CN220278805U - Steel pipe end assembling device with bolt picking robot - Google Patents
Steel pipe end assembling device with bolt picking robot Download PDFInfo
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- CN220278805U CN220278805U CN202321429004.2U CN202321429004U CN220278805U CN 220278805 U CN220278805 U CN 220278805U CN 202321429004 U CN202321429004 U CN 202321429004U CN 220278805 U CN220278805 U CN 220278805U
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- bolt
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- picking robot
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 85
- 239000010959 steel Substances 0.000 title claims abstract description 85
- 230000007246 mechanism Effects 0.000 claims abstract description 30
- 239000000463 material Substances 0.000 claims abstract description 12
- 238000000034 method Methods 0.000 claims description 6
- 238000001179 sorption measurement Methods 0.000 claims description 6
- 230000000007 visual effect Effects 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000003754 machining Methods 0.000 abstract description 2
- 230000008859 change Effects 0.000 description 8
- 238000010521 absorption reaction Methods 0.000 description 5
- 238000007789 sealing Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Abstract
The utility model relates to the technical field of steel pipe machining devices, in particular to a steel pipe end assembling device with a bolt picking robot, which comprises a material frame, a picking robot, a robot moving track, a roller way and a bolt assembling mechanism, wherein the bolt assembling mechanism comprises a bolt fixing frame and a bolt spring needle; the utility model controls the distance that the bolt is sprung into the steel pipe, so that the bolt keeps the correct orientation, reduces manual errors, avoids repeated processing and improves the production efficiency.
Description
Technical Field
The utility model relates to the technical field of steel pipe machining devices, in particular to a steel pipe end assembly device with a bolt sorting robot.
Background
The steel pipe is rolled, formed, cleaned and welded to the bolt and the conical head to form the rod of the bolt net frame structure. During processing, bolts are usually plugged into two ends of a steel pipe manually, nuts of the bolts face inwards, screws face outwards, and then conical heads (or sealing plates) are put in and welded and fixed. However, during manual processing, the plugging distance of the bolt in the steel pipe cannot be accurately controlled, so that the screw rod of the bolt cannot smoothly pass through the conical head (or the sealing plate) when the conical head (or the sealing plate) is subsequently placed in the steel pipe; the screw cap of the bolt faces outwards and the screw rod faces inwards when the screw cap is manually inserted into the screw hole; the situation that the bolts are needed to be plugged again for subsequent operation, and the production efficiency is affected.
Disclosure of Invention
Aiming at the defects of the prior art, the utility model provides the steel pipe end assembly device with the bolt picking robot, which controls the distance that the bolts are sprung into the steel pipe, so that the bolts keep correct orientation, reduces manual errors, avoids repeated processing and improves the production efficiency.
The steel pipe end assembling device with the bolt picking robot comprises a material frame, the picking robot, a robot moving track, a roller way and a bolt assembling mechanism, wherein the material frame is used for storing bolts, the picking robot can identify and grasp the required bolts according to a master control system, and the picking robot moves in the robot moving track so as to adapt to steel pipes with different lengths;
the picking robot comprises a picking robot arm, a bolt picking fixing head, a bolt picking quick-change head, a camera, a bolt adsorption electromagnet, an electromagnet fixing bracket and a quick-change head clamping head, wherein the picking robot arm and the quick-change head bracket are arranged on a robot base, the robot base can move on a robot moving track, and 3 bolt picking quick-change heads are arranged on the quick-change head bracket;
the bolt assembly mechanism comprises an assembly mechanism moving track, steel pipe fixing bayonets, a bolt fixing frame, bolt spring-in needles, a steel pipe moving frame, a moving frame cylinder and an assembly mechanism fixing frame, wherein the steel pipe fixing bayonets, the bolt fixing frame and the bolt spring-in needles are arranged on the assembly mechanism fixing frame, the assembly mechanism fixing frame moves along the length direction of the assembly mechanism moving track so as to realize bolt assembly of steel pipes with different lengths, the steel pipe fixing bayonets are V-shaped notches, one of the two ends of each steel pipe is arranged, and when the steel pipe assembly mechanism works, the steel pipe is placed in the V-shaped notch of the steel pipe fixing bayonets;
the picking robot places the picked bolts in the V-shaped clamping grooves of the bolt fixing frame, nuts of the bolts are kept inwards when the bolts are placed, screw rods face outwards, after the bolts are placed, the master control system gives out instructions, the bolts spring into cylinders of the needles to work, the bolts spring into the needles move instantaneously along the length direction of the steel pipe from outside to inside, the bolts spring into the needles to spring out, the bolts return to the original positions, and the generated kinetic energy springs the bolts into the steel pipe along the V-shaped clamping grooves of the bolt fixing frame.
