Bolt screwing robot

Abstract

The bolt screwing robot comprises a machine body, a machine frame in transmission connection to the surface of the machine body and a screwing structure arranged on the surface of the machine frame, the machine frame can drive the screwing structure to vertically move on the surface of the machine body, and transmission structures are arranged on the surfaces of the machine body and the machine frame; the transmission structure can be in transmission connection with the screwing structure through the linkage structure, the transmission structure can drive the screwing structure to rotate and machine through the linkage structure, the screwing structure comprises a transmission rod movably connected to the interior of the rack through a bearing, and a threaded sleeve is installed at the bottom end of the transmission rod. By integrating the machine body, the machine frame and the screwing structure, automatic screwing of bolts is achieved, the production efficiency is remarkably improved, manual intervention is reduced, the labor intensity is reduced, the screwing accuracy and consistency are improved, meanwhile, the transmission structure on the surface of the machine body and the surface of the machine frame and the linkage between the machine body and the screwing structure are achieved, and the production efficiency is improved. And the smoothness and high efficiency of the screwing process are ensured.

Description

Technical Field

[0001] The invention relates to the technical field of bolt screwing and installation, in particular to a bolt screwing robot. Background Art

[0002] A bolt tightening robot, also known as a screw-tightening robot or a screw-locking robot, is an automated assembly equipment that can automatically identify the location of screw holes, select appropriate screws, insert the screws into the screw holes and tighten them. This robot uses advanced technology to achieve efficient and precise screw tightening operations, greatly improving production efficiency and quality stability.

[0003] For example, the patent number disclosed in the China Patent Network is: CN 104015044 B, and the patent name is: A bolt tightening robot, which includes a main frame, a control device, a rotation drive device, a vertical drive device and a tightening arm, wherein the rotation drive device and the vertical drive device are arranged on the main frame, and the rotation drive device and the vertical drive device are connected to the control device; the rotation drive device is connected to the vertical drive device and moves vertically under the drive of the vertical drive device, the tightening arm is arranged vertically, and the tightening arm is connected to the output end of the rotation drive device. Compared with the prior art, the bolt tightening robot provided by the invention has a control device that controls the rotation drive device and the vertical drive device to act synchronously, so that the tightening arm tightens the main bolt, and the bolt tightening robot operates the main bolt to screw into or out of the threaded hole.

[0004] However, existing screwing robots mainly use motors to carry screw sleeves to perform screwing operations. Motor drive systems, especially high-precision servo motor systems, are usually expensive, including the purchase cost of the motor, the cost of the control system, and related maintenance costs. In addition, the motor drive system is easily affected by the external environment, such as temperature, humidity, dust, etc. In harsh working environments, the performance and life of the motor drive system may be affected.

[0005] Secondly, for bolt tightening robots that need to work continuously for a long time, the motor needs to consume electrical energy during the driving process and generate high heat, which affects the operating stability. Moreover, under certain extreme working conditions, such as when it is necessary to quickly change the direction of rotation or adjust the torque, its dynamic response may still be subject to certain limitations, which may affect the efficiency and accuracy of bolt tightening.

[0006] Therefore, it is necessary to design and transform the bolt tightening robot. Summary of the invention

[0007] In order to solve the problems raised in the above background technology, the purpose of the present invention is to provide a bolt tightening robot, which has the advantages of being able to control the tightening torque and automatically turn the knob during the lifting process.

[0008] To achieve the above-mentioned object, the present invention provides the following technical solutions: a bolt tightening robot, comprising a body;

[0009] A frame connected to the surface of the machine body by a transmission;

[0010] A screwing structure arranged on the surface of the frame;

[0011] The frame can drive the screwing structure to move vertically on the surface of the machine body;

[0012] The surfaces of the machine body and the frame are both provided with a transmission structure, and the transmission structure can be connected to the screwing structure by a linkage structure, and the transmission structure can drive the screwing structure to rotate during processing by the linkage structure.

[0013] As a preferred embodiment of the present invention, the screwing structure includes a transmission rod movably connected to the inside of the frame through a bearing, a screw sleeve is installed at the bottom end of the transmission rod, and the transmission rod can rotate using a linkage structure during the process of following the descent of the frame.

