Thread screwing device and alignment adjusting mechanism thereof

Abstract

The invention provides a thread screwing device and an alignment adjusting mechanism thereof to solve the problem that in the prior art, thread screwing alignment is difficult, and relates to the technical field of thread assembling. The thread screwing device alignment adjusting mechanism comprises a mounting plate, a first sliding plate, a second sliding plate and a clamping device. The clamping device is installed on the second sliding plate in the X direction and rotationally connected with the second sliding plate, the second sliding plate is slidably installed on the first sliding plate in the Y direction, and second reset springs with one ends connected with the first sliding plate and the other ends connected with the second sliding plate are arranged on the two sides of the second sliding plate so that the second sliding plate can be kept in the middle position of the sliding track of the second reset springs. A guide rod arranged in the Z direction is arranged on the mounting plate, the first sliding plate is arranged on the guide rod in a sleeving mode and is in sliding fit with the guide rod, and first reset springs enabling the first sliding plate to be kept in the middle position of the sliding track of the first sliding plate are arranged on the two sides of the first sliding plate. According to the invention, the equipment cost is reduced, and thread alignment is easier to realize.

Description

Technical Field

[0001] The invention relates to the technical field of threaded assembly, and in particular to a threaded screwing device and an alignment adjustment mechanism thereof. Background Art

[0002] In industrial production, it is often necessary to screw a nut onto a screw or screw a screw into a nut. For example, after the production of the oil casing used to support the wellbore of oil and gas wells, in order to prevent the butt threads at both ends from being damaged or rusted, the threads at both ends of the oil casing need to be coated with thread grease and screwed with protective rings after processing.

[0003] For screwing objects with a thread diameter greater than 50mm, such as protective rings, in order to reduce labor intensity and improve efficiency, it is a common method to use a robotic arm to clamp the screwed workpiece to a specified position and screw it onto the corresponding connecting workpiece through a clamping device and sensor technology. However, in some occasions where the screwing requirements for threads are high, the screwed workpiece must be accurately aligned or aligned with the connecting workpiece to avoid damaging the thread during connection, and to accurately measure the thread tightening torque during connection. This places very high demands on the movement accuracy of the robotic arm, requiring not only high sensor measurement accuracy, but also a small joint clearance of the robotic arm, which is difficult to achieve with existing technology. If a device can be designed on the robotic arm that can automatically adjust the position of the clamping device using the force conditions of the clamping device, it can not only ensure that the thread is aligned with the connection, but also reduce the difficulty of manufacturing the equipment. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a threaded connection device and an alignment adjustment mechanism thereof, so as to solve the problem of difficulty in threaded connection alignment in the prior art.

[0005] The technical solution adopted by the present invention to solve the technical problem is: the threaded screwing device alignment adjustment mechanism includes a mounting plate, a first slide plate, a second slide plate and a clamping device;

[0006] The clamping device is mounted on the second slide plate along the X direction and is rotatably connected to the second slide plate. The second slide plate is slidably mounted on the first slide plate along the Y direction. The second slide plate is set at the middle position of its sliding track. Two sides of the second slide plate are provided with a second return spring with one end connected to the first slide plate and the other end connected to the second slide plate so as to keep the second slide plate at the middle position of its sliding track.

[0007] The mounting plate is provided with a guide rod arranged along the Z direction, the first slide plate is sleeved on the guide rod and slidably cooperates with the guide rod, the first slide plate is arranged at the middle position of its sliding track, and first return springs are arranged on both sides of the first slide plate to keep the first slide plate at the middle position of its sliding track;

[0008] The Z direction, the Y direction and the X direction are perpendicular to each other.

[0009] Furthermore, the first slide plate can be rotatably arranged around an axis in the Y direction, and the first return spring is arranged on both ends of the first slide plate.

[0010] Furthermore, the first slide plate can be rotatably arranged around an axis in the Z direction, and a third return spring is provided at both ends of the first slide plate, one end of which is connected to the mounting plate and the other end is connected to the first slide plate so as to rotate and return the first slide plate around the axis in the Z direction.

