A crane plate part assembly bolt mounting device and method of use

Abstract

The application discloses a bolt mounting equipment for crane plate part assembly, which comprises a supporting outer cylinder, a supporting inner cylinder, a circumferential limiting part and a rotating part on the output plate of a robot through a tightening part; the supporting inner cylinder is a hollow structure and can be penetrated by a bolt along an axis, the upper end is provided with a discharging part for sequentially entering the bolt, and the lower end is located below the supporting outer cylinder; a clamping part is provided with a plurality of clamping blocks which are driven to synchronously move radially and clamp the head of the penetrated bolt; a positioning part is provided with a third spring, a fixed plate fixed on a supporting disc and a second supporting rod with a bent structure; the second supporting rod is rotated outwardly and opened under the extrusion of the bolt, and under the action of the third spring, the bolt passes through the second supporting rod and returns to the supporting state; the application not only realizes the automatic assembly of the bolt in the crane plate part, avoids manual operation and reduces labor intensity, but also is convenient to control, makes the tightening force of the bolt consistent and avoids assembly deviation.

Description

Technical Field

[0001] This invention relates to bolt assembly technology, belonging to the field of crane processing, and specifically to a bolt installation device and method for assembling crane plate parts. Background Technology

[0002] A crane is a multi-action lifting machine used for hoisting and moving heavy objects. It can vertically lift and horizontally move heavy objects within a certain range through a sling system and winch or hydraulic system. It can be used in machine shops or open-air assembly sites.

[0003] Cranes contain numerous steel structural components, primarily plate-type parts; taking the crane base as an example, such as... Figure 10 As shown, the base is composed of a base plate and side plates welded together, with reinforcing ribs welded at the corresponding positions. When other plate-type parts are installed on the base, they are generally assembled using bolts of the same specification. For example, M16 bolts are used between the parts and the base to ensure the uniformity and stability of the connection, that is, to achieve the same fastening effect and to avoid confusion or misuse caused by multiple specifications of bolts.

[0004] Traditional assembly methods involve placing multiple parts in the assembly area manually or automatically, clamping and positioning them with auxiliary tooling, and then manually threading bolts through the corresponding through holes and threads to assemble plate-type parts. Manually tightening bolts is labor-intensive, and the tightening force and degree of tightening vary depending on the installer, which can easily lead to assembly deviations. Summary of the Invention

[0005] The purpose of this invention is to provide a bolt installation device for assembling crane plate parts, which not only realizes the automatic assembly of bolts in crane plate parts, avoiding manual operation and reducing labor intensity, but also facilitates control, ensuring consistent bolt tightening force and avoiding assembly deviations.

[0006] To achieve the above objectives, a bolt mounting device for assembling plate-type parts of a crane is provided, comprising:

[0007] The outer cylinder and the inner cylinder are supported. They are circumferentially limited and rotate on the output plate of the robot through a tightening component. A first spring is provided between them so that when the inner cylinder moves axially downward relative to the outer cylinder, it is elastically upward.

[0008] The inner support cylinder is hollow and allows bolts to pass through and out along the axis. The upper end is equipped with a discharge component that allows bolts to enter sequentially, and the lower end is located below the outer support cylinder.

[0009] The clamping component, located at the lower end of the inner cylinder of the support, has multiple clamping blocks that are driven to move radially in sync and clamp the protruding bolt heads;

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

[0011] The second support rod is located on the fixed plate, with one end under the tension of the third spring and the other end located below the clamping component and supporting the lower end of the protruding bolt head; the second support rod is rotated outward by the bolt compression, and under the action of the third spring, the second support rod returns to the supported state after the bolt passes through.

[0012] Furthermore, the positioning assembly also has an adjusting rod threaded onto the periphery of the support plate, and a slider that slides radially on the support plate and is located relatively inward of the fixed plate.

[0013] The second support rod rotates and slides within the vertically arranged strip grooves at the bottom of the fixed plate, with one end rotating at the bottom of the slider;

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

[0015] Furthermore, the support plate 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 outer and inner cylinders are respectively provided with a first through hole and a second through hole;

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

[0018] The first support rod rotates and slides on the upper part of the fixed plate, where the upper part of the rod is arranged in a strip-shaped groove. One end of the rod 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 inner cylinder of the support, supporting the lower end of the bolt head.