[0014] As a preferred embodiment of the present invention, the transmission structure includes a bracket fixedly connected to the bottom of the body, the interior of the bracket is movably connected with a shaft rod through a bearing, the rear end of the shaft rod is fixedly connected with a gear ring, the right side of the frame is installed with a tooth plate through a separation structure, the tooth plate and the gear ring are meshed with each other, and a control structure is provided on the right side of the body, and the control structure can drive the tooth plate to swing and disengage from the gear ring when the tooth plate rises.

[0015] As a preferred embodiment of the present invention, the linkage structure includes a first bevel gear fixedly connected to the front end of the shaft rod, a second bevel gear is fixedly connected to the surface of the transmission rod, and the first bevel gear and the second bevel gear are meshed with each other.

[0016] As a preferred embodiment of the present invention, the separation structure includes a connection block fixedly connected to the top of the right side of the body, and the top of the tooth plate extends to the front side of the connection block and is movably connected to the connection block through a pin shaft.

[0017] The control structure of the present invention preferably includes an extension plate fixedly connected to the right side of the body, the side of the extension plate away from the body extends to the front of the tooth plate through the right side of the tooth plate and is installed with a D-shaped frame by using an adjusting structure, the surface of the extension plate is movably installed with an inner core located inside the D-shaped frame by the adjusting structure, the inner core and the front of the D-shaped frame are both fixedly connected with a connecting plate, a gap is provided between the inner core and the D-shaped frame to form a limiting groove, the shape of the limiting groove is D-shaped, a transmission groove that is interconnected with the limiting groove is provided on the surface of the tooth plate, a support plate is installed on the top of the frame through an elastic structure, the support plate extends to the back of the tooth plate away from the side of the frame, a push rod is fixedly connected to the front of the support plate, the side of the push rod away from the support plate sequentially penetrates the transmission groove and the limiting groove and extends to the inside of the limiting groove, the transmission groove and the limiting groove are both slidably connected to the push rod, and the support plate can be used to drive the push rod to slide inside the transmission groove and the limiting groove during the lifting process of the frame.

[0018] As a preferred embodiment of the present invention, the elastic structure includes a connecting frame fixedly connected to the top of the frame, a guide rod fixedly connected to the interior of the connecting frame, the support plate is sleeved on the surface of the guide rod and is slidably connected to the guide rod, the surface of the support plate is fixedly connected to a compression spring sleeved on the surface of the guide rod, the side of the compression spring away from the support plate is in contact with the inner surface of the connecting frame, the compression spring is elastic, and can release the elastic force and push the support rod to slide toward the arc groove part forming the limit groove when the support rod moves to the bottom end of the limit groove.

[0019] As a preferred embodiment of the present invention, the adjustment structure includes an adjustment plate fixedly connected to the surface of the extension plate, the surface of the adjustment plate is provided with an adjustment groove, and the front side of the connecting plate is threadedly connected with a limiting rod located inside the adjustment groove.

[0020] As a preferred embodiment of the present invention, the inner surface of the D-shaped frame is provided with a groove interconnected with the limit groove, the interior of the groove is fixedly connected with a spring hinge, the side of the spring hinge away from the groove is hinged with a baffle, the baffle can be pushed by a push rod sliding inside the arc groove part and moved into the groove, the baffle can limit the push rod when the push rod moves vertically to ensure its vertical state.

[0021] As a preferred embodiment of the present invention, a sleeve is fixedly connected to the top of the screw sleeve, the sleeve is sleeved on the surface of the transmission rod, and the sleeve and the transmission rod are detachably connected via a threaded assembly.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] 1. The present invention realizes the automatic screwing of bolts by integrating the machine body, the frame and the screwing structure, which significantly improves the production efficiency, reduces the manual intervention, reduces the labor intensity, and improves the accuracy and consistency of screwing. At the same time, the transmission structure on the surface of the machine body and the frame and its linkage with the screwing structure ensures the smoothness and efficiency of the screwing process.

[0024] 2. The screwing structure of the present invention adopts a combination of a transmission rod and a screw sleeve, which is movably connected to the inside of the frame through a bearing. This design enables the transmission rod to rotate stably and flexibly during the descent process. The screw sleeve is a component that directly acts on the bolt, and its design ensures the uniform transmission of the screwing force, avoiding the problem of bolt damage or incomplete screwing.