[0011] Furthermore, the guide rod is one and circular, and the first slide plate is slidably matched with the guide rod through an elliptical hole circumscribed with the guide rod, so that it can be rotatably set around an axis in the Z direction. A third return spring is provided on both ends of the first slide plate, one end of which is connected to the mounting plate and the other end is connected to the first slide plate so that the first slide plate can be rotated and reset around the axis in the Z direction. The elliptical hole is set along the X direction to form a deflection gap between the guide rod and the first slide plate, so that the first slide plate can rotate around an axis in the Y direction.

[0012] Furthermore, the clamping device is a chuck clamping device.

[0013] The threaded connection device comprises a frame, a mechanical arm body and the above-mentioned threaded connection device alignment adjustment mechanism, one end of the mechanical arm body is connected to the frame, and the mounting plate is mounted on the other end of the mechanical arm body.

[0014] Further, the robot arm body includes a first horizontal slide, a first driving mechanism, a slide bar and a second driving mechanism; the first horizontal slide is slidably mounted on the frame along the horizontal direction, the first driving mechanism is connected to the first horizontal slide to drive the first horizontal slide to slide horizontally, the slide bar is vertically arranged on one side of the first horizontal slide and is vertically slidably connected to the first horizontal slide, and the second driving mechanism is connected to the slide bar to drive the slide bar to slide vertically;

[0015] The mounting plate is mounted on the slide bar, and the X direction is the same as the sliding direction of the first horizontal slide table.

[0016] Further, the robot body also includes a second horizontal slide and a third driving mechanism, the second horizontal slide is connected to the slide bar for horizontal sliding, and the sliding direction of the second horizontal slide is perpendicular to the horizontal sliding direction of the first horizontal slide, and the third driving mechanism is connected to the second horizontal slide to drive the second horizontal slide to slide horizontally;

[0017] The mounting plate is mounted on the second horizontal slide.

[0018] Furthermore, it also includes a feed drive mechanism, the mounting plate is slidably connected to the robot arm body along the X direction, and the feed drive mechanism is connected to the mounting plate to drive the mounting plate to slide.

[0019] Furthermore, it also includes a rotation driving device, which is transmission-connected with the clamping device to drive the clamping device to rotate around its axis.

[0020] The beneficial effects of the present invention are as follows: the threaded connection device of the present invention and its alignment adjustment mechanism can utilize the force of the screwing workpiece and the connecting workpiece to cooperate with each other when the screwing workpiece and the connecting workpiece are not on the same straight line, so as to move the first slide plate to one end of its sliding trajectory, or / and move the second slide plate to one end of its sliding trajectory, thereby automatically adjusting the position of the clamping device, that is, the position of the workpiece, and then ensuring that the threads of the two are aligned and connected. The device has relatively low requirements on the accuracy of sensors and robotic arms, reduces equipment costs, and thread alignment is also easier to achieve. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of the threaded connection device of the present invention;

[0022] Figure 2 yes Figure 1 Right view of;

[0023] Figure 3 yes Figure 1 A top view of

[0024] Figure 4 This is an enlarged view of point A in 1;

[0025] Figure 5 yes Figure 2 The enlarged view of point B;

[0026] Figure 6 is a structural diagram of the arrangement of the first slide plate;

[0027] Shown in the figure: frame 1, first horizontal slide 2, slide rod 3, first drive mechanism 4, rotation drive device 5, clamping device 6, second drive mechanism 7, second horizontal slide 8, feed drive mechanism 9, third drive mechanism 10, feeding track 11, screwing workpiece 12, first slide plate 81, guide rod 82, deflection gap 83, first return spring 84, second slide plate 85, mounting plate 86, second return spring 87, guide rail 88, third return spring 89, elliptical hole 811. DETAILED DESCRIPTION

[0028] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0029] like Figures 1 to 3As shown, the threaded connection device of the present invention comprises a frame 1, a robot body and a threaded connection device alignment adjustment mechanism, one end of the robot body is connected to the frame 1, and the threaded connection device alignment adjustment mechanism is installed at the other end of the robot body. The robot body can be various existing robot arms, such as: a 2-axis robot arm, a 3-axis robot arm, a 4-axis robot arm, etc.

