Bolt mounting equipment for assembling plate parts of crane and using method

Abstract

The invention discloses bolt mounting equipment for assembling crane plate parts. The bolt mounting equipment comprises a supporting outer cylinder and a supporting inner cylinder, wherein the supporting outer cylinder and the supporting inner cylinder are circumferentially limited and rotate on an output plate of a robot through a tightening component; the supporting inner cylinder is of a hollow structure and can allow bolts to penetrate in and out along the axis, the upper end of the supporting inner cylinder is provided with a discharging component allowing the bolts to sequentially enter, and the lower end of the supporting inner cylinder is located below the supporting outer cylinder. The clamping part is provided with a plurality of clamping blocks which are driven to synchronously move in the radial direction and clamp the rod heads of the penetrated bolts; the positioning part is provided with a third spring, a fixed plate fixed on the supporting disc and a second supporting rod with a bent structure; the second supporting rod is extruded by the bolt to rotate and open outwards, and the second supporting rod returns to the supporting state after the bolt penetrates through the second supporting rod under the action of the third spring; according to the automatic assembling device, automatic assembling of the bolts in the crane plate parts is achieved, manual operation is avoided, the labor intensity is reduced, control is convenient, the bolt tightening force is consistent, and assembling deviation is avoided.

Description

Technical Field

[0001] The present invention relates to bolt assembly technology, belonging to the field of crane processing, and specifically relates to a bolt installation device and a usage method for assembling plate-like parts of a crane. Background Art

[0002] A crane is a multi-action lifting machine used for hoisting and transporting heavy objects. It can vertically lift and horizontally transport heavy objects within a certain range through a hanging system and a winch, or a hydraulic system, and can be used in a machining workshop or an outdoor assembly site.

[0003] There are many steel structure parts in a crane, mainly plate-like parts. Taking the crane base as an example, as Figure 10 shown, the base is composed of a bottom plate and side plates welded together, and stiffeners are welded at corresponding positions. When other plate-like parts are installed on the base, bolts of the same specification are generally used for assembly. For example, M16 bolts are used between the parts and the base, which can ensure the unity and stability of the connection, that is, achieve the same tightening effect and avoid confusion or misuse caused by multiple specifications of bolts.

[0004] The traditional assembly method is to manually or automatically place multiple parts in the assembly area, clamp and position them through auxiliary tooling, and then manually pass the bolts through the corresponding through holes and cooperate with the threads to achieve the assembly of the plate-like parts. Manually tightening the bolts has a large labor intensity, and there are also differences in the tightening force and tightening degree according to the differences of the installers, which is prone to assembly deviation. Summary of the Invention

[0005] The purpose of the present invention is to provide a bolt installation device for assembling plate-like parts of a crane, which not only realizes the automatic assembly of bolts in the plate-like parts of the crane, avoids manual operation and reduces labor intensity, but also is convenient to control, makes the bolt tightening force consistent, and avoids assembly deviation.

[0006] To achieve the above purpose, a bolt installation device for assembling plate-like parts of a crane of the present invention includes:

[0007] A support outer cylinder and a support inner cylinder, circumferentially limited and rotatable on the output plate of the robot through a tightening component, and a first spring is provided between them so that the support inner cylinder is elastically upwardly acted upon when axially moving downward relative to the support outer cylinder;

[0008] The support inner cylinder is a hollow structure and can allow bolts to pass through and out along the axis. A discharging component for sequentially entering the bolts is provided at the upper end, and the lower end is located below the support outer cylinder;

[0009] A clamping component, located at the lower end of the support inner cylinder, having a plurality of clamping blocks that are driven to move radially synchronously and clamp the rod heads of the bolts passing through;

[0010] The positioning component has a support disk located at the lower end of the support outer cylinder and multiple groups of positioning components circumferentially arranged on the support disk; each group of positioning components has a third spring, a fixing plate fixed on the support disk, and a second rod with a bending structure;

[0011] The second rod is movably located on the fixing plate, one end is pulled by the third spring, and the other end is located below the clamping component and supports the lower end of the bolt rod head passing through; the second rod is rotated and opened outward by the extrusion of the bolt, and under the action of the third spring, the second rod returns to the supporting state after the bolt passes through.

[0012] Furthermore, the positioning component also has an adjusting rod threadedly installed on the circumferential side of the support disk and a slider that radially slides on the support disk and is relatively closer to the inside than the fixing plate;

[0013] The second rod rotates and slides in a strip-shaped groove arranged vertically at the lower part of the fixing plate, and one end rotates at the lower end of the slider;

[0014] Both ends of the third spring are respectively connected to the adjusting rod and the slider.

[0015] Furthermore, the support disk is provided with multiple waist-shaped grooves corresponding to the positioning components, and the third spring is located in the waist-shaped grooves;

[0016] The lower parts of the support outer cylinder and the support inner cylinder are respectively provided with a first through hole and a second through hole;

[0017] The positioning component also has a first rod with a bending structure;

[0018] The first rod rotates and slides in a strip-shaped groove arranged vertically at the upper part of the fixing plate, one end is rotatably connected to the upper end of the slider, and the other end passes through the first through hole and the second through hole and is located in the hollow of the support inner cylinder and supports the lower end of the bolt rod head.

