Tail fin tightening apparatus

Abstract

The application provides a tail fin tightening device, relates to the technical field of automation, and solves the technical problems of low automation degree and high risk of manual operation in the existing pyrotechnic area production site tightening tail fin operation. The device comprises a feeding positioning structure, a truss mechanical hand and a tightening mechanism. The truss mechanical hand is used for grabbing the tail fin supported on the feeding positioning structure. The tightening mechanism is arranged on the base sliding table. The base sliding table can drive the tightening mechanism to move, so that the tail fin grabbed by the truss mechanical hand is located between the two clamping plates of the tightening mechanism. The clamping plate is formed with a positioning knob matching position. The two clamping plates can move towards each other to make the two positioning knob matching positions contact with the directional knob on the tail fin, so that the tightening mechanism drives the tail fin to rotate. Through the cooperation of the feeding positioning structure, the truss mechanical hand, the tightening mechanism and the base sliding table, the tail fin feeding and tightening process automation is realized, the manpower is saved, and the risk is reduced.

Description

Technical Field

[0001] This invention relates to the field of automation technology, and in particular to a tail fin tightening device. Background Technology

[0002] To improve production efficiency and ensure product quality, enterprises generally attach great importance to the degree of automation in the production process, in order to improve efficiency, save energy and reduce consumption, save labor costs, and promote industrial upgrading.

[0003] Regarding the tightening and installation of the tail fin and the cylindrical component, due to the special nature of the tail fin, the only place where force can be applied to tighten the tail fin is at the directional knob. Moreover, the directional knob is located at the thread of the tail fin and does not protrude from the outer diameter of the tail fin, which means that the equipment cannot directly apply torque to tighten the tail fin.

[0004] The current procedure for tightening the tail fin is as follows:

[0005] (1) The tail fin is manually hoisted onto the tightening machine using an overhead crane, and the product is placed horizontally.

[0006] (2) Manually open the semi-circular external gear, put the tail fin into the inner circle of the external gear, and manually control the directional button on the tail fin to align the position of the navigator. After the position is correct, the root of the directional button is connected to the positioning hole in the inner circle of the external gear. After the position is correct, manually fasten the external gear in a full circle.

[0007] (3) Manually start the tightening procedure to tighten the tail fin to the product (tightening is achieved by driving the external gear to rotate the tail fin 4);

[0008] (4) Manually adjust the position of the tightened tail fin until the upper half of the outer gear on the equipment can be easily opened. Then remove the outer gear and the product is separated from the equipment.

[0009] The above operation has the following drawbacks: low level of automation, requiring manual operation throughout; high risk of falling as manual operation of the overhead crane for hoisting and handling poses a risk to personnel safety, especially since the site is a pyrotechnic assembly area; low efficiency due to manual hole identification (aligning the root of the directional button with the directional hole), which requires both installation and removal. The low maneuverability of the overhead crane makes this identification process slow, and it also requires two people to be present simultaneously for on-site safety, resulting in low personnel utilization. Summary of the Invention

[0010] The purpose of this invention is to provide a tail fin tightening device to solve the technical problems of low automation and high risk of manual operation in existing tail fin tightening operations at pyrotechnic production sites. 。 The preferred technical solutions among the many technical solutions provided by this invention can produce a variety of technical effects, which are described in detail below.

[0011] To achieve the above objectives, the present invention provides the following technical solution:

[0012] This invention provides a tail fin tightening device, comprising a loading and positioning structure, a gantry robot, and a tightening mechanism. The loading and positioning structure is located on one side of the gantry robot, which grips and positions the tail fin supported on the loading and positioning structure. The tightening mechanism is mounted on a base slide, which can move the tightening mechanism so that the tail fin gripped by the gantry robot is positioned between two clamping plates of the tightening mechanism. Each clamping plate has a positioning button engagement position, and the two clamping plates can move towards each other so that the two positioning button engagement positions respectively contact a directional button on the tail fin, thereby allowing the tightening mechanism to rotate the tail fin.

[0013] Furthermore, the tightening mechanism includes a mounting plate with a linear drive structure. Two clamping plates arranged opposite each other are connected to the corresponding linear drive structure. Under the action of the two linear drive structures, the two mounting plates can move towards or away from each other.

[0014] Furthermore, the linear drive structure is a cylinder; or, the linear drive structure is a lead screw drive structure; a vertical guide structure is provided between each clamping plate and the mounting plate.

