WO2020215648A1 - 螺栓位姿检测仪及螺栓位姿检测拧紧装置 - Google Patents

螺栓位姿检测仪及螺栓位姿检测拧紧装置 Download PDF

Info

Publication number
WO2020215648A1
WO2020215648A1 PCT/CN2019/114412 CN2019114412W WO2020215648A1 WO 2020215648 A1 WO2020215648 A1 WO 2020215648A1 CN 2019114412 W CN2019114412 W CN 2019114412W WO 2020215648 A1 WO2020215648 A1 WO 2020215648A1
Authority
WO
WIPO (PCT)
Prior art keywords
bolt
rod
fixed
telescopic
pose
Prior art date
Application number
PCT/CN2019/114412
Other languages
English (en)
French (fr)
Inventor
张建富
冯平法
罗文涛
吴志军
郁鼎文
Original Assignee
清华大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 清华大学 filed Critical 清华大学
Publication of WO2020215648A1 publication Critical patent/WO2020215648A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
    • B23P19/06—Screw or nut setting or loosening machines

Definitions

  • This application relates to the technical field of bolt assembly of roulette parts, and in particular to a bolt pose detector and a bolt pose detection and tightening device.
  • the bolt holes of roulette parts are not only numerous, but often present a dense and asymmetrical distribution.
  • the existing X/Y-axis servo feed tightening gun is used to assemble roulette parts due to the difficulty of operation, resulting in low assembly efficiency.
  • the existing multi-axle tightening device for wheels is complicated in structure and requires high synchronization control between each axis, so that the device cannot meet the requirements of modularity and independence of each axis, and the assembly objects are limited to the range of the wheel disc with symmetrical bolt hole distribution.
  • the existing multi-axle tightening device for wheels has poor online adjustment shaft flexibility. Usually, in order to meet the assembly of a type of part, the bolt position is adjusted and locked first, and the position is readjusted when the next type of part is assembled.
  • an object of the present invention is to provide a bolt posture detector, which realizes online monitoring and adjustment of the posture when the bolt is tightened, and improves the assembly quality of the bolt.
  • Another object of the present invention is to provide a bolt posture detection and tightening device, which realizes online monitoring, adjustment and tightening of the posture when the bolt is tightened, and improves the bolt assembly quality and assembly efficiency.
  • Lifting rod which is vertically arranged and can be used for lifting movement
  • the upper end of the floatable adjustment head is connected with the bottom end of the lifting rod with a spherical hinge, so that the floatable adjustment head can rotate in any angle direction;
  • a posture detection piece the upper surface of the posture detection piece is fixed on the bottom end of the floating adjustment head, and a plurality of conductive pieces are evenly arranged on the lower surface of the posture detection piece.
  • a current meter is arranged on the conductive sheet, and a plurality of the conductive sheets are numbered in sequence.
  • the bolt pose detector of the embodiment of the first aspect of the present invention when the bolt is assembled, the bolt pose detector is placed directly above the bolt to be tested, and the lifting rod is lowered at a uniform speed, so that the lower surface of the pose detection piece is slow Contact with the upper surface of the bolt to be tested, since the conductive sheet can convert the pressure signal into an electrical signal, the change sequence of the current value of the galvanometer directly reflects the contact sequence of the conductive sheet, and the space where the bolt pose deviates from the normal pose can be obtained by using the spatial geometric relationship angle.
  • the floating adjusting head flexibly adjusts the posture of the bolt according to the spatial angle, so that the bolt can be adjusted back to the normal posture, thereby improving the quality of bolt assembly.
  • the first aspect of the present invention further includes an outer cylinder shell for supporting the lifting rod, and the lifting rod is vertically mounted on the outer cylinder shell along the axial direction of the outer cylinder shell. Said in the outer cylinder shell.
  • the conductive sheet is a pressure sensitive sensor.
  • the bolt posture detector when the bolt posture detector detects the bolt assembly posture, the bolt posture detector is positioned directly above the bolt, and the lifting rod is lowered at a uniform speed at a speed V.
  • the conductive sheet touches the surface of the nut of the bolt, record the serial number of the first ammeter showing an increase in current value and time t 1 , the lifting rod continues to drop at a uniform speed, and record the last current showing an increase in current value Counting the serial number and time t 2 , the deflection angle of the bolt is calculated according to the following formula:
  • d is the nut diameter of the bolt
  • ⁇ is the deflection angle of the bolt posture.
  • a multi-section rotating body including a central column and a plurality of rotating rings, the plurality of rotating rings are sleeved on the central column and can rotate around the outer peripheral surface of the central column;
  • a plurality of telescopic servo rods, one ends of the plurality of telescopic servo rods are respectively fixed on the outer peripheral surface of the plurality of the rotating rings in a one-to-one correspondence, and the radial projection of the plurality of telescopic servo rods on the central column Radially distributed on the plane;
  • a plurality of bolt pose detectors and a plurality of tightening devices is the bolt pose detector according to any one of claims 1-4, and the other ends of some of the telescopic servo rods are respectively One-to-one correspondence is fixed with a plurality of the bolt pose detectors, the other ends of the remaining telescopic servo rods are respectively fixed with a plurality of the tightening devices in a one-to-one correspondence, and the bolt pose detector and the The tightening equipment is staggered and spaced on the radial projection plane of the central column.
  • the bolt position detection and tightening device has the following advantages: first, the positions of the tightening device and the bolt position detector can be flexibly adjusted online, which can meet the requirements of multi-position bolts for any roulette parts At the same time, the detection, adjustment and tightening can be completed automatically without manual intervention, which improves the bolt assembly quality and assembly efficiency. Second, the pose detector uses the conductive sheet of the pose detection piece to measure the position deviation of the bolt with the current change, and can accurately calculate the deviation of the small angle through the spatial geometry inference method, which improves the accuracy of the pose detection and adjustment. It is helpful to improve the quality of bolt assembly.
  • the multi-segment rotating body further includes a plurality of limiting positioning rings, and the plurality of limiting positioning rings are sleeved and fixed on the outer peripheral surface of the central column, and are distributed on each At both ends of the rotating ring, each rotating ring is restricted from moving axially along the central column.
  • two restricting blocks are provided on the outer circumferential surface of each restricting positioning ring at intervals along the annular direction to restrict the expansion and contraction between two adjacent restricting blocks.
  • the rotation range of the servo rod is provided on the outer circumferential surface of each restricting positioning ring at intervals along the annular direction to restrict the expansion and contraction between two adjacent restricting blocks.
  • each of the restriction blocks includes a radially extending connecting rod and an axially extending stop rod, wherein one end of the connecting rod is fixed to the restricting positioning ring The other end of the outer peripheral surface is fixed on the stop rod, and the rod length of the stop rod is greater than the axial length of the limiting positioning ring.
  • the telescopic servo rod includes a fixed rod barrel and a telescopic thin rod, one end of the fixed rod barrel is fixed on the outer circumferential surface of the rotating ring, and one end of the telescopic thin rod Extend from the other end of the fixed rod barrel into the fixed rod barrel, and the telescopic thin rod can extend and retract relative to the fixed rod barrel, and the other end of the telescopic thin rod is connected to the tightening device Or the bolt pose detector is fixed.
  • the other end of the telescopic thin rod is fixed to the housing tube of the bolt pose detector.