[0030] The threaded connection device alignment adjustment mechanism mainly uses the force of the clamping device to automatically adjust the position of the clamping device. The specific structure is as follows: Figures 4 to 5 The threaded connection device alignment adjustment mechanism comprises a mounting plate 86 , a first slide plate 81 , a second slide plate 85 and a clamping device 6 . The clamping device 6 is mounted on the second slide 85 along the X direction and is rotatably connected with the second slide 85 so as to be rotatable around the axis of the clamping device 6. The second slide 85 is slidably mounted on the first slide 81 along the Y direction through the guide rail 88. The second slide 85 is set in the middle position of its sliding track. The second slide 85 is provided with a second return spring 87 at one end connected to the first slide 81 and the other end connected to the second slide 85 so as to keep the second slide 85 in the middle position of its sliding track. The mounting plate 86 is provided with a guide rod 82 set in the Z direction. The first slide 81 is sleeved on the guide rod 82 and slidably cooperates with the guide rod 82. The first slide 81 is set in the middle position of its sliding track. The first return spring 84 is provided on both sides of the first slide 81 to keep the first slide 81 in the middle position of its sliding track. One end of the first return spring 84 is connected to the mounting plate 86 and the other end is connected to the first slide 81. Wherein, the Z direction, the Y direction and the X direction are perpendicular to each other. The connection of the return spring can be specifically achieved by welding, bolt connection, etc.

[0031] The clamping device 6 is installed on the second slide plate 85 along the X direction, that is, the axis of the clamping device 6 is along the X direction. In this way, after the clamping device 6 clamps and screws the workpiece, the axis of the screwing workpiece is along the X direction. The clamping device 6 can adopt various existing clamping devices, such as: a caliper clamping device, a chuck clamping device. In the figure, the clamping device 6 is a 3-jaw chuck clamping device.

[0032] The first slide plate 81 is arranged in the middle of its sliding track, that is, the first slide plate 81 is arranged in the middle of the guide rod 82 slidably matched therewith, so as to be able to slide to any end of the guide rod. The second slide plate 85 is arranged in the middle of its sliding track for the same principle, that is, the second slide plate 85 is arranged in the middle of the guide rail 88, so as to be able to slide to any end of the guide rail.

[0033] Since the front end of the screw thread of the screw workpiece and the connecting workpiece is chamfered, when the screw workpiece and the connecting workpiece are not in a straight line, taking the screw workpiece as a screw sleeve as an example, when its end is sleeved on the end of the connecting workpiece (screw) to provide a clamping force, the rotation drive device 5 drives the clamping device 6 to rotate the screw sleeve in the opposite direction (the rotation direction of the screw sleeve will not make the screw sleeve thread screw into the screw thread), the chamfer of the screw sleeve and the screw can cooperate to generate an automatic alignment force for the screw sleeve. The larger the diameter of the screw thread, the more obvious the force. Therefore, the threaded connection device of the present invention is provided with the above-mentioned threaded connection device alignment adjustment mechanism at one end of its mechanical arm body. When the screwing workpiece is clamped and fixed by the clamping device 6 during operation, it is only necessary to control the mechanical arm body through the sensor technology to move the screwing workpiece to a position roughly aligned with the connected workpiece, sleeve one end of the screw sleeve on the screw rod and make the two tightly abut, and then use the rotary drive device 5 to drive the clamping device 6 to rotate in the opposite direction, so that the first slide 81 can be moved to one end of its sliding track, or / and the second slide 85 can be moved to one end of its sliding track by using the force of the screwing workpiece and the connected workpiece when they are not on the same straight line, so as to automatically adjust the position of the clamping device 6, that is, the position of the workpiece, and then align the threads of the two. After the screwing workpiece is aligned with the screwed workpiece, the rotary drive device 5 is used to drive the clamping device 6 to rotate the screw sleeve forward, so that the screw sleeve can be aligned and connected to the thread of the screw rod. When the connection between the screw sleeve and the screw rod is completed, the clamping device 6 loosens the screw sleeve, and the second slide plate 85 automatically slides back to the middle position under the action of the second reset spring 87, and the first slide plate 81 automatically slides back to the middle position under the action of the first reset spring 84. After the threaded connection device adopts the alignment adjustment mechanism of the threaded connection device, the device has relatively low accuracy requirements on the sensor and the robot arm, the device cost is lower, and the thread alignment is easier to achieve.