[0025] 3. The transmission structure of the present invention realizes the transmission of power from the body to the screwing structure through the mutual cooperation of the bracket, the shaft, the gear ring and the gear plate. This design enables the robot to generate sufficient torque when screwing bolts to meet the screwing requirements of bolts of different specifications. At the same time, the design of the control structure allows the gear plate and the gear ring to be disengaged when necessary, which provides convenience for the adjustment and maintenance of the equipment and increases the safety of operation.

[0026] 4. The present invention realizes the transmission of the rotational power of the shaft to the transmission rod by setting the mutual meshing of the first bevel gear and the second bevel gear, so that the screwing structure can rotate while the frame is descending, thereby realizing the automatic screwing of the bolt. The design of the linkage structure not only improves the efficiency of energy transmission, but also ensures the synchronization and stability of the screwing action.

[0027] 5. The present invention provides a separation structure so that the tooth plate can swing relative to the body when needed, thereby simplifying the complexity of the control structure and improving the reliability and durability of the equipment. At the same time, the existence of the separation structure also provides a physical basis for the separation of the tooth plate and the gear ring, so that the equipment can automatically disconnect power transmission when screwing is not required, avoiding energy waste and excessive wear of the equipment.

[0028] 6. The present invention realizes precise control of the position of the tooth plate by forming a control structure through the cooperation of the D-shaped frame, the inner core, the connecting plate, the limit groove, the transmission groove and the push rod, ensuring that the robot can automatically adjust the position of the tooth plate when tightening the bolt to ensure its accurate engagement or separation with the gear ring. At the same time, the sliding of the push rod in the transmission groove and the limit groove ensures the stability of the screwing structure during the lifting and lowering of the frame, preventing screwing errors caused by position offset.

[0029] 7. The present invention sets an elastic structure, which can release the elastic force and push the support rod to slide toward the arc groove when the support rod moves to the bottom of the limit groove. This not only helps to automatically separate the tooth plate and the gear ring, but also improves the automation level and response speed of the equipment. At the same time, the presence of the compression spring also plays a certain buffering role, reduces the impact and vibration of the equipment during operation, and extends the service life of the equipment.

[0030] 8. The present invention realizes the adjustment of the relative position between the D-shaped frame and the inner core by setting an adjustment structure. This design allows the user to adjust the shape and position of the limit groove according to actual needs to adapt to the tightening requirements of bolts of different specifications or positions. The existence of the adjustment structure improves the adaptability and flexibility of the equipment, allowing the robot to be used in a wider range of scenarios.

[0031] 9. The present invention sets a baffle, a spring hinge and a D-shaped frame to limit the push rod when it moves vertically, ensuring the stability and verticality of the push rod during movement, preventing screwing errors or equipment damage caused by position offset, and at the same time, part of the push rod will not be blocked during the reset movement.

[0032] 10. The present invention provides a sleeve and a threaded assembly so that the user can replace screw sleeves of different specifications according to actual needs to meet the screwing requirements of bolts of different sizes. At the same time, the detachable connection also facilitates the user to maintain and service the screw sleeve, thereby extending the service life of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic diagram of the structure of the present invention;

[0034] Figure 2 It is a schematic diagram of the main structure of the present invention;

[0035] Figure 3 It is a schematic diagram of the transmission structure of the present invention;

[0036] Figure 4 It is a schematic diagram of the control structure of the present invention;

[0037] Figure 5 It is a schematic diagram of the elastic structure of the present invention;

[0038] Figure 6 It is a schematic diagram of the separation structure of the present invention;

[0039] Figure 7 It is a top view schematic diagram of the local structure of the present invention;

[0040] Figure 8 For the present invention Figure 4 Enlarged structural diagram at A in the middle.