[0019] Furthermore, the radius of the circle formed by the ends of the multiple first support rods near the axis is greater than the radius of the circle formed by the ends of the multiple second support rods near the axis.

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

[0021] Magnetic blocks are used to attract the circumference of the bolt head.

[0022] Furthermore, the first support rod has a nozzle arranged towards the screw at one end located inside the hollow inner cylinder.

[0023] Furthermore, the clamping component also has a push disk that rotates on the supporting inner cylinder; the push disk is provided with a plurality of arc-shaped grooves corresponding to the clamping blocks, and the arc-shaped trajectory of the arc-shaped grooves gradually approaches the axis of the push disk from the periphery.

[0024] The clamping block is located on the disc body on the lower end face of the inner cylinder of the support, and is provided with a guide rod located in the arc groove. One end of the push cylinder is rotated and installed on the inner cylinder of the support, and the output end is rotatably connected to the periphery of the push disc.

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

[0026] The first gear meshes with the second gear;

[0027] The robot output board is equipped with a torque sensor for measuring the rotational torque of the supporting outer cylinder;

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

[0029] A method for using a bolt mounting device for assembling crane plate parts includes the following steps:

[0030] S1, to locate the bolt mounting positions of crane plate parts;

[0031] S2, the robot output plate moves to make the axis of the supporting inner cylinder vertical, and the discharge component pushes the bolts from the discharge port into the hollow structure of the supporting inner cylinder in sequence;

[0032] Bolt A is supported by the second support rod, which pushes the cylinder to start. The cylinder rotates the disc, causing the arc groove on it to move the clamping block radially to clamp and fix the head of bolt A.

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

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

[0035] S4, when bolt A moves axially to tighten the thread, 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, so that the third spring is in a stretched state. While the slider moves, it drives the upper first support rod to rotate, so that the other end of the first support rod gradually opens outward, and bolt B finally enters the clamping part.

[0036] S5, after the bolt is tightened, push the cylinder to move in the opposite direction, causing the clamping block to move radially to loosen the head of the screw A, and the tightening component to drive the outer support cylinder and the inner support cylinder back to the position before tightening;

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

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

[0039] Therefore, multiple bolts are assembled sequentially;

[0040] S7, when the positioning bolt is installed horizontally or inverted in step S1, in step S4, the other end of the first support rod gradually opens outward. At this time, the nozzle on the first support rod is activated, and the bolt B is moved toward the clamping component and the second support rod by blowing gas.

[0041] Compared with the prior art, this bolt installation equipment for assembling crane plate parts uses a positioning component to pre-support the bolt and automatically detach it; a clamping component to clamp and fix the bolt head so that it can rotate with the inner support cylinder; and a tightening component to drive the inner support cylinder to rotate and tighten the bolt. The axial movement of the inner support cylinder compresses the first spring to match the thread feed of the bolt. This not only realizes the assembly of bolts in crane plate parts, avoiding manual operation and reducing labor intensity, but also facilitates control, ensures consistent bolt tightening force, and avoids assembly deviations.

[0042] Because the positioning component also has a bent structure and a first support rod with one end located inside the hollow structure and supporting the bolt, the first support rod is linked with the second support rod. On the one hand, the bolts are supported, clamped and tightened in sequence. On the other hand, the bolts inside the hollow structure are temporarily supported, which serves as a reserve. This not only avoids the bolts from entering the inner cylinder from the top to the bottom with lag, but also avoids the bolts falling from the upper part of the hollow inner cylinder and impacting the second support, causing the second support to rotate open and the bolts to fall off.

[0043] Because a magnetic block is provided at one end of the first support rod to attract the circumference of the bolt head, it can be ensured that the bolt is attracted and always located at the first support rod when the robot moves, preventing the bolt from falling off the first support rod and failing to fall into the clamping part in time when the robot moves; in addition, a nozzle is also provided at one end of the first support rod facing the screw. The nozzle sprays appropriate gas, which drives the reserved bolt to move towards the clamping part and the second support rod, so that the bolt can be used for assembly at different angles such as horizontal and inverted. Attached Figure Description

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

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

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

[0047] Figure 4 This is a schematic diagram of the assembly of the outer supporting cylinder and the inner supporting cylinder in this invention;

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

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

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

[0051] Figure 8 This is a simplified diagram of the bolt support states of the first and second support rods in this invention.