[0034] Specifically, the first return spring 84 can be disposed at the location where the guide rod 82 is disposed on the first slide plate 81 , that is, at the middle position, or can be disposed at both ends of the first slide plate 81 .

[0035] The alignment adjustment mechanism of the threaded connection device can only adjust the position of the clamping device 6 by sliding in the Z direction or / and sliding in the Y direction. Therefore, it can generally only adjust the parallel offset of the axis of the screwed workpiece relative to the axis of the connected workpiece. However, in reality, there are still situations where the axis of the screwed workpiece intersects with the axis of the connected workpiece but does not overlap, such as: the axis of the screwed workpiece intersects with the axis of the connected workpiece in the plane formed by the X direction and the Z direction; the axis of the screwed workpiece intersects with the axis of the connected workpiece in the plane formed by the X direction and the Y direction. This requires that the two ends of the first slide 81 can rotate around an axis in the Y direction, or / and can rotate around an axis in the Z direction. Therefore, further: the first slide plate 81 can be rotatably set around an axis in the Y direction, and the first return spring 84 is arranged on both sides of the two ends of the first slide plate 81, so as to keep the first slide plate 81 in the middle position of its sliding track, especially conducive to the return of the two ends of the first slide plate 81; the first slide plate 81 can be rotatably set around an axis in the Z direction, and the two ends of the first slide plate 81 are provided with a third return spring 89 with one end connected to the mounting plate 86 and the other end connected to the first slide plate 81 so that the first slide plate 81 can be rotated and returned around the axis in the Z direction.

[0036] Taking the Z direction as the vertical direction as an example, when the axis of the connecting workpiece intersects with the axis of the connecting workpiece in the plane formed by the X direction and the Z direction, since the first slide plate 81 can be rotated around an axis in the Y direction, the force of the connecting workpiece on the screwing workpiece during docking can cause the two ends of the first slide plate 81 to rotate up and down around an axis in the Y direction and deflect by a certain angle, so that the angle of the axis of the screwing workpiece can be adjusted to make it horizontal, thereby realizing automatic alignment with the axis of the connecting workpiece. After the connection is completed, under the action of the first reset spring 84 on both ends, the first slide plate 81 is reversely deflected and reset; when the axis of the connecting workpiece intersects with the axis of the connecting workpiece in the plane formed by the X direction and the Y direction, the force of the connecting workpiece on the screwing workpiece can cause the first slide plate 81 to rotate left and right around an axis in the Z direction, so that the angle of the axis of the screwing workpiece can be adjusted to automatically align with the axis of the connecting workpiece. After the connection is completed, under the action of the third reset spring 89 on both ends, the two ends of the first slide plate 81 are reversely rotated and reset around the axis in the Z direction.

[0037] The above-mentioned deflection structure cooperates with the second slide 85 sliding along the Y direction and the first slide 81 sliding along the guide rod 82, so that the clamping device 6, that is, the position of the workpiece, can be adjusted in various directions within a certain range. It can meet the automatic alignment adjustment requirements of various offset conditions within a certain range, and can better ensure the threaded alignment connection.

[0038] In order to facilitate the realization of the above-mentioned deflectable structure, Figure 6As shown, specifically, the guide rod 82 is one and circular, the first slide plate 81 is slidably matched with the guide rod 82 through an elliptical hole 811 circumscribed with the guide rod 82, so as to realize a rotatable setting around an axis in the Z direction, and the first slide plate 81 is provided with a third reset spring 89 at both ends, one end of which is connected to the mounting plate 86 and the other end is connected to the first slide plate 81 so that the first slide plate 81 can be rotated and reset around the axis in the Z direction, and the elliptical hole 811 is arranged along the X direction to form a deflection gap 83 between the guide rod 82 and the first slide plate 81, so that the first slide plate 81 can rotate around a virtual axis in the Y direction. In some embodiments, a real axis in the Y direction that is slidably matched with the guide rod 82 along the Z direction can also be arranged transversely in the guide rod 82, and the first slide plate 81 is rotatably connected with the real axis in the Y direction to realize rotation around an axis in the Y direction. Compared with the second structure, the first structure does not need to set an axis in the Y direction to realize rotation around an axis in the Y direction, and the structure is simpler.

