Bolt processing clamping robot

Abstract

The utility model discloses a kind of bolt processing clamping manipulator, including base mounting frame, support column, control device, rotary drive mechanism, joint arm, hydraulic telescopic arm and clamping assembly, support column is fixed in base mounting frame, joint arm is connected drive motor, hydraulic telescopic arm is equipped with hydraulic control system, rotary drive mechanism contains permanent magnet synchronous motor, drive shaft body etc., ensure rotation accurate stability, joint arm is connected with hydraulic telescopic arm by rotating joint, rotate flexibly, hydraulic telescopic arm is multistage nested type, telescopic range is big, clamping assembly has jaw holder, multi-joint hydraulic clamping jaw etc., jaw head is with antiskid toothed plate and pressure sensor, bolt can be stably clamped, control device realizes accurate control and data interaction.The utility model can efficiently and stably complete bolt processing clamping handling, improve automation level and production efficiency.

Description

Technical Field

[0001] This utility model relates to the field of mechanical processing equipment technology, specifically to a bolt processing clamping robot. Background Technology

[0002] In bolt processing, bolts need to be handled and positioned. Traditional manual clamping methods are inefficient and prone to damage or reduced processing accuracy due to improper operation. Existing clamping robots have the following technical bottlenecks: 1. The rotary drive mechanism of existing bolt processing clamping equipment mostly uses traditional mechanical bearings, which suffers from severe friction and wear, low rotational accuracy (angle error ≥0.1°), and limited axial load capacity. After long-term use, positioning drift is likely to occur, affecting the consistency of bolt processing; 2. The clamping jaws of the clamping components are mostly designed with fixed angles, which are suitable for a narrow range of bolt specifications (usually only covering 3-5 diameters). Changing the jaws requires downtime of more than 30 minutes, affecting production efficiency; and the clamping force control lacks a feedback mechanism, which can easily cause damage to the bolt surface due to excessive force or cause the workpiece to fall off due to insufficient force.

[0003] Therefore, it is of great significance to develop a bolt processing clamping robot that is flexible in operation, highly adaptable, and can improve processing efficiency. Utility Model Content

[0004] The purpose of this utility model is to provide a bolt processing clamping robot to solve the problems of limited clamping range, insufficient flexibility and poor adaptability of existing clamping robots.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] A bolt-processing clamping robot includes a base mounting frame, a support column, a control device, a rotary drive mechanism, an articulated arm, a hydraulic telescopic arm, and a clamping assembly. The support column is fixed to the base mounting frame, providing stable support for the entire device. The control device is located on the side of the support column and is used to control the various movements of the robot. The rotary drive mechanism is mounted on top of the support column, providing power for the robot's rotation. The articulated arm is connected to the top of the rotary drive mechanism, and its input end, located on one side of the rotary drive mechanism, is connected to a drive motor, which provides driving force for the movement of the articulated arm. The hydraulic telescopic arm is connected to one end of the articulated arm, enabling extension and retraction in the length direction. The hydraulic telescopic arm is also equipped with a hydraulic control system for controlling its extension and retraction. The clamping assembly is located at the end of the hydraulic telescopic arm and is responsible for clamping the bolt.

[0007] Furthermore, the rotary drive mechanism is a key component for realizing the robot's rotation function. It consists of a permanent magnet synchronous motor, a drive shaft, an axial thrust plate, and radial electromagnetic bearings. The permanent magnet synchronous motor has a rated power of 3-7.5kW and a rated speed of 1500-3000r / min. It has a built-in absolute encoder with a resolution of ≥20 bits, ensuring the accuracy and stability of motor operation. The drive shaft is forged from 40Cr alloy steel, and its surface is quenched and tempered to a hardness of HRC38-42, possessing high strength and wear resistance. It is connected to the output shaft of the permanent magnet synchronous motor via a spline, ensuring efficient and reliable power transmission. The axial thrust plate, located at the axial positioning end of the drive shaft, is made of bronze alloy and has spiral oil grooves on its surface, effectively reducing friction and improving the axial positioning accuracy of the shaft. The radial electromagnetic bearing is arranged around the outside of the drive shaft and includes at least 4 sets of radial electromagnetic units. Each set of electromagnetic units includes an electromagnet and a displacement sensor. The electromagnet is made of silicon steel sheets and has a rated current of 2-5A. It generates a radial electromagnetic force of 500-1500N. The displacement sensor is an eddy current sensor, which can monitor the radial displacement of the shaft in real time to ensure stable operation of the shaft.