  • Fig. 1 is a schematic diagram of the structure of a bolt pose detector according to an embodiment of the first aspect of the present invention.
  • Fig. 2 is a schematic diagram of a posture detection piece in the bolt posture detector of the embodiment of the first aspect of the present invention.
  • Fig. 3 is a schematic diagram of the working process of the bolt pose detector according to the embodiment of the first aspect of the present invention.
  • Figure 4 is the bolt to be tested of the bolt pose detector of the embodiment of the first aspect of the present invention
  • Fig. 5 is a schematic structural diagram of a bolt position detection and tightening device according to an embodiment of the second aspect of the present invention.
  • FIG. 6 is a schematic diagram of the assembly of the multi-section rotating body and the telescopic servo rod in the bolt position detection and tightening device of the second aspect of the present invention.
  • Fig. 7 is a schematic structural diagram of a restricting and positioning ring in a bolt position detection and tightening device according to an embodiment of the second aspect of the present invention.
  • Multi-section rotating body 5 Central column 51
  • Rotating ring 52
  • Telescopic servo rod 6 Fixed rod barrel 61 Telescopic thin rod 62
  • the bolt pose detector 100 according to the embodiment of the first aspect of the present invention will be described below with reference to FIGS. 1 to 4.
  • the bolt pose detector 100 includes a lifting rod 1, a floatable adjusting head 2 and a pose detection piece 3.
  • the lifting rod 1 is installed vertically and can be used for lifting movement;
  • the upper end of the floating adjustment head 2 is connected with the bottom end of the lifting rod 1 with a spherical hinge, so that the floating adjustment head 2 can rotate in any angle direction;
  • the upper surface of the detection piece 3 is fixed on the bottom end of the floating adjustment head 2, and the lower surface of the pose detection piece 3 is evenly arranged with a plurality of conductive sheets 31 in a circular direction.
  • Each conductive sheet 31 is provided with a current meter,
  • the conductive sheets 31 are numbered sequentially.
  • the lifting rod 1 is vertically arranged and can be moved up and down, which can drive the floating adjustment head 2 and the conductive sheet 31 to rise and fall synchronously, which is beneficial to realize that the conductive sheet 31 detects whether the posture of the bolt assembly position is correct, and It is beneficial for the floating adjustment head 2 to correct and adjust the posture of the bolt assembly position.
  • the upper end of the floating adjustment head 2 is connected with the bottom end of the lifting rod 1 with a spherical hinge, so that the floating adjustment head 2 can rotate in any angle direction. Since the hemispherical connection part of the floating adjusting head 2 has a rotation range of 90 degrees, in conjunction with the lifting movement of the lifting rod, the abnormal posture of the bolt can be flexibly and actively adjusted, so that the bolt can be adjusted back to the normal posture, and the quality of bolt assembly can be improved.
  • the upper surface of the pose detection sheet 3 is fixed on the bottom end of the floating adjustment head 2, and a plurality of conductive sheets 31 are evenly arranged on the lower surface of the pose detection sheet 3, and each conductive sheet 31 is provided with a current meter.
  • the plurality of conductive sheets 31 are numbered sequentially. Therefore, when the bolt is assembled, the bolt position detector 100 is positioned directly above the bolt to be tested, and the lifting rod 1 is lowered at a uniform speed, so that the lower surface of the position detection piece 3 slowly contacts the upper surface of the bolt to be tested.
  • the conductive sheet can convert the pressure signal into an electrical signal, and the changing sequence of the galvanometer can directly reflect the contact sequence of the conductive sheet 31, and the spatial angle of the bolt posture deviating from the normal posture can be obtained by using the spatial geometric relationship.
  • the floating adjusting head 2 flexibly adjusts the posture of the bolt according to the spatial angle, so that the bolt can be adjusted back to the normal posture.
  • the bolt position detector 100 of the embodiment of the first aspect of the present invention when the bolt is assembled, the bolt position detector 100 is positioned directly above the bolt to be tested, and the lifting rod 1 is lowered at a uniform speed, so that the position detection piece 3 The lower surface slowly touches the upper surface of the bolt to be tested. Since the conductive sheet can convert the pressure signal into an electrical signal, the changing sequence of the current value of the galvanometer directly reflects the contact sequence of the conductive sheet 31, and the bolt position deviation can be obtained by using the spatial geometric relationship. The spatial angle of the normal pose. The floating adjustment head 2 flexibly adjusts the posture of the bolt according to the spatial angle, so that the bolt can be adjusted back to the normal posture, thereby improving the quality of bolt assembly.
  • the present invention further includes an outer cylinder shell 4, which is used to support a lifting rod 1, which can be lifted and lowered along the axial direction of the outer cylinder shell 4.
  • the outer cylinder shell 4 is used to support the lifting rod 1 on the one hand, and the bolt pose detector 100 can be installed on other supporting components through the housing, and on the other hand, it can guide the lifting movement of the lifting rod 1, which is beneficial to The lifting rod 1 rises and falls smoothly.
  • the outer cylindrical shell 4 is a cylindrical outer cylindrical shell 4.
  • the conductive sheet 31 is a pressure sensitive sensor.
  • the pressure signal is converted into an electric signal by the pressure sensitive sensor, and the electric signal is reflected by the current value of the ammeter on the conductive sheet 31.
  • the bolt pose detector 100 when the bolt pose detector 100 detects the bolt assembly pose, the bolt pose detector 100 is positioned directly above the bolt, and the lifting rod 1 Decrease at a uniform speed at the speed V.
  • the conductive sheet 31 touches the surface of the nut of the bolt, record the serial number and time t 1 of the first ammeter that shows an increase in current value.
  • the serial number of the ammeter with increasing value and the time t 2 , the deflection angle of the bolt is obtained according to the following formula:
  • d is the nut diameter of the bolt
  • ⁇ is the deflection angle of the bolt posture. Therefore, the bolt position deviation can be accurately detected, and the accuracy of bolt position detection and adjustment can be improved.
  • the present invention also provides a bolt position detection and tightening device 200, which is an automated device based on bolt position detection, adjustment and bolt tightening for roulette parts, which can solve the problem of dense bolt holes and incorrect placement of bolts in roulette parts. The resulting assembly quality and efficiency problems.
  • the bolt position detection and tightening device 200 includes a multi-segment rotating body 5, a plurality of telescopic servo rods 6, a plurality of bolt position detectors 100 and a plurality of Tighten the device 7.
  • the multi-section rotating body 5 includes a central column 51 and a plurality of rotating rings 52, the plurality of rotating rings 52 are sleeved on the central column 51 and can rotate around the outer circumferential surface of the central column 51; one end of the plurality of telescopic servo rods 6 respectively One-to-one correspondence is fixed on the outer peripheral surface of the plurality of rotating rings 52, and the plurality of telescopic servo rods 6 are distributed at radial intervals on the radial projection plane of the central column 51; the bolt pose detector 100 is the first In the bolt pose detector 100 of any embodiment, the other ends of the plurality of telescopic servo rods 6 are respectively fixed to the plurality of bolt pose detectors 100 or the plurality of tightening devices 7 in a one-to-one correspondence, and the bolt pose detector 100 and the tightening device 7 are staggered and spaced on the radial projection plane of the central column 51.
  • the multi-segment rotating body 5 includes a central column 51 and a plurality of rotating rings 52, and the plurality of rotating rings 52 are sleeved on the central column 51 and can rotate around the outer peripheral surface of the central column 51.
