Nut dismounting robot and dismounting method thereof

Abstract

The application relates to the field of industrial robots, in particular to a nut dismounting robot and a dismounting method thereof. The nut dismounting robot comprises a rotating drum, a hexagonal groove is arranged at the lower end of the rotating drum, a sliding cavity and an oil storage cavity are arranged in the rotating drum, a fixed plate is connected in the sliding cavity, a sliding rod is slidably connected to the fixed plate, a sliding plug is fixedly connected to the lower end of the sliding rod, a spring is sleeved on the sliding rod, the spring is located between the fixed plate and the sliding plug, a plurality of oil injection holes are arranged between the sliding cavity and the oil storage cavity, an air hole is arranged between the upper parts of the sliding cavity and the oil storage cavity, a driving mechanism is connected to the rotating drum, a plurality of electromagnetic blocks are fixedly connected to the inner wall of the hexagonal groove, two mobile power supplies are fixedly connected to the outer wall of the rotating drum, the plurality of electromagnetic blocks are connected to the two mobile power supplies through wires, the nut dismounting robot can perform oiling treatment on the screw rod while installing the nut, and the manual oiling process is omitted.

Description

TECHNICAL FIELD

[0001] The application relates to the field of industrial robots, in particular to a nut dismounting robot and a dismounting method thereof. BACKGROUND

[0002] In the field of industrial manufacturing and equipment maintenance, as basic fasteners, the dismounting efficiency and quality of nuts directly affect the reliability of equipment and the safety of production. The traditional nut dismounting process has the following technical bottlenecks: the existing process mostly adopts manual oil brushing (such as traditional brushes or spray guns), and has the problems of low oil utilization rate, uneven coverage, etc., which leads to the increase of bolt thread oxidation and rust rate, and manual oiling treatment is needed before the nut is installed, which consumes time and manpower. Therefore, the application provides a nut dismounting robot and a dismounting method thereof to solve the above problems. SUMMARY

[0003] Therefore, the application provides a nut dismounting robot and a dismounting method thereof, which can perform oiling treatment on the screw rod while installing the nut, thereby saving the manual oiling process.

[0004] A nut dismounting robot and a dismounting method thereof, comprising a rotating drum, a hexagonal groove is formed in the lower end of the rotating drum, a sliding cavity and an oil storage cavity are arranged in the rotating drum, a fixed plate is connected in the sliding cavity, a sliding rod is slidably connected to the fixed plate, a sliding plug is fixedly connected to the lower end of the sliding rod, a spring is sleeved on the sliding rod, the spring is located between the fixed plate and the sliding plug, a plurality of oil injection holes are arranged between the sliding cavity and the oil storage cavity, an air vent is arranged between the upper parts of the sliding cavity and the oil storage cavity, and a driving mechanism is connected to the rotating drum.

[0005] A plurality of electromagnetic blocks are fixedly connected to the inner wall of the hexagonal groove, and two mobile power supplies are fixedly connected to the outer wall of the rotating drum.

[0006] A one-way valve is installed at the upper end of the rotating drum, and the one-way valve is connected to the sliding cavity.

[0007] An oil injection pipe is installed at the upper end of the rotating drum, and the oil injection pipe is connected to the oil storage cavity.

[0008] The driving mechanism comprises a moving frame, an electric push rod is fixedly connected to the upper end of the moving frame, an installation plate is fixedly connected to the moving end of the electric push rod, a driving motor is fixedly connected to the upper end of the installation plate, and the rotating drum is fixedly connected to the output shaft of the driving motor.

[0009] The driving mechanism further comprises a mounting frame, a limiting rod is fixedly connected to the mounting frame, and the moving frame is slidably connected to the limiting rod.

[0010] A second motor is fixedly connected to the mounting frame, a lead screw is fixedly connected to the output shaft of the second motor, and the lead screw is drivingly connected to the moving frame through a lead screw nut.

[0011] A plurality of ratchets are fixedly connected to the upper end of the rotating drum, a hydraulic cylinder is fixedly connected to the lower end of the mounting plate, a push rod is fixedly connected to the moving end of the hydraulic cylinder, a push piece is rotatably connected to the end of the push rod, and one end of the push piece is obliquely arranged, and the other end of the push piece is parallel to the push rod.

[0012] A torsion spring is installed at the rotating connection between the push piece and the push rod.