[0019] Furthermore, the circumferential radius formed by the ends of multiple first rods close to the axis is greater than the circumferential radius formed by the ends of multiple second rods close to the axis.

[0020] Furthermore, a magnetic block is provided at one end of the first rod located in the hollow of the support inner cylinder;

[0021] The magnetic block is used to adsorb the circumferential side of the bolt rod head.

[0022] Furthermore, a nozzle facing the screw is provided at one end of the first rod located in the hollow of the support inner cylinder.

[0023] Furthermore, the clamping component also has a pushing disk rotatably arranged on the support inner cylinder; multiple arc-shaped grooves corresponding to the clamping blocks are provided on the pushing disk, and the arc-shaped track of the arc-shaped grooves gradually approaches its axis from the circumferential side of the pushing disk;

[0024] The clamping block is located on the disc at the lower end face of the support inner cylinder, and is provided with a guide rod located in the arc-shaped groove. One end of the pushing cylinder is rotatably installed on the support inner cylinder, and the output end is rotatably connected to the circumferential side of the pushing disc.

[0025] Preferably, the tightening component has a tightening motor fixed on the robot output plate, a first gear fixedly connected to the output end of the tightening motor, and a second gear fixed on the support outer cylinder;

[0026] The first gear is meshed and connected with the second gear;

[0027] A torque sensor for measuring the rotational torque of the support outer cylinder is provided on the robot output plate;

[0028] After receiving the torque signal, the controller controls the action of the tightening motor.

[0029] A usage method of a bolt installation device for assembling crane plate parts specifically includes the following steps:

[0030] S1, position the bolt installation position of the crane plate part;

[0031] S2, the robot output plate moves first to make the axis of the support inner cylinder in a vertical state, and the discharging component passes the bolts into the hollow structure of the support inner cylinder from the discharging port in sequence;

[0032] Bolt A is supported by the second support rod, the pushing cylinder is started, and the arc-shaped groove on it drives the clamping block to move radially through the rotation of the pushing disc to clamp and fix the rod head of screw A;

[0033] Bolt B is supported by the first support rod and can be adsorbed by the magnetic block;

[0034] S3, according to the positioning in step S1, the output plate of the robot moves to the installation position, so that bolt A is located in the corresponding threaded hole; the tightening component drives the support outer cylinder and the support inner cylinder to rotate, and bolt A moves axially for assembly. At this time, the support inner cylinder moves axially relative to the support outer cylinder and compresses the first spring to make up for the axial movement of the bolt;

[0035] S4, when bolt A moves axially and is thread-fastened, bolt A gradually squeezes the second support rod, causing the second support rod to rotate outward to open. The other end of the second support rod drives the slider to move inward, making the third spring in a stretched state. While the slider moves, it drives the upper first support rod to rotate, causing the other end of the first support rod to gradually open outward, and bolt B finally enters the clamping component;

[0036] S5, when the bolt is tightened, the pushing cylinder moves in the reverse direction, driving the clamping block to move radially to loosen the rod head of screw A, and the tightening component drives the support outer cylinder and the support inner cylinder back to the position before tightening;

[0037] Under the action of the third spring, the slider moves outward, and the second support rod rotates inward to return to the supporting position and supports the bolt B. Under the action of the first spring, the supporting inner cylinder returns to the axial initial position relative to the supporting outer cylinder.

[0038] S6, the robot output plate moves to the next bolt installation position. During the movement, the robot output plate makes the axis of the support inner cylinder vertical again. At this time, the discharge mechanism inserts the bolt C into the hollow structure of the support inner cylinder, supports it through the second support rod, and attracts it with the magnetic block. The push cylinder is started, and the arc groove on the push plate rotates to drive the clamping block to move radially to clamp the rod head of the screw B.

[0039] Therefore, the sequential assembly of multiple bolts is performed;

[0040] S7, when the installation position of the positioning bolt in step S1 is horizontal or inverted, in step S4, the other end of the first support rod gradually opens outward, and the nozzle on the first support rod is started, and the bolt B is moved toward the clamping component and the second support rod by blowing gas.

[0041] Compared with the prior art, the bolt installation device for assembling crane plate parts pre-supports the bolt through a positioning component and enables automatic disengagement; the clamping component clamps and fixes the bolt rod head so that it can rotate with the supporting inner cylinder; the tightening component drives the supporting inner cylinder to rotate and tighten the bolt; the axial movement of the supporting inner cylinder compresses the first spring to match the thread feed of the bolt, which not only realizes the assembly of the bolt in the crane plate part, avoids manual operation and reduces labor intensity, but also facilitates control, ensures consistent bolt tightening force, and avoids assembly deviation;

[0042] Since the positioning assembly also has a bent structure and a first support rod with one end located in the hollow structure and supporting the bolt, the first support rod is linked with the second support rod. On the one hand, the bolt is supported, clamped, and tightened for assembly in sequence. On the other hand, the bolt in the hollow structure is temporarily supported, playing a reserved role. This not only avoids the situation where the bolt lags when entering from the upper end to the lower end of the support inner tube, but also prevents the bolt from falling from the hollow upper end of the support inner tube and causing an impact on the second support, which may cause the second support to rotate and open and cause the bolt to fall off.

