An end effector for multi-diameter steel wire nipple tail handle punch-off

Abstract

The present application relates to a kind of end effector for the tail handle of multi-diameter steel wire sleeve is broken, by setting up the double-cylinder assembly of upper and lower two parts and turntable assembly, the two cylinders responsible for impact punch pin and responsible for driving turntable rotation are installed in cylinder installation shell, long stroke cylinder is used to punch pin to break out steel wire sleeve tail handle, short stroke cylinder drives turntable rotation to realize different diameter punch pin switching, cylinder installation shell is connected with end flange connecting disc by screw hole, and the whole device is installed in robot end;Turntable installation shell is installed in turntable assembly and punch pin reset component, different diameter punch pin is placed in turntable stepped hole, and punch pin reset component realizes the reset after punch pin extension.It can realize the automatic breaking of different diameter steel wire sleeve tail handle, improve the installation efficiency of steel wire sleeve, reduce the work intensity of worker when removing the tail handle of a large number of steel wire sleeve of machine body.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of industrial robots, and particularly relates to an end effector for breaking off a tail handle of a multi-diameter steel wire sleeve. BACKGROUND

[0002] With the continuous advancement of modernization and industrialization, steel wire sleeves are widely used in aerospace, shipbuilding, automobile manufacturing and other industries. As an important mechanical connection fastener, the steel wire sleeve is a spring-shaped internal and external thread concentric body processed from high-strength, high-precision and smooth-surface cold-rolled diamond-shaped stainless steel wire. By embedding the steel wire sleeve into metal or non-metal materials to form a high-strength and wear-resistant standard internal thread, the fatigue strength and wear resistance of the thread can be improved, and the phenomenon of loose assembly and fatigue fracture caused by vibration can be effectively prevented. The research on the automatic installation process of the steel wire sleeve helps to improve the efficiency of installing the steel wire sleeve.

[0003] In the prior art, the removal of the tail handle of the steel wire sleeve is an important step in the installation process of the steel wire sleeve. Currently, workers need to use special tools to remove the tail handle one by one, and the end tool needs to be manually replaced for different diameters of the steel wire sleeve, which is labor-intensive and low in removal efficiency, seriously affecting the installation efficiency of the steel wire sleeve. This cumbersome installation process cannot meet the current industry requirements. SUMMARY

[0004] The present application aims to avoid the shortcomings of the prior art and provide an end effector for breaking off a tail handle of a multi-diameter steel wire sleeve, thereby solving the problems of manual breaking off of the tail handle of the existing steel wire sleeve, low breaking off efficiency, long time consumption and troublesome replacement of the punch pin. The end effector can quickly and accurately replace the punch pin of different diameters and achieve pneumatic breaking off.

[0005] To achieve the above-mentioned purpose, the technical solution adopted by the present application is as follows: the end effector for breaking off a tail handle of a multi-diameter steel wire sleeve comprises a flange end connecting piece, the flange end connecting piece is connected with a double-cylinder assembly, the lower end of the double-cylinder assembly is connected with a rotary table assembly, and the rotary table assembly is further provided with a rotating pressure head assembly and a punch pin resetting assembly.

[0006] The flange end connecting piece comprises a flange connecting disc, and the flange connecting disc is threadedly connected with an industrial robot end and a double-cylinder assembly through a threaded hole.

[0007] The double-cylinder assembly comprises a long-stroke cylinder, a short-stroke cylinder and a cylinder mounting shell, the long-stroke cylinder and the short-stroke cylinder are fixed on the cylinder mounting shell through threads, a rectangular port for installing gas path pipelines of the two cylinders is arranged on the side wall of the cylinder mounting shell, and the gas path is connected to a gas source through the rectangular port of the side wall of the cylinder mounting shell.

[0008] The upper end of the cylinder mounting shell is connected with the flange connecting disc of the flange end connector, and the bottom of the cylinder mounting shell is provided with two light holes and a threaded hole, the diameters of the two light holes are respectively greater than the diameters of the cylinder valve rods of the long-stroke cylinder and the short-stroke cylinder, and the two light holes are used for the extension of the two cylinder valve rods, and the threaded hole is used for fixing the cylinder mounting shell and the long-stroke cylinder and the short-stroke cylinder.

[0009] The turntable assembly comprises a turntable, a turntable top cover and a turntable mounting shell, the outer side of the turntable is provided with stepped holes for mounting a punch needle reset assembly, the center of the turntable is provided with a through hole for mounting a rotating pressure head assembly, the turntable top cover is provided with limiting holes for limiting the punch needle of the punch needle reset assembly, the bottom of the turntable mounting shell is correspondingly provided with holes for the extension of the punch needle of the punch needle reset assembly, and the center of the bottom of the turntable mounting shell is further provided with a stepped boss for mounting the turntable.

