Manipulator for industrial intelligent manufacturing

Abstract

The invention relates to the technical field of industrial manufacturing equipment, in particular to a manipulator for industrial intelligent manufacturing, which comprises a screwing assembly and a machine arm, the screwing assembly is fixedly arranged at the output end of the machine arm, and the screwing assembly is used for screwing an industrial intelligent manufacturing bolt. The right-angle blocking piece is pressed to drive the supporting plate and the first guide rod to move in the direction close to the circle center of the hexagonal frame along the interior of the first guide hole, meanwhile, the first spring is compressed to store force, the right-angle blocking piece moves to move away from the end of the hexagonal sleeve, a screw cap of a bolt is conveniently placed in the hexagonal sleeve, and then the right-angle blocking piece is loosened; when the bolt is screwed, the resilience force of the first spring is released, the supporting plate, the first guide rod and the right-angle blocking piece are pushed to reset, and at the moment, the right-angle blocking piece is reset to the end of the hexagonal sleeve, so that the nut screwing part of the bolt placed in the hexagonal sleeve is intercepted and limited, and the bolt is prevented from falling off from the interior of the hexagonal sleeve. And the stability and the service life are ideal.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial manufacturing equipment, and in particular to a robot arm used for industrial intelligent manufacturing. Background Art

[0002] With the rise of industrial manufacturing, parts usually need to be connected by bolt assembly, and the traditional hand-tightening method is obviously far behind the current production needs. At present, intelligent robotic arms carrying electric wrenches are widely used for bolt assembly. The electric wrenches currently used adsorb the bolts inside the sleeve through the magnetic force inside the sleeve, thereby ensuring that the bolts do not fall off. However, as the sleeve is continuously used, the magnetic force of the sleeve will gradually weaken, resulting in insufficient magnetic attraction stability for the bolts, and the bolts are extremely easy to slip out of the sleeve. At the same time, due to the limited magnetic force, the adsorption effect for some heavier bolts is not ideal. To this end, we propose a robotic arm for industrial intelligent manufacturing to solve the above technical problems. Summary of the Invention

[0003] The present invention provides the following technical solution: a manipulator for industrial intelligent manufacturing, comprising:

[0004] A screwing assembly and a robotic arm, wherein the screwing assembly is fixedly arranged at the output end of the robotic arm, and the screwing assembly is used for tightening bolts in industrial intelligent manufacturing;

[0005] The screwing assembly comprises:

[0006] Bearing seat 1;

[0007] The torsion shaft is installed inside the bearing seat for equal angle rotation;

[0008] Hexagonal sleeve, fixedly installed on the output end of the torsion shaft;

[0009] A hexagonal frame is movably arranged in the middle of a side surface of the bearing seat away from the robot arm;

[0010] A guide hole 1 is provided on a side edge surface of the hexagonal frame, and two guide holes 1 are provided on each edge surface of the hexagonal frame;

[0011] A guide rod 1 is slidably mounted inside the guide hole 1;

[0012] A support plate is fixedly mounted on an end of the guide rod away from the center of the hexagonal frame;

[0013] The right-angle baffle is fixedly mounted on a side of the support plate away from the guide rod. The position of the right-angle baffle corresponds to the position of the hexagonal sleeve. The right-angle baffle is used to prevent the bolt from falling off.

[0014] As a preferred solution of the present invention, the screwing assembly further includes:

[0015] Spring 1 is sleeved on the periphery of guide rod 1 and fixedly installed between the hexagonal frame and the support plate;

[0016] The derivation block is fixedly mounted on an end of the guide rod away from the support plate and is located inside the hexagonal frame;

[0017] The sliding pin is fixedly mounted on a side surface of the guide block perpendicular to one end surface of the guide rod.

[0018] As a preferred solution of the present invention, the screwing assembly further includes:

[0019] The hollow shaft is rotatably mounted at the center of the hexagonal frame through a bearing;

[0020] The gathering turntable is fixedly mounted on the side of the hollow shaft away from the robot arm and is concentric with the hollow shaft;

[0021] The gathering chute is opened at equal angles through the front of the gathering chute, and the number and position correspond to the sliding pins one by one. The inner wall of the gathering chute is slidably connected to the outer wall of the sliding pin at the corresponding position.