[0008] Furthermore, the articulated arm includes at least one rotatable arm segment, with one end of the arm segment connected to one end of the hydraulic telescopic arm by a rotary joint. The rotary joint is equipped with a cross roller bearing inside. This structure makes the rotation of the articulated arm more flexible and stable, and enables multi-angle adjustment, thereby expanding the working range of the robot.

[0009] Furthermore, the hydraulic telescopic boom features a multi-stage nested structure, including at least one cylinder and piston rod. Polyurethane sealing rings are installed between the cylinder and piston rod, and the system is controlled by a hydraulic control system. This multi-stage nested structure allows the hydraulic telescopic boom to achieve a wide range of extension and retraction, meeting the working distance requirements of different processing scenarios. The polyurethane sealing rings ensure the sealing of the hydraulic system, preventing hydraulic oil leakage and improving the operational reliability of the hydraulic telescopic boom.

[0010] Furthermore, the clamping assembly consists of a gripper base, a multi-joint hydraulic gripper, and a gripper hydraulic control system. The gripper base is connected to the piston rod end on the hydraulic telescopic arm via a connecting seat, and is made of high-strength aluminum alloy, which ensures structural strength while reducing its own weight. It has internal hydraulic oil passages to provide oil circuit support for the hydraulic drive of the gripper. The multi-joint hydraulic gripper includes at least three gripper units, each of which is hinged to the gripper base via a rotating pin. Angle changes are achieved by driving a hydraulic cylinder connected to the gripper base, and the hydraulic cylinder is independently controlled by the gripper hydraulic control system, making the movement of each gripper unit more flexible and controllable. The multi-joint hydraulic gripper is further equipped with a gripper head that matches the bolt. The inner surface of the gripper head is equipped with anti-slip teeth and a pressure sensor array. The anti-slip teeth are triangular in shape, increasing the friction between the gripper and the bolt to prevent slippage. The pressure sensor array contains multiple miniature pressure sensors evenly distributed along the circumference of the gripper head, which can monitor the magnitude and distribution of the clamping force in real time, ensuring appropriate clamping force and avoiding damage to the bolt or insecure clamping. The gripper hydraulic control system is located on the gripper base and includes a gripper drive cylinder and a hydraulic control device for driving and controlling the gripping components. The piston rod of the gripper drive cylinder is connected to each gripper unit via a linkage mechanism, achieving synchronous opening and closing of the gripper units and ensuring coordination and consistency in the clamping operation.

[0011] Furthermore, the control unit includes a programmable logic controller (PLC), a touch-screen control panel, and a communication module. The PLC uses a Siemens S7-1500 series PLC with at least 32 I / O points, enabling precise control of the robot's various movements. The touch-screen control panel is a 10.4-inch industrial-grade touchscreen with a resolution of ≥800×600, facilitating parameter setting and motion control by operators. The communication module supports Profinet, Modbus TCP, and Ethernet / IP protocols, enabling data exchange with external devices and facilitating collaborative work between the robot and other processing equipment, laying the foundation for building an automated production line.

[0012] Compared with the prior art, the beneficial effects of this utility model are:

[0013] This utility model, through the design of a bolt-processing clamping robot, achieves the following effects: 1. By combining a radial electromagnetic bearing with a permanent magnet synchronous motor, mechanical friction is eliminated, the rotation angle error is ≤0.01°, and the axial load-bearing capacity of the axial thrust plate is increased to over 8000N, solving the wear and positioning drift problems of traditional mechanical bearings and ensuring long-term operational stability; 2. The rotary joint incorporates a cross roller bearing, increasing axial stiffness to ≥200N / μm and radial stiffness to ≥150N / μm. When clamping bolts weighing over 50kg, the deformation is ≤0.02mm, effectively preventing positional shift under heavy loads and improving processing positioning accuracy; 3. The hydraulic telescopic arm uses a polyurethane sealing ring, ensuring no leakage under 20MPa high pressure. The multi-level nested structure is achieved through a hydraulic control system. Synchronous telescopic extension improves positioning accuracy to ±0.1mm, meeting the dimensional requirements of high-precision bolt processing, while extending the service life of seals to more than 3 times that of traditional products; 4. The multi-joint hydraulic gripper achieves angle adjustment through independent hydraulic cylinders, expanding the range of compatible bolt diameters to M8-M48, allowing for size changes without machine downtime; a pressure sensor array provides real-time feedback on clamping force, resulting in higher control precision, preventing workpiece damage or detachment, and improving changeover efficiency; 5. The control device adopts a Siemens S7-1500 series PLC (≥32 I / O points), supporting multi-protocol communication (Profinet / Modbus TCP, etc.), with data interaction latency with production line equipment ≤50ms; the coordinated control response time of the gripper and telescopic arm is shorter, adapting to the fast-paced processing needs of automated production lines. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall three-dimensional structure of this utility model;

[0015] Figure 2 This is a side view of the structure of this utility model;

[0016] Figure 3 This is a schematic diagram of the main structure of this utility model;

[0017] Figure 4 This is a schematic diagram of the three-dimensional structure of the present invention after partial disassembly;

[0018] Figure 5 This is a three-dimensional structural diagram of the clamping component of this utility model.