[0043] Since a magnetic block for adsorbing the circumferential side of the bolt rod head is provided at one end of the first support rod, it can be ensured that the bolt is adsorbed and always located at the first support rod when the robot moves, thereby preventing the bolt from detaching from the first support rod when the robot moves and failing to fall into the clamping component in time; in addition, a nozzle arranged toward the screw rod is also provided at one end of the first support rod, and the nozzle sprays appropriate gas to drive the reserved bolt to move toward the clamping component and the second support rod, making the bolt suitable for assembly at different angles such as horizontal and inverted. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0045] Figure 2 is a schematic diagram of the upper partial structure of the present invention;

[0046] Figure 3 is a schematic diagram of the lower partial structure of the present invention;

[0047] Figure 4 is a schematic diagram of the assembly of the support outer cylinder and the support inner cylinder in the present invention;

[0048] Figure 5 is a partial schematic diagram of the positioning component in the present invention;

[0049] Figure 6 is a partial schematic diagram of the clamping component in the present invention;

[0050] Figure 7 is a schematic diagram of the push plate in the present invention;

[0051] Figure 8 is a simplified diagram of the corresponding bolt support state of the first support rod and the second support rod in the present invention;

[0052] Figure 9 is a simplified diagram of the corresponding rotation and outward opening state of the first support rod and the second support rod in the present invention;

[0053] Figure 10 is a schematic diagram of the crane base;

[0054] In the figure: 10, output plate;

[0055] 20, support outer cylinder, 21, first spring, 22, first through hole;

[0056] 30, support inner cylinder, 31, second through hole;

[0057] 40, tightening component, 41, tightening motor, 42, first gear, 43, second gear;

[0058] 51, discharging component, 52, support guide post, 53, second spring;

[0059] 60, positioning component, 61, support disk, 62, third spring, 63, fixing plate, 64, slider, 65, first support rod, 66, second support rod, 67, magnetic block, 68, adjusting rod;

[0060] 70, clamping component, 71, push plate, 72, guide rod, 73, push cylinder, 74, clamping block, 75, arc groove;

[0061] 80, torque sensor. Detailed implementation mode

[0062] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0063] It is described with the axis of the support outer cylinder 20 and the support inner cylinder 30 being vertical, with the inside being close to the axis and the outside being far from the axis; taking the hexagon head bolt, which is commonly used for assembling crane plate parts, as an example, it is divided into a rod head and a rod body;

[0064] Such as Figure 1 、 Figure 2 、 Figure 3 As shown, a bolt installation device for assembling crane plate parts of the present invention includes:

[0065] The support outer cylinder 20 and the support inner cylinder 30 are circumferentially limited and rotated on the output plate 10 of the robot through the tightening member 40. A first spring 21 is provided between them, so that when the support inner cylinder 30 moves axially downward relative to the support outer cylinder 20, it is elastically upwardly affected;

[0066] The support inner cylinder 30 is a hollow structure and can allow the bolt to penetrate and pass through along the axis. The upper end is provided with a discharging member 51 for the bolt to enter in sequence, and the lower end is located below the support outer cylinder 20;

[0067] The clamping member 70 is located at the lower end of the support inner cylinder 30 and has a plurality of clamping blocks 74 that are driven to move radially synchronously and clamp the rod head of the bolt passing through;

[0068] The positioning member 60 has a support disk 61 located at the lower end of the support outer cylinder 20 and a plurality of groups of positioning components circumferentially arranged on the support disk 61; each group of positioning components has a third spring 62, a fixing plate 63 fixed on the support disk 61, and a second support rod 66 with a bending structure;

[0069] The second support rod 66 is movably located on the fixing plate 63, one end is pulled by the third spring 62, and the other end is located below the clamping member 70 and supports the lower end of the rod head of the bolt passing through; the second support rod 66 is rotated and opened outward under the extrusion of the bolt, and under the action of the third spring 62, the second support rod 66 returns to the supporting state after the bolt passes through;

[0070] Specifically, the robot is a robot for assembly use. The output plate 10 can move in multiple directions, ensuring that the bolt installation device on the output plate 10 can be positioned at various positions within a certain space range. It should be noted that such robots are mature products, and the specific structure will not be further elaborated here;

[0071] The support outer cylinder 20 and the support inner cylinder 30 are coaxially arranged, and can adopt the way of flat key or spline to achieve circumferential limit and axial movement; the support outer cylinder 20 is rotatably installed on the output plate 10 through a bearing; the upper end of the support inner cylinder 30 can extend out and be limited by an end cover. The first spring 21 is sleeved on the support inner cylinder 30, with one end contacting the support outer cylinder 20 and the other end contacting the shoulder of the support inner cylinder 30. That is, when the support inner cylinder 30 moves axially downward at this time, the first spring 21 will be compressed;