[0041] In the figure: 1. body; 2. frame; 3. screwing structure; 4. transmission structure; 5. linkage structure; 6. transmission rod; 7. screw sleeve; 8. bracket; 9. shaft rod; 10. gear ring; 11. separation structure; 12. tooth plate; 13. control structure; 14. first bevel gear; 15. second bevel gear; 16. connecting block; 17. extension plate; 18. D-shaped frame; 19. adjustment structure; 20. inner core; 21. connecting plate; 22. limit groove; 23. transmission groove; 24. elastic structure; 25. support plate; 26. push rod; 27. connecting frame; 28. guide rod; 29. ​​compression spring; 30. adjustment plate; 31. adjustment groove; 32. limit rod; 33. groove; 34. spring hinge; 35. baffle; 36. sleeve; 37. threaded assembly. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] like Figures 1 to 8 As shown, a bolt tightening robot provided by the present invention comprises a body 1;

[0044] A frame 2 is transmission-connected to the surface of the machine body 1;

[0045] A screwing structure 3 is arranged on the surface of the frame 2;

[0046] The frame 2 can drive the screwing structure 3 to move vertically on the surface of the body 1;

[0047] The surfaces of the machine body 1 and the frame 2 are both provided with a transmission structure 4, which can be connected to the screwing structure 3 by a linkage structure 5, and the transmission structure 4 can drive the screwing structure 3 to rotate by the linkage structure 5.

[0048] refer to Figure 3 The screwing structure 3 includes a transmission rod 6 movably connected to the inside of the frame 2 through a bearing, a screw sleeve 7 is installed at the bottom end of the transmission rod 6, and the transmission rod 6 can be rotated by using the linkage structure 5 during the process of following the frame 2 to descend.

[0049] As a technical optimization solution of the present invention, the screwing structure 3 adopts a combination of a transmission rod 6 and a screw sleeve 7, which is movably connected to the inside of the frame 2 through a bearing. This design enables the transmission rod 6 to rotate stably and flexibly during the descent process. The screw sleeve 7 is a component that directly acts on the bolt, and its design ensures uniform transmission of the screwing force, avoiding the problem of bolt damage or incomplete screwing.

[0050] refer to Figure 3 The transmission structure 4 includes a bracket 8 fixedly connected to the bottom of the body 1, and the interior of the bracket 8 is movably connected with a shaft rod 9 through a bearing, and a gear ring 10 is fixedly connected to the rear end of the shaft rod 9. A tooth plate 12 is installed on the right side of the frame 2 through a separation structure 11, and the tooth plate 12 and the gear ring 10 are meshed with each other. A control structure 13 is provided on the right side of the body 1. The control structure 13 can drive the tooth plate 12 to swing and disengage from the gear ring 10 when the tooth plate 12 rises. When working, the tooth plate 12 is used as a key power transmission element, and its right side is installed on the frame 2 through an innovative separation structure 11. This separation structure 11 not only allows the tooth plate 12 to move freely in the vertical direction to follow the rise and fall of the frame 2, but also gives the tooth plate 12 the ability to swing in the horizontal direction. When the frame 2 drops to a certain height, the control structure 13 will play a role, driving the tooth plate 12 to swing slightly around its installation point, so that it is disengaged from the gear ring 10, ensuring that the reset of the screwing structure 3 will not be affected.

[0051] As a technical optimization solution of the present invention, the transmission structure 4 realizes the transmission of power from the body 1 to the screwing structure 3 through the mutual cooperation of the bracket 8, the shaft 9, the gear ring 10 and the tooth plate 12. This design enables the robot to generate sufficient torque when screwing bolts to meet the screwing requirements of bolts of different specifications. At the same time, the design of the control structure 13 allows the tooth plate 12 to be disengaged from the gear ring 10 when necessary, which provides convenience for the adjustment and maintenance of the equipment and increases the safety of operation.

[0052] refer to Figure 3 The linkage structure 5 includes a first bevel gear 14 fixedly connected to the front end of the shaft rod 9, and a second bevel gear 15 is fixedly connected to the surface of the transmission rod 6, and the first bevel gear 14 and the second bevel gear 15 are meshed with each other.

[0053] As a technical optimization solution of the present invention, by setting the mutual engagement of the first bevel gear 14 and the second bevel gear 15, the transmission of the rotational power of the shaft 9 to the transmission rod 6 is realized, so that the screwing structure 3 can rotate while the frame 2 descends, thereby realizing the automatic screwing of the bolt. The design of the linkage structure 5 not only improves the efficiency of energy transmission, but also ensures the synchronization and stability of the screwing action.