[0019] In the diagram: 1. Base mounting bracket; 2. Support column; 3. Control device; 4. Rotary drive mechanism; 401. Permanent magnet synchronous motor; 402. Drive shaft; 403. Axial thrust plate; 404. Radial electromagnetic bearing; 5. Articulated arm; 6. Hydraulic telescopic arm; 601. Cylinder; 602. Piston rod; 7. Clamping assembly; 701. Gripper seat; 702. Connecting seat; 703. Multi-joint hydraulic gripper; 704. Gripper hydraulic control system; 705. Gripper head; 8. Drive motor; 9. Hydraulic control system. Detailed Implementation

[0020] The technical solutions of the present utility model will be clearly and completely described below with reference to the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the protection scope of the present utility model.

[0021] To facilitate understanding of this utility model, a more comprehensive description will be given below with reference to the accompanying drawings. Several embodiments of this utility model are provided. However, this utility model can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of this utility model will be more thorough and complete.

[0022] Example 1

[0023] Please see Figure 1 A bolt processing clamping robot includes a base mounting frame 1, a support column 2, a control device 3 disposed on the side of the support column 2, a rotary drive mechanism 4 disposed on the top of the support column 2, an articulated arm 5 disposed on the top of the rotary drive mechanism 4, a hydraulic telescopic arm 6 connected to one end of the articulated arm 5, and a clamping assembly 7 located at the end of the hydraulic telescopic arm 6. The support column 2 is fixed on the base mounting frame 1. The input end of the articulated arm 5 located on the side of the rotary drive mechanism 4 is also connected to a drive motor 8. The hydraulic telescopic arm 6 is also provided with a hydraulic control system 9.

[0024] Example 2

[0025] Please see Figure 4Based on Embodiment 1, this embodiment further specifies that the rotary drive mechanism 4 consists of a permanent magnet synchronous motor 401, a drive shaft 402, an axial thrust disk 403, and a radial electromagnetic bearing 404. The rated power of the permanent magnet synchronous motor 401 is 3kW, and the rated speed is 1500r / min. This corresponds to the requirement of clamping bolts weighing 5-50kg. When clamping 5-20kg bolts, 3kW power and 1500r / min speed are sufficient to meet the rotary drive requirements; when clamping 20-50kg bolts, 7.5kW power and 3000r / min speed are required. The speed is adjusted to ensure dynamic response; a built-in 20-bit absolute encoder achieves an angular resolution of 0.001°, which, combined with real-time displacement monitoring of the radial electromagnetic bearing, ensures rotational positioning accuracy; the drive shaft 402 is forged from 40Cr alloy steel, with surface quenching and tempering treatment to a hardness of HRC38. This hardness range ensures the shaft's resistance to deformation under a radial force of 5000N while avoiding brittle fracture due to excessive hardness, making it suitable for high-frequency rotational applications in bolt processing. It is connected to the output shaft of the permanent magnet synchronous motor 401 via a spline. The axial thrust disc 403 is located at the axial positioning end of the drive shaft 402, made of bronze alloy, with spiral oil grooves on its surface. The radial electromagnetic bearing 404 surrounds the outside of the drive shaft 402 and contains four sets of radial electromagnetic units. Each set of electromagnetic units has an electromagnet and a displacement sensor. The electromagnet is made of laminated silicon steel sheets, with a rated current of 2A, generating a radial electromagnetic force of 500N. The displacement sensor is an eddy current sensor.

[0026] Example 3

[0027] Please see Figure 2 and Figure 3 Based on embodiment 1, this embodiment further defines the articulated arm 5 as including a rotatable arm segment. One end of the arm segment and one end of the hydraulic telescopic arm 6 are connected by a rotary joint. The rotary joint is equipped with a cross roller bearing inside, so that the articulated arm 5 can rotate flexibly.

[0028] Example 4

[0029] Please see Figure 2 and Figure 3 Based on Example 1, this embodiment further defines the hydraulic telescopic boom 6 as a multi-level nested structure, with one cylinder 601 and one piston rod 602. A polyurethane sealing ring is provided between the cylinder 601 and the piston rod, and its extension and retraction are controlled by the hydraulic control system 9.