  • the central column 51 is the supporting component and positioning component of the bolt position detection and tightening device 200.
  • the central column 51 should always be perpendicular to the machining surface of the part and above the center of the roulette part.
  • the central column 51 can be externally connected to the manipulator for axis To the displacement.
  • the rotating ring 52 can rotate around the outer circumference of the central column 51 and can be controlled by an independent motor; that is, the rotation of each rotating ring 52 is controlled by an independent motor to realize the rotation of the rotating ring 52 around the outer circumference of the central column 51
  • the face rotates and can be controlled flexibly.
  • One end of the plurality of telescopic servo rods 6 are respectively fixed on the outer peripheral surface of the plurality of rotating rings 52 in a one-to-one correspondence, and the plurality of telescopic servo rods 6 are distributed at radial intervals on the radial projection plane of the central column 51; On the one hand, one end of the telescopic servo rod 6 is fixed to the outer peripheral surface of the rotating ring 52, and the other end is fixed to the tightening device 7 or the bolt pose detector 100.
  • the rotating ring 52 When the rotating ring 52 rotates, it will drive the telescopic servo rod 6 and The tightening device 7 or the bolt pose detector 100 fixed on the telescopic servo rod 6 rotates synchronously, so that it is convenient to control the tightening device 7 or the bolt pose detector 100 directly above the bolt to be assembled;
  • the telescopic servo rod 6 is a This kind of telescopic servo rod with its own servo motor can make telescopic motion to realize the overall length adjustment of the telescopic servo rod 6, so that the distance position of the tightening device 7 or the bolt pose detector 100 relative to the radial direction of the central column 51 can be adjusted online, So that the tightening device 7 or the bolt pose detector 100 is directly above the bolt to be assembled; on the other hand, the telescopic servo rod 6 is distributed radially at intervals on the radial projection plane of the central column 51, which is beneficial to avoid contact with multiple The tightening device 7 adjacent to the
  • the other ends of part of the telescopic servo rods 6 are respectively fixed to a plurality of bolt pose detectors 100 in one-to-one correspondence, and the other ends of the remaining telescopic servo rods 6 are respectively fixed to a plurality of tightening devices 7 in a one-to-one correspondence, and the bolt pose detectors 100 and the tightening device 7 are staggered and spaced on the radial projection plane of the central column 51.
  • the simultaneous detection, adjustment, and tightening functions of multi-position bolts for roulette parts can be improved, and the roulette type The quality and efficiency of multi-position bolt assembly of parts.
  • the tightening device 7 adopts a commonly used hanging vertical tightening device, and the lifting device of the tightening device 3 can drive the tightening head of the tightening device 7 to lift freely in the direction perpendicular to the surface of the part.
  • FIG. 1 there are eight rotating rings 52, and the eight rotating rings 52 are sleeved on the central column 51 and can rotate around the outer peripheral surface of the central column 51; the eight rotating rings 52 telescopic servo rods 6 have Eight and eight telescopic servo rods 6 are fixed at one end to the outer peripheral surface of the eight rotating rings 52, and the eight telescopic servo rods 6 are equally spaced on the radial projection plane of the central column 51. Tighten the device 7 and the bolt position.
  • posture detectors 100 there are four posture detectors 100 in each, the other ends of the four telescopic servo rods 6 are fixed to the four bolt pose detectors 100 respectively, and the other ends of the remaining four telescopic servo rods 6 are tightened one by one.
  • the device 7 is fixed, and the bolt pose detector 100 and the tightening device 7 are staggered and spaced on the radial projection plane of the central column 51.
  • the bolt pose detection and tightening device 200 has the following advantages: first, the positions of the tightening device 7 and the bolt pose detector 100 can be flexibly adjusted online, which can satisfy any roulette parts Simultaneous detection, adjustment and tightening of multi-position bolts can be automatically completed without manual intervention, which improves bolt assembly quality and assembly efficiency. Second, the pose detector uses the conductive sheet 31 of the pose detection piece 3 to measure the position deviation of the bolt with the current change, and can accurately calculate the deviation of the small angle through the spatial geometry inference method, which improves the accuracy of the pose detection and adjustment , which helps to improve the quality of bolt assembly.
  • the inner diameter of the rotating ring 52 is the same as the outer diameter of the central column 51, so that when the rotating ring 52 is sleeved on the central column 51, the inner circumferential surface of the rotating ring 52 and the central column 51 The contact of the outer peripheral surface ensures that the rotating ring 52 can rotate smoothly.
  • the multi-segment rotating body 5 further includes a plurality of restricting positioning rings 53, and the plurality of restricting positioning rings 53 are sleeved and fixed on the outer peripheral surface of the central column 51 It is distributed on the two ends of each rotating ring 52 to limit the axial movement of each rotating ring 52 along the central column 51, which is beneficial to the smooth rotation of the rotating ring 52.
  • each restricting positioning ring 53 is provided with two restricting blocks 531 spaced along the annular direction to restrict the two adjacent restricting blocks.
  • the rotational movement range of the telescopic servo rod 6 between 531 ensures that the tightening device 7 adjacent to the plurality of telescopic servo rods 6 and the bolt pose detector 100 do not interfere with each other during operation.
  • the spacing angle of the two limiting blocks 531 on the outer circumferential surface of each limiting positioning ring 53 can be determined according to actual needs.
  • the spacing angle is preferably 90 degrees.
  • each restricting block 531 includes a radially extending connecting rod 5311 and an axially extending blocking rod 5312, wherein one end of the connecting rod 5311 is fixed On the outer peripheral surface of the limiting and positioning ring 53, the other end is fixed on the stop rod 5312, such as the middle part of the stop rod 5312.
  • the length of the stop rod is greater than the axial length of the limiting and positioning ring 53, so as to ensure that the limiting and positioning ring 53 sets
  • the two ends of the stop bar 5312 are located outside the outer peripheral surface of the rotating ring 52 adjacent to the restricting positioning ring 53, so that it can stop
  • the rotation range of the telescopic servo rod 6 ensures that the tightening device 7 connected to the multiple telescopic servo rods 6 and the bolt pose detector 100 do not interfere with each other in the work project.
  • restriction block 531 and the restriction positioning ring 53 are integrally formed, which is convenient for assembly.
  • the telescopic servo rod 6 includes a fixed rod barrel 61 and a thin telescopic rod 62.
  • One end of the fixed rod barrel 61 is fixed on the outer peripheral surface of the rotating ring 52, and the telescopic rod 6
  • One end of the rod 62 extends from the other end of the fixed rod barrel 61 into the fixed rod barrel 61, and the telescopic thin rod 62 can extend and retract relative to the fixed rod barrel 61, and the other end of the telescopic thin rod 62 is connected to the tightening device 7 or
  • the bolt pose detector 100 is fixed.
  • the overall length of the telescopic servo rod 6 is controlled by controlling the extension and retraction of the telescopic thin rod 62, so as to adjust the far and near positions of the tightening device 7 or the bolt pose detector 100 relative to the radial direction of the central column 51 to It is advantageous for the tightening device 7 or the bolt position detector 100 to be directly above the bolt to be assembled.
  • the bolt pose detector 100 is fixed to the other end of the telescopic rod 62 through the housing tube. Therefore, the bolt pose detector 100 and the telescopic thin rod 62 can be fixed through the outer cylindrical shell 4, and the installation is convenient.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
  • A Measuring Device Byusing Mechanical Method (AREA)