[0015] Furthermore, the tightening mechanism includes a mounting base, a drive device, and a gear transmission device. The drive device is mounted on the mounting base, and the mounting base is mounted on the base slide. The gear transmission device includes a pinion and a large gear meshing with the pinion. The pinion is connected to the drive device. One side of the large gear is provided with a support shaft end, which is supported on the mounting base by a bearing. The other side of the large gear is connected to the mounting plate.

[0016] Furthermore, the drive device includes a hydraulic motor, a reducer, a connecting shaft structure, and an explosion-proof torque sensor. The hydraulic motor is connected to the reducer, the reducer is connected to the connecting shaft structure, the explosion-proof torque sensor is mounted on the connecting shaft structure, and the connecting shaft structure is connected to the large gear.

[0017] Furthermore, the clamping plate is provided with a mating block, and the mating block is provided with a mating notch that mates with the directional button on the tail fin.

[0018] Furthermore, the truss manipulator includes a supporting truss, a manipulator, a lateral drive device, and a vertical drive device. The supporting truss includes a lateral beam, the length of which extends perpendicularly to the extension direction of the base slide rail. The vertical drive device connects the lateral beam to the lateral drive device, and the lateral drive device is connected to the manipulator. The vertical drive device is used to drive the manipulator to move along the height direction, and the lateral drive device is used to drive the manipulator to move along the horizontal direction.

[0019] Furthermore, the robotic arm includes a connecting beam, a connecting arm, a holding part, and a robotic arm drive device. The robotic arm drive device is disposed on the connecting beam, and the connecting beam is connected to the horizontal drive device. The connecting arm is vertically disposed, and both connecting arms are connected to the robotic arm drive device. The holding part is disposed at the end of each connecting arm, and the two holding parts are disposed opposite to each other. The robotic arm drive device is used to drive the connecting arm to move towards or away from the other.

[0020] Furthermore, the loading and positioning structure includes a support body, a lifting drive structure, and a lifting plate. The lifting drive structure is mounted on the lifting body, and the lifting plate is connected to the lifting body. The support plate is provided with a support block and a positioning pin that cooperate with the pallet. The pallet is used to place the tail fin, and the lifting plate is guided by a linear bearing and a guide rail.

[0021] Furthermore, the support body is also equipped with a proximity switch for detecting position; the support body is also equipped with a blocking cylinder to prevent the tray and tail fin from rebounding.

[0022] The preferred technical solution of this invention can produce at least the following technical effects: This invention provides a tail wing tightening device, which automates the tail wing loading and tightening process through the cooperation of a loading and positioning structure, a gantry robot, a tightening mechanism, and a base slide, saving manpower and reducing risks; this system can determine the position of the directional knob when the tail wing is subjected to force during the tightening process, ensuring the quality of the tail wing. 。 Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the tail fin structure;

[0025] Figure 2 This is a schematic diagram of the tail fin tightening device provided by the present invention;

[0026] Figure 3 This is a schematic diagram of the structure of the base slide and tightening mechanism provided by the present invention;

[0027] Figure 4 yes Figure 3 A magnified view of a section at point A in the middle;

[0028] Figure 5 This is a schematic diagram of the clamping plate provided by the present invention;

[0029] Figure 6 yes Figure 5 A magnified view of a section at point B in the middle;

[0030] Figure 7 This is a schematic diagram of the structure of the robotic arm provided by the present invention.

[0031] In the diagram: 1. Loading and positioning structure; 2. Truss robot; 201. Support truss; 2011. Horizontal beam; 202. Robot; 2021. Connecting beam; 2022. Connecting arm; 2023. Holding part; 203. Vertical drive device; 3. Tightening mechanism; 301. Clamping plate; 302. Mounting plate; 303. Linear drive structure; 304. Mounting seat; 305. Drive device; 3051. Hydraulic motor; 3052. Reducer; 3053. Explosion-proof torque sensor; 306. Pinion; 307. Gear; 308. Mating block; 3081. Mating notch; 4. Tail wing; 401. Directional knob; 5. Base slide; 6. Cylindrical component. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be described in detail below. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0033] This invention provides a tail fin tightening device, including a loading and positioning structure 1, a gantry robot 2, and a tightening mechanism 3. The loading and positioning structure 1 is located on one side of the gantry robot 2, which is used to grasp and position the tail fin 4 supported on the loading and positioning structure 1. The tightening mechanism 3 is located on a base slide 5, which can drive the tightening mechanism 3 to move so that the tail fin 4 gripped by the gantry robot 2 is located between two clamping plates 301 of the tightening mechanism 3. The clamping plates 301 have positioning button mating positions, and the two clamping plates 301 can move towards each other so that the two positioning button mating positions respectively contact the directional button 401 on the tail fin 4, so that the tightening mechanism 3 can drive the tail fin 4 to rotate.

