Tightening robot adaptive to screws of different models

Abstract

The invention provides a screwing robot adaptive to different types of screws, and relates to the technical field of screw screwing equipment, the screwing robot comprises a screwing motor and a mounting sleeve, and the bottom end of a central rotating shaft of the screwing motor is fixedly connected with the mounting sleeve; a socket wrench is detachably mounted on the mounting sleeve and consists of a vertical knob shaft, and a six-edge insertion column and a sleeve which are respectively welded at the upper end and the lower end of the vertical knob shaft; a sliding driving piece is installed on the vertical knob shaft in a sliding mode in a spring pushing mode, the sliding driving piece is jointly composed of a shaft ring and a plurality of L-shaped driving rods welded to the shaft ring in a surrounding mode, and when the sliding driving piece is driven upwards, the L-shaped driving rods abut against and make contact with the lantern ring. By sliding the driving piece, in the process of replacing the socket spanner, unlocking and locking operation on the new socket spanner and the old socket spanner and up-down pulling, inserting, disassembling and assembling operation on the new socket spanner body and the old socket spanner body can be carried out through one-time driving of a single hand, and therefore the replacement operation efficiency of the socket spanner can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of screw tightening equipment, and in particular to a screw tightening robot adapted to different models. Background Art

[0002] With the development of automation technology, screw tightening machines came into being, which to a certain extent improved production efficiency and assembly accuracy.

[0003] When the wrench is replaced, the robot needs to hold the wrench to be installed with one hand to insert and install the wrench, and needs to use the other hand to insert and install the wrench. When the wrench is replaced, the robot needs to hold the wrench to be installed with one hand to insert and install the wrench, and needs to use the other hand to insert and install the wrench. When the wrench is replaced, the robot needs to hold the wrench to be installed with one hand to insert and install the wrench, and needs to use the other hand to insert and install the wrench. Summary of the Invention

[0004] In view of this, the present invention provides a screw tightening robot adapted to different models to solve the problem that the disassembly and assembly of the screw wrench needs to be carried out in steps by both hands in the process of replacing the screw wrench.

[0005] The technical solution proposed by the present invention is: a screw tightening robot adapted to different models, specifically comprising a screwing motor and a mounting sleeve, wherein the bottom end of the central rotating shaft of the screwing motor is fixedly connected to the mounting sleeve; The cam is secured to the rear of the locksmith's locksmith shop by means of a spring, and the cam is secured to the rear of the locksmith's locksmith shop by means of a spring. The inner hole of the sleeve is a hexagonal structure. When in use, its inner hole cooperates with the head of the bolt or the nut sleeve, and the screwing motor can rotate to drive the mounting sleeve, the socket wrench and the socket to rotate forward and reverse, so as to tighten or loosen threaded parts such as bolts or nuts. When installing a newly replaced socket wrench, first hold the vertical torque shaft with one hand, and then insert the hexagonal plug into the inner hole of the mounting sleeve. When the hexagonal plug slides upward along the inner hole and contacts with the two L-shaped plug rods in the abutting state, it is blocked and restricted from sliding. At this time, the sliding drive part is pushed upward by the thumb of one hand. When the sliding drive part is driven to slide upward, the three L-shaped drive rods contact with the collar and drive the collar to slide upward to control the two L-shaped plug rods to slide back to the empty position. When the two L-shaped plug rods slide out of the empty position, they are pulled out from the inner hole of the mounting sleeve. The spring on the vertical torsion shaft is compressed when the sliding drive member is driven to slide upward, and when the sliding drive member is released, the spring loses the compression holding force from the sliding drive member, and can automatically push back to drive the sliding drive member to slide down and reset. Moreover, since the driving sleeve is compressed on the mounting sleeve when it is driven to slide upward, and when the sliding drive member is pushed back to slide down and reset and separated from the driving sleeve, the spring can automatically push back to drive the driving sleeve to move back to its position, and control the two L-shaped insertion rods to slide toward each other and engage with the hexagonal insertion column fully inserted in the inner hole of the mounting sleeve, so as to position the socket wrench replaced and installed on the mounting sleeve, and thus the installation process of the newly replaced socket wrench is completed.

[0006] Furthermore, two rod sleeves are symmetrically welded to the outer periphery of the top portion of the mounting sleeve, and the two L-shaped insertion rods are correspondingly slidably fitted with the two rod sleeves; The spring for pushing the collar is sleeved on the mounting sleeve and is compressed and clamped between the collar and the rod sleeve.