[0010] The four stepped holes are equidistantly distributed on the outer side of the turntable, and the two sides of the stepped holes are hollowed out, so as to reduce the self weight of the turntable and facilitate the rotation of the turntable; the inner wall of the through hole in the center of the turntable is provided with two sliding grooves for cooperating with the rotating pressure head assembly to complete the angle-fixed rotation of the turntable; the turntable top cover is fixedly connected with the turntable through screws, the diameters of the limiting holes on the turntable top cover are smaller than the diameters of the upper ends of the stepped holes and are equiangularly distributed as four corresponding to the stepped holes.

[0011] The rotating pressure head assembly comprises a rotating pressure head and a reset spring, the outer wall of the rotating pressure head is provided with limiting bosses matched with the sliding grooves in the through hole in the center of the turntable assembly of the turntable assembly, the limiting bosses are arranged as eight on the outer wall of the rotating pressure head, four of which are arranged in one sliding groove, the rotating pressure head is a hollow structure, the upper end of the reset spring is arranged in the rotating pressure head, and the lower end of the reset spring is sleeved on the stepped boss in the center of the bottom of the turntable mounting shell and used for resetting the rotating pressure head.

[0012] The punch needle reset assembly comprises a punch needle, a spring and a concentric stopper, the upper end of the punch needle is provided with a top hat, the spring is sleeved on the punch needle, and the concentric stopper is arranged at the lower end of the punch needle.

[0013] The punch needle is a hollow structure, the punch needle includes four different diameter M8 punch needles, M6 punch needles, M5 punch needles and M4 punch needles, corresponding concentric stop center holes are provided, the concentric stop center hole diameters are correspondingly provided as M8 concentric stops, M6 concentric stops, M5 concentric stops and M4 concentric stops, the outer diameter of the top cap at the upper end of the punch needle is the same as the hole diameter of the upper end of the stepped hole provided on the rotary table, the lower side of the top cap is in contact with the spring as a stress surface, one end of the spring is in contact with the top cap of the punch needle, and the other end of the spring is in contact with the concentric stop, and the spring is used for resetting after the punch needle is stretched out; the concentric stop is sleeved at the tail end of the punch needle, the outer diameter of the concentric stop is the same as the hole diameter of the upper end of the stepped hole provided on the rotary table, and the precision of the punch needle stretching out is ensured under the joint action of the concentric stop and the top cap of the punch needle.

[0014] The beneficial effects of the present application are: a kind of end effector for the tail handle of multi-diameter steel wire sleeve is broken, by setting up and down two parts of double cylinder assembly and rotary table component, two cylinders responsible for impact punch needle and responsible for driving rotary table rotation are installed in cylinder mounting shell, long stroke cylinder is used for punch needle to stretch out and break steel wire sleeve tail handle, short stroke cylinder drives rotary table rotation to realize different diameter punch needle switching, cylinder mounting shell is connected with end flange connecting disc through screw hole, and the whole device is installed at the end of robot;Rotary table mounting shell is installed rotary table component and punch needle reset component, different diameter punch needles are placed in rotary table stepped hole, and punch needle reset component realizes the reset after punch needle stretches out.The end effector is installed on the end flange of robot, can realize the automatic breaking of different diameter steel wire sleeve tail handle, improves the installation efficiency of steel wire sleeve, and reduces the working strength of worker when removing a large number of steel wire sleeve tail handle of machine body. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is the overall assembly schematic diagram of the present application;

[0016] Figure 2 It is the assembly schematic diagram of double cylinder assembly of the present application;

[0017] Figure 3 It is the assembly schematic diagram of rotary table component and rotary pressure head component of the present application;

[0018] Figure 4 It is the sectional view of the present application;

[0019] Figure 5 It is the sectional view of rotary table structure of the present application;

[0020] Figure 6 It is the schematic diagram of rotary table top cover structure of the present application;

[0021] Figure 7 It is the connection schematic diagram of rotary pressure head component of the present application;

[0022] Figure 8 Figure 1 is a schematic diagram of the flange end connecting piece of the application;

[0023] Figure 9 Figure 2 is a schematic diagram of the cylinder mounting shell structure of the application;

[0024] Figure 10 Figure 3 is a schematic diagram of the turntable mounting shell structure of the application.