[0022] As a preferred solution of the present invention, the screwing assembly further includes:

[0023] The positioning rod is fixed at an equal angle on the inner wall of the hollow shaft near the end of the gathering turntable;

[0024] The ball head is fixedly mounted on the end of the positioning rod away from the inner wall of the hollow shaft;

[0025] A sliding sleeve is slidably arranged inside the hollow shaft;

[0026] The inclined grooves are opened at equal angles on the outer wall of the sliding sleeve, and the positions and numbers thereof correspond to the ball heads one by one. The inner walls of the inclined grooves are slidably connected to the outer walls of the ball heads at corresponding positions.

[0027] As a preferred solution of the present invention, the screwing assembly further includes:

[0028] The pillow bar is fixedly installed at equal angles on the inner wall of the side of the hexagonal frame facing the robot arm, and the surface of the pillow bar is in contact with the surface of the derivation block.

[0029] As a preferred solution of the present invention, the screwing assembly further includes:

[0030] The hexagonal positioning rod is fixedly mounted on the center of a side of the bearing seat away from the robot arm and moves through the interior of the hexagonal frame;

[0031] The hexagonal sliding hole is arranged inside the sliding sleeve, and the inner wall of the hexagonal sliding hole is slidably connected to the outer wall of the hexagonal positioning rod.

[0032] As a preferred solution of the present invention, the screwing assembly further includes:

[0033] The thread hole is provided at the end of the sliding sleeve away from the bearing seat;

[0034] Stud, threaded into the inside of the thread hole;

[0035] The contact block is fixedly mounted on the end of the stud away from the hexagonal positioning rod;

[0036] Tighten the nut so that the threads are screwed onto the outer wall of the stud.

[0037] As a preferred solution of the present invention, the screwing assembly further includes:

[0038] A second guide hole is formed at an equal angle through a side surface of the hexagonal frame facing the first bearing seat, and the second guide hole is located between two adjacent pillow bars;

[0039] The second guide rod is fixedly mounted at an equal angle on a side surface of the first bearing seat close to the hexagonal frame, and its position and number correspond one-to-one with the second guide hole. The outer wall of the second guide rod is slidably connected with the inner wall of the second guide hole at the corresponding position.

[0040] The second spring is sleeved on the outer periphery of the second guide rod and fixedly installed between the first bearing seat and the hexagonal frame.

[0041] As a preferred solution of the present invention, the screwing assembly further includes:

[0042] The servo motor is arranged on a side of the bearing seat close to the robot arm;

[0043] The driving gear is fixedly installed on the output shaft of the servo motor;

[0044] The driven gears are meshed at equal angles on the periphery of the driving gear, and their positions and numbers correspond one-to-one with the torsion shafts. The outer wall of the torsion shaft is fixedly connected to the inner wall of the driven gear at the corresponding position;

[0045] The connecting column is fixedly mounted at equal angles on a side of the bearing seat close to the robot arm, and the connecting column is located between two adjacent driven gears;

[0046] Bearing seat 2 is fixedly mounted on a side of multiple connecting columns away from bearing seat 1, and the servo motor is fixedly mounted on the middle part of a side of bearing seat 2 away from bearing seat 1. The outside of bearing seat 2 and bearing seat 1 are jointly provided with a metal cover for dust protection of the driving gear and the driven gear.

[0047] As a preferred solution of the present invention, a waist groove for adjusting the position is provided on the surface of the right-angle baffle, and the right-angle baffle is fixed to the support plate through a threaded connection via a bolt passing through the interior of the waist groove.

[0048] Compared with the prior art, the present invention has the following beneficial effects:

[0049] 1. In the present invention, by pressing the right-angled baffle, the support plate and the guide rod 1 are driven to move along the inside of the guide hole 1 toward the center of the hexagonal frame. At the same time, the spring 1 is compressed and stores force, and the right-angled baffle moves away from the end of the hexagonal sleeve, making it convenient to place the screw cap of the bolt into the inside of the hexagonal sleeve. Afterwards, the right-angled baffle is released, and the rebound force of the spring 1 is released, pushing the support plate, the guide rod 1 and the right-angled baffle to reset. At this time, the right-angled baffle is reset to the end position of the hexagonal sleeve, thereby intercepting and limiting the screw cap part of the bolt placed in the hexagonal sleeve, preventing the bolt from falling from the inside of the hexagonal sleeve. Compared with the existing magnetic suction method, the stability and service life are more ideal.