[0039] In an embodiment of the present invention, the robot body includes a first horizontal slide 2, a first driving mechanism 4, a slide bar 3, and a second driving mechanism 7; the first horizontal slide 2 is slidably mounted on the frame 1 in the horizontal direction, the first driving mechanism 4 is connected to the first horizontal slide 2 to drive the first horizontal slide 2 to slide horizontally, the slide bar 3 is vertically arranged on one side of the first horizontal slide 2, and is vertically slidably connected to the first horizontal slide 2, the second driving mechanism 7 is connected to the slide bar 3 to drive the slide bar 3 to slide vertically; the mounting plate 86 is mounted on the slide bar 3, and the X direction is the same as the sliding direction of the first horizontal slide 2. The above-mentioned robot body is a two-axis robot. When the screw is screwed, the robot body drives the first horizontal slide 2 to move horizontally through the first driving mechanism 4, and drives the slide bar 3 to move through the second driving mechanism 7, so that the screwed workpiece can be moved to the specified position. The butt feeding and tightening of the screwed workpiece and the connected workpiece can be achieved by the first driving mechanism 4 driving the first horizontal slide 2 to move horizontally.

[0040] Furthermore, in order to increase the degree of freedom of the robot body and meet the use requirements of more occasions, the robot body also includes a second horizontal slide 8 and a third drive mechanism 10, the second horizontal slide 8 is connected to the slide bar 3 for horizontal sliding, and the sliding direction of the second horizontal slide 8 is perpendicular to the horizontal sliding direction of the first horizontal slide 2, and the third drive mechanism 10 is connected to the second horizontal slide 8 to drive the second horizontal slide 8 to slide horizontally; the mounting plate 86 is installed on the second horizontal slide 8 on the slide bar 3. In this way, the robot body can meet the movement requirements of three mutually perpendicular directions, that is, the robot body is a three-axis robot, which has a higher degree of freedom than the previous two-axis robot and can meet the use requirements of more occasions.

[0041] The butt feeding and pressing of the screwing workpiece and the connecting workpiece can be realized by controlling the movement of the robot body, and in the embodiment of the present invention, a special feeding drive mechanism 9 is provided on the robot arm, the mounting plate 86 is slidably connected with the robot body along the X direction, and the feeding drive mechanism 9 is connected with the mounting plate 86 to drive the mounting plate 86 to slide. In this way, when connecting, the screwing workpiece can be butted or pressed against the connecting workpiece by driving the mounting plate 86 to slide along the X direction without the need for the first driving mechanism.

[0042] In order to facilitate driving the clamping device 6 , a rotation driving device 5 is further provided on the robot arm. The rotation driving device 5 is transmission-connected with the clamping device 6 to drive the clamping device 6 to rotate around its axis.

[0043] The various driving mechanisms in the present invention may specifically be cylinders, motors, etc. The rotation driving device 5 generally uses a motor.

[0044] In order to facilitate feeding, a feeding track 11 can be provided below the threaded screwing device to feed the screwed workpiece 12 to a designated position below the device.