[0013] A nut dismounting robot dismounting method, the method comprising the following steps:

[0014] Step one: use two mobile power bands to make a plurality of electromagnetic blocks generate magnetism, control the rotating drum to adsorb and process the nuts;

[0015] Step two: control the rotating drum to rotate clockwise and move downward to install and process the nuts;

[0016] Step three: use a plurality of oil injection holes to coat oil on the screw rod;

[0017] Step four: use the ratchets and the push pieces to tighten the nuts;

[0018] Step five: supplement the rust-proof oil in the oil storage cavity through the oil injection pipe.

[0019] The application has the following beneficial effects: the above structure can coat oil on the screw rod while installing the nuts, prevent the nuts from being difficult to dismount due to oxidation and rust of the screw rod, and thus eliminate the need for rust-proof treatment of the screw rod before installing the nuts, save the step of brushing oil in advance, and further improve the work efficiency; the rust-proof oil can cover the complete surface of the screw rod threads through rotary spraying, avoid local oxidation caused by uneven traditional oil brushing, and prolong the service life of the nuts and bolts. BRIEF DESCRIPTION OF DRAWINGS

[0020] The application will be further described in detail below in combination with the drawings and specific implementation methods.

[0021] Figure 1 And Figure 2 It is a structural schematic view of a nut dismounting robot and its dismounting method;

[0022] Figure 3 It is a structural schematic view of a mounting rack;

[0023] Figure 4 It is a structural schematic view of a hexagonal groove;

[0024] Figure 5 It is a structural schematic view of a push piece;

[0025] Figure 6 It is a structural schematic view of a ratchet;

[0026] Figure 7It is a structural section view of the rotating drum.

[0027] Figure 8 It is a structural schematic view of the electromagnetic block. DETAILED DESCRIPTION

[0028] The application will be described in detail with reference to the drawings in the embodiments of the application.

[0029] A nut dismounting robot comprises a rotating drum 101, a hexagonal groove 102 is formed in the lower end of the rotating drum 101, a sliding cavity 104 and an oil storage cavity 105 are arranged in the rotating drum 101, a fixed plate 203 is connected in the sliding cavity 104, a sliding rod 202 is slidably connected on the fixed plate 203, a sliding plug 201 is fixedly connected at the lower end of the sliding rod 202, a spring 204 is sleeved on the sliding rod 202, the spring 204 is located between the fixed plate 203 and the sliding plug 201, a plurality of oil injection holes 106 are arranged between the sliding cavity 104 and the oil storage cavity 105, an air vent hole 108 is arranged between the upper portions of the sliding cavity 104 and the oil storage cavity 105, and a driving mechanism is connected on the rotating drum 101.

[0030] Referring to Figure 7 ,

[0031] When the dismounting robot is used, a worker rotates a nut to be installed into a screw rod, then drives the rotating drum 101 to move above the nut by using the driving mechanism, and then moves downward by using the driving mechanism, so that the rotating drum 101 is buckled on the nut, at this time, the nut can be clamped in the hexagonal groove 102, the nut is finally tightened by using the driving mechanism to control the rotating drum 101 to rotate clockwise and move downward, and the function of installing the nut is realized.

[0032] When the nut is installed, the rotating drum 101 is controlled to rotate clockwise and move downward, the rotating drum 101 drives the nut to rotate into the screw rod, and the screw rod can be inserted into the sliding cavity 104, because the inner wall bottom of the sliding cavity 104 is provided with a protrusion, the sliding plug 201 can be automatically clamped on the protrusion under the elastic action of the spring 204, so as to prevent the sliding plug 201 from automatically extending out of the sliding cavity 104, when the screw rod enters the sliding cavity 104, the sliding plug 201 is upwardly jolted, and the sliding plug 201 drives the sliding rod 202 to slide upward, and the spring 204 is compressed under stress.

[0033] The oil storage cavity 105 is used for storing rust-proof oil. When the sliding plug 201 slides upward, the air pressure in the sliding cavity 104 increases, the air enters the oil storage cavity 105 through the air hole 108 under the action of pressure, so that the pressure in the oil storage cavity 105 also increases, and the sliding plug 201 can block the plurality of oil injection holes 106 before moving, so that the rust-proof oil cannot be injected through the plurality of oil injection holes 106. When the sliding plug 201 moves upward, the plurality of oil injection holes 106 are automatically exposed, and the pressure in the oil storage cavity 105 increases, so that the rust-proof oil can be injected through the plurality of oil injection holes 106 under the action of pressure. At this time, the screw rod is just located in the sliding cavity 104 and moves towards the sliding cavity 104, so that the rust-proof oil can be uniformly sprayed on the screw rod by the plurality of oil injection holes 106, realizing the function of automatically oiling the screw rod.