[0050] 2. In the present invention, after the contact block contacts the surface of the workpiece, as the screwing assembly continues to approach the threaded hole, the stud squeezes the sleeve, causing the sleeve to slide along the outer wall of the hexagonal positioning rod toward the direction close to the robot arm, further driving multiple inclined grooves to slide together, causing multiple ball heads to slide along the inner walls of multiple inclined grooves, thereby driving multiple ball heads and positioning rods to rotate together with the gathering turntable, and the rotation of the gathering turntable drives multiple gathering slides to rotate synchronously. Since the inner wall of the gathering slide is slidingly connected to the outer wall of the sliding pin, the gathering slide pushes the multiple sliding pins toward the center of the gathering turntable during the rotation of the gathering turntable, thereby driving the deduction block, guide rod 1, support plate and right-angle baffle to move synchronously along the inner wall of the guide hole 1, so that the right-angle baffle is removed from the end of the hexagonal sleeve, ending the limit on the bolt, so that the subsequent bolt can be separated from the hexagonal sleeve after tightening.

[0051] 3. In the present invention, when the ball head slides to the other end of the inclined groove, the guide block just slides along the surface of the pillow bar to its end. As the sliding sleeve continues to move, the limiting effect of the sliding sleeve and the ball head pushes the positioning rod, the gathering turntable, the hollow shaft and the hexagonal frame to move in the direction close to the bearing seat 1. During the movement of the hexagonal frame toward the bearing seat 1, the connection between the guide hole 1 and the guide rod 1 drives the support plate and the right-angle baffle to move together, so that the right-angle baffle retreats to the rear end of the nut cap, making it convenient to tighten the cap end of the bolt to fit it against the surface of the workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 It is a structural schematic diagram of the present invention;

[0053] Figure 2 Schematic diagram of the structure of the screwing assembly in the present invention;

[0054] Figure 3 Schematic diagram of the structure of the driving gear and the driven gear in the present invention;

[0055] Figure 4 It is a schematic diagram of the local detailed structure of the screwing assembly in the present invention;

[0056] Figure 5Schematic diagram of the internal structure of the hexagonal frame in the present invention;

[0057] Figure 6 Schematic diagram of the structure of the right-angle baffle in the present invention;

[0058] Figure 7 Schematic diagram of the structure of the pillow strips in the present invention;

[0059] Figure 8 Schematic diagram of the structure of the gathering turntable in the present invention;

[0060] Figure 9 Schematic diagram of the structure of the sliding sleeve in the present invention;

[0061] Figure 10 It is a schematic cross-sectional structural diagram of the sliding sleeve in the present invention.

[0062] In the figure: 100, screw assembly; 200, robot arm; 101, bearing seat 1; 102, torsion shaft; 103, hexagonal sleeve; 104, hexagonal frame; 105, guide hole 1; 106, guide rod 1; 107, support plate; 108, right-angle baffle; 1008, waist groove; 109, spring 1; 1010, guide block; 1011, sliding pin; 1012, hollow shaft; 1013, gathering turntable; 1014, gathering slide; 1015, positioning rod; 10 16. Ball head; 1017. Sliding sleeve; 1018. Bevel groove; 1019. Pillow bar; 1020. Hexagonal positioning rod; 1021. Hexagonal sliding hole; 1022. Threaded hole; 1023. Stud; 1024. Contact block; 1025. Fastening nut; 1026. Second guide hole; 1027. Second guide rod; 1028. Second spring; 1029. Servo motor; 1030. Driving gear; 1031. Driven gear; 1032. Connecting column; 1033. Second bearing seat. DETAILED DESCRIPTION

[0063] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0064] See also Figures 1 to 10 The technical solution provided by the present invention specifically includes the following embodiments:

[0065] A manipulator for industrial intelligent manufacturing includes a screwing assembly 100 and a robot arm 200. The screwing assembly 100 is fixedly arranged at the output end of the robot arm 200 and is used for tightening bolts in industrial intelligent manufacturing.

[0066] The screwing assembly 100 includes a bearing seat 101, a torsion shaft 102, a hexagonal sleeve 103, a hexagonal frame 104, a guide hole 105, a guide rod 106, a support plate 107 and a right-angled baffle 108. The hexagonal sleeve 103 is fixedly mounted on the output end of the torsion shaft 102. The hexagonal frame 104 is movably arranged in the middle of a side of the bearing seat 101 away from the robot arm 200. The guide hole 105 is provided on the side edge surface of the hexagonal frame 104, and each edge surface of the hexagonal frame 104 is provided with two guide holes 105. The guide rod 106 is slidably mounted inside the guide hole 105. The support plate 107 is fixedly mounted on an end of the guide rod 106 away from the center of the hexagonal frame 104. The right-angled baffle 108 is fixedly mounted on a side of the support plate 107 away from the guide rod 106. The position of the right-angled baffle 108 corresponds to the position of the hexagonal sleeve 103. The right-angled baffle 108 is used to prevent the bolt from falling off.