Abstract

一种螺栓位姿检测仪及螺栓位姿检测拧紧装置，其中，螺栓位姿检测拧紧装置包括多节旋转体、多个伸缩伺服杆、多个螺栓位姿检测仪和多个拧紧设备，多节旋转体包括中心柱和多个旋转环，多个旋转环套设在中心柱上且可绕中心柱的外周面旋转；多个伸缩伺服杆的一端分别一一对应地固定在多个旋转环的外周面上；多个用于检测和调整螺栓位姿的螺栓位姿检测仪和多个拧紧设备，部分伸缩伺服杆的另一端分别一一对应地与多个螺栓位姿检测仪固定，其余伸缩伺服杆的另一端分别一一对应地与多个拧紧设备固定。

Description

螺栓位姿检测仪及螺栓位姿检测拧紧装置
相关申请的交叉引用
本申请基于申请号为：201910323133.5，申请日为2019年04月22日的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此引入本申请作为参考。
技术领域
本申请涉及轮盘类零件的螺栓装配技术领域，具体而言，涉及一种螺栓位姿检测仪及螺栓位姿检测拧紧装置。
背景技术
轮盘类零件的螺栓孔不仅数目众多且常呈现圆周密集非对称分布的特点，现有依靠X/Y轴伺服进给拧紧枪在装配轮盘类零件时由于操作难度大而导致装配效率低下。现有的车轮多轴拧紧装置由于结构复杂且各轴之间同步控制要求高，导致该装置不能满足各轴模块化和独立性的需求，装配对象限制在螺栓孔分布对称的轮盘范围内。现有的车轮多轴拧紧装置在线调整轴的灵活性差，通常为了满足一类零件装配，先调整螺栓位置并锁定，待到装配下一类型零件时，重新调整位置。
对于自动拧紧装置而言，很少有对螺栓拧紧的位姿进行在线监测。螺栓的摆放位姿直接影响螺栓的装配质量。由于螺栓上料通常采用人工或机器辅助上料，难以保证螺栓轴线与拧紧轴轴线平行对齐，较小角度的偏差会造成螺栓装配的小倾角歪斜，该质量问题无法通过目前常用的位移-扭矩测量法识别检测，因此造成装配质量风险。
发明内容
本发明旨在至少解决现有技术中存在的技术问题之一。为此，本发明的一个目的在于提出一种螺栓位姿检测仪，实现对螺栓拧紧时的位姿进行在线监测和调整，提高螺栓的装配质量。
本发明的另一个目的在于提出一种螺栓位姿检测拧紧装置，实现对螺栓拧紧时的位姿进行在线监测、调整和拧紧，提高螺栓装配质量和装配效率。
根据本发明第一方面实施例的螺栓位姿检测仪，包括：
升降杆，所述升降杆竖向设置且可做升降运动；
可浮动调整头，所述可浮动调整头的上端与所述升降杆的底端球铰连接，以使所述可浮动调整头可沿任意角度方向做旋转运动；
位姿检测片，所述位姿检测片的上表面固定在所述可浮动调整头的底端，所述位姿检测片的下表面上环向均匀布置有多个导电片，每一所述导电片上设有电流计，多个所述导电片按顺序编号。
根据本发明第一方面实施例的螺栓位姿检测仪，在进行螺栓装配时，使螺栓位姿检测仪处在待测螺栓的正上方，升降杆匀速下降，使得位姿检测片的下表面缓慢接触待测螺栓的上表面，由于导电片可以将压力信号转换为电信号，电流计的电流值变化顺序直接反应导电片的接触顺序，利用空间几何关系可以获得螺栓位姿偏离正常位姿的空间角度。可浮动调整头根据空间角度对螺栓的位姿进行灵活调整，使得螺栓调整回正常位姿，从而提高螺栓装配的质量。
根据本发明第一方面的一个实施例，还包括外筒壳，所述外筒壳用于支撑所述升降杆，所述升降杆沿所述外筒壳的轴向方向可升降地安装在所述外筒壳中。
根据本发明第一方面的一个实施例，所述导电片为压敏传感器。
根据本发明的一些实施例，所述螺栓位姿检测仪对螺栓装配位姿检测时，使所述螺栓位姿检测仪位于螺栓的正上方，所述升降杆以速度V匀速下降，待到所述导电片碰触到所述螺栓的螺帽表面，记录第一个显示电流值增大的电流计序号与时刻t 1，所述升降杆继续匀速下降，记录最后一个显示电流值增大的电流计序号与时刻t 2，所述螺栓的偏转角度按如下公式计算出：
Figure PCTCN2019114412-appb-000001
其中，d为螺栓的螺帽直径，θ为螺栓位姿偏转角。
根据本发明第二方面实施例的螺栓位姿检测拧紧装置，包括：
多节旋转体，所述多节旋转体包括中心柱和多个旋转环，多个所述旋转环套设在所述中心柱上且可绕所述中心柱的外周面旋转；
多个伸缩伺服杆，多个所述伸缩伺服杆的一端分别一一对应地固定在多个所述旋转环的外周面上，且多个所述伸缩伺服杆在所述中心柱的径向投影平面上呈辐射状间隔分布；
多个螺栓位姿检测仪和多个拧紧设备，所述螺栓位姿检测仪为如权利要求1-4中任意一项所述的螺栓位姿检测仪，部分所述伸缩伺服杆的另一端分别一一对应地与多个所述螺栓位姿检测仪固定，其余所述伸缩伺服杆的另一端分别一一对应地与多个所述拧紧设备固定，且 所述螺栓位姿检测仪和所述拧紧设备在所述中心柱的径向投影平面上交错间隔分布。
根据本发明第二方面实施例的螺栓位姿检测拧紧装置，具有如下的优点：第一、拧紧设备和螺栓位姿检测仪的位置可以灵活地在线调整，能够满足任意轮盘类零件多位置螺栓的同时检测、调整和拧紧，无需人工参与即可自动完成，提高了螺栓装配质量和装配效率。第二、位姿检测仪利用位姿检测片的导电片将螺栓的位置偏差用电流改变衡量，通过空间几何推断方法能够精确地计算微小角度的偏差，提高了位姿检测和调整的精度，从而有利于提高螺栓装配质量。
根据本发明第二方面的一个实施例，所述多节旋转体还包括多个限制定位环，多个所述限制定位环套设固定在所述中心柱的外周面上，且分布在每一所述旋转环的两端端部处，以限制每一所述旋转环沿所述中心柱轴向移动。
根据本发明第二方面进一步的实施例，每一所述限制定位环的外周面上沿环形方向间隔设有两个限制块，以限制位于相邻两个所述限制块之间的所述伸缩伺服杆的旋转运动范围。
根据本发明第二方面再进一步的实施例，每一所述限制块均包括一个径向延伸的连接杆和一个轴向延伸的挡杆，其中，所述连接杆一端固定在所述限制定位环的外周面上，另一端固定在所述挡杆上，所述挡杆的杆长大于所述限制定位环的轴向长度。
根据本发明第二方面的一个实施例，所述伸缩伺服杆包括固定杆筒和伸缩细杆，所述固定杆筒的一端固定在所述旋转环的外周面上，所述伸缩细杆的一端从所述固定杆筒的另一端伸入所述固定杆筒中，且所述伸缩细杆相对于所述固定杆筒可伸出和缩回，所述伸缩细杆的另一端与所述拧紧设备或所述螺栓位姿检测仪固定。