[0052] Figure 9 This is a simplified diagram of the first and second support rods in the present invention, showing their corresponding rotational outward opening states.

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

[0054] In the diagram: 10. Output board;

[0055] 20. Supporting outer cylinder; 21. First spring; 22. First through hole;

[0056] 30. Support for the inner cylinder; 31. Second through hole;

[0057] 40. Tightening component; 41. Tightening motor; 42. First gear; 43. Second gear;

[0058] 51. Discharge component; 52. Support guide post; 53. Second spring;

[0059] 60. Positioning component; 61. Support plate; 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. Pushing plate; 72. Guide rod; 73. Pushing cylinder; 74. Clamping block; 75. Arc groove;

[0061] 80. Torque sensor. Detailed Implementation

[0062] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0063] The explanation is based on the vertical axis of the outer cylinder 20 and the inner cylinder 30, with the inner part being closer to the axis and the outer part being farther from the axis; taking the hexagonal head bolt, which is commonly used in the assembly of crane plate parts, as an example, it is divided into the rod head and the rod body;

[0064] like Figure 1 , Figure 2 , Figure 3 As shown, this invention relates to a bolt mounting device for assembling plate-type parts of a crane, comprising:

[0065] The outer cylinder 20 and the inner cylinder 30 are circumferentially limited and rotate on the output plate 10 of the robot by tightening component 40. A first spring 21 is provided between them so that when the inner cylinder 30 moves axially downward relative to the outer cylinder 20, it is elastically upward.

[0066] The inner support cylinder 30 is a hollow structure that allows bolts to pass through and out along the axis. The upper end is provided with a discharge component 51 that allows bolts to enter sequentially, and the lower end is located below the outer support cylinder 20.

[0067] The clamping component 70, located at the lower end of the supporting inner cylinder 30, has multiple clamping blocks 74 that are driven to move radially in sync and clamp the protruding bolt heads.

[0068] The positioning component 60 has a support plate 61 located at the lower end of the support outer cylinder 20, and multiple sets of positioning components arranged circumferentially on the support plate 61; each set of positioning components has a third spring 62, a fixing plate 63 fixed on the support plate 61, and a second support rod 66 with a bent structure.

[0069] The second support rod 66 is movably located on the fixed plate 63, with one end being pulled by the third spring 62 and the other end located below the clamping component 70 and supporting the lower end of the protruding bolt head; the second support rod 66 is squeezed by the bolt and rotates outward, and under the action of the third spring 62, after the bolt passes through, the second support rod 66 returns to the supporting state;

[0070] Specifically, the robot is an assembly robot, and the output plate 10 can move in multiple directions to ensure that the bolt installation device on the output plate 10 can be positioned at various positions within a certain space. It should be noted that this type of robot is a mature product, and the specific structure will not be further described here.

[0071] The outer support cylinder 20 and the inner support cylinder 30 are arranged coaxially and can be connected by a flat key or spline to achieve circumferential limiting and axial movement. The outer support cylinder 20 is rotatably mounted on the output plate 10 via bearings. The upper end of the inner support cylinder 30 can extend out and be limited by an end cap. The first spring 21 is fitted on the inner support cylinder 30, with one end in contact with the outer support cylinder 20 and the other end in contact with the shoulder of the inner support cylinder 30. That is, when the inner support cylinder 30 moves axially downward, it will compress the first spring 21.

[0072] The inner support cylinder 30 is a hollow structure that allows bolts to pass through. For example, if the inner diameter of the inner support cylinder 30 is 40mm, a sleeve can be disassembled and placed inside the inner support cylinder 30. That is, a sleeve with an outer diameter of 40mm and a different inner diameter can be added so that the inner diameter of the sleeve matches the bolts of different sizes, ensuring that the corresponding bolts pass through approximately coaxially.