[0007] Furthermore, the shaft ring is slidably matched with the vertical rotary shaft, a limiting ring is integrally formed on the outer periphery of the middle part of the vertical rotary shaft, and a baffle is welded between the vertical rotary shaft and the hexagonal plug column; The spring for pushing the sliding drive member is sleeved on the vertical torsion shaft and is compressed and clamped between the shaft ring and the baffle plate. The shaft ring is in contact with the limiting ring, and the baffle plate is in contact with the bottom end of the mounting sleeve.

[0008] Furthermore, the outer circumference of the mounting sleeve is symmetrically provided with two vertical sliding grooves, and the inner circumference of the collar is integrally formed with two sliders, which slide in cooperation with the two vertical sliding grooves. When the collar slides up and down, the sliders respectively come into contact with the top and bottom ends of the vertical sliding grooves.

[0009] Furthermore, it also includes a base, and a rotating seat is rotatably installed on the top of the base.

[0010] Furthermore, a first mechanical arm is rotatably mounted on the rotating seat.

[0011] Furthermore, a second robotic arm is rotatably mounted on the head end of the first robotic arm.

[0012] Furthermore, a screwing motor is fixedly mounted on the bottom of the head end of the second robotic arm.

[0013] Furthermore, the inner hole of the sleeve 702 is a hexagonal structure, and the inner hole is inserted and matched with the head of the nut or bolt to be tightened.

[0014] The present invention provides a screw tightening robot that is adaptable to different models and has the following beneficial effects: 1. Through the design of the detachable and replaceable socket wrench, this robot can adapt to replace sockets of different sizes and tighten and loosen threaded parts of different specifications, which is conducive to improving the practicality of the robot and its compatibility with threaded parts of different specifications.

[0015] 2. The double crank slider mechanism is a plug-in positioning mechanism for the socket wrench; through the sliding drive part, during the process of replacing the socket wrench, the plug-in positioning mechanism can unlock and lock the old and new socket wrenches, as well as the up and down insertion and disassembly operations of the new and old socket wrenches, all of which can be implemented by a one-time drive with one hand. This can save the tedious steps of requiring both hands to coordinate and perform the above three operations step by step, which helps to improve the efficiency of the socket wrench replacement operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments are briefly introduced below.

[0017] The drawings described below only relate to some embodiments of the present invention, but are not intended to limit the present invention.

[0018] In the attached figure: Figure 1 Shows a schematic diagram of the overall structure of the present invention; Figure 2 Shows a schematic diagram of the overall bottom side view of the present invention; Figure 3 A schematic diagram showing the connection and assembly state of the screwing motor and the mounting sleeve in the present invention is shown; Figure 4 A schematic diagram showing the bottom side view of the screwing motor and the mounting sleeve of the present invention is shown; Figure 5 A schematic diagram of the inner structure of the mounting sleeve in a half-section of the present invention is shown; Figure 6 A schematic diagram showing the disassembly state of the socket wrench and the sliding drive member of the present invention is shown; Figure 7A schematic diagram showing the bottom side view of the socket wrench of the present invention in a disassembled state is shown; Figure 8 A schematic diagram of the socket wrench of the present invention in a state ready for installation is shown.

[0019] List of reference numerals: 1. Base; 2. Rotating seat; 3. The first robotic arm; 4. Second robotic arm; 5. Twist the motor; 6. Mounting sleeve; 601. L-shaped rod; 6011. Connecting rod; 602. Collar; 6021. Slider; 603. Vertical slide; 604. Rod sleeve; 7. Socket wrench; 701. Vertical twist shaft; 7011. Limit ring; 702. Socket; 703. Stop plate; 704. Hexagonal plug; 8. Sliding drive member; 801. Shaft collar; 802. L-shaped drive rod. DETAILED DESCRIPTION