Claims

1. The threaded connection device alignment adjustment mechanism is characterized by: It comprises a mounting plate (86), a first slide plate (81), a second slide plate (85) and a clamping device (6); The clamping device (6) is mounted on the second slide plate (85) along the X direction and is rotatably connected to the second slide plate (85). The second slide plate (85) is slidably mounted on the first slide plate (81) along the Y direction. The second slide plate (85) is arranged at the middle position of its sliding track. Two sides of the second slide plate (85) are provided with a second return spring (87) with one end connected to the first slide plate (81) and the other end connected to the second slide plate (85) so as to keep the second slide plate (85) at the middle position of its sliding track. The mounting plate (86) is provided with a guide rod (82) arranged along the Z direction, the first slide plate (81) is sleeved on the guide rod (82) and slidably cooperates with the guide rod (82), the first slide plate (81) is arranged at a middle position of its sliding track, and first return springs (84) are provided on both sides of the first slide plate (81) to keep the first slide plate (81) at the middle position of its sliding track; The Z direction, the Y direction and the X direction are perpendicular to each other.

2. The threaded connection device alignment adjustment mechanism according to claim 1, characterized in that: The first slide plate (81) is rotatable around an axis in the Y direction, and the first return spring (84) is arranged on both ends of the first slide plate (81).

3. The alignment adjustment mechanism of the threaded connection device according to claim 1, characterized in that: The first slide plate (81) can be rotatably arranged around an axis in the Z direction. A third return spring (89) is provided at both ends of the first slide plate (81), one end of which is connected to the mounting plate (86) and the other end of which is connected to the first slide plate (81) so as to enable the first slide plate (81) to rotate and return around the axis in the Z direction.

4. The threaded connection device alignment adjustment mechanism according to claim 2, characterized in that: The guide rod (82) is one and circular. The first slide plate (81) is slidably matched with the guide rod (82) through an elliptical hole (811) circumscribed with the guide rod (82), so as to be rotatable around an axis in the Z direction. A third return spring (89) is provided at both ends of the first slide plate (81), one end of which is connected to a mounting plate (86) and the other end of which is connected to the first slide plate (81) so as to enable the first slide plate (81) to be rotated and reset around the axis in the Z direction. The elliptical hole (811) is arranged along the X direction to form a deflection gap (83) between the first slide plate (81) and the guide rod (82), so that the first slide plate (81) can be rotated around an axis in the Y direction.

5. The alignment adjustment mechanism of the threaded connection device according to claim 1, characterized in that: The clamping device (6) is a chuck clamping device.

6. A threaded connection device, comprising a frame (1), a robotic arm body and an alignment adjustment mechanism for the threaded connection device as described in any one of claims 1 to 5, wherein one end of the robotic arm body is connected to the frame (1), and the mounting plate (86) is mounted on the other end of the robotic arm body.

7. The threaded connection device according to claim 6, characterized in that: The mechanical arm body comprises a first horizontal slide (2), a first driving mechanism (4), a slide bar (3) and a second driving mechanism (7); the first horizontal slide (2) is slidably mounted on the frame (1) along a horizontal direction, the first driving mechanism (4) is connected to the first horizontal slide (2) to drive the first horizontal slide (2) to slide horizontally, the slide bar (3) is vertically arranged on one side of the first horizontal slide (2) and is vertically slidably connected to the first horizontal slide (2), and the second driving mechanism (7) is connected to the slide bar (3) to drive the slide bar (3) to slide vertically; The mounting plate (86) is mounted on the sliding rod (3), and the X direction is the same as the sliding direction of the first horizontal sliding table (2).

8. The threaded connection device according to claim 7, characterized in that: The mechanical arm body further comprises a second horizontal slide (8) and a third driving mechanism (10), wherein the second horizontal slide (8) is horizontally slidably connected to the slide bar (3), and the sliding direction of the second horizontal slide (8) is perpendicular to the horizontal sliding direction of the first horizontal slide (2), and the third driving mechanism (10) is connected to the second horizontal slide (8) to drive the second horizontal slide (8) to slide horizontally; The mounting plate (86) is mounted on the second horizontal slide (8).

9. The threaded connection device according to claim 6, characterized in that: It also includes a feeding drive mechanism (9), the mounting plate (86) is slidably connected to the robot arm body along the X direction, and the feeding drive mechanism (9) is connected to the mounting plate (86) to drive the mounting plate (86) to slide.

10. The threaded connection device according to claim 6, characterized in that: It also comprises a rotation driving device (5), which is transmission-connected with the clamping device (6) to drive the clamping device (6) to rotate around its axis.

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