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

[0074] The clamping component 70 is used to clamp and fix the protruding bolt head. That is, the clamping block 74 is initially located on the outside, and moves radially inward when clamping the bolt. Preferably, there are three sets of clamping blocks 74 to match hexagonal head bolts.

[0075] The positioning component 60 is used to support the protruding screw head, and the second support rod 66 is bent so that one end is facing the axis of the supporting inner cylinder 30 without colliding with other structures;

[0076] When this bolt installation equipment for assembling plate parts of a crane is in use, it is positioned according to the assembly position of the bolt. The robot output plate 10 moves to make the axis of the inner support cylinder 30 vertical. The discharge component 51 pushes or vibrates to insert a bolt from the discharge port into the hollow structure of the inner support cylinder 30.

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

[0078] The robot's output plate 10 moves to the bolt assembly position, so that the bolt is located at the corresponding threaded hole. The tightening component 40 is activated, driving the outer support cylinder 20 and the inner support cylinder 30 to rotate, i.e., the bolt is threaded. During the assembly process, the bolt moves axially and gradually tightens. At this time, the inner support cylinder 30 moves axially relative to the outer support cylinder 20 and compresses the first spring 21 to compensate for the axial movement of the bolt. Alternatively, the robot's output plate 10 can also move appropriately. While the bolt moves axially, the bolt gradually presses against the second support rod 66, causing the second support rod 66 to rotate outward and open, i.e., the bolt disengages from the second support rod 66, and one end of the second support rod 66 stretches the third spring 62.

[0079] After the bolt is fully tightened, the clamping block 74 moves outward and disengages from the bolt head. Under the action of the first spring 21, it supports the inner cylinder 30 back to its initial position. The robot output plate 10 moves out of the assembly position, and the second support rod 66 is repositioned at the lower end of the inner cylinder 30 under the action of the third spring 62, thus maintaining a supporting state.

[0080] When the next bolt is assembled, the robot output plate 10 moves so that the axis of the inner cylinder 30 is vertical, so that another bolt in the discharge component 51 slides from the hollow structure to the clamping component 70 by gravity.

[0081] This bolt installation device for assembling crane plate parts uses a positioning component 60 to pre-support the bolts and automatically detach them; a clamping component 70 to clamp and fix the bolt head so that it can rotate with the inner support cylinder 30; a tightening component 40 to drive the outer support cylinder 20 and the inner support cylinder 30 to rotate and tighten the bolts; and axial movement of the inner support cylinder 30 to compress the first spring 21 and feed the matching bolt threads. This device not only realizes the assembly of bolts in crane plate parts, avoiding manual operation and reducing labor intensity, but also facilitates control, ensures consistent bolt tightening force, and avoids assembly deviations.

[0082] like Figure 3 , Figure 4 , Figure 5 As shown, in the preferred embodiment, the positioning component further includes an adjusting rod 68 threadedly mounted on the periphery of the support plate 61, and a slider 64 that slides radially on the support plate 61 and is located relatively inward to the fixed plate 63.

[0083] The second support rod 66 rotates and slides within the strip groove arranged vertically on the lower part of the fixed plate 63, with one end rotating at the lower end of the slider 64.

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

[0085] Specifically, by sliding the slider 64 radially and rotating and sliding the second support rod 66, the second support rod 66 can be opened by bolt assembly and return to the supported state under the action of the third spring 62;

[0086] The adjusting rod 68 rotates to move axially, which can adjust the tension of the third spring 62 and ensure that the second support rod 66 rebounds to the support state after it is opened. It should be noted that the adjusting rod 68 is adjusted manually, that is, the position of the adjusting rod 68 is adjusted manually according to actual use. Alternatively, the adjusting rod 68 can be adjusted automatically, such as by a controlled telescopic rod, to avoid the second support rod 66 from getting stuck due to the rotation of the bolt assembly.

[0087] like Figure 3 , Figure 4 , Figure 5 , Figure 8 , Figure 9 As shown, the support plate 61 is further provided with multiple waist-shaped grooves corresponding to the positioning components, and the third spring 62 is located in the waist-shaped grooves;

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

[0089] The positioning assembly also has a first support rod 65 with a bent structure;

[0090] The first support rod 65 rotates and slides on the upper part of the fixed plate 63, which is arranged in a strip-shaped groove. 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 inner cylinder 30 of the support and supports the lower end of the bolt head.