[0020] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the described embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] Please refer to Figures 1 to 8 , Example 1: This embodiment provides a screw tightening robot adapted to different models, comprising a screwing motor 5 and a mounting sleeve 6. The bottom end of the central rotating shaft of the screwing motor 5 is fixedly connected to the mounting sleeve 6 via a coupling. A socket wrench 7 is detachably mounted on the mounting sleeve 6. The socket wrench 7 consists of a vertical torque shaft 701 and a hexagonal plug column 704 and a sleeve 702 welded to the upper and lower ends of the vertical torque shaft 701 respectively. The hexagonal plug column 704 is plugged into the hexagonal inner hole of the mounting sleeve 6; two symmetrically distributed L-shaped plug rods 601 are slidably mounted on the top part of the peripheral wall of the mounting sleeve 6, and the protruding parts of the head ends of the two L-shaped plug rods 601 are plugged into the top parts of the hexagonal plug column 704; a ring 602 is slidably mounted on the outer periphery of the mounting sleeve 6 in the form of spring push, and two connecting rods 6011 are symmetrically connected to the tail ends of the ring 602 and the two L-shaped plug rods 601 in rotation; a sliding drive component 8 is slidably mounted on the vertical torque shaft 701 in the form of spring push, and the sliding drive component 8 consists of a shaft ring 801 and a plurality of L-shaped drive rods 802 welded around the shaft ring 801.

[0022] Preferably, the L-shaped driving rod 802 is provided at three locations.

[0023] Preferably, two rod sleeves 604 are symmetrically welded to the outer periphery of the top part of the mounting sleeve 6, and the two L-shaped rods 601 slide in correspondence with the two rod sleeves 604; the spring sleeve for pushing the ring 602 is mounted on the mounting sleeve 6 and is compressed and clamped between the ring 602 and the rod sleeve 604.

[0024] Preferably, the shaft ring 801 is slidably fitted with the vertical torsion shaft 701, a limiting ring 7011 is integrally formed on the outer periphery of the middle part of the vertical torsion shaft 701, and a baffle 703 is welded between the vertical torsion shaft 701 and the hexagonal plug column 704; the spring for pushing the sliding drive part 8 is mounted on the vertical torsion shaft 701, and is compressed and clamped between the shaft ring 801 and the baffle 703, the shaft ring 801 is in contact with the limiting ring 7011, and the baffle 703 is in contact with the bottom end of the mounting sleeve 6.

[0025] Preferably, two vertical grooves 603 are symmetrically opened on the outer circumference of the mounting sleeve 6, and two sliders 6021 are integrally formed on the inner circumference of the collar 602. The two sliders 6021 slide in cooperation with the two vertical grooves 603. When the collar 602 slides up and down, the sliders 6021 respectively come into contact with the top and bottom ends of the vertical grooves 603.

[0026] Implementation 2: This implementation is based on implementation 1 and adds the following content compared to implementation 1: This embodiment includes a base 1, on the top of which a rotating base 2 is rotatably mounted; a first robotic arm 3 is rotatably mounted on the rotating base 2; a second robotic arm 4 is rotatably mounted on the head end of the first robotic arm 3; a screwing motor 5 is fixedly mounted on the bottom of the head end of the second robotic arm 4.

[0027] The following is a detailed description of the specific details, implementation steps, functions and interrelationships of the various features of the above embodiment, and the role played by these features in implementing the present technical solution: The socket wrench 7 is installed on the mounting sleeve 6 by plugging and matching the hexagonal plug post 704 with the inner hole of the mounting sleeve 6; the two L-shaped plug rods 601, the two connecting rods 6011 and the collar 602 are connected together to form a set of double crank slider mechanism, through which the up and down sliding collar 602 can drive the two L-shaped plug rods 601 to slide toward or away from each other, controlling the two L-shaped plug rods 601 to plug and match with the hexagonal plug post 704 or to slide and separate. When the two L-shaped plug rods 601 are pulled out of the hexagonal plug post 704, the socket wrench 7 can be unlocked and released, and the socket wrench 7 can be disassembled and replaced. When the two L-shaped plug rods 601 are plugged and matched with the hexagonal plug post 704, the socket wrench 7 can be positioned in the use state of plugging and assembling with the mounting sleeve 6 (refer to Figure 5 ); The spring on the mounting sleeve 6 can push the collar 602 to position the lowered state, so that the two L-shaped rods 601 remain in the state of use in which they are plugged into the hexagonal plug post 704 (refer to Figure 4 and Figure 5 ).

[0028] The inner hole of the sleeve 702 is a hexagonal structure. When in use, its inner hole is inserted into the head of the bolt or the nut. The screwing motor 5 can rotate and drive the mounting sleeve 6, the socket wrench 7 and the sleeve 702 to rotate forward and reverse, and tighten or loosen threaded parts such as bolts or nuts; through the detachable and replaceable design of the socket wrench 7, the robot can adapt to replace sleeves 702 of different sizes and tighten or loosen threaded parts of different specifications, which is conducive to improving the practicality of the robot and its compatibility with threaded parts of different specifications.