[0054] refer to Figure 5The separation structure 11 includes a connecting block 16 fixedly connected to the top right side of the body 1. The top of the tooth plate 12 extends to the front of the connecting block 16 and is movably connected to the connecting block 16 through a pin. When working, with the cooperation of the pin and the connecting block 16, the tooth plate 12 can realize two main movements: one is the lifting movement in the vertical direction, which is achieved by the drive of the frame 2, and the other is the swinging movement in the horizontal direction, which is driven by the control structure 13 when the tooth plate 12 rises to a certain height. The combination of these two movements enables the tooth plate 12 to flexibly engage or disengage with the gear ring 10 during the screwing process, thereby realizing precise control of the screwing action.

[0055] As a technical optimization solution of the present invention, by setting a separation structure 11, the tooth plate 12 can swing relative to the body 1 when needed, which simplifies the complexity of the control structure 13 and improves the reliability and durability of the equipment. At the same time, the existence of the separation structure 11 also provides a physical basis for the separation of the tooth plate 12 and the gear ring 10, so that the equipment can automatically disconnect the power transmission when screwing is not required, avoiding energy waste and excessive wear of the equipment.

[0056] refer to Figure 6The control structure 13 includes an extension plate 17 fixedly connected to the right side of the machine body 1. The side of the extension plate 17 away from the machine body 1 extends to the front of the tooth plate 12 through the right side of the tooth plate 12 and is installed with a D-shaped frame 18 by using an adjustment structure 19. The surface of the extension plate 17 is movably installed with an inner core 20 located inside the D-shaped frame 18 through the adjustment structure 19. The inner core 20 and the front of the D-shaped frame 18 are both fixedly connected with a connecting plate 21. There is a gap between the inner core 20 and the D-shaped frame 18 and a limiting groove 22 is formed. The shape of the limiting groove 22 is D-shaped. The surface of the tooth plate 12 is provided with a gap that is aligned with the limiting groove 22. The transmission grooves 23 are interconnected, and a support plate 25 is installed on the top of the frame 2 through an elastic structure 24. The side of the support plate 25 away from the frame 2 extends to the back of the tooth plate 12. The front of the support plate 25 is fixedly connected with a push rod 26. The side of the push rod 26 away from the support plate 25 sequentially penetrates the transmission groove 23 and the limit groove 22 and extends to the inside of the limit groove 22. The transmission groove 23 and the limit groove 22 are both slidably connected to the push rod 26. During the lifting process of the frame 2, the support plate 25 can be used to drive the push rod 26 to slide inside the transmission groove 23 and the limit groove 22. When working, the push rod 26 One end is fixedly connected to the support plate 25, and the support plate 25 is installed on the top of the frame 2 through the elastic structure 24. This elastic structure 24, such as a spring or elastic element, gives the support plate 25 a certain buffering and reset ability, so that the push rod 26 can respond quickly and return to the initial position when subjected to external force. When the frame 2 is raised or lowered, the support plate 25 will move accordingly and drive the push rod 26 to slide inside the transmission groove 23 and the limit groove 22. In this process, the sliding connection between the push rod 26 and the transmission groove 23 and the limit groove 22 ensures the smoothness and accuracy of the movement. When the frame 2 is raised or lowered, the push rod 26 can move quickly and return to the initial position. When rising, the support plate 25 pushes the push rod 26 to slide upward in the transmission groove 23, and then pushes the inner core 20 to move relative to the D-shaped frame 18 through the limit groove 22. This movement will change the relative position relationship between the inner core 20 and the D-shaped frame 18, thereby applying a lateral force to the tooth plate 12 through the connecting plate 21, which can make the tooth plate 12 swing slightly around the pin shaft and disengage from the gear ring 10. Conversely, when the frame 2 descends, the push rod 26 returns to the initial position through the reset of the elastic structure 24 and the limiting effect of the baffle 35, thereby driving the tooth plate 12 to reset and re-engage with the gear ring 10.

[0057] As a technical optimization scheme of the present invention, the control structure 13 is composed of the mutual cooperation of the D-shaped frame 18, the inner core 20, the connecting plate 21, the limit groove 22, the transmission groove 23 and the push rod 26, so as to realize the precise control of the position of the tooth plate 12, and ensure that the robot can automatically adjust the position of the tooth plate 12 when tightening the bolt, and ensure its accurate engagement or separation with the gear ring 10. At the same time, the sliding of the push rod 26 in the transmission groove 23 and the limit groove 22 ensures the stability of the screwing structure 3 during the lifting and lowering of the frame 2, and prevents screwing errors caused by position offset.