[0067] The screwing assembly 100 also includes a spring 109, a guide block 1010 and a sliding pin 1011. The spring 109 is sleeved on the outer periphery of the guide rod 106 and fixedly installed between the hexagonal frame 104 and the support plate 107. The guide block 1010 is fixedly installed at the end of the guide rod 106 away from the support plate 107 and is located inside the hexagonal frame 104. The sliding pin 1011 is fixedly installed on a side surface of the guide block 1010 perpendicular to the end face of the guide rod 106.

[0068] Specifically, by pressing the right-angled baffle 108, it drives the support plate 107 and the guide rod 106 to move along the inside of the guide hole 105 toward the center of the hexagonal frame 104. At the same time, the spring 109 is compressed and stores force, and the right-angled baffle 108 moves away from the end of the hexagonal sleeve 103, making it convenient to place the screw cap of the bolt into the inside of the hexagonal sleeve 103. Afterwards, the right-angled baffle 108 is released, and the rebound force of the spring 109 is released, pushing the support plate 107, the guide rod 106 and the right-angled baffle 108 to reset. At this time, the right-angled baffle 108 is reset to the end position of the hexagonal sleeve 103, thereby intercepting and limiting the screw cap part of the bolt placed in the hexagonal sleeve 103, preventing the bolt from falling from the inside of the hexagonal sleeve 103. Compared with the existing magnetic suction method, the stability and service life are more ideal.

[0069] For further details, please refer to Figures 5 to 10 As shown:

[0070] The screwing assembly 100 also includes a hollow shaft 1012, a gathering turntable 1013, a gathering slide 1014, a positioning rod 1015, a ball head 1016, a sliding sleeve 1017, an inclined groove 1018, a pillow bar 1019, a hexagonal positioning rod 1020 and a hexagonal sliding hole 1021. The hollow shaft 1012 is rotatably mounted at the center position of the hexagonal frame 104 through a bearing. The gathering turntable 1013 is fixedly mounted on the side of the hollow shaft 1012 away from the robot arm 200 and is concentric with the hollow shaft 1012. The gathering slide 1014 is angularly penetrated and opened on the front side of the gathering slide 1014, and the number and position correspond to the sliding pin 1011 one by one. The inner wall of the gathering slide 1014 is slidably connected to the outer wall of the sliding pin 1011 at the corresponding position. The positioning rod 1015 is angularly fixedly mounted on the inner wall of the hollow shaft 1012 near one end of the gathering turntable 1013. The ball head 1016 is fixedly mounted on the end of the positioning rod 1015 away from the inner wall of the hollow shaft 1012, and the sliding sleeve 1017 is slidably arranged inside the hollow shaft 1012. The inclined groove 1018 is opened at an equal angle on the outer wall of the sliding sleeve 1017, and the position and number correspond one-to-one to the ball head 1016. The inner wall of the inclined groove 1018 is slidingly connected with the outer wall of the ball head 1016 at the corresponding position. The pillow bar 1019 is fixedly mounted at an equal angle on the inner wall of the side of the hexagonal frame 104 facing the robot arm 200, and the surface of the pillow bar 1019 is in contact with the surface of the derivation block 1010. The hexagonal positioning rod 1020 is fixedly mounted on the center position of the side of the bearing seat 101 away from the robot arm 200, and moves through the interior of the hexagonal frame 104. The hexagonal sliding hole 1021 is opened inside the sliding sleeve 1017, and the inner wall of the hexagonal sliding hole 1021 is slidingly connected with the outer wall of the hexagonal positioning rod 1020.

