A flexible screw assembly mechanism, system, robot and control method thereof

Abstract

The field of the invention belongs to the field of screw assembly technology, and specifically relates to a flexible screw assembly mechanism, system, robot and control method thereof. The flexible screw assembly mechanism includes a flexible connector, a transmission part, an assembly head, a motor device, a controller, The vibration part and the moving part; the two ends of the flexible connector are respectively connected to the transmission part and the motor device; the transmission part is connected to the assembly head, and the transmission part transmits the received torque of the motor device to the assembly head to exert force on the threaded part relative to the threaded hole. The assembly force; the vibrating part and the moving part are fixed with the motor device; the controller controls the work of the vibrating part and the moving part after judging that the assembly head has completed the assembly of the threaded parts, so as to transmit the assembly via the flexible connector and the transmission part. The vibrating action and moving action of the head make the assembly head loose relative to the threaded part and move away from the threaded part. The invention has the advantage of enabling the assembly head to be easily and flexibly disengaged from the screw and pulled out.

Description

technical field [0001] The field of the invention belongs to the technical field of screw assembly technology, and in particular relates to a flexible screw assembly mechanism, system, robot and control method thereof. Background technique [0002] At present, the assembly of screwed parts such as bolts for tightening or loosening is divided into manual and machine. When the screwed parts are assembled manually, after the operator uses the electric tool head of the electric tool to tighten the bolts, other The posture and orientation of the electric tool will be adjusted to overcome the situation that the electric tool head and the bolt are difficult to pull out or the bolt is stuck due to mutual jamming. However, when the machine is used to assemble the threaded parts, the assembly mechanism of the machine After the bolt is automatically tightened, the assembly mechanism will be pulled out in a direction parallel to the bolt hole and away from the bolt. However, the above-m...

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Problems solved by technology

[0002] At present, the assembly of screwed parts such as bolts for tightening or loosening is divided into manual and machine. When the screwed parts are assembled manually, after the operator uses the electric tool head of the electric tool to tighten the bolts, other The posture and orientation of the electric tool will be adjusted to overcome the situation that the electric tool head and the bolt are difficult to pull out or the bolt is stuck due to mutual jamming. However, when the machine is used to assemble the threaded parts, the assembly mechanism of the machine After the bolt is automatically tightened, the assembly mechanism will be pulled out in a direction parallel to the bolt hole and away from the bolt. However, the above-mentioned situation that the assembly mechanism is difficult to pull out or the bolt is stuck will also be encountered during the process of moving the assembly mechanism away from the bolt. However, the existing The machine cannot automatically adjust its posture and orientation like the above-mentioned operator, which makes it difficult for the assembly mechanism to be loosened from the bolts and be easily pulled out. At least one of the following problems occurs during the unplugging process:

[0003] 1. For the case where the bolt hole is set in a receiving hole, when the machine pulls the assembly mechanism out of the receiving hole, it will intermittently tighten the bolt, which will cause varying degrees of damage to the product with the receiving hole;

[0004] 2. When the machine pulls out the assembly mechanism from the receiving hole, the bolts will be continuously blocked, so that the assembly mechanism cannot be easily pulled out relative to the assembled threaded parts, so that the machine will drag the entire product out of the production station, which may Cause the product to be broken, and may cause major safety accidents;

[0005] 3. When it is necessary to assemble bolts to other threaded holes of the product again, because the product may have been separated from the production station when the assembly mechanism was pulled out last time, the space position of the product has changed, which will make the machine incorrect. Locate the position of the threaded hole where the bolt needs to be reassembled, which affects the accuracy of assembly

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