根据本发明第二方面进一步的实施例，所述伸缩细杆的另一端与所述螺栓位姿检测仪的所述外壳筒固定。
本发明的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本发明的实践了解到。
附图说明
本发明的上述和/或附加的方面和优点从结合下面附图对实施例的描述中将变得明显和容易理解，其中：
图1是本发明第一方面实施例的螺栓位姿检测仪的结构示意图。
图2是本发明第一方面实施例的螺栓位姿检测仪中的位姿检测片的示意图。
图3是本发明第一方面实施例的螺栓位姿检测仪的工作流程示意。
图4是本发明第一方面实施例的螺栓位姿检测仪的待测螺栓
图5是本发明第二方面实施例的螺栓位姿检测拧紧装置的结构示意图。
图6是本发明第二方面实施例的螺栓位姿检测拧紧装置中多节旋转体和伸缩伺服杆的装配示意图。
图7是本发明第二方面实施例的螺栓位姿检测拧紧装置中限制定位环的结构示意图。
附图标记：
螺栓位姿检测仪100
升降杆1 可浮动调整头2 位姿检测片3 导电片31 外筒壳4
螺栓位姿检测拧紧装置200
多节旋转体5 中心柱51 旋转环52
限制定位环53 限制块531 连接杆5311 挡杆5312
伸缩伺服杆6 固定杆筒61 伸缩细杆62
拧紧设备7
具体实施方式
下面详细描述本发明的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，仅用于解释本发明，而不能理解为对本发明的限制。
下面参考图1至图4来描述根据本发明第一方面实施例的螺栓位姿检测仪100。
如图1和图2所示，根据本发明第一方面实施例的螺栓位姿检测仪100，包括升降杆1、可浮动调整头2和位姿检测片3。其中，升降杆1竖向设置且可做升降运动；可浮动调整头2的上端与升降杆1的底端球铰连接，以使可浮动调整头2可沿任意角度方向做旋转运动；位姿检测片3的上表面固定在可浮动调整头2的底端，位姿检测片3的下表面上环向均匀布置有多个导电片31，每一导电片31上设有电流计，多个导电片31按顺序编号。
具体而言，升降杆1竖向设置且可做升降运动，由此可以带动可浮动调整头2和导电片31同步升降，有利于实现导电片31检测螺栓装配位置的位姿是否正确，并且有利于可浮动调整头2对螺栓装配位置的位姿进行纠正调整。
可浮动调整头2的上端与升降杆1的底端球铰连接，以使可浮动调整头2可沿任意角度方向做旋转运动。由于可浮动调整头2半球形连接部位旋转范围为90度，配合升降杆的升降运动，可灵活主动地调整螺栓的非正常位姿，使得螺栓调整回正常位姿，提高螺栓装配的 质量。
位姿检测片3的上表面固定在可浮动调整头2的底端，位姿检测片3的下表面上环向均匀布置有多个导电片31，每一导电片31上设有电流计，多个导电片31按顺序编号。由此，在进行螺栓装配时，使螺栓位姿检测仪100处在待测螺栓的正上方，升降杆1匀速下降，使得位姿检测片3的下表面缓慢接触待测螺栓的上表面，由于导电片可以将压力信号转换为电信号，电流计的变化顺序可以直接反应导电片31的接触顺序，利用空间几何关系可以获得螺栓位姿偏离正常位姿的空间角度。可浮动调整头2根据空间角度对螺栓的位姿进行灵活调整，使得螺栓调整回正常位姿。
根据本发明第一方面实施例的螺栓位姿检测仪100，在进行螺栓装配时，使螺栓位姿检测仪100处在待测螺栓的正上方，升降杆1匀速下降，使得位姿检测片3的下表面缓慢接触待测螺栓的上表面，由于导电片可以将压力信号转换为电信号，电流计的电流值变化顺序直接反应导电片31的接触顺序，利用空间几何关系可以获得螺栓位姿偏离正常位姿的空间角度。可浮动调整头2根据空间角度对螺栓的位姿进行灵活调整，使得螺栓调整回正常位姿，从而提高螺栓装配的质量。
如图1所示，根据本发明第一方面的一个实施例，还包括外筒壳4，外筒壳4用于支撑升降杆1，升降杆1沿外筒壳4的轴向方向可升降地安装在外筒壳4中。由此，外筒壳4一方面用于支撑升降杆1，通过外壳可以将螺栓位姿检测仪100安装在其他支撑部件上，另一方面，对升降杆1的升降运动起导向作用，有利于升降杆1平稳地升降。
可选的，外筒壳4为圆柱状的外筒壳4。
根据本发明第一方面的一个实施例，导电片31为压敏传感器。当位姿检测片3的下表面缓慢接触待测螺栓的上表面时，利用压敏传感器将压力信号转换成电信号，电信号通过导电片31上的电流计的电流值反应出来。
如图3和图4所示，根据本发明第一方面的一些实施例，螺栓位姿检测仪100对螺栓装配位姿检测时，使螺栓位姿检测仪100位于螺栓的正上方，升降杆1以速度V匀速下降，待到导电片31碰触到螺栓的螺帽表面，记录第一个显示电流值增大的电流计序号与时刻t 1，升降杆1继续匀速下降，记录最后一个显示电流值增大的电流计序号与时刻t 2，螺栓的偏转角度按如下公式得出：
Figure PCTCN2019114412-appb-000002
其中，d为螺栓的螺帽直径，θ为螺栓位姿偏转角。由此，可以精确地检测出螺栓位置偏差，提高螺栓位姿检测和调整的精度。
本发明还提供了一种螺栓位姿检测拧紧装置200，是基于面向轮盘类零件的螺栓位姿检测、调整和螺栓拧紧的自动化装置，可以解决轮盘类零件螺栓孔密集且螺栓摆放不正导致的装配质量和效率问题。
下面参考图1至图7来描述根据本发明第二方面实施例的螺栓位姿检测拧紧装置200。
如1至图7所示，根据本发明第二方面实施例的螺栓位姿检测拧紧装置200，包括多节旋转体5、多个伸缩伺服杆6、多个螺栓位姿检测仪100和多个拧紧设备7。其中，多节旋转体5包括中心柱51和多个旋转环52，多个旋转环52套设在中心柱51上且可绕中心柱51的外周面旋转；多个伸缩伺服杆6的一端分别一一对应的固定在多个旋转环52的外周面上，且多个伸缩伺服杆6在中心柱51的径向投影平面上呈辐射状间隔分布；螺栓位姿检测仪100为本发明第一方面任意一个实施例的螺栓位姿检测仪100，多个伸缩伺服杆6的另一端分别一一对应地与多个螺栓位姿检测仪100或多个拧紧设备7固定，且螺栓位姿检测仪100和拧紧设备7在中心柱51的径向投影平面上交错间隔分布。