[0071] Specifically, after the robot arm 200 drives the screwing assembly 100 and the bolt placed inside the hexagonal socket 103 to move to the threaded hole position of the production part, the hexagonal socket 103 drives the bolt to rotate, and the robot arm 200 drives the screwing assembly 100 and the bolt to move along the threaded hole direction. As the bolt is screwed into the threaded hole, the screw cap part of the bolt approaches the threaded hole. That is to say, the robot arm 200 needs to drive the screwing assembly 100 to approach the threaded hole until the contact block 1024 contacts the surface of the workpiece. As the screwing assembly 100 continues to approach the threaded hole, it squeezes the sleeve 1017 through the stud 1023, causing the sleeve 1017 to slide along the outer wall of the hexagonal positioning rod 1020 toward the direction close to the robot arm 200, further driving the multiple inclined grooves 1018 to slide together, causing the multiple ball heads 1016 to slide along the inner walls of the multiple inclined grooves 1018, thereby driving the multiple ball heads 1016, the positioning rods 1015 and the gathering turntable 1013 to rotate. The gathering turntable 1013 rotates, driving the multiple gathering chutes 1014 to rotate synchronously. Since the inner wall of the gathering chute 1014 is slidably connected with the outer wall of the sliding pin 1011, the gathering chute 1014 pushes the multiple sliding pins 1011 toward the center of the gathering turntable 1013 during the rotation of the gathering turntable 1013, thereby driving the derivation block 1010, the guide rod 106, the support plate 107 and the right-angle baffle 108 to move synchronously along the inner wall of the guide hole 105, so that the straight The angle stopper 108 is removed from the end of the hexagonal sleeve 103, ending the position restriction on the bolt, so that the bolt can be separated from the hexagonal sleeve 103 after being tightened. At this time, since the bolt has been screwed into the threaded hole to a certain depth, the bolt will not fall out of the hexagonal sleeve 103 after the right-angle stopper 108 is removed. It should be noted that when the ball head 1016 slides along the inner wall of the inclined groove 1018, the surface of the guide block 1010 slides along the surface of the pillow bar 1019.

[0072] When the ball head 1016 slides to the other end of the inclined groove 1018, the guide block 1010 just slides along the surface of the pillow bar 1019 to its end. As the sleeve 1017 continues to move, the limiting effect of the sleeve 1017 and the ball head 1016 pushes the positioning rod 1015, the gathering turntable 1013, the hollow shaft 1012 and the hexagonal frame 104 to move toward the bearing seat 101. During the movement of the hexagonal frame 104 toward the bearing seat 101, the connection between the guide hole 105 and the guide rod 106 drives the support plate 107 and the right-angle baffle 108 to move together, so that the right-angle baffle 108 retreats to the rear end of the nut cap, making it convenient to tighten the cap end of the bolt to fit it against the surface of the workpiece.

[0073] For further details, please refer to Figure 9 and Figure 10 As shown:

[0074] The screwing assembly 100 also includes a threaded hole 1022, a stud 1023, a contact block 1024, and a fastening nut 1025. The threaded hole 1022 is opened at the end of the sleeve 1017 away from the bearing seat 101, the stud 1023 is threadedly screwed into the threaded hole 1022, the contact block 1024 is fixedly installed on the end of the stud 1023 away from the hexagonal positioning rod 1020, and the fastening nut 1025 is threadedly screwed on the outer wall of the stud 1023.

[0075] Specifically, since the lengths of bolts for fixing different types are different, the total length of the sleeve 1017 and the stud 1023 needs to be adjusted according to the length of the bolt. Since the stud 1023 is threadedly connected to the threaded hole 1022, rotating the stud 1023 will cause it to move axially along the sleeve 1017, thereby adjusting the total length of the sleeve 1017 and the stud 1023. After the stud 1023 is adjusted, by tightening the fastening nut 1025 so that it is tightly attached to the end of the sleeve 1017, the stud 1023 can be prevented from rotating again, ensuring the stability of the adjusted data. At the same time, the position of the stud 1023 is adjusted to ensure that the contact block 1024 will contact the surface of the produced component only after the bolt has been screwed into the threaded hole for a certain number of turns, ensuring that the right-angle baffle 108 will not be removed from the end of the hexagonal sleeve 103 in advance, that is, the bolt will not fall off.

[0076] For further details, please refer to Figure 4 and Figure 7 As shown:

[0077] The screwing assembly 100 also includes a guide hole 1026, a guide rod 1027 and a spring 1028. The guide hole 1026 is opened at an equal angle through a side of the hexagonal frame 104 facing the bearing seat 101, and the guide hole 1026 is located between two adjacent pillow bars 1019. The guide rod 1027 is fixedly installed at an equal angle on a side of the bearing seat 101 close to the hexagonal frame 104, and the position and number correspond one-to-one to the guide hole 1026. The outer wall of the guide rod 1027 is slidably connected to the inner wall of the guide hole 1026 at the corresponding position. The spring 1028 is sleeved on the outer periphery of the guide rod 1027 and fixedly installed between the bearing seat 101 and the hexagonal frame 104.