[0091] Specifically, the third spring 62 is located in the waist-shaped groove of the support plate 61, which not only reduces the space occupied, but also acts on the middle of the slider 64 to ensure that the slider 64 is subjected to uniform force.

[0092] The first support rod 65 and the second support rod 66 operate in the same way, the difference being that the first support rod 65 relies on the second support rod 66 for linkage; that is, when the bolt moves axially during assembly and presses against the second support rod 66, one end of the second support rod 66 opens outward and the other end drives the slider 64 to move inward. As the slider 64 moves, it drives the upper first support rod 65 to rotate, so that the other end of the first support rod 65 is in the outward-opening state; correspondingly, under the action of the third spring 62, the slider 64 returns to the initial position, so that one end of both the first support rod 65 and the second support rod 66 are facing inward for support;

[0093] After the bolts at the second support rod 66 are assembled, they return to the supporting state. During this process, the first support rod 65 is also opened and returns 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 bolt A.

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

[0095] The first support rod 65 is used to temporarily support the bolts inside the hollow structure, serving as a reserve. This not only prevents the bolts from lagging behind as they enter the inner cylinder 30 from the top, but also prevents the bolts from falling from the upper hollow part of the inner cylinder 30 and impacting the second support 66, which could cause the second support 66 to rotate open and 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 inside the hollow inner cylinder 30;

[0097] Magnetic block 67 is used to attract the circumference of the bolt 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 at the first support rod 65 when the robot moves, which plays a pre-positioning role and prevents the bolt from falling off the first support rod 65 when the robot moves and failing to fall into the clamping part 70 in time. When the first support rod 65 rotates outward, the bolt falls off the magnetic block 67.

[0099] Furthermore, the first support rod 65 is provided with a nozzle facing the screw at one end located inside the hollow inner cylinder 30;

[0100] Specifically, the assembly position of crane plate parts is not only upward, that is, the bolts are not only installed from top to bottom, but may also be installed at different angles such as horizontal or inverted from bottom to top. In this case, after the first support rod 65 is opened, the bolts cannot automatically fall into 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, the nozzle is activated to spray in appropriate gas, which drives the bolt to move toward the clamping component 70 and the second support rod 66, and completes the clamping and fixing of the clamping component 70; the nozzle can be located in the first through hole 22 and the second through hole 31.

[0102] Once completed, the robot output plate 10 moves to make the axis of the supporting inner cylinder 30 vertical, and another bolt in the discharge component 51 slides from the hollow structure to the clamping component 70 by gravity.

[0103] like Figure 3 , Figure 6 , Figure 7 As shown, in the preferred embodiment, the clamping component 70 also has a push disk 71 that rotates on the supporting inner cylinder 30; the push disk 71 is provided with a plurality of arc-shaped grooves 75 corresponding to the clamping block 74, and the arc-shaped trajectory of the arc-shaped grooves 75 gradually approaches its axis from the periphery of the push disk 71.

[0104] The clamping block 74 is located on the disc body on the lower end face of the inner cylinder 30 and is provided with a guide rod 72 located in the arc groove 75. One end of the push cylinder 73 is rotatably mounted on the inner cylinder 30, and the output end is rotatably connected to the circumference of the push disc 71.

[0105] Specifically, an inverted T-groove can be provided on the disc body at the lower end face of the inner cylinder 30, and the clamping block 74 can slide within the T-groove;

[0106] The push plate 71 can be rotatably mounted on the inner support cylinder 30 via bearings. When the push cylinder 73 is started, it drives the push plate 71 to rotate. The arc groove 75 on the push plate 71 pushes the guide rod 72. As the arc trajectory of the arc groove 75 gradually approaches its axis, the guide rod 72 and the connected clamping block 74 can only move radially under the push of the arc trajectory of the arc groove 75. That is, the rotational motion of the push plate 71 is converted into the linear movement of the clamping block 74, so as to realize the synchronous movement of multiple clamping blocks 74 to clamp the bolt head.

