jaw 212 drives the bolt to rotate, and the bolt is pre-tightened in the hole to be installed; finally, the robot drives the bolt installation device to rotate until the tightening mechanism 300 is arranged corresponding to the pre-tightened bolt, the tightening sleeve 313 is sleeved on the head of the bolt, the counter force arm 321 is abutted and fixed at a proper position of the to-be-installed hole, and the tightening sleeve 313 is driven by the tightening shaft 312 to drive the bolt to be fastened in the to-be-installed hole. And repeating the steps to sequentially complete the installation of the plurality of bolts.

According to the above description, the present patent application has the following advantages:

1. the clamping mechanism can clamp the bolt, the bolt can be pre-tightened in the hole to be installed, and the pre-tightened bolt is tightened by the tightening mechanism, so that the bolt can be smoothly tightened, and the bolt and the hole to be installed cannot be damaged;

2. the tightening torque of the tightening mechanism is ensured by arranging a reaction arm for abutting support;

3. under the guidance of the vision recognition system, the robot can accurately realize automatic grabbing of the bolt by the robot, and automatic assembly of the bolt is realized.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the utility model.

Claims (10)

1. A bolt mounting arrangement comprising:

a mounting base (100);

the clamping mechanism (200) is arranged on the mounting base (100), the clamping mechanism (200) comprises a clamping assembly (210) and a driving assembly (220), the clamping assembly (210) is suitable for clamping a bolt and placing the bolt in a hole to be mounted, and the driving assembly (220) is suitable for driving the clamping assembly (210) to rotate and pre-tighten the bolt;

and the tightening mechanism (300) is arranged on the mounting seat (100), and the tightening mechanism (300) is suitable for fastening the pre-tightened bolt in the hole to be mounted.

2. The bolt mounting device according to claim 1, wherein the clamping assembly (210) comprises a clamping cylinder (211) and a clamping jaw (212), a plurality of pneumatic fingers are arranged on the clamping cylinder (211), and a plurality of clamping jaws (212) are arranged and respectively correspondingly connected with the plurality of pneumatic fingers.

3. The bolt mounting device according to claim 2, wherein the driving assembly (220) comprises a driving motor (221) and a pneumatic rotary joint (222), the driving motor (221) is in transmission connection with a rotating portion (2221) of the pneumatic rotary joint (222) and the clamping cylinder (211), and the rotating portion (2221) of the pneumatic rotary joint (222) is communicated with the clamping cylinder (211) through an air pipeline.

4. A bolt mounting arrangement according to any one of claims 1-3, characterized in that the tightening mechanism (300) comprises a rotary tightening assembly (310) and a counter force support assembly (320), the rotary tightening assembly (310) being rotatable in a first direction relative to the counter force support assembly (320), the counter force support assembly (320) being adapted to be secured against and apply a force to the tightening mechanism (300) opposite to the first direction.

5. Bolt mounting arrangement according to claim 4, characterized in that the rotating tightening assembly (310) comprises a rotating collar (311) and a tightening shaft (312), the rotating collar (311) being rotatably arranged with the mounting (100), the tightening shaft (312) being rotatably arranged within the rotating collar (311), a tightening sleeve (313) being arranged at an end of the tightening shaft (312), the counter force support assembly (320) being connected with the rotating collar (311).

6. The bolt mounting device according to claim 5, wherein the reaction force supporting assembly (320) comprises a reaction force arm (321), a rotation limiting block (322) and a fixed limiting block (323), the reaction force arm (321) is connected with one end of the rotating shaft sleeve (311) close to the tightening sleeve (313), the rotation limiting block (322) is connected with the other end of the rotating shaft sleeve (311), the fixed limiting block (323) is arranged on the mounting seat (100), the fixed limiting blocks (323) are arranged in plurality, and the rotation limiting block (322) is arranged between two adjacent fixed limiting blocks (323).

7. The bolt mounting arrangement according to claim 6, characterized in that a return spring (324) is connected between the rotation stopper (322) and the mounting seat (100).

8. The bolt mounting arrangement according to claim 6, characterized in that the mounting base (100) further comprises a fixed bushing (110) disposed on the mounting base (100), the rotating bushing (311) is rotatably disposed in the fixed bushing (110), and the fixed stopper (323) is disposed on the fixed bushing (110).

9. The bolt mounting device according to any one of claims 1-3, wherein a sliding mechanism (400) is disposed on the mounting base (100), the clamping mechanism (200) is connected to the sliding mechanism (400), and the sliding mechanism (400) can drive the clamping mechanism (200) to slide along the mounting base (100).

10. A bolt installation robot comprising the bolt installation apparatus according to any one of claims 1 to 9.

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