[0078] Specifically, by setting the sliding connection between the guide hole 2 1026 and the guide rod 2 1027, the hexagonal frame 104 can be accurately guided to ensure the stability and smoothness of the movement of the hexagonal frame 104. At the same time, when the hexagonal frame 104 moves toward the direction close to the bearing seat 101, the spring 2 1028 will be compressed to store force, so that after the bolt is tightened, the robot arm 200 will move the screw assembly 100 away from the surface of the workpiece being produced, and the spring 2 1028 will be compressed to store force. The rebound force of 8 drives the hexagonal frame 104 to reset, and at the same time the rebound force of spring 109 drives the guide rod 106, the support plate 107, the right-angle baffle 108, the push block 1010 and the sliding pin 1011 to reset, and further drives the gathering turntable 1013 to reverse under the sliding connection between the sliding pin 1011 and the gathering slide groove 1014, and further causes the sliding sleeve 1017 to reset under the sliding connection between the ball head 1016 and the inclined groove 1018, so as to facilitate subsequent continued use.

[0079] For further details, please refer to Figure 2 and Figure 3 As shown:

[0080] The screwing assembly 100 also includes a servo motor 1029, a driving gear 1030, a driven gear 1031, a connecting column 1032 and a bearing seat 2 1033. The servo motor 1029 is arranged on a side of the bearing seat 101 close to the robot arm 200. The driving gear 1030 is fixedly mounted on the output shaft of the servo motor 1029. The driven gear 1031 is meshed at equal angles on the periphery of the driving gear 1030, and the position and number correspond one-to-one with the torsion shaft 102. The outer wall of the torsion shaft 102 is fixedly connected to the inner wall of the driven gear 1031 at the corresponding position. The connecting column 1032 is fixedly mounted at equal angles on the side of the bearing seat 101 close to the robot arm 200. One side, and the connecting column 1032 is located between two adjacent driven gears 1031, the bearing seat 2 1033 is fixedly installed on a side of the multiple connecting columns 1032 away from the bearing seat 1 101, the servo motor 1029 is fixedly installed in the middle of the side of the bearing seat 2 1033 away from the bearing seat 1 101, the bearing seat 2 1033 and the bearing seat 1 101 are jointly provided with a metal cover for dust protection of the driving gear 1030 and the driven gear 1031, and a waist groove 1008 for adjusting the position is opened on the surface of the right-angle baffle 108, and the right-angle baffle 108 is threadedly fixed to the support plate 107 by a bolt passing through the inside of the waist groove 1008.

[0081] Specifically, the output shaft of the servo motor 1029 drives the driving gear 1030 to rotate, further driving the multiple driven gears 1031, the multiple torsion shafts 102 and the multiple hexagonal sockets 103 to rotate together, and screwing the multiple bolts together to install them inside the threaded holes of the production parts.

[0082] In this solution, a manipulator for industrial intelligent manufacturing is used. When the manipulator arm 200 drives the screwing assembly 100 to move to the bolt grabbing station, inserts a bolt into each hexagonal socket 103, and then drives the screwing assembly 100 to move to the bolt assembly station. After each bolt is aligned, the output shaft of the servo motor 1029 drives the driving gear 1030 to rotate, further driving multiple driven gears 1031, multiple torsion shafts 102, and multiple hexagonal sockets 103 to rotate together, thereby screwing the multiple bolts together into the threaded holes of the production parts.