[0029] When the old socket wrench 7 is disassembled during the replacement of the socket wrench 7, one hand is held on the vertical torque shaft 701, and the thumb is used to push the sliding drive member 8 upward. When the sliding drive member 8 is driven upward, the three L-shaped drive rods 802 are in contact with the collar 602, and the collar 602 is pushed upward to control the two L-shaped insertion rods 601 to slide backward and be separated from the hexagonal insertion column 704, thereby releasing and unlocking the socket wrench 7. When the socket wrench 7 is released, the socket wrench 7 is pulled out of the installation sleeve 6 by sliding the socket wrench 7 down instantly and quickly with one hand, thereby completing the disassembly of the socket wrench 7. When the newly replaced socket wrench 7 is inserted into the installation sleeve 6, the two L-shaped insertion rods 601 are in a state of sliding and contacting toward each other (refer to Figure 8 ), which will cause obstruction and interference to the sliding insertion action of the hexagonal plug 704 in the inner hole of the installation sleeve 6, causing the hexagonal plug 704 to be unable to be fully inserted into the inner hole of the installation sleeve 6, resulting in the installation operation of the socket wrench 7 cannot be carried out normally. Therefore, when inserting the newly replaced socket wrench 7, it is necessary to slide the two L-shaped plug rods 601 backwards in advance to remove the head end portion of the L-shaped plug rods from the inner hole of the installation sleeve 6, so as to leave space in the top end portion of the inner hole of the installation sleeve 6 for the hexagonal plug 704 to be fully inserted and installed.

[0030] When installing the newly replaced socket wrench 7 (refer to Figure 8When the two L-shaped rods 601 slide into the empty space, they are pulled out from the inner hole of the installation sleeve 6 to release the blocking and limiting effect on the hexagonal rod 704. Then, the hexagonal rod 704 continues to slide upward to fully insert it into the inner hole of the installation sleeve 6, and then The thumb is controlled to release the sliding drive member 8. Since the sliding drive member 8 compresses the spring on the vertical torsion shaft 701 when it is driven to slide upward, when the sliding drive member 8 is released, the spring loses the compression holding force from the sliding drive member 8, and can automatically push back to drive the sliding drive member 8 to slide down and reset. Moreover, since the driving collar 602 compresses the spring on the mounting sleeve 6 when it is driven to slide upward, when the sliding drive member 8 is pushed back to slide down and reset and separated from the driving collar 602, the spring can automatically push back to drive the driving collar 602 to move back to its position, and control the two L-shaped insertion rods 601 to slide toward each other and engage with the hexagonal insertion column 704 that is fully inserted into the inner hole of the mounting sleeve 6, so as to position the socket wrench 7 replaced and installed on the mounting sleeve 6. From then on, the installation process of the newly replaced socket wrench 7 is completed.

[0031] The double crank slider mechanism is a plug-in positioning mechanism for the socket wrench 7; through the sliding drive part 8, during the process of replacing the socket wrench 7, the plug-in positioning mechanism can unlock and lock the old and new socket wrenches 7 and the up and down insertion and disassembly operations of the new and old socket wrenches 7 bodies, all of which can be implemented by a one-time drive with one hand, which can save the tedious steps of requiring both hands to cooperate and perform the above three operations step by step, and help improve the efficiency of the replacement operation of the socket wrench 7.

[0032] Working principle: The robot needs to be used with the aid of a visual calibration system and an automatic control system. When in use, the position of the nut to be tightened is first detected by the visual calibration system, and the position coordinates of the nut are generated in three-dimensional space. After the visual calibration system calculates and obtains the position coordinates of the nut, the position coordinates are transmitted to the automatic control system. The automatic control system controls the first robotic arm 3, the second robotic arm 4 and the rotating base 2 in a linked manner according to the coordinate information, so that the first robotic arm 3, the second robotic arm 4 and the rotating base 2 respectively perform the specified swinging action and rotating action. Under the linked composite adjustment of the swinging action and the rotating action, the set The cylinder 702 is adjusted and transferred to a state aligned with the nut to be tightened and is inserted into and matched with the nut to be tightened. When the sleeve 702 is inserted into and matched with the nut to be tightened, the automatic control system starts the screwing motor 5. After the screwing motor 5 is started, it drives the installation sleeve 6, the socket wrench 7 and the sleeve 702 to rotate, and tightens the nut and other threaded parts. Finally, when the nut is tightened, the automatic control system turns off the screwing motor 5, and through the linkage control of the first robotic arm 3, the second robotic arm 4 and the rotating base 2, the sleeve 702 and the tightened nut are pulled out, and the sleeve 702 is transferred to another tightening station. From then on, the tightening operation of the nut is completed.