[0072] The support inner cylinder 30 is a hollow structure and can ensure that the bolt passes through. For example, the inner diameter of the support inner cylinder 30 is 40mm. A sleeve can be detachably placed in the support inner cylinder 30, that is, sleeves with an outer diameter of 40mm and different inner diameters are added so that the inner diameter of the sleeve matches bolts of different sizes, ensuring that the corresponding bolts pass through substantially coaxially;

[0073] The discharging component 51 can adopt linear discharging or spiral discharging, and preferably spiral discharging to reduce space;

[0074] The clamping component 70 is used to clamp and fix the bolt rod head that passes through. That is, initially, the clamping block 74 is located on the outside, and when clamping the bolt, it moves radially inward. Preferably, there are three groups of clamping blocks 74 to match hexagon head bolts;

[0075] The positioning component 60 is used to support the bolt rod head that passes through. The second support rod 66 is bent to ensure that one end faces the axis of the support inner cylinder 30 without colliding with other structures;

[0076] When this bolt installation device for assembling crane plate parts is in use, it is positioned according to the assembly position of the bolt. The robot output plate 10 moves first to make the axis of the support inner cylinder 30 in a vertical state. The discharging component 51 passes a bolt into the hollow structure of the support inner cylinder 30 from the discharging port by pushing or vibrating;

[0077] The bolt passes through the hollow structure and is supported by the second support rod 66. An inductor, such as a photoelectric sensor, can be provided on the second support rod 66. The clamping block 74 moves inward to clamp and fix the bolt rod head;

[0078] The output plate 10 of the robot moves to the bolt assembly position, so that the bolt is located at the corresponding threaded hole. The tightening component 40 is activated to drive the support outer cylinder 20 and the support inner cylinder 30 to rotate, that is, the bolt is thread-assembled; during the assembly process, the bolt axially moves and gradually tightens. At this time, the support inner cylinder 30 axially moves relative to the support outer cylinder 20 and compresses the first spring 21 to compensate for the axial movement of the bolt, or the robot output plate 10 can also move appropriately; while the bolt axially moves, the bolt gradually squeezes the second support rod 66, causing the second support rod 66 to rotate outward and open, that is, the bolt disengages from the second support rod 66, and one end of the second support rod 66 stretches the third spring 62.

[0079] When the bolt is completely tightened, the clamping block 74 moves outward and disengages from the bolt head. Under the action of the first spring 21, the support inner cylinder 30 returns to the initial position, the robot output plate 10 moves out of the assembly position, and the second support rod 66 is reset under the action of the third spring 62 at the lower end of the support inner cylinder 30 to be in a supporting state.

[0080] When assembling the bolt at the next position, the robot output plate 10 moves again to make the axis of the support inner cylinder 30 in a vertical state, so that another bolt in the discharging component 51 slides to the clamping component 70 by gravity from the hollow structure.

[0081] This bolt installation device for assembling crane plate parts pre-supports the bolt through the positioning component 60 and can automatically disengage. The clamping component 70 clamps and fixes the bolt head so that it can rotate with the support inner cylinder 30. The tightening component 40 drives the support outer cylinder 20 and the support inner cylinder 30 to make the bolt rotate and tighten. The support inner cylinder 30 axially moves to compress the first spring 21 to match the thread feed of the bolt. It not only realizes the assembly of the bolt in the crane plate parts, avoids manual operation and reduces labor intensity, but also is convenient to control, makes the bolt tightening force consistent, and avoids assembly deviation.

[0082] As Figure 3 、 Figure 4 、 Figure 5 shown, in the preferred solution, the positioning component further has an adjusting rod 68 threadedly installed on the peripheral side of the support disk 61, and a slider 64 that radially slides on the support disk 61 and is closer to the inside than the fixed plate 63;

[0083] The second support rod 66 rotates and slides in the strip-shaped groove arranged up and down at the lower part of the fixed plate 63, and one end rotates at the lower end of the slider 64;

[0084] Both ends of the third spring 62 are respectively connected to the adjusting rod 68 and the slider 64;

[0085] Specifically, through the radial sliding of the slider 64, and the rotation and sliding of the second rod 66, the second rod 66 can be opened by bolt assembly and return to the supporting state under the action of the third spring 62;

[0086] The adjusting rod 68 rotates to move axially, which can adjust the pulling force of the third spring 62 to ensure the effect that the second rod 66 rebounds to the supporting state after being opened; specifically, the adjusting rod 68 is adjusted manually here, that is, the position of the adjusting rod 68 is adjusted manually according to actual use, or the adjusting rod 68 can also be adjusted automatically, such as a controlled telescopic rod, to prevent the second rod 66 from being stuck due to the rotation of the bolt assembly;

[0087] Such as Figure 3 、 Figure 4 、 Figure 5 、 Figure 8 、 Figure 9 As shown in

[0088] The lower parts of the support outer cylinder 20 and the support inner cylinder 30 are respectively provided with a first through hole 22 and a second through hole 31;

[0089] The positioning component also has a first rod 65 with a bending structure;

[0090] The first rod 65 rotates and slides in the strip-shaped grooves arranged up and down on the upper part of the fixing plate 63, one end is rotatably connected to the upper end of the slider 64, and the other end passes through the first through hole 22 and the second through hole 31 and is located in the hollow of the support inner cylinder 30 to support the lower end of the bolt head;