[0083] As the bolt is screwed into the threaded hole, the screw cap of the bolt approaches the threaded hole, that is, the robot arm 200 needs to drive the screwing assembly 100 to approach the threaded hole until the contact block 1024 contacts the surface of the workpiece. As the screwing assembly 100 continues to approach the threaded hole, the stud 1023 squeezes the sleeve 1017, causing the sleeve 1017 to slide along the outer wall of the hexagonal positioning rod 1020 toward the robot arm 200, further driving the multiple inclined grooves 1018 to slide together, causing the multiple ball heads 1016 to slide along the inner walls of the multiple inclined grooves 1018, thereby driving the multiple ball heads 1016 and the positioning rod 1015 to rotate together with the gathering turntable 1013. The rotation of the gathering turntable 1013 drives the multiple gathering slides 1014 to rotate synchronously. Since the inner wall of the gathering slide 1014 is aligned with the outer wall of the sliding pin 1011 The wall is slidably connected, so the gathering slide groove 1014 pushes the multiple sliding pins 1011 toward the center of the gathering turntable 1013 during the rotation of the gathering turntable 1013, thereby driving the derivation block 1010, the guide rod 106, the support plate 107 and the right-angled baffle 108 to move synchronously along the inner wall of the guide hole 105, so that the right-angled baffle 108 is removed from the end of the hexagonal sleeve 103, ending the limit of the bolt, so that it can be separated from the hexagonal sleeve 103 after the subsequent bolt is tightened. At this time, since the bolt has been screwed into the threaded hole to a certain depth, when the right-angled baffle 108 is removed, the bolt will not fall off from the inside of the hexagonal sleeve 103. It should be noted that when the ball head 1016 slides along the inner wall of the inclined groove 1018, the surface of the derivation block 1010 slides along the surface of the pillow bar 1019;

[0084] When the ball head 1016 slides to the other end of the inclined groove 1018, the guide block 1010 just slides along the surface of the pillow bar 1019 to its end. As the sleeve 1017 continues to move, the limiting effect of the sleeve 1017 and the ball head 1016 pushes the positioning rod 1015, the gathering turntable 1013, the hollow shaft 1012 and the hexagonal frame 104 to move in the direction close to the bearing seat 101. The hexagonal frame 104 is slidably connected by multiple guide holes 1026 and multiple guide rods 1027, and the movement can be more stable. At the same time, the spring 2 1028 is compressed and accumulates force. During the movement of the hexagonal frame 104 toward the bearing seat 101, the support plate 107 and the right-angle baffle 108 are driven to move together through the connection between the guide hole 105 and the guide rod 106, so that the right-angle baffle 108 retreats to the rear end of the nut screw cap, making it convenient to tighten the screw cap end of the bolt to fit it against the surface of the workpiece.

[0085] While the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations can be made to the embodiments without departing from the principles and spirit of the invention.

Claims

1. A robot for industrial intelligent manufacturing, characterized by: include: A screwing assembly (100) and a robotic arm (200), wherein the screwing assembly (100) is fixedly arranged at an output end of the robotic arm (200), and the screwing assembly (100) is used for tightening bolts in industrial intelligent manufacturing; The screwing assembly (100) comprises: Bearing seat one (101); The torsion shaft (102) is rotatably mounted inside the bearing seat (101) at equal angles; A hexagonal sleeve (103) is fixedly mounted on the output end of the torsion shaft (102); A hexagonal frame (104) is movably arranged at the middle of a side surface of the bearing seat (101) away from the robot arm (200); A guide hole (105) is provided on a side edge surface of the hexagonal frame (104), and two guide holes (105) are provided on each edge surface of the hexagonal frame (104); A guide rod (106) is slidably mounted inside the guide hole (105); A support plate (107) is fixedly mounted on an end of the guide rod (106) away from the center of the hexagonal frame (104); A right-angle baffle (108) is fixedly mounted on a side of the support plate (107) away from the guide rod (106). The position of the right-angle baffle (108) corresponds to the position of the hexagonal sleeve (103). The right-angle baffle (108) is used to prevent the bolt from falling off.

2. A robot for industrial intelligent manufacturing according to claim 1, characterized in that: The screwing assembly (100) further comprises: Spring 1 (109) is sleeved on the periphery of guide rod 1 (106) and fixedly installed between the hexagonal frame (104) and the support plate (107); The guide block (1010) is fixedly mounted on one end of the guide rod (106) away from the support plate (107) and is located inside the hexagonal frame (104); The sliding pin (1011) is fixedly mounted on a side surface of the guide block (1010) perpendicular to the end surface of the guide rod (106).

3. The robot arm for industrial intelligent manufacturing according to claim 2, characterized in that: The screwing assembly (100) further comprises: A hollow shaft (1012) is rotatably mounted at the center of the hexagonal frame (104) via a bearing; A gathering turntable (1013) is fixedly mounted on a side of the hollow shaft (1012) away from the robot arm (200) and is concentric with the hollow shaft (1012); The gathering chute (1014) is opened at equal angles through the front of the gathering chute (1014), and the number and position correspond one-to-one with the sliding pin (1011). The inner wall of the gathering chute (1014) is slidably connected to the outer wall of the sliding pin (1011) at the corresponding position.