[0025] In the figure, 1 is a turntable mounting shell; 2 is a cylinder mounting shell; 3 is a flange connecting disc; 4 is a long-stroke cylinder; 5 is a short-stroke cylinder; 6 is a turntable; 7 is a turntable top cover; 8 is an M8 punch needle; 9 is an M6 punch needle; 10 is an M5 punch needle; 11 is an M4 punch needle; 12 is a spring; 13 is a rotating pressure head; 14 is a reset spring; 15 is an M8 concentric stopper; 16 is an M6 concentric stopper; 17 is an M5 concentric stopper; 18 is an M4 concentric stopper; 19 is a limiting hole; 20 is a stepped hole; 21 is a stepped boss; 22 is a limiting boss; and 23 is a sliding groove. DETAILED DESCRIPTION

[0026] The principles and features of the application are described below in conjunction with the accompanying drawings, and the examples are only used to explain the application and are not intended to limit the scope of the application.

[0027] In order to achieve the above-mentioned purpose, the application provides the following specific embodiments:

[0028] As shown in Figure 1 , an end effector for multi-diameter steel wire sleeve tail handle punch-off, characterized by comprising a flange end connecting piece, the flange end connecting piece is connected with a double-cylinder assembly, the lower end of the double-cylinder assembly is connected with a turntable assembly, and the turntable assembly is further provided with a rotating pressure head assembly and a punch needle reset assembly. The flange end connecting piece comprises a flange connecting disc 3, which is threadedly connected with an industrial robot end and a double-cylinder assembly through a threaded hole.

[0029] As shown in Figure 2 and Figure 9 , the double-cylinder assembly comprises a long-stroke cylinder 4, a short-stroke cylinder 5, and a cylinder mounting shell 2, the long-stroke cylinder 4 and the short-stroke cylinder 5 are fixed on the cylinder mounting shell 2 through threads, and a rectangular port for installing two cylinder gas path pipelines is arranged on the side wall of the cylinder mounting shell 2, and the gas path is connected to a gas source through the rectangular port of the side wall of the cylinder mounting shell 2. The upper end of the cylinder mounting shell 2 is connected with the flange connecting disc 3 of the flange end connecting piece, and the bottom of the cylinder mounting shell 2 is provided with two light holes and a threaded hole, the diameters of the two light holes are respectively greater than the diameters of the cylinder valve rods of the long-stroke cylinder 4 and the short-stroke cylinder 5, and the two light holes are used for the extension of the two cylinder valve rods, and the threaded hole is used for fixing the cylinder mounting shell 2 with the long-stroke cylinder 4 and the short-stroke cylinder 5.

[0030] As Figure 3 , Figure 4 , Figure 5 and Figure 6 shown, the turntable assembly includes a turntable 6, a turntable top cover 7 and a turntable mounting shell 1, the outer side of the turntable 6 is provided with a stepped hole 20 for installing the punch needle reset assembly, the center of the turntable 6 is provided with a through hole for installing the rotating pressure head assembly, the turntable top cover 7 is provided with a limiting hole 19 for limiting the punch needle of the punch needle reset assembly, the bottom of the turntable mounting shell 1 is correspondingly provided with a hole for the punch needle of the punch needle reset assembly to extend out, and the center of the bottom of the turntable mounting shell 1 is further provided with a stepped boss 21 for installing the turntable 6. The four stepped holes 20 on the outer side of the turntable 6 are equally spaced and distributed on the outer side of the turntable 6, and the two sides of the stepped hole 20 are hollowed out to reduce the weight of the turntable 6 and facilitate the rotation of the turntable 6; the inner wall of the through hole in the center of the turntable 6 is provided with two sliding grooves 23 for cooperating with the rotating pressure head assembly to complete the angle rotation of the turntable; the turntable top cover 7 is fixedly connected with the turntable 6 by screws, and the limiting hole 19 on the turntable top cover 7 has a diameter smaller than the hole diameter of the upper end of the stepped hole 20 and is correspondingly equally angularly distributed as four.