[0091] Specifically, the third spring 62 located in the waist-shaped groove of the support disc 61 can not only reduce the occupied space, but also act on the middle part of the slider 64 to ensure uniform force on the slider 64;

[0092] The first rod 65 and the second rod 66 have the same action form, the difference is that the first rod 65 is linked by the second rod 66; that is, when the bolt is assembled and moves axially to squeeze the second rod 66, one end of the second rod 66 opens outwards, and the other end drives the slider 64 to move inwards. While the slider 64 moves, it drives the upper first rod 65 to rotate, so that the other end of the first rod 65 is in the outwards opening state; correspondingly, under the action of the third spring 62, the slider 64 returns to the initial position, so that one ends of the first rod 65 and the second rod 66 both face inwards for support;

[0093] After the bolt at the second support rod 66 is assembled, it returns to the supporting state. During this process, the first support rod 65 is also opened and returned to the supporting state. The bolt A supported by the first support rod 65 falls into the clamping part 70 and is supported by the second support rod 66. Then the first support rod 65 supports the bolt B again, and the second support rod 66 waits for the assembly of the bolt A.

[0094] Preferably, the radius of the circle formed by the ends of the plurality of first support rods 65 close to the axis is larger than the radius of the circle formed by the ends of the plurality of second support rods 66 close to the axis. This is so that when the second support rods 66 are opened outward, the first support rods 65 can be fully opened, allowing the bolts to fall into the clamping member 70.

[0095] The first support rod 65 is used to temporarily support the bolts in the hollow structure and plays a reserved role. It not only avoids the situation where the bolts lag when entering from the upper end to the lower end of the support inner tube 30, but also prevents the bolts from falling from the hollow upper end of the support inner tube 30 and causing impact on the second support 66, which causes the second support 66 to rotate open and cause the bolts to fall off.

[0096] like Figure 3 As shown, further, a magnetic block 67 is provided at one end of the first support rod 65 located in the hollow of the supporting inner cylinder 30;

[0097] The magnetic block 67 is used to adsorb the peripheral side of the bolt rod head;

[0098] Specifically, since the robot may tilt during movement, the purpose of the magnetic block 67 is to ensure that the bolt is attracted and always located on the first support rod 65 when the robot moves, thereby preventing the bolt from being separated from the first support rod 65 and failing to fall into the clamping component 70 in time when the robot moves. When the first support rod 65 rotates outward to open, the bolt is separated from the magnetic block 67.

[0099] Furthermore, a nozzle arranged toward the screw is provided at one end of the first support rod 65 located in the hollow of the supporting inner cylinder 30;

[0100] Specifically, the assembly position of the crane plate parts is not limited to being upward, that is, the bolts are not limited to being installed from top to bottom. They can also be installed horizontally, from bottom to top, and at different angles. In this case, after the first support rod 65 is opened, the bolts cannot automatically fall to the second support rod 66 due to gravity.

[0101] A nozzle is provided on the first support rod 65. When the first support rod 65 is rotated outward and opened, the nozzle is activated to inject appropriate gas, driving the bolt to move toward the clamping member 70 and the second support rod 66, and completing the clamping and fixing of the clamping member 70. The nozzle can be located and moved within the first through hole 22 and the second through hole 31.

[0102] When completed, the robot output plate 10 moves again so that the axis of the support inner cylinder 30 is in a vertical state, and another bolt in the discharging component 51 slides from the hollow structure to the clamping component 70 by gravity.

[0103] As Figure 3 , Figure 6 , Figure 7 shown, in the preferred solution, the clamping component 70 further has a pushing disk 71 rotatably mounted on the support inner cylinder 30; a plurality of arc-shaped grooves 75 corresponding to the clamping blocks 74 are provided on the pushing disk 71, and the arc-shaped trajectory of the arc-shaped groove 75 gradually approaches its axis from the circumferential side of the pushing disk 71;

[0104] The clamping block 74 is located on the disk body at the lower end surface of the support inner cylinder 30, and a guide rod 72 located in the arc-shaped groove 75 is provided. One end of the pushing cylinder 73 is rotatably mounted on the support inner cylinder 30, and the output end is rotatably connected to the circumferential side of the pushing disk 71;

[0105] Specifically, an inverted T-shaped groove can be provided on the disk body at the lower end surface of the support inner cylinder 30, and the clamping block 74 is slidably located in the T-shaped groove;

[0106] The pushing disk 71 can be rotatably mounted on the support inner cylinder 30 through a bearing. When the pushing cylinder 73 is started, it drives the pushing disk 71 to rotate. The arc-shaped groove 75 on the pushing disk 71 pushes the guide rod 72, and due to the fact that the arc-shaped trajectory of the arc-shaped groove 75 gradually approaches its axis from the circumferential side, under the pushing of the arc-shaped trajectory of the arc-shaped groove 75, the guide rod 72 and the connected clamping block 74 are limited to move radially only, that is, the rotational movement of the pushing disk 71 is converted into the linear movement of the clamping block 74, realizing the synchronous movement of multiple clamping blocks 74 to clamp the bolt head;

[0107] It should be noted that the pushing cylinder 73 can be connected to the controller to facilitate the real-time control of the clamping force of the bolt head, and an air-electric slip ring connected to the pushing cylinder 73 is provided on the support outer cylinder 20; the air-electric slip ring is a special rotary connector dedicated to the connection of rotating bodies, transporting energy and electrical signals.