[0034] The operating procedure for the tail fin tightening equipment in the pyrotechnics production area is as follows:

[0035] AGV transport tail wing to loading and positioning structure 1;

[0036] The gantry robot 2 grasps the positions on both sides of the tail fin and moves it to the front of the tightening mechanism 3; the base slide 5 drives the tightening mechanism 3 to move forward, so that the tail fin 4 is located between the two clamping plates 301 of the tightening mechanism 3. The clamping plates 301 move towards each other so that the two positioning button mating positions contact the directional button 401 on the tail fin 4 respectively, that is, the tightening machine clamps the tail end upper and lower directional button 401 at the clamping position.

[0037] The gantry robot 2 releases its tail fin and rises, the base slide 5 drives the tightening mechanism 3 to move forward, and the gantry robot returns to its original position to avoid the direction of the tightening mechanism's movement.

[0038] The tightening mechanism 3 moves forward, causing the tail wing to engage with the tightening end face of the cylindrical part 6. The tightening mechanism drives the tail wing to rotate, and the tightening mechanism completes the tightening of the tail wing and the cylindrical part 6.

[0039] Tightening mechanism 3 releases the tail wing, base slide 5 retracts back to the original position, and tightening mechanism returns to the original position.

[0040] The tail wing tightening device provided by this invention transfers the tail wing from the gantry robot to the tightening mechanism, which drives the tail wing to move and rotate for tightening. By combining the product characteristics with the combined automated equipment, the device completes the automatic feeding and tightening of the tail wing, saving manpower and reducing risks. This device can realize the force on the tail wing during the tightening process by using the position of the directional button to ensure the quality of the tail wing.

[0041] Regarding tightening mechanism 3, see [link / reference]. Figure 3 and Figure 4 It includes a mounting plate 302, on which a linear drive structure 303 is provided. Two clamping plates 301 arranged opposite to each other are connected to the corresponding linear drive structure 303. Under the action of the two linear drive structures 303, the two mounting plates 302 can move towards or away from each other.

[0042] The linear drive structure 303 is a cylinder; or, the linear drive structure 303 is a lead screw drive structure; a vertical guide structure is provided between each clamping plate 301 and the mounting plate 302 to facilitate the stable movement of the clamping plate 301.

[0043] Regarding the vertical guide structure, a vertical guide rail is provided on the mounting plate 302, and a slider that cooperates with the vertical guide rail is provided on the clamping plate 301. Sliders can be provided on both the left and right sides of the back of the mounting plate 302.

[0044] See Figure 3 The tightening mechanism 3 also includes a mounting base 304, a drive device 305, and a gear transmission device. The drive device 305 is mounted on the mounting base 304, which is mounted on the base slide 5. The gear transmission device includes a pinion 306 and a large gear 307 meshing with the pinion 306. The pinion 306 is connected to the drive device 305. One side of the large gear 307 has a support shaft end, which is supported on the mounting base 304 by a bearing. The other side of the large gear 307 is connected to the mounting plate 302. When the drive device 305 is activated, it can drive the pinion 306 to rotate. The large gear 307 rotates with the pinion 306, thereby driving the mounting plate 302 to rotate, thus enabling the tightening mechanism 3 to drive the tail fin 4 to rotate.

[0045] The drive unit 305 includes a hydraulic motor 3051, a reducer 3052, a connecting shaft structure (the connecting shaft structure includes a connecting shaft and a coupling), and an explosion-proof torque sensor 3053. The hydraulic motor 3051 is connected to the reducer 3052, the reducer 3052 is connected to the connecting shaft structure, the explosion-proof torque sensor 3053 is mounted on the connecting shaft structure, and the connecting shaft structure is connected to a large gear 307.