具体而言，多节旋转体5包括中心柱51和多个旋转环52，多个旋转环52套设在中心柱51上且可绕中心柱51的外周面旋转。可以理解，中心柱51是螺栓位姿检测拧紧装置200的支撑部件和定位部件，中心柱51应保证与零件加工面始终垂直且位于轮盘类零件的圆心上方，中心柱51可以外接机械手进行轴向的位移。旋转环52可绕绕中心柱51的外周面旋转，可以通过独立的电机控制；也就是说，每一旋转环52的旋转运动都通过独立的电机控制来实现旋转环52绕中心柱51的外周面旋转，并且可以灵活控制。
多个伸缩伺服杆6的一端分别一一对应地固定在多个旋转环52的外周面上，且多个伸缩伺服杆6在中心柱51的径向投影平面上呈辐射状间隔分布；由此，一方面，伸缩伺服杆6一端分别于与旋转环52的外周面固定且另一端与拧紧设备7或螺栓位姿检测仪100固定，当旋转环52旋转时，就会带动伸缩伺服杆6及固定在伸缩伺服杆6上的拧紧设备7或螺栓位姿检测仪100同步旋转，从而可以方便在线控制拧紧设备7或螺栓位姿检测仪100处于待装配螺栓的正上方；伸缩伺服杆6是一种自带伺服电机伸缩伺服杆，可以作伸缩运动来实现伸缩伺服杆6的整体长度调节，从而可以在线调整拧紧设备7或螺栓位姿检测仪100相对于中心柱51径向方向的远近位置，以使拧紧设备7或螺栓位姿检测仪100处于待装配螺栓的正上方；另一方面，伸缩伺服杆6在中心柱51的径向投影平面上呈辐射状间隔分布，有利于避免与多个伸缩伺服杆6相邻的拧紧设备7和螺栓位姿检测仪100在工作过程中不相互干涉。
部分伸缩伺服杆6的另一端分别一一对应地与多个螺栓位姿检测仪100，其余伸缩伺服 杆6的另一端分别一一对应地与多个拧紧设备7固定，且螺栓位姿检测仪100和拧紧设备7在中心柱51的径向投影平面上交错间隔分布。由此，通过设置多个伸缩伺服杆6、多个拧紧设备7和多个螺栓位姿检测仪100，可以提高面向轮盘类零件多位置螺栓同时检测、调整和拧紧功能，提高了轮盘类零件多位置螺栓装配的质量和效率。这里说明一下，拧紧设备7采用常用的悬挂立式拧紧设备，拧紧设备3自带的升降装置可以驱动拧紧设备7的拧紧头沿与零件表面垂直方向自由升降。
可选的，参照图1所示，旋转环52有八个，八个旋转环52套设在中心柱51上且可绕中心柱51的外周面旋转；八个旋转环52伸缩伺服杆6有八个，八个伸缩伺服杆6的一端分别与八个旋转环52的外周面固定，且八个伸缩伺服杆6在中心柱51的径向投影平面上等间隔分布，拧紧设备7和螺栓位姿检测仪100各有四个，四个伸缩伺服杆6的另一端分别一一对应地与四个螺栓位姿检测仪100固定，其余四个伸缩伺服杆6的另一端分别一一对应地拧紧设备7固定，且螺栓位姿检测仪100和拧紧设备7在中心柱51的径向投影平面上交错间隔分布。
根据本发明第二方面实施例的螺栓位姿检测拧紧装置200，具有如下的优点：第一、拧紧设备7和螺栓位姿检测仪100的位置可以灵活地在线调整，能够满足任意轮盘类零件多位置螺栓的同时检测、调整和拧紧，无需人工参与即可自动完成，提高了螺栓装配质量和装配效率。第二、位姿检测仪利用位姿检测片3的导电片31将螺栓的位置偏差用电流改变衡量，通过空间几何推断方法能够精确地计算微小角度的偏差，提高了位姿检测和调整的精度，从而有利于提高螺栓装配质量。
根据本发明第二方面的一个实施例，旋转环52内径尺寸与中心柱51的外径尺寸相同，使得旋转环52套设在中心柱51上时旋转环52的内周面与中心柱51的外周面接触，保证旋转环52可平稳旋转。
如图5和图6所示，根据本发明第二方面的一个实施例，多节旋转体5还包括多个限制定位环53，多个限制定位环53套设固定在中心柱51的外周面上，且分布在每一旋转环52的两端端部处，以限制每一旋转环52沿中心柱51轴向移动，有利于旋转环52平稳旋转。
如图5至7所示，根据本发明第二方面进一步的实施例，每一限制定位环53的外周面上沿环形方向间隔设有两个限制块531，以限制位于相邻两个限制块531之间的伸缩伺服杆6的旋转运动范围，确保与多个伸缩伺服杆6相邻的拧紧设备7和螺栓位姿检测仪100在工作过程中不相互干涉。
可选的，每一限制定位环53的外周面上的两个限制块531的间隔角度可以根据实际需要来确定，例如，参看图1所示，间隔角度优选为90度。
如图7所示，根据本发明第二方面再进一步的实施例，每一限制块531均包括一个径向延伸的连接杆5311和一个轴向延伸的挡杆5312，其中，连接杆5311一端固定在限制定位环53的外周面上，另一端固定在挡杆5312上如挡杆5312的中间部位上，挡杆的杆长大于限制定位环53的轴向长度，从而可以确保限制定位环53套固在中心柱51的外周面并抵靠在旋转环52的端部时，挡杆5312的两端部位于与该限制定位环53相邻的旋转环52的外周面的外侧，从而可以限挡伸缩伺服杆6的旋转运动范围，确保与多个伸缩伺服杆6相连的拧紧设备7和螺栓位姿检测仪100在工作工程中不相互干涉。
可选的，限制块531与限制定位环53为一体成型件，装配方便。
如图6所示，根据本发明第二方面的一个实施例，伸缩伺服杆6包括固定杆筒61和伸缩细杆62，固定杆筒61的一端固定在旋转环52的外周面上，伸缩细杆62的一端从固定杆筒61的另一端伸入固定杆筒61中，且伸缩细杆62相对于固定杆筒61可伸出和缩回，伸缩细杆62的另一端与拧紧设备7或螺栓位姿检测仪100固定。由此，通过控制伸缩细杆62的伸出和缩回来控制伸缩伺服杆6的整体长度，从而达到调整拧紧设备7或螺栓位姿检测仪100相对于中心柱51径向方向的远近位置，以利于拧紧设备7或螺栓位姿检测仪100处于待装配螺栓的正上方。
如图5所示，根据本发明第二方面进一步的实施例，螺栓位姿检测仪100通过外壳筒与伸缩细杆62的另一端固定。由此，通过外筒壳4可以将螺栓位姿检测仪100与伸缩细杆62固定，安装方便。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示意性实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
尽管已经示出和描述了本发明的实施例，本领域的普通技术人员可以理解：在不脱离本发明的原理和宗旨的情况下可以对这些实施例进行多种变化、修改、替换和变型，本发明的范围由权利要求及其等同物限定。