[0107] As explained, the push cylinder 73 can be connected to a controller to facilitate real-time control of the clamping force of the bolt head, and the outer support cylinder 20 is equipped with a pneumatic-electric slip ring connected to the push cylinder 73; the pneumatic-electric slip ring is a special rotary connector specifically used for connecting rotating bodies and transporting energy and electrical signals.

[0108] like Figure 2 As shown, in the preferred embodiment, 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 with the second gear 43;

[0110] like Figure 2 As shown, the robot output plate 10 is further provided with a torque sensor 80 for measuring the rotational torque of the supporting outer cylinder 20.

[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 in torque into an electrical signal;

[0113] When the tightening motor 41 starts, it drives the first gear 42 and the second gear 43 to rotate, causing the outer support cylinder 20 and the inner support cylinder 30 to rotate, thereby tightening the bolts. When the set torque is reached, the controller receives the corresponding signal and then controls the tightening motor 41 to stop.

[0114] Furthermore, the discharge component 51 has an existing structure that ensures the bolts enter sequentially. 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 variable-diameter spiral structure. Multiple bolts slide sequentially on the spiral structure, allowing the bolts to move along the spiral trajectory by pushing or vibrating. For example, the spiral structure is provided with grooves along the trajectory, and the bolt heads are hung on the grooves. The lower end (output end) of the spiral structure is connected to the hollow part of the inner cylinder 30. The connection is provided with a controlled opening and closing plate, and multiple bolts are arranged sequentially on the spiral structure. The opening and closing plate can be controlled by a telescopic rod, that is, the connection is opened and closed by a pull-out method. It is also provided with a photoelectric sensor connected to the controller for detecting the passage of the bolts. The controller controls the opening and closing of the opening and closing plate and the action of the vibrator.

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

[0116] Preferably, the conical shell is fixed on the mounting plate, and the mounting plate slides up and down on the support guide post 52 and is supported by the second spring 53 fitted on the support guide post 52. The support guide post 52 is located on the robot output plate 10. For example, multiple nuts are threaded on the support guide post 52. The nuts are 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, in order to match the assembly of bolts driven by the robot, especially when the bolts are installed at different angles such as horizontal or inverted, the conical shell is equipped with a cover plate. The lower part of the cover plate is a conical structure and is close to the helical structure. It can limit the arrangement of bolts without affecting the normal sliding of multiple bolts and prevent the bolts from falling off the helical structure.

[0118] In addition, when assembling crane plate parts, bolts are installed either directly threaded onto threaded holes or in conjunction with nuts.

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

[0120] When using this bolt mounting equipment for assembling plate-type parts of a crane, the specific steps include:

[0121] S1, to locate the bolt mounting positions of crane plate parts;

[0122] S2, the robot output plate 10 moves to make the axis of the supporting inner cylinder 30 vertical, and the discharge component 51 pushes the bolts from the discharge port into the hollow structure of the supporting inner cylinder 30 in sequence.

[0123] Bolt A is supported by the second support rod 66, which pushes the cylinder 73 to start. The cylinder 73 rotates the disk 71, causing the arc groove 75 on it to move the clamping block 74 radially to clamp and fix the head of the bolt A.

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

[0125] S3, according to the positioning in step S1, the robot's output plate 10 moves to the installation position, so that bolt A is located in the corresponding threaded hole; the tightening component 40 drives the outer support cylinder 20 and the inner support cylinder 30 to rotate, and bolt A moves axially to be assembled. At this time, the inner support cylinder 30 moves axially relative to the outer support cylinder 20 and compresses the first spring 21 to compensate for the axial movement of the bolt.

[0126] S4, when bolt A moves axially to tighten the thread, bolt A gradually presses against 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, so that the third spring 62 is in a stretched state. While the slider 64 moves, it drives the upper first support rod 65 to rotate, so that the other end of the first support rod 65 gradually opens outward, and bolt B finally enters the clamping part 70.

[0127] S5, after the bolt is tightened, the cylinder 73 is pushed to move in the opposite direction, which causes the clamping block 74 to move radially to loosen the head of the screw A. The tightening component 40 drives the outer support cylinder 20 and the inner support cylinder 30 back to the position before tightening.