[0058] refer to Figure 5 The elastic structure 24 includes a connecting frame 27 fixedly connected to the top of the frame 2, a guide rod 28 is fixedly connected to the inside of the connecting frame 27, a support plate 25 is sleeved on the surface of the guide rod 28 and is slidably connected to the guide rod 28, a compression spring 29 sleeved on the surface of the guide rod 28 is fixedly connected to the surface of the support plate 25, the side of the compression spring 29 away from the support plate 25 is in contact with the inner surface of the connecting frame 27, the compression spring 29 is elastic, and the compression spring 29 can release the elastic force when the support rod moves to the bottom end of the limit groove 22 and push the support rod to slide toward the arc groove part forming the limit groove 22.

[0059] As a technical optimization solution of the present invention, by setting the elastic structure 24, the elastic force can be released and the support rod can be pushed to slide toward the arc groove part when the support rod moves to the bottom end of the limit groove 22, which not only helps the automatic separation of the tooth plate 12 and the gear ring 10, but also improves the automation degree and response speed of the equipment. At the same time, the presence of the compression spring 29 also plays a certain buffering role, reduces the impact and vibration of the equipment during operation, and extends the service life of the equipment.

[0060] refer to Figure 6 The adjustment structure 19 includes an adjustment plate 30 fixedly connected to the surface of the extension plate 17 , an adjustment groove 31 is provided on the surface of the adjustment plate 30 , and a limiting rod 32 located inside the adjustment groove 31 is threadedly connected to the front side of the connecting plate 21 .

[0061] As a technical optimization solution of the present invention, by setting the adjustment structure 19, the relative position between the D-shaped frame 18 and the inner core 20 is adjusted. This design allows the user to adjust the shape and position of the limit groove 22 according to actual needs to adapt to the tightening requirements of bolts of different specifications or positions. The existence of the adjustment structure 19 improves the adaptability and flexibility of the equipment, allowing the robot to be used in a wider range of scenarios.

[0062] refer to Figure 8 The inner surface of the D-shaped frame 18 is provided with a groove 33 which is interconnected with the limiting groove 22. A spring hinge 34 is fixedly connected to the inside of the groove 33. A baffle 35 is hinged on the side of the spring hinge 34 away from the groove 33. The baffle 35 can be pushed and moved into the groove 33 by the push rod 26 sliding inside the arc groove part. The baffle 35 can limit the push rod 26 when the push rod 26 moves vertically to ensure its vertical state.

[0063] As a technical optimization solution of the present invention, by setting a baffle 35 and a spring hinge 34 connected to the D-shaped frame 18, the push rod 26 can be limited when it moves vertically, ensuring the stability and verticality of the push rod 26 during the movement, preventing screwing errors or equipment damage caused by position offset, and at the same time, part of the push rod 26 will not be blocked during the reset movement.

[0064] refer to Figure 2 The top of the screw sleeve 7 is fixedly connected with a sleeve 36 , and the sleeve 36 is sleeved on the surface of the transmission rod 6 . The sleeve 36 and the transmission rod 6 are detachably connected through a threaded assembly 37 .

[0065] As a technical optimization solution of the present invention, by providing a sleeve 36 and a threaded assembly 37, the user can replace the screw sleeve 7 of different specifications according to actual needs to adapt to the screwing requirements of bolts of different sizes. At the same time, the detachable connection also facilitates the user to maintain and service the screw sleeve 7, thereby extending the service life of the equipment.