Claims (10)

  1. 一种螺栓位姿检测仪，其特征在于，包括：
    升降杆，所述升降杆竖向设置且可做升降运动；
    可浮动调整头，所述可浮动调整头的上端与所述升降杆的底端球铰连接，以使所述可浮动调整头可沿任意角度方向做旋转运动；
    位姿检测片，所述位姿检测片的上表面固定在所述可浮动调整头的底端，所述位姿检测片的下表面上环向均匀布置有多个导电片，每一所述导电片上设有电流计，多个所述导电片按顺序编号。
  2. 根据权利要求1所述的螺栓位姿检测仪，其特征在于，还包括：
    外筒壳，所述外筒壳用于支撑所述升降杆，所述升降杆沿所述外筒壳的轴向方向可升降地安装在所述外筒壳中。
  3. 根据权利要求1-2中任意一项所述的螺栓位姿检测仪，其特征在于，所述导电片为压敏传感器。
  4. 根据权利要求1-3中任意一项所述的螺栓位姿检测仪，其特征在于，所述螺栓位姿检测仪对螺栓装配位姿检测时，使所述螺栓位姿检测仪位于螺栓的正上方，所述升降杆以速度V匀速下降，待到所述导电片碰触到所述螺栓的螺帽表面，记录第一个显示电流值增大的电流计序号与时刻t 1，所述升降杆继续匀速下降，记录最后一个显示电流值增大的电流计序号与时刻t 2，所述螺栓的偏转角度按如下公式计算出：
    Figure PCTCN2019114412-appb-100001
    其中，d为螺栓的螺帽直径，θ为螺栓位姿偏转角。
  5. 一种螺栓位姿检测拧紧装置，其特征在于，包括：
    多节旋转体，所述多节旋转体包括中心柱和多个旋转环，多个所述旋转环套设在所述中心柱上且可绕所述中心柱的外周面旋转；
    多个伸缩伺服杆，多个所述伸缩伺服杆的一端分别一一对应地固定在多个所述旋转环的外周面上，且多个所述伸缩伺服杆在所述中心柱的径向投影平面上呈辐射状间隔分布；
    多个螺栓位姿检测仪和多个拧紧设备，所述螺栓位姿检测仪为如权利要求1-4中任意一项所述的螺栓位姿检测仪，部分所述伸缩伺服杆的另一端分别一一对应地与多个所述螺栓位姿检测仪固定，其余所述伸缩伺服杆的另一端分别一一对应地与多个所述拧紧设备固定，且所述螺栓位姿检测仪和所述拧紧设备在所述中心柱的径向投影平面上交错间隔分布。
  6. 根据权利要求5所述的螺栓位姿检测拧紧装置，其特征在于，所述多节旋转体还包括多个限制定位环，多个所述限制定位环套设固定在所述中心柱的外周面上，且分布在每一所述旋转环的两端端部处，以限制每一所述旋转环沿所述中心柱轴向移动。
  7. 根据权利要求6所述的螺栓位姿检测拧紧装置，其特征在于，每一所述限制定位环的外周面上沿环形方向间隔设有两个限制块，以限制位于相邻两个所述限制块之间的所述伸缩伺服杆的旋转运动范围。
  8. 根据权利要求7所述的螺栓位姿检测拧紧装置，其特征在于，每一所述限制块均包括一个径向延伸的连接杆和一个轴向延伸的挡杆，其中，所述连接杆一端固定在所述限制定位环的外周面上，另一端固定在所述挡杆上，所述挡杆的杆长大于所述限制定位环的轴向长度。
  9. 根据权利要求5-8中任意一项所述的螺栓位姿检测拧紧装置，其特征在于，所述伸缩伺服杆包括固定杆筒和伸缩细杆，所述固定杆筒的一端固定在所述旋转环的外周面上，所述伸缩细杆的一端从所述固定杆筒的另一端伸入所述固定杆筒中，且所述伸缩细杆相对于所述固定杆筒可伸出和缩回，所述伸缩细杆的另一端与所述拧紧设备或所述螺栓位姿检测仪固定。
  10. 根据权利要求9所述的螺栓位姿检测拧紧装置，其特征在于，所述伸缩细杆的另一端与所述螺栓位姿检测仪的所述外壳筒固定。
PCT/CN2019/114412 2019-04-22 2019-10-30 螺栓位姿检测仪及螺栓位姿检测拧紧装置 WO2020215648A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201910323133.5A CN109909732B (zh) 2019-04-22 2019-04-22 螺栓位姿检测仪及螺栓位姿检测拧紧装置
CN201910323133.5 2019-04-22