[0046] A guide rail structure is also provided between the mounting base 304 and the base slide 5. The mounting base 304 is equipped with a pneumatic system drive, which can drive the mounting base 304 to move on the base slide 5 to provide thread clamping force during the tightening process.

[0047] Regarding this, the clamping plate 301 is provided with a mating block 308, and the mating block 308 is provided with a mating notch 3081 that mates with the directional button 401 on the tail wing 4.

[0048] See Figure 1 The diagram illustrates the positioning button 401 on the tail fin 4, with the two positioning buttons 401 positioned opposite each other. See also... Figure 5 and Figure 6 The diagram illustrates the clamping plate 301 and its mating block 308, with a mating notch 3081 provided on the mating block 308. (See also...) Figure 6The mating notch 3081 includes a U-shaped slot and a bottom groove. The U-shaped slot is located above the bottom groove and the two are connected. When the positioning button 401 contacts the mating block 308, the cylindrical section of the positioning button 401 is inserted into the U-shaped slot, and the left and right sides of the trapezoidal part below the cylindrical section contact the bottom groove.

[0049] See Figure 1 The truss manipulator 2 includes a supporting truss 201, a manipulator 202, a horizontal drive device, and a vertical drive device 203. The supporting truss 201 includes a horizontal beam 2011 (connecting two portal frames). The length extension direction of the horizontal beam 2011 is perpendicular to the extension direction of the track of the base slide 5. The vertical drive device 203 connects the horizontal beam 2011 and the horizontal drive device, and the horizontal drive device is connected to the manipulator 202. The vertical drive device 203 is used to drive the manipulator 202 to move in the vertical direction, and the horizontal drive device is used to drive the manipulator 202 to move in the horizontal direction. The horizontal drive device and the vertical drive device 203 are driven by an explosion-proof servo rack and pinion system. The servo motor in the vertical direction has a brake function to prevent it from falling in the event of a power outage.

[0050] See Figure 7 The robotic arm 202 includes a connecting beam 2021, connecting arms 2022, a gripping part 2023, and a robotic arm drive device. The robotic arm drive device is mounted on the connecting beam 2021, which is connected to a horizontal drive device. Two connecting arms 2022 are vertically arranged and both are connected to the robotic arm drive device. Each connecting arm 2022 has a gripping part 2023 at its end, and the two gripping parts 2023 are positioned opposite each other. The robotic arm drive device is used to move the connecting arms 2022 towards or away from each other. The specific structure of the robotic arm drive device is not specifically limited. Preferably, the robotic arm 202 can adopt a pneumatic clamping method.

[0051] The loading and positioning structure 1 includes a support body, a lifting drive structure, and a lifting plate. The lifting drive structure is mounted on the lifting body, and the lifting plate is connected to the lifting body. The support plate is equipped with support blocks and positioning pins that cooperate with the pallet. The pallet is used to place the tail fin 4. The lifting plate is guided by linear bearings and guide rails. The support body is also equipped with a proximity switch for detecting the position; the support body is also equipped with a blocking cylinder to prevent the pallet and tail fin from rebounding.

[0052] The conveyor line is designed with a loading and positioning structure 1. The function of the conveyor line is to connect with the loading AGV. After the tail wing moves into position on the conveyor line, the loading and positioning structure 1 performs a secondary lifting and positioning.

[0053] The supporting body of the material loading and positioning structure 1 is welded from steel pipe columns. A lifting plate is installed on the supporting body. The lifting plate is guided by linear bearings and guide rails. The lifting power is provided by the extension and retraction of a double cylinder (lifting drive structure). The lifting plate has support blocks and positioning pins that contact and position with the product pallet. The double cylinder is equipped with an upward limit to prevent it from falling out. It is equipped with a proximity switch for position detection and a blocking cylinder to prevent the tail wing pallet from rebounding when it is in place.

[0054] The tray is used to place the tail fin 4. When the gantry robot 2 grasps, it only grasps the tail fin on the tray.