Further, the material frames are sequentially arranged at the left end and the right end of the robot movement track, picking robots at the two ends are respectively responsible for identifying bolts in the three material frames and grabbing, visual identification is matched by taking the length and the diameter of the bolts as characteristics, and accurate identification and accurate grabbing are achieved.
Further, select robot arm end connection to have the bolt to select the fixed head, the camera of visual identification is installed to the fixed head is selected to the bolt, and the fixed head is selected to the bolt and the quick change head buckle is connected is selected to the bolt, and the quick change head other end is connected with the bolt and adsorbs the electro-magnet is the V type to the bolt, and the during operation, the bolt is followed length direction and is adsorbed in the V type draw-in groove of bolt absorption electro-magnet.
Further, the bolt picking fixing head can rotate by 360 degrees along the picking robot arm, the bolt picking fixing head is matched with the motion of the picking robot arm, the motion of any point in a working area can be achieved, when the specification of the bolt and the specification of the bolt adsorption electromagnet are not matched in working, under the instruction of the master control system, the picking robot automatically moves to the position of the quick-change head bracket, the bolt picking quick-change head is replaced, and the automatic picking of bolts with different specifications is achieved.
Further, after the bolts are sprung into the steel pipe along the V-shaped clamping grooves of the bolt fixing frames, the movable frame cylinder starts to work, the steel pipe movable frame is lifted upwards, the steel pipe is moved to the roller way along the inclined edges of the steel pipe movable frame, and the steel pipe is transported to the next working procedure through the roller way.
By adopting the technical scheme, compared with the prior art, the utility model has the beneficial effects that:
according to the utility model, the bolt is sprung into the steel pipe along the bolt fixing frame by the action of the bolt spring-in aiming at the bolt, so that the distance of the bolt sprung into the steel pipe is controlled, and the situation that the bolt enters the steel pipe too deeply to connect with a conical head (or a sealing plate) which is assembled in a subsequent process is avoided;
the picking robot visually recognizes and grabs the bolts, and controls the direction of the bolts put into the bolt fixing frame in cooperation with the rotation of the bolt picking fixing head and the movement of the picking robot arm, so that the bolts entering the steel pipe stably maintain the correct installation state of the nuts facing inwards and the screws facing outwards, thereby saving the physical strength and avoiding manual errors;
the picking robot moves on the moving track of the robot, can adapt to steel pipes with different lengths, moves to the position of the quick-change head bracket under the instruction of the master control system, can change different bolt picking quick-change heads and advances, and is used for picking bolts with different specifications;
after the bolts are sprung into the steel pipes, the steel pipe moving frame is lifted upwards by the moving frame air cylinder, the steel pipes move towards the roller way along the inclined edges of the steel pipe moving frame, and the steel pipes are stably transferred to the next working procedure (the conical head or the sealing plate is installed).
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present utility model;
FIG. 2 is a schematic view of a picking robot;
FIG. 3 is a schematic view of a structure of a picking robot arm;
FIG. 4 is a schematic view of the structure of a quick-change head holder;
FIG. 5 is a schematic structural view of a bolt assembly mechanism;
FIG. 6 is a schematic view of the structure of the assembly mechanism mount;
FIG. 7 is a schematic view of the structure of a bolt pop-in needle;
FIG. 8 is a schematic view of the structure of a bolt without a steel pipe;
FIG. 9 is a schematic view of the structure after the bolts are sprung into the steel pipe;
FIG. 10 is a process flow diagram of the present utility model;
reference numeral, 1-material frame, 2-sorting robot, 3-robot movement track, 4-roller way, 5-bolt assembly mechanism, 6-bolt and 7-steel tube;
the robot comprises a picking robot arm, a bolt picking fixing head, a bolt picking quick-change head, a camera, an electromagnet attracted by a bolt, an electromagnet fixing bracket and a quick-change head clamping head, wherein the picking robot arm is 201-and the bolt picking fixing head is 202-and the quick-change head is 203-and the camera is 205-and the electromagnet is attracted by the bolt;
301-robot base, 302-quick-change head bracket;
501-an assembly mechanism moving track, 502-a steel tube fixing bayonet, 503-a bolt fixing frame, 504-a bolt spring needle, 505-a steel tube moving frame, 506-a moving frame cylinder, 507-an assembly mechanism fixing frame.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is evident that the embodiments described are only some embodiments of the present utility model, but not all embodiments. Other embodiments, or equivalents, which are apparent to those skilled in the art based on the examples provided herein, are intended to be within the scope of the utility model.