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

[0129] S6, the robot output plate 10 moves to the next installation position of the bolt. During the movement, the robot output plate 10 makes the axis of the inner cylinder 30 of the support vertical again. At this time, the discharge mechanism pushes the bolt C into the hollow structure of the inner cylinder 30 and supports it through the second support rod 66. The push cylinder 73 is started, and the push plate 71 rotates so that the arc groove 75 on it drives the clamping block 74 to move radially to clamp and fix the head of the screw B.

[0130] S7, when the positioning bolt is installed at different angles such as horizontal or inverted in step S1, 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 bolt B is moved toward the clamping component 70 and the second support rod 66 by blowing gas.

[0131] As an embodiment of step S1, a sensor can be installed on the bolt mounting equipment for assembling plate parts of a crane. The sensor is used to locate the installation position of the bolt. For example, the sensor is a laser sensor or a vision sensor to obtain the shape information of the plate parts and the bolt installation position information, and feed it back to the control system.

[0132] The control system may include a PLC controller for control and an analysis computer. The analysis computer processes the shape information and 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 commonly used positioning methods, which will not be elaborated further.

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

[0135] Import the 3D part drawings and assembly drawings of crane plate parts into the computer. The computer identifies the size and position of each bolt in the part drawings and assembly drawings and converts them into a drawing coordinate system x1y1z1 with the center point of the graphic as the origin O1.

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

[0137] Position the crane plate parts according to the assembly drawing and measure the distance between its origin O1 and the robot's coordinate system xyz coordinates; then, convert the drawing coordinate system x1y1z1 into the robot's recognition space coordinate system xyz, thus determining the bolt position coordinates of the crane plate parts assembly.

[0138] In addition, the robot can adjust its path based on the assembly drawings of plate-type parts.

[0139] In the description of this invention, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

Claims

1. A bolt mounting device for assembling plate-type parts of a crane, characterized in that, include: The outer cylinder (20) and the inner cylinder (30) are circumferentially limited and rotated on the output plate (10) of the robot by tightening component (40). A first spring (21) is provided between the outer cylinder (20) and the inner cylinder (30) so that the inner cylinder (30) is elastically upward when it moves axially downward relative to the outer cylinder (20). The inner support cylinder (30) is a hollow structure that allows bolts to pass through and out along the axis. The upper end is provided with a discharge component (51) that allows bolts to enter sequentially, and the lower end is located below the outer support cylinder (20). The clamping component (70), located at the lower end of the supporting inner cylinder (30), has multiple clamping blocks (74) that are driven to move radially in sync and clamp the protruding bolt heads. The positioning component (60) has a support plate (61) located at the lower end of the support outer cylinder (20) and multiple sets of positioning components arranged circumferentially on the support plate (61); each set of positioning components has a third spring (62), a fixing plate (63) fixed on the support plate (61) and a second support rod (66) with a bent structure. The second support rod (66) is movably mounted on the fixed plate (63). One end is pulled by the third spring (62), and the other end is located below the clamping component (70) and supports the lower end of the protruding bolt head. The second support rod (66) is squeezed by the bolt and rotates outward. Under the action of the third spring (62), the second support rod (66) returns to the supporting state after the bolt passes through. The positioning assembly also has an adjusting rod (68) threaded onto the periphery of the support plate (61) and a slider (64) that slides radially on the support plate (61) and is located inward relative to the fixed plate (63). The second support rod (66) rotates and slides in the strip groove arranged vertically on the lower part of the fixed plate (63), and one end is rotatably set at the lower end of the slider (64); The two ends of the third spring (62) are connected to the adjusting rod (68) and the slider (64) respectively. The support plate (61) is provided with a plurality of waist-shaped grooves corresponding to the positioning components, and the third spring (62) is located in the waist-shaped grooves; The lower parts of the supporting outer cylinder (20) and the supporting inner cylinder (30) are respectively provided with a first through hole (22) and a second through hole (31); The positioning assembly also has a first support rod (65) with a bent structure. The first support rod (65) is rotatably and slidably set in the strip groove arranged vertically on the upper part of the fixed 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 inner cylinder (30) and supports the lower end of the bolt rod head. The radius of the circle formed by the ends of the multiple first support rods (65) near the axis is greater than the radius of the circle formed by the ends of the multiple second support rods (66) near the axis; A magnetic block (67) is provided at one end of the first support rod (65) located inside the hollow inner cylinder (30); The magnetic block (67) is used to attract the circumference of the bolt head; The first support rod (65) has a nozzle arranged towards the screw at one end located inside the hollow inner cylinder (30); The clamping component (70) also has a push disk (71) that rotates on the supporting inner cylinder (30); the push disk (71) is provided with a plurality of arc-shaped grooves (75) corresponding to the clamping block (74), and the arc-shaped trajectory of the arc-shaped grooves (75) gradually approaches its axis from the periphery of the push disk (71); The clamping block (74) is located on the disc body on the lower end face of the inner cylinder (30) and is provided with a guide rod (72) located in the arc groove (75). One end of the push cylinder (73) is rotatably installed on the inner cylinder (30), and the output end is rotatably connected to the periphery of the push disc (71).