4. The robot arm for industrial intelligent manufacturing according to claim 3, characterized in that: The screwing assembly (100) further comprises: A positioning rod (1015) is fixedly mounted at an equal angle on the inner wall of the hollow shaft (1012) near one end of the gathering turntable (1013); A ball head (1016) is fixedly mounted on an end of the positioning rod (1015) away from the inner wall of the hollow shaft (1012); A sliding sleeve (1017) is slidably arranged inside the hollow shaft (1012); The inclined grooves (1018) are provided at equal angles on the outer wall of the sliding sleeve (1017), and the positions and numbers thereof correspond one to one with the ball heads (1016). The inner wall of the inclined grooves (1018) is slidably connected with the outer wall of the ball heads (1016) at the corresponding positions.

5. The robot arm for industrial intelligent manufacturing according to claim 4, characterized in that: The screwing assembly (100) further comprises: The pillow bar (1019) is fixedly mounted at equal angles on the inner wall of a side of the hexagonal frame (104) facing the robot arm (200), and the surface of the pillow bar (1019) is in contact with the surface of the derivation block (1010).

6. The robot arm for industrial intelligent manufacturing according to claim 5, characterized in that: The screwing assembly (100) further comprises: A hexagonal positioning rod (1020) is fixedly mounted at a center position on a side of the bearing seat (101) away from the robot arm (200) and is movable through the interior of the hexagonal frame (104); The hexagonal sliding hole (1021) is provided inside the sliding sleeve (1017), and the inner wall of the hexagonal sliding hole (1021) is slidably connected to the outer wall of the hexagonal positioning rod (1020).

7. The robot arm for industrial intelligent manufacturing according to claim 6, characterized in that: The screwing assembly (100) further comprises: A thread hole (1022) is provided at an end of the sliding sleeve (1017) away from the bearing seat (101); A stud (1023) is screwed into the thread hole (1022); A contact block (1024) is fixedly mounted on an end of the stud (1023) away from the hexagonal positioning rod (1020); The tightening nut (1025) is screwed onto the outer wall of the stud (1023).

8. The robot arm for industrial intelligent manufacturing according to claim 7, characterized in that: The screwing assembly (100) further comprises: A second guide hole (1026) is provided at an equal angle through a side surface of the hexagonal frame (104) facing the first bearing seat (101), and the second guide hole (1026) is located between two adjacent pillow bars (1019); The second guide rod (1027) is fixedly mounted at an equal angle on a side surface of the first bearing seat (101) close to the hexagonal frame (104), and its position and number correspond one-to-one with the second guide hole (1026). The outer wall of the second guide rod (1027) is slidably connected to the inner wall of the second guide hole (1026) at the corresponding position; The second spring (1028) is sleeved on the periphery of the second guide rod (1027) and fixedly installed between the first bearing seat (101) and the hexagonal frame (104).

9. The robot arm for industrial intelligent manufacturing according to claim 8, characterized in that: The screwing assembly (100) further comprises: A servo motor (1029) is disposed on a side of the bearing seat (101) close to the robot arm (200); A driving gear (1030) is fixedly mounted on the output shaft of the servo motor (1029); The driven gears (1031) are meshed at equal angles on the periphery of the driving gear (1030), and their positions and numbers correspond one-to-one with the torsion shafts (102). The outer wall of the torsion shaft (102) is fixedly connected to the inner wall of the driven gears (1031) at the corresponding positions; The connecting column (1032) is fixedly mounted at an equal angle on a side of the bearing seat (101) close to the robot arm (200), and the connecting column (1032) is located between two adjacent driven gears (1031); The second bearing seat (1033) is fixedly mounted on a side of the plurality of connecting columns (1032) away from the first bearing seat (101), and the servo motor (1029) is fixedly mounted on the middle portion of a side of the second bearing seat (1033) away from the first bearing seat (101). The second bearing seat (1033) and the first bearing seat (101) are both provided with a metal cover for dust protection of the driving gear (1030) and the driven gear (1031).

10. The robot arm for industrial intelligent manufacturing according to claim 9, characterized in that: A waist groove (1008) for adjusting the position is provided on the surface of the right-angled baffle (108), and the right-angled baffle (108) is threadedly connected and fixed to the support plate (107) by bolts passing through the inside of the waist groove (1008).

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