[0108] As Figure 2 shown, in the preferred solution, the tightening component 40 has a tightening motor 41 fixed on the robot output plate 10, a first gear 42 fixedly connected to the output end of the tightening motor 41, and a second gear 43 fixed on the support outer cylinder 20;

[0109] The first gear 42 is meshed and connected with the second gear 43;

[0110] As Figure 2 shown, further, a torque sensor 80 for measuring the rotational torque of the support outer cylinder 20 is provided on the robot output plate 10;

[0111] After receiving the torque signal, the controller controls the action of the tightening motor 41;

[0112] Specifically, the torque sensor 80 can convert the physical change of torque into an electrical signal;

[0113] The tightening motor 41 is started, driving the first gear 42 and the second gear 43 to rotate, so that the supporting outer cylinder 20 and the supporting inner cylinder 30 rotate, thereby driving the bolt to be tightened. When the set corresponding torque / torque is reached, the controller receives the corresponding signal and controls the tightening motor 41 to stop.

[0114] Furthermore, the discharge component 51 is an existing structure, which can ensure that the bolts enter in sequence. For example, the discharge component 51 includes a conical shell and a vibrator located on the conical shell. The inner wall of the conical shell is provided with a spiral structure with a variable diameter. A plurality of bolts are slid in sequence on the spiral structure, so that the bolts move along the spiral track by pushing or vibrating. For example, the spiral structure is provided with a groove along the track, and the rod head of the bolt is hung on the groove. The lower end (output end) of the spiral structure is connected to the hollow part of the supporting inner cylinder 30; a controlled opening and closing plate is provided at the connection, and a plurality of bolts are arranged on the spiral structure in sequence; the opening and closing plate can be controlled by a telescopic rod, that is, the connection is opened and closed by a pulling method, and a photoelectric sensor connected to the controller for detecting the passage of the screw is provided. The controller controls the opening and closing of the opening and closing plate and the action of the vibrator;

[0115] When discharging, the controller controls the opening and closing plate to open and the vibrator to vibrate. When a bolt passes through the discharge port and enters the hollow structure, the controller controls the opening and closing plate to close and the vibrator to stop vibrating.

[0116] Preferably, the conical housing is fixed to the mounting plate, which slides up and down on the support guide post 52 and is supported by a second spring 53 sleeved on the support guide post 52. The support guide post 52 is located on the robot output plate 10. For example, a plurality of nuts are threadedly mounted on the support guide post 52. The nuts are respectively located at the lower end of the second spring 53 to support it and at the upper end of the mounting plate to limit and fix it.

[0117] As explained, to match the robot-driven bolt assembly, especially when the bolts are installed at different angles such as horizontally and inverted, a cover plate is provided on the conical shell. The lower part of the cover plate is a conical structure and is close to the spiral structure. It can limit the arranged bolts without affecting the normal sliding of multiple bolts, preventing the bolts from escaping the spiral structure.

[0118] In addition, when assembling crane plate parts, the installation of bolts includes direct thread installation on threaded holes or assembly with nuts;

[0119] When assembling with the nut, the same equipment as this installation device can also be used for the nut. That is, the nut is fed in sequence through the discharging component 51, enters the second support rod 66 through the hollow structure for support, and the first support rod 65 is reserved. The clamping component 70 fixes the nut, and the bolt passes through the corresponding plate and is assembled with the nut.

[0120] When this bolt installation device for assembling crane plate parts is in use, it specifically includes the following steps:

[0121] S1. Locate the bolt installation position of the crane plate part.

[0122] S2. The output plate 10 of the robot moves first to make the axis of the support inner cylinder 30 in a vertical state, and the discharging component 51 feeds the bolts into the hollow structure of the support inner cylinder 30 in sequence from the discharging port.

[0123] Bolt A is supported by the second support rod 66, the pushing cylinder 73 is started, and the arc-shaped groove 75 on the rotating pushing disk 71 drives the clamping block 74 to move radially to clamp and fix the rod head of the screw A.

[0124] Bolt B is supported by the first support rod 65 and can be adsorbed by the magnetic block 67.

[0125] S3. According to the positioning in step S1, the output plate 10 of the robot moves to the installation position, making bolt A located in the corresponding threaded hole. The tightening component 40 drives the support outer cylinder 20 and the support inner cylinder 30 to rotate, and bolt A moves axially for assembly. At this time, the support inner cylinder 30 moves axially relative to the support outer cylinder 20 and compresses the first spring 21 to compensate for the axial movement of the bolt.

[0126] S4. When bolt A moves axially and is thread-fastened, bolt A gradually squeezes the second support rod 66, causing the second support rod 66 to rotate outwards and open. The other end of the second support rod 66 drives the slider 64 to move inwards, making the third spring 62 in a stretched state. While the slider 64 moves, it drives the upper first support rod 65 to rotate, causing the other end of the first support rod 65 to gradually open outwards, and finally bolt B enters the clamping component 70.