[0055] In the description of this invention, it should be noted that, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," "tail," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0056] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0057] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "a particular example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0058] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A tail fin tightening device, characterized in that, It includes a loading and positioning structure (1), a gantry robot (2), and a tightening mechanism (3), among which, The loading and positioning structure (1) is located on one side of the gantry manipulator (2), and the gantry manipulator (2) is used to grab and position the tail wing (4) supported on the loading and positioning structure (1). The tightening mechanism (3) is mounted on the base slide (5). The base slide (5) can drive the tightening mechanism (3) to move so that the tail wing (4) gripped by the gantry manipulator (2) is located between the two clamping plates (301) of the tightening mechanism (3). The clamping plate (301) has a positioning button engagement position. The two clamping plates (301) can move towards each other so that the two positioning button engagement positions respectively contact the orientation button (401) on the tail wing (4), so that the tightening mechanism (3) can drive the tail wing (4) to rotate. The clamping plate (301) is provided with a mating block (308), and the mating block (308) is provided with a mating notch (3081) that mates with the directional button (401) on the tail fin (4); the mating notch (3081) includes a U-shaped slot and a bottom groove, the U-shaped slot is located above the bottom groove and the two are connected, the cylindrical section of the directional button (401) is inserted into the U-shaped slot, and the left and right sides of the trapezoidal part below the cylindrical section are in contact with the bottom groove; The truss manipulator (2) includes a support truss (201), a manipulator (202), a horizontal drive device, and a vertical drive device (203). The support truss (201) includes a horizontal beam (2011). The length extension direction of the horizontal beam (2011) is perpendicular to the extension direction of the track of the base slide (5). The vertical drive device (203) connects the horizontal beam (2011) and the horizontal drive device. The horizontal drive device is connected to the manipulator (202). The vertical drive device (203) is used to drive the manipulator (202) to move in the height direction. The horizontal drive device is used to drive the manipulator (202) to move in the horizontal direction.

2. The tail fin tightening device according to claim 1, characterized in that, The tightening mechanism (3) includes a mounting plate (302), on which a linear drive structure (303) is provided. Two clamping plates (301) arranged opposite to each other are connected to the corresponding linear drive structure (303). Under the action of the two linear drive structures (303), the two mounting plates (302) can move towards or away from each other.

3. The tail fin tightening device according to claim 2, characterized in that, The linear drive structure (303) is a cylinder; or, the linear drive structure (303) is a lead screw drive structure. A vertical guide structure is provided between each of the clamping plates (301) and the mounting plate (302).

4. The tail fin tightening device according to claim 2, characterized in that, The tightening mechanism (3) includes a mounting base (304), a drive device (305), and a gear transmission device. The drive device (305) is mounted on the mounting base (304), and the mounting base (304) is mounted on the base slide (5). The gear transmission device includes a pinion (306) and a gear (307) meshing with the pinion (306). The pinion (306) is connected to the drive device (305). A support shaft end is provided on one side of the gear (307), and the support shaft end is supported on the mounting base (304) by a bearing. The other side of the gear (307) is connected to the mounting plate (302).

5. The tail fin tightening device according to claim 4, characterized in that, The drive device (305) includes a hydraulic motor (3051), a reducer (3052), a connecting shaft structure, and an explosion-proof torque sensor (3053). The hydraulic motor (3051) is connected to the reducer (3052), the reducer (3052) is connected to the connecting shaft structure, the explosion-proof torque sensor (3053) is mounted on the connecting shaft structure, and the connecting shaft structure is connected to the large gear (307).

6. The tail fin tightening device according to claim 1, characterized in that, The robotic arm (202) includes a connecting beam (2021), a connecting arm (2022), a holding part (2023), and a robotic arm drive device. The robotic arm drive device is disposed on the connecting beam (2021), which is connected to the horizontal drive device. The connecting arm (2022) is vertically disposed, and both connecting arms (2022) are connected to the robotic arm drive device. The holding part (2023) is disposed at the end of each connecting arm (2022), and the two holding parts (2023) are disposed opposite to each other. The robotic arm drive device is used to drive the connecting arm (2022) to move closer to or further away from the other.

7. The tail fin tightening device according to claim 1, characterized in that, The loading and positioning structure (1) includes a support body, a lifting drive structure, and a lifting plate. The lifting drive structure is set on the support body, and the lifting plate is connected to the lifting drive structure. The lifting plate is provided with a support block and a positioning pin that cooperate with the pallet. The pallet is used to place the tail wing (4). The lifting plate is guided by a linear bearing and a guide rail.

8. The tail fin tightening device according to claim 7, characterized in that, The support body is also equipped with a proximity switch for detecting position; the support body is also equipped with a blocking cylinder to prevent the tray and tail fin from rebounding.

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