[0033] It is worth noting that the swinging and rotating movements of the first robotic arm 3, the second robotic arm 4 and the rotating base 2 are driven by three actuator motors respectively provided at the head end of the second robotic arm 4, on the rotating base 2 and inside the base 1. The screwing motor 5 and the actuator motor are both servo motors. The visual calibration system and the automatic control system are prior arts for technicians in this field who are engaged in equipment intelligence and automation transformation, design and testing, so they will not be described in detail here.

[0034] In this article, there are several points to note: 1. The drawings of the embodiments of the present invention only relate to the structures related to the embodiments of the present invention. Other structures may refer to conventional designs.

[0035] 2. In the absence of conflict, the embodiments of the present invention and the features therein may be combined with each other to form new embodiments.

[0036] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A screw tightening robot adapted to different models, comprising a screw tightening motor and a mounting sleeve, wherein the mounting sleeve is fixedly connected to the bottom end of the central rotating shaft of the screw tightening motor; It is characterized by: A socket wrench is detachably mounted on the mounting sleeve, and the socket wrench consists of a vertical torque shaft and a hexagonal plug column and a sleeve welded to the upper and lower ends of the vertical torque shaft, and the hexagonal plug column is plugged into the hexagonal inner hole of the mounting sleeve; two symmetrically distributed L-shaped plug rods are slidably mounted on the peripheral wall of the mounting sleeve, and the protruding parts of the head ends of the two L-shaped plug rods are plugged into the hexagonal plug column; a collar is slidably mounted on the outer periphery of the mounting sleeve in the form of a spring push, and two connecting rods are symmetrically rotatably connected between the collar and the tail ends of the two L-shaped plug rods; a sliding drive component is slidably mounted on the vertical torque shaft in the form of a spring push, and the sliding drive component consists of a shaft collar and a plurality of L-shaped drive rods welded around the shaft collar. When the sliding drive component is driven upward, the L-shaped drive rod is in contact with the collar.

2. A screw tightening robot adapted to different models according to claim 1, characterized in that: Two rod sleeves are symmetrically welded on the outer periphery of the top portion of the mounting sleeve, and the two L-shaped insertion rods are correspondingly slidably fitted with the two rod sleeves; The spring for pushing the collar is sleeved on the mounting sleeve and is compressed and clamped between the collar and the rod sleeve.

3. The screw tightening robot adapted to different models according to claim 1, characterized in that: The shaft ring is in sliding cooperation with the vertical twist shaft, a limit ring is integrally formed on the outer periphery of the middle part of the vertical twist shaft, and a baffle is welded between the vertical twist shaft and the hexagonal plug column; The spring for pushing the sliding drive member is sleeved on the vertical torsion shaft and is compressed and clamped between the shaft ring and the baffle plate. The shaft ring is in contact with the limiting ring, and the baffle plate is in contact with the bottom end of the mounting sleeve.

4. The screw tightening robot adapted to different models according to claim 1, characterized in that: The outer circumference of the mounting sleeve is symmetrically provided with two vertical sliding grooves, and the inner circumference of the collar is integrally formed with two sliders, which slide in correspondence with the two vertical sliding grooves. When the collar slides up and down, the sliders respectively come into contact with the top and bottom ends of the vertical sliding grooves.

5. The screw tightening robot adapted to different models according to claim 1, characterized in that: The utility model also comprises a base, and a rotating seat is rotatably mounted on the top of the base.

6. The screw tightening robot adapted to different models according to claim 5, characterized in that: A first mechanical arm is rotatably mounted on the rotating seat.

7. The screw tightening robot adapted to different models according to claim 6, characterized in that: The second mechanical arm is rotatably mounted on the head end of the first mechanical arm.

8. The screw tightening robot adapted to different models according to claim 7, characterized in that: A screwing motor is fixedly mounted on the bottom of the first end of the second mechanical arm.

9. The screw tightening robot adapted to different models according to claim 1, characterized in that: The inner hole of the sleeve is a hexagonal structure, and the inner hole is inserted and matched with the head of the nut or bolt to be tightened.

Images