[0034] Through the above structure, the screw rod can be oiled while the nut is installed, preventing the nut from being difficult to disassemble due to oxidation and rust of the screw rod, and further eliminating the need for rust-proof treatment of the screw rod before installing the nut, saving the step of brushing oil in advance, and further improving work efficiency. The rust-proof oil is sprayed by rotation to cover the complete surface of the screw thread, avoiding the problem of local oxidation caused by uneven traditional brushing, and prolonging the service life of the bolt and nut. Through the linkage design of the sliding cavity 104 and the oil storage cavity 105, the mechanical movement of the screw rod when rotating in drives the sliding plug 201 to move upward, triggering the rust-proof oil in the oil storage cavity 105 to be uniformly sprayed to the surface of the screw rod. This process is automatically completed when the nut is installed, without the need for additional manual brushing step, significantly reducing the operation time.

[0035] When the nut needs to be disassembled, the worker uses the driving mechanism to buckle the rotating drum 101 on the nut, and then drives the rotating drum 101 to rotate counterclockwise, while controlling the rotating drum 101 to move upward, completing the disassembly process of the nut.

[0036] The sliding plug 201 cooperates with the air hole 108 through the spring 204 to form a self-adaptive pressure regulation mechanism. When the screw rod is rotated in, the sliding plug 201 moves upward to compress the spring 204 and open the oil injection hole 106 to release the rust-proof oil. When the screw rod is rotated out, the spring 204 resets to close the oil injection hole 106, ensuring the timing accuracy of the lubrication process.

[0037] The plurality of electromagnetic blocks 103 are fixedly connected to the inner wall of the hexagonal groove 102, and the two mobile power supplies 107 are fixedly connected to the outer wall of the rotating drum 101. The plurality of electromagnetic blocks 103 are connected to the two mobile power supplies 107 through wires.

[0038] Referring to Figure 7 ,

[0039] Before installing the nut, two mobile power supplies 107 are powered on, and the two mobile power supplies 107 enable the plurality of electromagnetic blocks 103 to have magnetic attraction function, and then the rotating drum 101 is controlled to move to the vicinity of the nut to be installed, and then the rotating drum 101 is controlled to move downward, so that the rotating drum 101 is buckled on the nut. Since the nut is made of carbon steel, the nut can be adsorbed by the magnetic attraction performance of the plurality of electromagnetic blocks 103, realizing the function of automatically positioning the nut, and then the rotating drum 101 is controlled to move and rotate to automatically install the nut on the screw rod.

[0040] After the nut is disassembled, the nut can be adsorbed in the hexagonal groove 102, and then the two electromagnetic blocks 103 are powered off when the rotating drum 101 moves to the specified position, realizing the function of discharging the nut.

[0041] The above structure can realize the function of automatically adsorbing the nut, without the need for workers to manually screw the nut into the screw rod in advance, saving the step of manual preliminary installation, and further improving the installation efficiency.

[0042] The plurality of electromagnetic blocks 103 in the inner wall of the hexagonal groove 102 form an array type magnetic attraction unit, which, combined with the magnetic conductivity of the carbon steel nut, can complete the directional adsorption of the nut in a short time. The two mobile power supplies 107 on the outer wall of the rotating drum 101 adopt a parallel power supply mode, and when a single power supply fails, the other power supply can maintain 80% of the adsorption force, avoiding the nut from falling due to power failure. After the electromagnetic block 103 adsorbs the nut during the installation stage, the rotating drum 101 is rotated and tightened by the driving mechanism, and when disassembled, it is rotated in reverse and remains adsorbed until it moves to the recycling bin and is powered off for discharging. This process completely replaces manual feeding.

[0043] A one-way valve 205 is installed on the upper end of the rotating drum 101, and the one-way valve 205 is connected with the sliding cavity 104.

[0044] Referring to Figure 7 ,

[0045] After the nut is installed, the rotating drum 101 stops rotating, the rotating drum 101 is controlled to move upward, so that the rotating drum 101 is separated from the nut, and at the same time the screw rod is gradually separated from the sliding cavity 104, and the sliding plug 201 can be automatically reset under the elastic action of the spring 204. At this time, the sliding cavity 104 generates negative pressure, the one-way valve 205 is automatically opened, air can be automatically sucked into the sliding cavity 104 through the one-way valve 205, realizing the pressure balance in the sliding cavity 104, ensuring that the next time the antirust oil can be normally sprayed out; and when the internal pressure of the sliding cavity 104 increases, the one-way valve 205 is automatically closed, and air cannot be discharged through the one-way valve 205.