[0127] S5. After the bolt is fastened, the pushing cylinder 73 moves in the reverse direction, driving the clamping block 74 to move radially to loosen the rod head of the screw A. The tightening component 40 drives the support outer cylinder 20 and the support inner cylinder 30 back to the position before tightening.

[0128] Under the action of the third spring 62, the slider 64 moves outwards, the second support rod 66 rotates inwards to return to the support position and supports bolt B. Under the action of the first spring 21, the support inner cylinder 30 returns to the initial axial position relative to the support outer cylinder 20.

[0129] S6. The robot output board 10 moves to the next bolt installation position. During the movement, the robot output board 10 makes the axis of the support inner cylinder 30 vertical again. At this time, the discharging mechanism passes the bolt C into the hollow structure of the support inner cylinder 30 and supports it through the second support rod 66. The pushing cylinder 73 is activated, and the arc-shaped groove 75 on the rotating pushing disk 71 drives the clamping block 74 to move radially to clamp and fix the rod head of the screw B.

[0130] S7. When the positioning bolt installation position in step S1 is at different angles such as horizontal and inverted, in step S4, the other end of the first support rod 65 gradually opens outward. At this time, the nozzle on the first support rod 65 is activated, and the gas blows the bolt B towards the clamping component 70 and the second support rod 66.

[0131] As an embodiment of step S1, sensors can be set on the bolt installation device for assembling crane plate parts. The sensors are used to locate the bolt installation position. For example, the sensors are laser sensors or vision sensors, which obtain the shape information of the plate parts and the bolt installation position information and feedback them to the control system.

[0132] The control system can include a PLC controller for control and an analysis computer. The analysis computer processes the shape information and the bolt installation position information, and the controller controls the robot to perform corresponding operations according to the preset path and parameters.

[0133] The above are common positioning methods and will not be elaborated further.

[0134] As another embodiment of step S1, it specifically includes the following steps:

[0135] Import the three-dimensional part drawing and assembly drawing of the crane plate part into the computer. The computer identifies the dimensions and positions of each bolt in the part drawing and assembly drawing and converts them into a drawing coordinate system x1y1z1 with the graphic center point as the origin O1.

[0136] Preferably, the origin O1 can be the center point in the part drawing or assembly drawing.

[0137] Position the crane plate part according to the assembly drawing and measure the distance between its origin O1 and the coordinates of the robot's coordinate system xyz. Then, set the drawing coordinate system x1y1z1 as the robot's recognition space coordinate system xyz, that is, determine the bolt position coordinates for assembling the crane plate part.

[0138] In addition, the robot can adjust the path according to the assembly drawing of the plate part.

[0139] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the present invention.

Claims

1. A bolt installation device for assembling crane plate parts, characterized in that, Including: A support outer cylinder (20) and a support inner cylinder (30), which are circumferentially limited and rotatable on the output plate (10) of the robot through a tightening member (40). A first spring (21) is provided between them, so that when the support inner cylinder (30) axially moves downward relative to the support outer cylinder (20), it is elastically upwardly affected; The support inner cylinder (30) is of a hollow structure and can allow bolts to pass through and out along the axis. A discharging member (51) for enabling the bolts to enter in sequence is provided at the upper end, and the lower end is located below the support outer cylinder (20); A clamping member (70), located at the lower end of the support inner cylinder (30), having a plurality of clamping blocks (74) that are driven to synchronously move radially and clamp the bolt rod heads passing through; A positioning member (60), having a support disk (61) located at the lower end of the support outer cylinder (20), and multiple groups of positioning components circumferentially arranged on the support disk (61); Each group of positioning components has a third spring (62), a fixing plate (63) fixed on the support disk (61), and a second support rod (66) with a bending structure; The second support rod (66) is movably located on the fixing plate (63), one end is pulled by the third spring (62), and the other end is located below the clamping member (70) and supports the lower end of the bolt rod head passing through; The second support rod (66) is rotated and opened outward by the extrusion of the bolt, and under the action of the third spring (62), the second support rod (66) returns to the support state after the bolt passes through.

2. The bolt installation device for assembling crane plate parts according to claim 1, characterized in that, The positioning component further has an adjusting rod (68) threadedly installed on the circumferential side of the support disk (61), and a slider (64) that radially slides on the support disk (61) and is closer to the inside relative to the fixing plate (63); The second support rod (66) rotates and slides in a strip-shaped groove arranged up and down at the lower part of the fixing plate (63), and one end rotates at the lower end of the slider (64); Both ends of the third spring (62) are respectively connected to the adjusting rod (68) and the slider (64).

3. The bolt installation device for assembling crane plate parts according to claim 2, characterized in that, A plurality of waist-shaped grooves corresponding to the positioning components are provided on the support disk (61), and the third spring (62) is located in the waist-shaped grooves; Corresponding first through holes (22) and second through holes (31) are respectively provided at the lower parts of the support outer cylinder (20) and the support inner cylinder (30); The positioning component further has a first support rod (65) with a bending structure; The first support rod (65) rotates and slides in a strip-shaped groove arranged up and down at the upper part of the fixing plate (63), one end is rotatably connected to the upper end of the slider (64), and the other end passes through the first through hole (22) and the second through hole (31) and is located in the hollow of the support inner cylinder (30) and supports the lower end of the bolt rod head.