[0066] The working principle and use process of the present invention are as follows: the robot is mainly composed of a body 1, a frame 2, and a screwing structure 3. The vertical movement is achieved through a transmission connection. The body 1 carries the frame 2 to move vertically along a guide rail or track, and can drive the screwing structure 3 to move synchronously on the surface of the body 1. The screwing structure 3 includes a transmission rod 6 movably connected to the inside of the frame 2 through a bearing. A screw sleeve 7 is installed at the bottom end of the transmission rod 6 for cooperating with a bolt. When the bolt needs to be screwed, the frame 2 drives the screwing structure 3, i.e., the transmission rod 6 and the screw sleeve 7, to descend until the screw sleeve 7 contacts the bolt. During this process, the toothed ring 10 on the surface of the frame 2 can contact and mesh with the toothed plate 12 and use the teeth on the surface to carry the first bevel gear 14 to rotate. The first bevel gear 14 transmits the power to the transmission rod 6 by the second bevel gear 15, thereby driving the screw sleeve 7 to rotate, and realizing the screwing of the bolt. The meshing and separation of the tooth plate 12 and the gear ring 10 are controlled by the control structure 13. When rotation processing is required and the frame 2 descends vertically, the support plate 25 on the surface of the frame 2 carries the push rod 26 to slide vertically inside the transmission groove 23 and the limit groove 22 and limit the support of the tooth plate 12 to ensure that the tooth plate 12 is placed vertically so that the tooth plate 12 is meshed with the gear ring 10. When the frame 2 moves to the maximum stroke and the push rod 26 moves to the bottom of the limit groove 22, the support plate 25 is in the D-shaped frame 1 of the limit groove 22 through the elastic structure 24 such as the compression spring 29 and the push rod 26. 8 interacts with the inner core 20, and releases the elastic force when the support plate 25 moves to the bottom of the limiting groove 22, pushing the support plate 25 and the push rod 26 to slide toward the arc groove part of the limiting groove 22. When the push rod 26 completely moves to the inside of the arc groove part on the surface of the limiting groove 22, the frame 2 carries the screwing structure 3 to rise, and the push rod 26 limited by the arc groove part can swing with the pin shaft on the surface of the connecting block 16 as the axis through the arc limit. When the tooth plate 12 is out of contact with the gear ring 10, the frame 2 can drive the screwing structure 3 to rise normally, and the screwing structure 3 will not trigger the rotation during the movement. When the push rod 26 completely moves to the top of the arc groove part and contacts with the baffle 35 When touched, the push rod 26 can squeeze the baffle 35 so that the baffle 35 moves to the inside of the groove 33 through the hinge of the spring hinge 34, and the continuously moving push rod 26 can pass through the arc groove part and move to the inside of the vertical part of the limit groove 22 again. When the push rod 26 moves to the top of the baffle 35, the spring hinge 34 releases the deformation force to push the baffle 35 to reset and seal the connection between the vertical part and the arc part again, preventing the push rod 26 from sliding abnormally to the inside of the arc groove part in the middle of the descent, and the adjustment structure 19 allows the user to adjust the relative position between the D-shaped frame 18 and the inner core 20 as needed, thereby adjusting the shape and position of the limit groove 22 to adapt to bolts of different sizes or positions.

[0067] In summary: the bolt tightening robot realizes the automatic tightening of bolts by integrating the body 1, the frame 2 and the tightening structure 3, which significantly improves the production efficiency, reduces manual intervention, reduces labor intensity, and improves the accuracy and consistency of tightening. At the same time, the transmission structure 4 on the surface of the body 1 and the frame 2 and its linkage with the tightening structure 3 ensures the smoothness and efficiency of the tightening process.

[0068] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0069] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A bolt tightening robot, comprising a body (1); A frame (2) drivingly connected to the surface of the machine body (1); A screwing structure (3) arranged on the surface of the frame (2); The frame (2) can drive the screwing structure (3) to move vertically on the surface of the machine body (1); Features: The surfaces of the machine body (1) and the frame (2) are both provided with a transmission structure (4), and the transmission structure (4) can be connected to the screwing structure (3) by means of a linkage structure (5), and the transmission structure (4) can drive the screwing structure (3) to perform a rotational process by means of the linkage structure (5).

2. A bolt tightening robot according to claim 1, characterized in that: The screwing structure (3) comprises a transmission rod (6) movably connected to the inside of the frame (2) via a bearing, a screw sleeve (7) being installed at the bottom end of the transmission rod (6), and the transmission rod (6) can be rotated by means of a linkage structure (5) as the frame (2) descends.