[0046] With the negative pressure compensation mechanism, the slide cavity 104 generates negative pressure when the slide plug 201 resets, and the one-way valve 205 is automatically opened by the internal and external pressure difference to introduce ambient air. This design can avoid the slide plug jamming problem caused by negative pressure in the traditional sealing system, ensuring the smoothness of the next injection stroke, and using the natural pressure difference between the slide cavity 104 and the outside atmosphere to drive air flow without additional energy consumption.

[0047] The upper end of the rotating drum 101 is provided with an oil injection pipe 206 connected with the oil storage cavity 105.

[0048] Referring to Figure 1-3 ,

[0049] The staff can periodically inject rust-proof oil into the oil storage cavity 105 through the oil injection pipe 206, so as to ensure sufficient rust-proof oil in the oil storage cavity 105. The oil injection pipe 206 is sealed by a rubber plug to prevent air leakage.

[0050] The driving mechanism includes a moving frame 405, the upper end of which is fixedly connected with an electric push rod 406, the moving end of which is fixedly connected with a mounting plate 301, the upper end of which is fixedly connected with a driving motor 306, and the rotating drum 101 is fixedly connected with the output shaft of the driving motor 306.

[0051] Referring to Figure 1-3 ,

[0052] When it is necessary to install the nut, the moving end of the electric push rod 406 is controlled to extend to drive the rotating drum 101 to move downward, so that the rotating drum 101 can be buckled on the nut, and then the driving motor 306 is used to drive the rotating drum 101 to rotate, and finally the rotating drum 101 rotates and moves downward to install the nut on the screw rod, realizing the process of nut installation.

[0053] The driving mechanism further includes a mounting frame 401, the upper end of which is fixedly connected with a limiting rod 403, and the moving frame 405 is slidingly connected with the limiting rod 403.

[0054] Referring to Figure 3 ,

[0055] The limiting rod 403 plays a limiting role for the moving frame 405, and by controlling the sliding movement of the moving frame 405 on the limiting rod 403, the linear movement of the moving frame 405 can be ensured, which is convenient for adsorbing or installing the nut.

[0056] The mounting frame 401 is fixedly connected with a second motor 404, the output shaft of which is fixedly connected with a lead screw 402, and the lead screw 402 and the moving frame 405 are drivingly connected through a lead screw nut.

[0057] Referring to Figure 4-8 ,

[0058] The rotation of the screw rod 402 is driven by the second motor 404, and the screw rod 402 cooperates with the moving frame 405, so that the moving frame 405 can be driven to move, thereby realizing the function of controlling the movement of the rotating drum 101, and ensuring that the rotating drum 101 can move to the screw rod after adsorbing the nut, and then install the nut on the screw rod.

[0059] The rotating drum 101 is fixedly connected with a plurality of pawls 207 at the upper end, the mounting plate 301 is fixedly connected with a hydraulic cylinder 302 at the lower end, the moving end of the hydraulic cylinder 302 is fixedly connected with a push rod 303, the push rod 303 is rotatably connected with a push piece 304 at the end, and the push piece 304 is inclined at one end.

[0060] Referring to Figure 5 ,

[0061] When the nut is installed, the staff controls the rotating drum 101 to stop rotating, at this time, the moving end of the hydraulic cylinder 302 is controlled to extend, then the push rod 303 is driven to extend, the push rod 303 drives the push piece 304 to extend, the push piece 304 can contact one of the pawls 207 on the rotating drum 101 while extending, and the pawl 207 is pushed during the extension of the push piece 304, since the other end of the push piece 304 is parallel to the push rod 303, the push rod 303 can limit the opening of the push piece 304, the push piece 304 pushes the pawl 207 to make the rotating drum 101 rotate, thereby realizing the function of further tightening the nut, and ensuring the stability of the nut.

[0062] After the nut is tightened, the moving end of the hydraulic cylinder 302 drives the push rod 303 to retract, and the push piece 304 automatically retracts after contacting with the other pawls 207, thereby avoiding interference with the pawls 207 and being stuck.

[0063] The above structure can realize the function of individually tightening the installed nut, avoid the phenomenon of loosening of the installed nut, and also avoid manual tightening of the nut by the staff.