As shown in fig. 1 to 10, the present utility model provides a steel pipe end assembly device with a bolt picking robot, comprising a material frame 1, a picking robot 2, a robot moving track 3, a roller table 4 and a bolt assembly mechanism 5; the material frame 1 is used for storing bolts 6, the picking robot 2 is provided with a visual recognition system, and can recognize the required bolts according to a general control system, and the picking robot 2 moves on the robot movement track 3 so as to adapt to steel pipes with different lengths;
the picking robot 2 comprises a picking robot arm 201, a bolt picking fixing head 202, a bolt picking quick-change head 203, a camera 204, a bolt adsorption electromagnet 205, an electromagnet fixing bracket 206 and a quick-change head clamping head 207, wherein the picking robot arm 201 and the quick-change head bracket 302 are arranged on a robot base 301, the robot base 301 can move along a robot moving track 3, and 3 bolt picking quick-change heads 203 are arranged on the quick-change head bracket 302;
the bolt assembling mechanism 5 comprises an assembling mechanism moving track 501, a steel pipe fixing bayonet 502, a bolt fixing frame 503, a bolt spring-in needle 504, a steel pipe moving frame 505, a moving frame cylinder 506 and an assembling mechanism fixing frame 507, wherein the steel pipe fixing bayonet 502, the bolt fixing frame 503 and the bolt spring-in needle 504 are arranged on the assembling mechanism fixing frame 507, the assembling mechanism fixing frame 507 moves along the length direction of the assembling mechanism moving track 501 so as to realize bolt assembling of steel pipes with different lengths, the steel pipe fixing bayonet 502 is a V-shaped notch, one steel pipe is respectively arranged at two ends of the steel pipe, and when the steel pipe assembling mechanism works, the steel pipe is placed in the V-shaped notch of the steel pipe fixing bayonet 502;
after the general control system sends out an instruction, the picking robot 2 places the picked bolts in the V-shaped clamping grooves of the bolt fixing frame 503, nuts of the bolts 6 are kept inwards when the bolts are placed, the screws are outwards, after the bolts 6 are placed, the general control system sends out an instruction, the bolts spring into cylinders of the needles 504 to work, the needle heads of the bolts spring into the needles 504 at two ends move instantaneously along the length direction of the steel pipe from outside to inside, the bolts spring into the needles 504 spring out and then return to the original positions, and the generated kinetic energy springs the bolts into the steel pipe along the V-shaped clamping grooves of the bolt fixing frame 503.
Wherein, material frame 1 arranges in proper order at robot motion track 3 both ends, and picking robot 2 at both ends is responsible for respectively at three material frame 1 internal identification bolt 6 to snatch, and visual identification matches with the length and the diameter of bolt 6 as the characteristic, realizes accurate discernment, accurate snatch.
Wherein, select robot arm 201 end connection has the bolt to select fixed head 202, and the camera 204 of visual identification is installed to the fixed head 202 is selected to the bolt, and the fixed head 202 is selected to the bolt and the quick change head 203 buckle is connected with to the bolt, and the quick change head 203 other end is selected to the bolt is connected with bolt absorption electro-magnet 205, and bolt absorption electro-magnet 205 is the V type, and during operation, bolt 6 adsorbs in the V type draw-in groove of bolt absorption electro-magnet 205 along length direction.
Wherein, the fixed head 202 can carry out 360 degrees rotary motion along picking robot arm 201, and during operation, when bolt 6 and bolt absorption electro-magnet 205 specification mismatch, under the instruction of general control system, picking robot 2 moves to quick change head support 302 position, carries out the change of bolt picking quick change head 203, realizes the automatic picking of different specification bolts.
After the bolts 6 are sprung into the steel pipe along the V-shaped clamping grooves of the bolt fixing frames 503, the moving frame air cylinders 506 start to work, the steel pipe moving frames 505 are lifted upwards, the steel pipe moves towards the roller table 4 along the inclined edges of the steel pipe moving frames 505, and the steel pipe is transported to the next process through the roller table 4.