3. A bolt tightening robot according to claim 2, characterized in that: The transmission structure (4) comprises a bracket (8) fixedly connected to the bottom of the body (1); the interior of the bracket (8) is movably connected to a shaft (9) via a bearing; the rear end of the shaft (9) is fixedly connected to a gear ring (10); a toothed plate (12) is installed on the right side of the frame (2) via a separation structure (11); the toothed plate (12) and the gear ring (10) are meshed with each other; and a control structure (13) is provided on the right side of the body (1); the control structure (13) can drive the toothed plate (12) to swing and disengage from the gear ring (10) when the toothed plate (12) rises.

4. A bolt tightening robot according to claim 3, characterized in that: The linkage structure (5) comprises a first bevel gear (14) fixedly connected to the front end of the shaft rod (9), and a second bevel gear (15) is fixedly connected to the surface of the transmission rod (6), and the first bevel gear (14) and the second bevel gear (15) are meshed with each other.

5. A bolt tightening robot according to claim 3, characterized in that: The separation structure (11) comprises a connection block (16) fixedly connected to the top of the right side of the machine body (1), and the top of the tooth plate (12) extends to the front side of the connection block (16) and is movably connected to the connection block (16) via a pin shaft.

6. A bolt tightening robot according to claim 5, characterized in that: The control structure (13) comprises an extension plate (17) fixedly connected to the right side of the machine body (1); a side of the extension plate (17) away from the machine body (1) extends to the front side of the tooth plate (12) through the right side of the tooth plate (12) and is installed with a D-shaped frame (18) by means of an adjustment structure (19); an inner core (20) located inside the D-shaped frame (18) is movably installed on the surface of the extension plate (17) through the adjustment structure (19); the inner core (20) and the front side of the D-shaped frame (18) are both fixedly connected with a connecting plate (21); a gap is provided between the inner core (20) and the D-shaped frame (18) to form a limiting groove (22); the limiting groove (22) is in the shape of a D; a surface of the tooth plate (12) is provided with a groove for contacting with the limiting groove (21); The top of the frame (2) is provided with a support plate (25) through an elastic structure (24); the support plate (25) extends from the side of the frame (2) to the back of the tooth plate (12); the front of the support plate (25) is fixedly connected with a push rod (26); the side of the push rod (26) away from the support plate (25) sequentially penetrates the transmission groove (23) and the limit groove (22) and extends to the inside of the limit groove (22); the transmission groove (23) and the limit groove (22) are both slidably connected to the push rod (26); during the lifting process of the frame (2), the support plate (25) can be used to drive the push rod (26) to slide inside the transmission groove (23) and the limit groove (22).

7. A bolt tightening robot according to claim 6, characterized in that: The elastic structure (24) comprises a connection frame (27) fixedly connected to the top of the frame (2), a guide rod (28) being fixedly connected inside the connection frame (27), the support plate (25) being sleeved on the surface of the guide rod (28) and being slidably connected to the guide rod (28), a compression spring (29) being sleeved on the surface of the guide rod (28) being fixedly connected to the surface of the support plate (25), the compression spring (29) being in contact with the inner surface of the connection frame (27) on a side away from the support plate (25), the compression spring (29) being elastic, and being able to release elastic force and push the support rod to slide toward the arc groove portion forming the limit groove (22) when the support rod moves to the bottom end of the limit groove (22).

8. The bolt tightening robot according to claim 6, characterized in that: The adjustment structure (19) comprises an adjustment plate (30) fixedly connected to the surface of the extension plate (17), an adjustment groove (31) being provided on the surface of the adjustment plate (30), and a limiting rod (32) located inside the adjustment groove (31) being threadedly connected to the front side of the connection plate (21).

9. The bolt tightening robot according to claim 6, characterized in that: The inner surface of the D-shaped frame (18) is provided with a groove (33) which is interconnected with the limiting groove (22); a spring hinge (34) is fixedly connected inside the groove (33); a baffle (35) is hingedly connected to the side of the spring hinge (34) away from the groove (33); the baffle (35) can be pushed by a push rod (26) sliding inside the arc groove part and moved into the groove (33); the baffle (35) can limit the push rod (26) when the push rod (26) moves vertically, so as to ensure that the push rod (26) is in a vertical state.

10. A bolt tightening robot according to claim 2, characterized in that: The top of the screw sleeve (7) is fixedly connected with a sleeve (36), the sleeve (36) is sleeved on the surface of the transmission rod (6), and the sleeve (36) and the transmission rod (6) are detachably connected via a threaded assembly (37).

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