[0064] The angle of the inclined end of the push piece 304 is 35°, the contact area with the pawl 207 is larger than that of the traditional right angle design, and the progressive torque transmission is formed during the pushing process, thereby avoiding damage to the thread caused by instantaneous impact, and the pawl 207 is provided with a plurality of pawls, and the push piece 304 can push one of the pawls 207 to realize the tightening function in any state.

[0065] A torsional spring 305 is installed at the rotating connection between the push piece 304 and the push rod 303.

[0066] Referring to ​ ,

[0067] When the push rod 303 drives the push piece 304 to reset, the push piece 304 is in contact with other push gears 207 and automatically shrinks. When the push piece 304 is completely separated from the push gears 207, the push piece 304 can be automatically opened again under the action of the torsional spring 305, thereby facilitating the next time to push the push gears 207 to tighten the nut.

[0068] Through the stroke control of the hydraulic cylinder 302, the incremental torque of the push rod 303 driving the push piece 304 tightens the nut again. This design can compensate for the torque loss caused by the thread gap during the first installation. The torsional spring 305 at the connection between the push piece 304 and the push rod 303 provides a constant torque when resetting, ensuring that the push piece 304 quickly recovers to the initial angle after being separated from the push gears 207, avoiding downtime failures caused by mechanical jamming.

[0069] A nut dismounting and mounting robot dismounting and mounting method, the method comprising the following steps:

[0070] Step one: use two mobile power supplies 107 to make multiple electromagnetic blocks 103 generate magnetism within the passband, and control the rotating drum 101 to adsorb and process the nut;

[0071] Step two: control the rotating drum 101 to rotate clockwise and move downward to install the nut;

[0072] Step three: use multiple oil injection holes 106 to coat oil on the screw rod;

[0073] Step four: use the push gears 207 and the push piece 304 to tighten the nut;

[0074] Step five: supplement the rust-proof oil in the oil storage cavity 105 through the oil injection pipe 206.

Claims

1. A nut dismounting robot which performs oiling of a screw rod while installing a nut, characterized by: The utility model relates to a kind of screw nut installation device, including rotating drum, hexagonal recess is set in the lower end of rotating drum, sliding cavity and oil storage cavity are arranged in rotating drum, fixed plate is connected in sliding cavity, sliding rod is connected in sliding mode in fixed plate, sliding plug is fixedly connected in the lower end of sliding rod, spring is sheathed in sliding rod, spring is between fixed plate and sliding plug, multiple oil injection holes are arranged between sliding cavity and oil storage cavity, air hole is arranged between the upper portion of sliding cavity and oil storage cavity, driving mechanism is connected in rotating drum;Multiple electromagnetic blocks are fixedly connected on the inner wall of hexagonal recess, two mobile power supplies are fixedly connected on the outer wall of rotating drum, multiple electromagnetic blocks are connected on two mobile power supplies by wire respectively;One-way valve is installed in the upper end of rotating drum, and one-way valve is communicated with sliding cavity;Oil filling pipe is installed in the upper end of rotating drum, and oil filling pipe is communicated with oil storage cavity;Driving mechanism includes moving frame, electric push rod is fixedly connected in the upper end of moving frame, mounting plate is fixedly connected in the moving end of electric push rod, driving motor is fixedly connected in the upper end of mounting plate, and rotating drum is fixedly connected on the output shaft of driving motor;Driving mechanism further includes mounting frame, limit rod is fixedly connected in mounting frame, and moving frame is slidably connected in limit rod;Second motor is fixedly connected in mounting frame, lead screw is fixedly connected on the output shaft of second motor, and lead screw is drivenly connected between moving frame by lead screw nut;Multiple ratchets are fixedly connected in the upper end of rotating drum, hydraulic cylinder is fixedly connected in the lower end of mounting plate, push rod is fixedly connected in the moving end of hydraulic cylinder, rabbet is rotatably connected in the end of push rod, and rabbet one end is arranged in inclined, and the other end of rabbet is parallel with push rod.

2. A nut removal robot according to claim 1, characterized in that: Torsional spring is installed in the rotatable connection of rabbet and push rod.

3. The method of claim 2, wherein: The method comprises the following steps: Step one: multiple electromagnetic blocks generate magnetism in passband by two mobile power supplies, and rotating drum is controlled to carry out adsorption treatment to nut; Step two: rotating drum is controlled to rotate clockwise and move downward to carry out installation treatment to nut; Step three: multiple oil injection holes are used to carry out oiling treatment on screw rod; Step four: rabbet and rabbet cooperate to carry out fastening treatment to nut; Step five: rust-proof oil is supplemented in oil storage cavity by oil filling pipe.

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