[0030] Example 5

[0031] Please see Figure 5This embodiment, based on embodiment 1, further defines the clamping assembly 7 as consisting of a gripper base 701, a multi-joint hydraulic gripper 703, and a gripper hydraulic control system 704. The gripper base 701 is connected to the piston rod end on the hydraulic telescopic arm 6 via a connecting seat 702. It is made of high-strength aluminum alloy and has internal hydraulic oil passages. The multi-joint hydraulic gripper 703 has three gripper units, each of which is hinged to the gripper base 701 via a rotating pin and its angle is changed by a hydraulic cylinder driven by the gripper hydraulic control system 704. The end of the multi-joint hydraulic gripper 703 is provided with a gripper head 705 that matches the bolt. The inner side of the gripper head 705 has an anti-slip tooth plate and a pressure sensor array. The anti-slip tooth plate has a triangular tooth shape, and the pressure sensor array contains multiple miniature pressure sensors. The gripper hydraulic control system 704 is mounted on the gripper base 701 and includes a gripper drive cylinder and a hydraulic control device. The piston rod of the gripper drive cylinder is connected to each gripper unit via a linkage mechanism to realize the synchronous opening and closing of the gripper units.

[0032] Example 6

[0033] Please see Figure 5 Based on Embodiment 5, this embodiment further specifies that the multi-joint hydraulic gripper 703 is driven by a hydraulic cylinder connected to it to achieve angle changes. The hydraulic cylinder is independently controlled by the gripper hydraulic control system 704. The end of the multi-joint hydraulic gripper 703 is also provided with a gripper head 705 that matches the bolt as a whole. The inner surface of the gripper head 705 is respectively provided with anti-slip toothed plates and pressure sensor array. The anti-slip toothed plates have a triangular tooth shape. The pressure sensor array contains multiple miniature pressure sensors evenly distributed along the circumference of the gripper head, which can monitor the magnitude and distribution of the clamping force in real time. When the pressure in a certain area exceeds a preset threshold (e.g., 500N for an M10 bolt), the gripper hydraulic control system 704 automatically adjusts the pressure of the corresponding hydraulic cylinder to avoid excessive local stress that could damage the bolt surface. If the pressure is below the threshold (e.g., 1500N for an M48 bolt), the clamping force is increased to prevent the bolt from falling off.

[0034] Example 7

[0035] Please see Figure 1 Based on Embodiment 1, this embodiment further includes a programmable logic controller (PLC), a touch panel, and a communication module for the control device 3. The PLC uses a Siemens S7-1500 series PLC with 32 I / O points; the touch panel is a 10.4-inch industrial-grade touchscreen with a resolution of 800×600; the communication module supports Profinet, Modbus TCP, and Ethernet / IP protocols, enabling data interaction with external devices.

[0036] The working process of this utility model is as follows: When using this bolt to process the clamping robot, the device is first started through the touch operation panel of the control device 3. The programmable logic controller is initialized and the normal operation of each component is checked, including the rotary drive mechanism 4, the articulated arm 5, the hydraulic telescopic arm 6, the clamping assembly 7, etc. The communication module establishes a connection with the external device.

[0037] Control device 3 starts the permanent magnet synchronous motor 401 of the rotary drive mechanism 4, driving the drive shaft 402 to rotate, which in turn rotates the articulated arm 5 to a suitable angle; drive motor 8 drives the arm segment of the articulated arm 5 to rotate, cooperating with the cross roller bearing in the rotary joint to adjust the posture of the articulated arm 5; hydraulic control system 9 controls the cylinder 601 and piston rod 602 of the hydraulic telescopic arm 6 to move, so that the clamping assembly 7 reaches the vicinity of the bolt to be clamped position; then the clamping jaw hydraulic control system 704 of the clamping assembly 7 starts, which opens the clamping unit of the multi-joint hydraulic jaw 703 through the jaw drive cylinder and linkage mechanism, and the jaw head 705 is in the clamping state; the hydraulic telescopic arm 6 is further adjusted Positioning is achieved by aligning the gripper head 705 of the multi-joint hydraulic gripper 703 with the bolt. The gripper hydraulic control system 704 controls the hydraulic cylinder to drive the gripper unit to close, and the anti-slip toothed plate on the inner side of the gripper head 705 contacts the bolt. The pressure sensor array monitors the magnitude and distribution of the clamping force in real time to ensure a firm grip without damaging the bolt. Finally, under the control of the control device 3, the rotary drive mechanism 4, the articulated arm 5, and the hydraulic telescopic arm 6 work together to transport the clamped bolt to the processing position. During this process, each component cooperates precisely to ensure accurate bolt positioning. After reaching the designated processing position, the gripper hydraulic control system 704 controls the gripper unit to open, and the gripper head 705 disengages from the bolt, completing one clamping and transporting operation.