The preferred embodiments of the utility model disclosed above are intended only to assist in the explanation of the utility model. The preferred embodiments are not intended to be exhaustive or to limit the utility model to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the utility model and the practical application, to thereby enable others skilled in the art to best understand and utilize the utility model. The utility model is limited only by the claims and the full scope and equivalents thereof.
Claims (6)
1. The steel pipe end assembling device with the bolt picking robot is characterized by comprising a material frame (1), the picking robot (2), a robot movement track (3), a roller way (4) and a bolt assembling mechanism (5);
the picking robots (2) at the two ends recognize and grasp bolts (6) in the material taking frame (1);
the picking robot (2) moves along the robot movement track (3) and is used for adapting to steel pipes with different lengths;
the bolt assembling mechanism (5) comprises a bolt fixing frame (503) and a bolt spring-in needle (504), the picking robot (2) places the bolts (6) in a V-shaped clamping groove of the bolt fixing frame (503), nuts for holding the bolts (6) are inwards placed, the screw rod is outwards placed, after the bolts are placed, the general control system sends out instructions, a cylinder of the bolt spring-in needle (504) works, the bolt spring-in needle (504) at two ends moves instantaneously along the length direction of a steel pipe from outside to inside, and the bolts (6) are spring-in the steel pipe along the V-shaped clamping groove of the bolt fixing frame (503).
2. The steel pipe end assembly device with the bolt picking robot according to claim 1, characterized in that the picking robot (2) comprises a picking robot arm (201) and a bolt picking quick-change head (203), the end part of the picking robot arm (201) is connected with a bolt picking fixing head (202), the bolt picking fixing head (202) is provided with a camera (204) for visual identification, one end of the bolt picking quick-change head (203) is connected with the bolt picking fixing head (202) in a buckling mode, the other end of the bolt picking quick-change head (203) is connected with a bolt adsorption electromagnet (205), and in operation, a bolt (6) is adsorbed in a V-shaped clamping groove of the bolt adsorption electromagnet (205) along the length direction.
3. The steel pipe end assembly device with the bolt picking robot according to claim 2, characterized in that the bolt picking fixed head (202) rotates 360 degrees around the picking robot arm (201), the picking robot arm (201) is installed on the robot base (301), the robot base (301) is connected with a quick-change head support (302), and when the specification of the bolt (6) is not matched with that of the bolt adsorption electromagnet (205), the picking robot (2) moves to the position of the quick-change head support (302) under the instruction of the general control system, and the bolt picking quick-change head (203) is replaced.
4. The steel pipe end assembling apparatus with the bolt picking robot according to claim 1, wherein the bolt assembling mechanism (5) further comprises an assembling mechanism moving rail (501), a steel pipe fixing bayonet (502), a steel pipe moving frame (505), a moving frame cylinder (506) and an assembling mechanism fixing frame (507), and the assembling mechanism fixing frame (507) moves along the length direction of the assembling mechanism moving rail (501) for realizing bolt assembling of steel pipes with different lengths.
5. The steel pipe end assembling device with the bolt picking robot according to claim 4, wherein the steel pipe fixing bayonets (502) are V-shaped notches, one is arranged at each of two ends of the steel pipe, and the steel pipe is placed in the V-shaped notch of the steel pipe fixing bayonets (502).
6. The steel pipe end assembling apparatus with the bolt picking robot according to claim 4, wherein after the bolts (6) are sprung into the steel pipe along the V-shaped clamping grooves of the bolt fixing frames (503), the moving frame cylinder (506) is started, the steel pipe moving frame (505) is lifted upwards, the steel pipe moves to the roller table (4) along the inclined edges of the steel pipe moving frame (505), and is transported to the next process through the roller table (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321429004.2U CN220278805U (en) | 2023-06-07 | 2023-06-07 | Steel pipe end assembling device with bolt picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321429004.2U CN220278805U (en) | 2023-06-07 | 2023-06-07 | Steel pipe end assembling device with bolt picking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220278805U true CN220278805U (en) | 2024-01-02 |
Family
ID=89331314
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321429004.2U Active CN220278805U (en) | 2023-06-07 | 2023-06-07 | Steel pipe end assembling device with bolt picking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220278805U (en) |
-
2023
- 2023-06-07 CN CN202321429004.2U patent/CN220278805U/en active Active
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