2. The bolt mounting equipment for assembling crane plate parts according to claim 1, 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 support outer cylinder (20). The first gear (42) meshes with the second gear (43); The robot output plate (10) is equipped with a torque sensor (80) for measuring the rotational torque of the supporting outer cylinder (20). After receiving the torque signal, the controller controls the action of the tightening motor (41).

3. A method of using the bolt mounting equipment for assembling crane plate parts as described in claim 1, characterized in that, Specifically, the following steps are included: S1, to locate the bolt mounting positions of crane plate parts; S2, the robot output plate (10) moves to make the axis of the supporting inner cylinder (30) vertical, and the discharge component (51) pushes the bolts from the discharge port into the hollow structure of the supporting inner cylinder (30) in sequence; Bolt A is supported by the second support rod (66), which pushes the cylinder (73) to start. The cylinder (73) rotates by pushing the disc (71) so that the arc groove (75) on it drives the clamping block (74) to move radially to clamp and fix the head of the screw A. Bolt B is supported by the first support rod (65) and can be attracted by the magnetic block (67); S3, according to the positioning in step S1, the robot's output plate (10) moves to the installation position, so that bolt A is located in the corresponding threaded hole; the tightening component (40) drives the outer support cylinder (20) and the inner support cylinder (30) to rotate, and bolt A moves axially to be assembled. At this time, the inner support cylinder (30) moves axially relative to the outer support cylinder (20) and compresses the first spring (21) to compensate for the axial movement of the bolt; S4, when bolt A moves axially to tighten the thread, bolt A gradually presses against 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, so that the third spring (62) is in a stretched state. While the slider (64) moves, it drives the upper first support rod (65) to rotate, so that the other end of the first support rod (65) gradually opens outward, and bolt B finally enters the clamping part (70). S5, after the bolt is tightened, the cylinder (73) is pushed to move in the opposite direction, which causes the clamping block (74) to move radially to loosen the head of the screw A. The tightening component (40) drives the outer support cylinder (20) and the inner support cylinder (30) back to the position before tightening. Under the action of the third spring (62), the slider (64) moves outward, the second support rod (66) rotates inward to return to the support position and supports the bolt B. Under the action of the first spring (21), the inner support cylinder (30) returns to the axial initial position relative to the outer support cylinder (20). S6, the robot output plate (10) moves to the next installation position of the bolt. During the movement, the robot output plate (10) makes the axis of the inner cylinder (30) of the support vertical again. At this time, the discharge mechanism pushes the bolt C into the hollow structure of the inner cylinder (30) and supports it through the second support rod (66) and the magnetic block (67) adsorbs it. The push cylinder (73) starts and drives the arc groove (75) on the push disk (71) to drive the clamping block (74) to move radially to clamp and fix the head of the screw B. Therefore, multiple bolts are assembled sequentially; S7, when the positioning bolt is installed horizontally or inverted in step S1, 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 bolt B is moved toward the clamping component (70) and the second support rod (66) by blowing gas.

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