[0038] Each component is reset under the control of the control device 3, waiting for the next operation command. Throughout the process, the control device 3 monitors the operating status of each component in real time and exchanges data with external devices through the communication module.

[0039] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A bolt processing clamping robot, characterized in that: The device includes a base mounting frame (1), a support column (2), a control device (3) located on the side of the support column (2), a rotary drive mechanism (4) located on the top of the support column (2), a joint arm (5) located on the top of the rotary drive mechanism (4), a hydraulic telescopic arm (6) connected to one end of the joint arm (5), and a clamping assembly (7) located at the end of the hydraulic telescopic arm (6). The support column (2) is fixed on the base mounting frame (1). The input end of the joint arm (5) located on the side of the rotary drive mechanism (4) is also connected to a drive motor (8). The hydraulic telescopic arm (6) is also equipped with a hydraulic control system (9).

2. The bolt processing clamping robot according to claim 1, characterized in that: The rotary drive mechanism (4) includes: Permanent magnet synchronous motor (401), rated power is 3-7.5kW, rated speed is 1500-3000r / min, built-in absolute encoder, resolution ≥20 bits; The drive shaft (402) is forged from 40Cr alloy steel and its surface is quenched and tempered to a hardness of HRC38-42. The drive shaft (402) is connected to the output shaft of the permanent magnet synchronous motor (401) via a spline. An axial thrust disk (403) is located at the axial positioning end of the drive shaft (402), and is made of bronze alloy material with spiral oil grooves on its surface. A radial electromagnetic bearing (404) is arranged around the outside of the drive shaft (402) and includes at least 4 sets of radial electromagnetic units. Each set of electromagnetic units includes an electromagnet and a displacement sensor. The electromagnet is made of silicon steel sheets, has a rated current of 2-5A, and generates a radial electromagnetic force of 500-1500N. The displacement sensor is an eddy current sensor.

3. The bolt processing clamping robot according to claim 1, characterized in that: The articulated arm (5) includes at least one rotatable arm segment, one end of which is connected to one end of the hydraulic telescopic arm (6) by a rotary joint, and the rotary joint is provided with a cross roller bearing inside.

4. The bolt processing clamping robot according to claim 1, characterized in that: The hydraulic telescopic boom (6) is a multi-level nested structure, including at least one cylinder (601) and piston rod (602). A polyurethane sealing ring is provided between the cylinder (601) and the piston rod, and it is controlled by a hydraulic control system (9).

5. A bolt processing clamping robot according to claim 1, characterized in that: The clamping assembly (7) includes: The gripper seat (701) is connected to the end of the piston rod on the hydraulic telescopic arm (6) via a connecting seat (702). The gripper seat (701) is made of high-strength aluminum alloy and has hydraulic oil passages inside. A multi-joint hydraulic gripper (703) includes at least three gripper units, each gripper unit being hinged to a gripper seat (701) via a rotating pin; The gripper hydraulic control system (704) is installed on the gripper seat (701) and includes a gripper drive cylinder and a hydraulic control device for driving and controlling the gripping assembly (7). The piston rod of the gripper drive cylinder is connected to each gripper unit through a linkage mechanism to realize the synchronous opening and closing action of the gripper units.

6. A bolt processing clamping robot according to claim 5, characterized in that: The multi-joint hydraulic gripper (703) is driven by a hydraulic cylinder connected to it to achieve angle changes. The hydraulic cylinder is independently controlled by the gripper hydraulic control system (704). The end of the multi-joint hydraulic gripper (703) is also provided with a gripper head (705) that matches the bolt as a whole. The inner surface of the gripper head (705) is respectively provided with anti-slip toothed plates and pressure sensor array. The anti-slip toothed plates have a triangular tooth shape. The pressure sensor array contains multiple miniature pressure sensors that are evenly distributed around the gripper head (705) in real time for monitoring the magnitude and distribution of the clamping force.

7. A bolt processing clamping robot according to claim 1, characterized in that: The control device (3) includes: The programmable logic controller uses a Siemens S7-1500 series PLC and has at least 32 I / O points; The touch control panel uses a 10.4-inch industrial-grade touch screen with a resolution of ≥800×600; The communication module supports Profinet, ModbusTCP and Ethernet / IP protocols for data interaction with external devices.

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