[0031] As Figure 3 , Figure 4 and Figure 7 , Figure 8 and Figure 10As shown, the rotating pressure head assembly comprises a rotating pressure head 13 and a reset spring 14. The outer wall of the rotating pressure head 13 is provided with limiting bosses 22 matched with the inner wall sliding grooves 23 of the central hole of the rotating table 6 of the rotating table assembly. There are eight limiting bosses 22 on the outer wall of the rotating pressure head 13, and every four limiting bosses are arranged in a sliding groove. The rotating pressure head 13 is a hollow structure. The upper end of the reset spring 14 is arranged in the rotating pressure head 13, and the lower end of the reset spring 14 is arranged on the central stepped boss 21 at the bottom of the rotating table mounting shell 1 to reset the rotating pressure head 13. The punch needle reset assembly comprises a punch needle, a spring 12 and a concentric stopper. The upper end of the punch needle is provided with a top hat. The spring 12 is arranged on the punch needle. The concentric stopper is arranged at the lower end of the punch needle. The punch needle is a hollow structure. The punch needle comprises an M8 punch needle 8, an M6 punch needle 9, an M5 punch needle 10 and an M4 punch needle 11 with different diameters. The central hole of the concentric stopper is provided with a through hole. The hole diameter of the central hole of the concentric stopper corresponds to the four punch needles with different diameters. The concentric stopper is provided with an M8 concentric stopper 15, an M6 concentric stopper 16, an M5 concentric stopper 17 and an M4 concentric stopper 18. The outer diameter of the top hat at the upper end of the punch needle is the same as the hole diameter of the upper end of the stepped hole 20 arranged on the rotating table 6. The lower side of the top hat is in contact with the spring 12 as a force receiving surface. One end of the spring is in contact with the top hat of the punch needle, and the other end is in contact with the concentric stopper. The spring is used for resetting the punch needle after the punch needle is extended. The concentric stopper is arranged at the end of the punch needle. The outer diameter of the concentric stopper is the same as the hole diameter of the upper end of the stepped hole 20 arranged on the rotating table 6. The concentric stopper and the top hat of the punch needle jointly ensure the accuracy of the extension of the punch needle.

[0032] Further, when the diameter of the steel wire bush to be punched is different from the current punch needle to be switched, the electromagnetic valve of the short stroke cylinder 5 receives a signal to control the short stroke cylinder 5 to act. The number of actions is determined according to the selected punch needle. The valve rod of the short stroke cylinder pushes the rotating pressure head 13 downward. When the rotating pressure head 13 moves downward, the bosses on the outer wall of the rotating pressure head 13 are in contact with the inner wall sliding grooves of the central hole of the rotating table 6 to generate a driving force to drive the rotating table assembly to rotate by 45°. After the valve rod reaches the position, it retreats. The rotating pressure head 13 moves upward under the action of the reset spring 14. At the same time, the bosses on the outer wall of the rotating pressure head 13 are in contact with the inner wall sliding grooves of the central hole of the rotating table 6 to continue to generate a driving force to drive the rotating table assembly to continue to rotate by 45°. During the whole process, the short stroke cylinder 5 acts once, and the rotating table 6 rotates by 90°.

[0033] Further, after the rotating table assembly reaches the position, i.e. after the punch needle is in place, the electromagnetic valve of the long stroke cylinder receives a signal to control the long stroke cylinder 4 to act. The valve rod of the long stroke cylinder pushes the punch needle downward. The punch needle extends from the hole at the bottom of the rotating table mounting shell 1 to impact the tail handle of the steel wire bush. After the valve rod reaches the position, it retreats. The punch needle returns to the initial state under the action of the spring. At the same time, the diameter of the hole in the rotating table top cover 7 is smaller than the diameter of the top hat of the punch needle, so as to prevent the punch needle from being forced out of the rotating table stepped hole.

[0034] The end effector is installed at the end of the industrial robot in use, the cylinder gas circuit is connected to the air source through the electromagnetic valve, the worker calibrates the tool coordinate system and the workpiece coordinate system of the robot, the position information of the punch pin is read by the upper computer, the coordinate position of the hole to be inserted is obtained by calling the body wire sleeve hole coordinate set, the industrial robot moves the end effector to the corresponding coordinate position, the upper computer sends the instruction to the short-stroke cylinder electromagnetic valve, the rotary table is turned to the corresponding position, the upper computer sends the instruction to the long-stroke cylinder electromagnetic valve, the long-stroke cylinder valve rod is quickly extended to impact the punch pin, and the punch pin is extended into the wire sleeve to break the tail handle. The whole process not only utilizes the simplicity of the cylinder action control, but also utilizes the rapidity of the cylinder valve rod impacting the tail handle, so that the labor intensity of the worker is greatly reduced, and the efficiency of the wire sleeve installation is improved.