Publications (1)

Publication Number Publication Date
WO2020215648A1 true WO2020215648A1 (zh) 2020-10-29

Family

ID=66978073

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/114412 WO2020215648A1 (zh) 2019-04-22 2019-10-30 螺栓位姿检测仪及螺栓位姿检测拧紧装置

Country Status (2)

Country Link
CN (1) CN109909732B (zh)
WO (1) WO2020215648A1 (zh)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109909732B (zh) * 2019-04-22 2020-06-12 清华大学 螺栓位姿检测仪及螺栓位姿检测拧紧装置
CN112059598B (zh) * 2020-09-01 2022-03-29 厦门理工学院 一种螺栓拆装装置及拆装方式
CN112264955A (zh) * 2020-10-28 2021-01-26 中国航发贵州黎阳航空动力有限公司 一种用于航空发动机装配的限扭矩自动扳手

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06143060A (ja) * 1992-10-28 1994-05-24 Hitachi Plant Eng & Constr Co Ltd 管フランジの締結方法
CN202804617U (zh) * 2012-05-24 2013-03-20 南车青岛四方机车车辆股份有限公司 动车组轮对轴端螺母扭紧装置
CN203526929U (zh) * 2013-09-14 2014-04-09 西安扩力机电科技有限公司 一种螺栓安装装置
CN207534718U (zh) * 2017-12-01 2018-06-26 长安大学 一种监测预紧力的航空发动机转子拉杆螺栓同步拧紧装置
CN109909732A (zh) * 2019-04-22 2019-06-21 清华大学 螺栓位姿检测仪及螺栓位姿检测拧紧装置

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2517068B1 (fr) * 1981-11-24 1985-10-11 Inst Francais Du Petrole Methode et dispositif pour mettre dans une position relative determinee deux elements immerges dans un milieu liquide conducteur
CN102441790A (zh) * 2010-09-28 2012-05-09 株式会社安川电机 部件组装装置及部件组装方法
CN204329975U (zh) * 2014-11-19 2015-05-13 中国计量学院 一种基于惯性检测的激光跟踪仪靶球定位装置
CN105863674B (zh) * 2016-05-25 2019-03-12 中国铁建重工集团有限公司 管片拼装位姿检测装置及检测方法
CN106903495A (zh) * 2017-03-03 2017-06-30 北京工商大学 一种用于大型零件对准装配操作的机器人机构

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06143060A (ja) * 1992-10-28 1994-05-24 Hitachi Plant Eng & Constr Co Ltd 管フランジの締結方法
CN202804617U (zh) * 2012-05-24 2013-03-20 南车青岛四方机车车辆股份有限公司 动车组轮对轴端螺母扭紧装置
CN203526929U (zh) * 2013-09-14 2014-04-09 西安扩力机电科技有限公司 一种螺栓安装装置
CN207534718U (zh) * 2017-12-01 2018-06-26 长安大学 一种监测预紧力的航空发动机转子拉杆螺栓同步拧紧装置
CN109909732A (zh) * 2019-04-22 2019-06-21 清华大学 螺栓位姿检测仪及螺栓位姿检测拧紧装置

Also Published As

Publication number Publication date
CN109909732B (zh) 2020-06-12
CN109909732A (zh) 2019-06-21

Similar Documents

Publication Publication Date Title
WO2020215648A1 (zh) 螺栓位姿检测仪及螺栓位姿检测拧紧装置
CN103930683B (zh) 滚动轴承
US20110247409A1 (en) Apparatus and method for measuring bores
CN102425984A (zh) 重、大型轴承检测器具
JPH03194404A (ja) 回転円筒体の位置測定方法およびその装置
CN105737712B (zh) 用于检测法兰螺栓孔位置误差的检测工具
CN112880576A (zh) 圆筒形或锥筒形装置的直径及同轴度的测量方法及其测量装置
US20160310959A1 (en) Cone crusher shaft position measurement sensor arrangement
US5392527A (en) Annulus measuring device
CN104142111B (zh) 一种螺杆及使用该螺杆的螺纹孔垂直度检具
CN104310193B (zh) 倾斜可调的吊装装置
CN109506563A (zh) 回转支承径向间隙和齿面跳动检测装置及方法
CN108917684A (zh) 一种等截面薄壁轴承测量装置及测量方法
CN218724042U (zh) 一种内孔检测装置
CN105423872A (zh) 带外圆定位结构的齿圈淬火变形量检测机
CN208196047U (zh) 一种新型燃烧器风筒装焊通用定位装置
CN213984957U (zh) 直径及同轴度的测量装置
CN102937423A (zh) 一种测圆装置
CN109163676A (zh) 一种掘进机悬臂回转角检测方法和装置
CN210070904U (zh) 一种孔同轴度测量装置
CN110368016A (zh) 一种医疗ct转子检验工装
CN208847136U (zh) 一种掘进机悬臂回转角检测装置
CN107588758A (zh) 转子水平测量装置及转子水平测量方法、调整方法
CN216869427U (zh) 套筒精度检测机构
CN215569163U (zh) 一种用于压力容器检测的支撑装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19926337

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19926337

Country of ref document: EP

Kind code of ref document: A1