4. The bolt installation device for assembling crane plate parts according to claim 3, characterized in that, The circumferential radius formed by the ends of multiple first support rods (65) close to the axis is greater than the circumferential radius formed by the ends of multiple second support rods (66) close to the axis.

5. The bolt installation device for assembling crane plate parts according to claim 4, characterized in that, A magnetic block (67) is provided at one end of the first support rod (65) located in the hollow of the support inner cylinder (30); The magnetic block (67) is used for adsorbing the circumferential side of the bolt rod head.

6. The bolt installation device for assembling crane plate parts according to claim 5, characterized in that, A nozzle facing the screw is provided at one end of the first support rod (65) located in the hollow of the support inner cylinder (30).

7. A bolt installation device for assembling crane plate parts according to claim 6, characterized in that, The clamping component (70) further has a pushing disk (71) rotatably mounted on the supporting inner cylinder (30); a plurality of arc-shaped grooves (75) corresponding to the clamping blocks (74) are provided on the pushing disk (71), and the arc-shaped track of the arc-shaped grooves (75) gradually approaches its axis from the circumferential side of the pushing disk (71); The clamping blocks (74) are located on the disk body of the lower end face of the supporting inner cylinder (30), and guide rods (72) located in the arc-shaped grooves (75) are provided. One end of the pushing cylinder (73) is rotatably mounted on the supporting inner cylinder (30), and the output end is rotatably connected to the circumferential side of the pushing disk (71).

8. A bolt installation device for assembling crane plate parts according to any one of claims 1 to 7, characterized in that, The tightening component (40) has a tightening motor (41) fixed on the robot output plate (10), a first gear (42) fixedly connected to the output end of the tightening motor (41), and a second gear (43) fixed on the supporting outer cylinder (20); The first gear (42) is meshed and connected with the second gear (43); A torque sensor (80) for measuring the rotational torque of the supporting outer cylinder (20) is provided on the robot output plate (10); After receiving the torque signal, the controller controls the operation of the tightening motor (41).

9. A method for using the bolt installation device for assembling crane plate parts described in claim 7, characterized in that, Specifically, it includes the following steps: S1, position the bolt installation position of the crane plate-like part; S2, the robot output plate (10) moves first to make the axis of the supporting inner cylinder (30) in a vertical state, and the discharging component (51) passes the bolts into the hollow structure of the supporting inner cylinder (30) sequentially from the discharging port; The bolt A is supported by the second support rod (66), the pushing cylinder (73) is started, and the arc-shaped groove (75) on the pushing disk (71) is rotated to drive the clamping block (74) to move radially to clamp and fix the rod head of the screw A; The bolt B is supported by the first support rod (65) and can be adsorbed by the magnetic block (67); S3, according to the positioning in step S1, the robot output plate (10) moves to the installation position, so that the bolt A is located in the corresponding threaded hole; the tightening component (40) drives the supporting outer cylinder (20) and the supporting inner cylinder (30) to rotate, and the bolt A moves axially for assembly. At this time, the supporting inner cylinder (30) moves axially relative to the supporting outer cylinder (20) and compresses the first spring (21) to make up for the axial movement of the bolt; S4, when the bolt A moves axially and is thread-fastened, the bolt A gradually squeezes the second support rod (66), causing the second support rod (66) to rotate outward to open. The other end of the second support rod (66) drives the slider (64) to move inward, making the third spring (62) in a stretched state. While the slider (64) moves, it drives the upper first support rod (65) to rotate, causing the other end of the first support rod (65) to gradually open outward, and finally the bolt B enters the clamping component (70); S5, after the bolt is fastened, the pushing cylinder (73) moves in the reverse direction, driving the clamping block (74) to move radially to loosen the rod head of the screw A, and the tightening component (40) drives the supporting outer cylinder (20) and the supporting inner cylinder (30) back to the position before tightening; Under the action of the third spring (62), the slider (64) moves outwards, the second support rod (66) rotates inwards to return to the support position and supports the bolt B. Under the action of the first spring (21), the support inner cylinder (30) returns to the axial initial position relative to the support outer cylinder (20). S6. The robot output plate (10) moves to the next bolt installation position. During the movement, the robot output plate (10) makes the axis of the support inner cylinder (30) vertical again. At this time, the blanking mechanism passes the bolt C into the hollow structure of the support inner cylinder (30), supports it through the second support rod (66), and adsorbs it through the magnetic block (67). The pushing cylinder (73) is activated, and the arc groove (75) on the pushing disk (71) rotates to drive the clamping block (74) to move radially to clamp and fix the rod head of the screw B. Therefore, multiple bolts are assembled in sequence. S7. When the positioning bolt installation position in step S1 is horizontal or inverted, in step S4, the other end of the first support rod (65) gradually opens outwards. At this time, the nozzle on the first support rod (65) is activated, and the bolt B is blown by the gas towards the clamping component (70) and the second support rod (66).

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