[0035] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An end effector for multi-diameter thread insert tailpiece break-off, characterized by, The flange end connector is connected with the double-cylinder assembly, the lower end of the double-cylinder assembly is connected with the rotary table assembly, and the rotary table assembly is further provided with a rotary pressure head assembly and a punch reset assembly; The flange end connector includes a flange connecting disc (3), which is threadedly connected with the industrial robot end and the double-cylinder assembly through threaded holes; The double-cylinder assembly includes a long-stroke cylinder (4), a short-stroke cylinder (5) and a cylinder mounting shell (2), the long-stroke cylinder (4) and the short-stroke cylinder (5) are fixed on the cylinder mounting shell (2) through threads, and a rectangular port for installing two cylinder gas path pipelines is arranged on the side wall of the cylinder mounting shell (2), and the gas path is connected to a gas source through the rectangular port of the side wall of the cylinder mounting shell (2). The rotary table assembly includes a rotary table (6), a rotary table top cover (7) and a rotary table mounting shell (1), the outer side of the rotary table (6) is provided with stepped holes (20) for installing the punch reset assembly, the center of the rotary table (6) is provided with a through hole for installing the rotary pressure head assembly, the rotary table top cover (7) is provided with limiting holes (19) for limiting the punch of the punch reset assembly, and the bottom of the rotary table mounting shell (1) is provided with holes corresponding to the punch of the punch reset assembly, and the bottom center of the rotary table mounting shell (1) is further provided with a stepped boss (21) for installing the rotary table (6). The four stepped holes (20) on the outer side of the rotary table (6) are equidistantly distributed on the outer side of the rotary table (6), and the two sides of the stepped hole (20) are hollowed out; the inner wall of the through hole in the center of the rotary table (6) is provided with two sliding grooves (23) for cooperating with the rotary pressure head assembly to complete the rotary table angle rotation; the rotary table top cover (7) is fixedly connected with the rotary table (6) through screws, the limiting holes (19) on the rotary table top cover (7) have a diameter smaller than that of the holes at the upper end of the stepped holes (20) and are equidistantly distributed in four corresponding stepped holes (20). The rotary pressure head assembly includes a rotary pressure head (13) and a reset spring (14), the outer wall of the rotary pressure head (13) is provided with limiting bosses (22) matched with the sliding grooves (23) in the through hole in the center of the rotary table (6) of the rotary table assembly, the limiting bosses (22) are arranged on the outer wall of the rotary pressure head (13) in eight, and every four are arranged in one sliding groove, the rotary pressure head (13) is a hollow structure, the upper end of the reset spring (14) is arranged in the rotary pressure head (13), and the lower end of the reset spring (14) is sleeved on the stepped boss (21) at the bottom center of the rotary table mounting shell (1) to reset the rotary pressure head (13).

2. An end effector for punch breaking of multi-diameter thread inserts shank, according to claim 1, characterized in that, The upper end of the cylinder mounting shell (2) is connected with the flange connecting disc (3) of the flange end connector, the bottom of the cylinder mounting shell (2) is provided with two light holes and threaded holes, the diameters of the two light holes are respectively greater than the diameters of the cylinder valve rods of the long-stroke cylinder (4) and the short-stroke cylinder (5), and the two light holes are used for the extension of the two cylinder valve rods, and the threaded holes are used for fixing the cylinder mounting shell (2) with the long-stroke cylinder (4) and the short-stroke cylinder (5).

3. An end effector for punch breaking of multi-diameter thread inserts shank, according to claim 1, characterized in that, The punch needle reset assembly comprises a punch needle, a spring (12) and a concentric stopper, the upper end of the punch needle is provided with a top cap, the spring (12) is sleeved on the punch needle, and the concentric stopper is arranged at the lower end of the punch needle.

4. An end effector for punch breaking of multi-diameter thread inserts shank, according to claim 3, characterized in that, The punch needle is of a hollow structure, and the punch needle comprises M8 punch needles (8), M6 punch needles (9), M5 punch needles (10) and M4 punch needles (11) with four different diameters, the center of the corresponding concentric stopper is provided with a through hole, the hole diameter of the center through hole of the concentric stopper is correspondingly provided as M8 concentric stoppers (15), M6 concentric stoppers (16), M5 concentric stoppers (17) and M4 concentric stoppers (18) with four different diameters, the outer diameter of the top cap at the upper end of the punch needle is the same as the hole diameter of the upper end of the stepped hole (20) arranged on the rotary table (6), the lower side of the top cap is in contact with the spring (12) as a stress surface, one end of the spring is in contact with the top cap of the punch needle, and the other end of the spring is in contact with the concentric stopper, and the spring is used for resetting after the punch needle is stretched out; the concentric stopper is sleeved at the tail end of the punch needle, the outer diameter of the concentric stopper is the same as the hole diameter of the upper end of the stepped hole (20) arranged on the rotary table (6), and the precision of the punch needle stretching out is ensured under the joint action of the concentric stopper and the top cap of the punch needle.

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