Robot end effector for screw tightening and working method

Abstract

The present application relates to a kind of robot end effector for bolt tightening and working method, belong to machining technical field.The cover of outer box is detachably installed with anti-following rotation arm, the end of anti-following rotation arm away from outer box is installed with upper end tightening head, and inner frame is built-in in outer box, the inner frame lifting drive component of lifting inner frame body is arranged in outer box, and guiding component is guided for the lifting of inner frame body, the tightening machine is installed with tightening machine by tightening machine connection support, and lower end tightening head is detachably installed on tightening machine, the lower end tightening head is oppositely arranged with upper end tightening head, and visual camera is installed on the side of outer box.The present application has the following beneficial effects: end effector and visual positioning system are organically integrated, greatly enhance the environmental adaptability of robot, reduce the repeated positioning precision requirement of workpiece.Solve bolt automation tightening, bolt tightening torque control difference, bolt tightening labor intensity and other pain point problems.

Description

Technical Field

[0001] This invention relates to a robotic end effector and its working method for bolt tightening, belonging to the field of machining technology. Background Technology

[0002] In the past two years, with the company's continuous improvement in product quality requirements, torque setting and traceability of key tightening parameters have become basic requirements for tightening work. Against this backdrop, the electrification of tightening tools is gradually being promoted. Since power tools are relatively bulky and less efficient than traditional air guns, they increase the labor intensity of operators and reduce work efficiency. Therefore, the automation of electric tightening work is particularly urgent.

[0003] To solve one of the above problems, there is an urgent need for a robotic end effector and its working method for bolt tightening. Summary of the Invention

[0004] Based on the shortcomings of the prior art, the technical problem to be solved by the present invention is: how to achieve the organic integration of the end effector and the vision positioning system, which greatly enhances the robot's environmental adaptability and reduces the requirements for the repeatability of workpiece positioning accuracy. To this end, a robot end effector and its working method for bolt tightening are provided.

[0005] The present invention discloses a robot end effector for bolt tightening, comprising an outer housing with a bottom opening, a connecting plate for connecting to the robot end effector being mounted on the outer wall of the end of the outer housing, an anti-heeling rotation lever arm being detachably mounted on the cover plate of the outer housing, and an upper tightening head being mounted on the end of the anti-heeling rotation lever arm away from the outer housing. The outer housing contains an inner frame, and the outer housing contains an inner frame lifting drive assembly for lifting the inner frame and a guide assembly for guiding the lifting of the inner frame. A tightening machine is mounted on the inner frame via a tightening machine connecting bracket, and a lower tightening head is detachably mounted on the tightening machine, with the lower tightening head opposite to the upper tightening head. A vision camera is mounted on one side of the outer housing.

[0006] Based on the need for automated bolt tightening operations, this patent combines the company's actual production needs to independently design a fully automatic tightening robot end effector. It organically integrates robot and 3D vision guidance technology to effectively solve pain points such as automated bolt tightening, poor bolt tightening torque control, high labor intensity of bolt tightening, nut rotation during bolt tightening, high safety risks of manual tightening, and inability to collect torque curves during tightening.

[0007] This application adopts a box-type structure design, integrating heavy-duty slide rails and thin-walled cylinders to achieve smooth lifting and lowering of the bottom inner frame and tightening machine connecting plate. This design allows the platform to maintain sufficient strength when performing high-torque bolt tightening operations, meeting the universal operational needs of various product specifications. Furthermore, while meeting the tightening requirements of bolts of different lengths, it also firmly fixes the bolts, ensuring the stability of torque transmission during operation.

[0008] The innovative C-shaped anti-rotation mechanism, employing an integrated lever arm-main unit structure, converts the counter-torque generated during tightening operations into internal system force. This design effectively eliminates bolt rotation while keeping the torque within the robot's tolerance range, significantly extending the robotic arm's lifespan and reducing the load requirements on the robot's end effector.

[0009] The modular anti-spinning lever arm is equipped with a pneumatic-electric coupling quick-change system, which uses a thin-walled cylinder to drive the positioning pin to achieve automatic disassembly of the anti-spinning lever arm. This design ensures that it can adapt to the tightening operation of small torque products under complex working conditions.

[0010] The organic integration of the end effector and vision positioning system greatly enhances the robot's environmental adaptability and reduces the requirements for repeatability in workpiece positioning accuracy.

[0011] In any of the above embodiments, it is preferred that the inner frame lifting drive assembly is a lifting thin-walled cylinder, the cylinder body of the lifting thin-walled cylinder is fixed on the inner wall of the outer box cover plate, and the telescopic end of the lifting thin-walled cylinder is fixedly connected to the inner frame body.

[0012] In any of the above embodiments, it is preferred that the guiding component includes a linear guide rail and a slider, multiple sets of sliders are fixed on both sides of the inner frame, and a linear guide rail that slides in cooperation with the corresponding slider is provided on the inner wall of the outer box.

[0013] In any of the above embodiments, it is preferred that two sets of slider connecting plates for fixing sliders are installed on both sides of the inner frame, and two sets of sliders are correspondingly provided on each side of the inner frame.

[0014] In any of the above embodiments, it is preferred that the tightening machine connecting bracket includes a tightening machine connecting vertical plate that is vertically connected to the inner frame, and a tightening machine connecting plate is vertically connected to the bottom end of the tightening machine connecting vertical plate, and the tightening machine is installed on the tightening machine connecting plate.

[0015] In any of the above embodiments, it is preferred that an upper connecting rib plate for reinforcement is provided between the tightening machine connecting vertical plate and the inner frame, and a lower connecting rib plate for reinforcement is provided between the tightening machine connecting plate and the tightening machine connecting vertical plate.

[0016] In any of the above embodiments, it is preferred that the tail end of the anti-rotation lever is mounted on the cover plate of the outer casing via a detachable connector.

[0017] In any of the above embodiments, it is preferred that the detachable connector includes clamping devices fixed to both sides of the tail of the anti-heel-rotation arm. The clamping devices have oil-free bushings, and a positioning thin-walled cylinder that cooperates with the clamping devices is mounted on the cover plate. The telescopic end of the positioning thin-walled cylinder is equipped with a pin that engages with the oil-free bushing. The positioning pin is driven by the thin-walled cylinder, thereby achieving automatic disassembly of the anti-heel-rotation arm.

[0018] In any of the above solutions, it is preferred that each side of the anti-rotation lever arm is provided with two sets of positioning thin-walled cylinders, and each set of positioning thin-walled cylinders is mounted on the cover plate through a corresponding cylinder fixing component.

[0019] In any of the above solutions, the preferred method for the working of the robot end effector for bolt tightening is to control a vision camera to capture the bolt tightening working position for visual positioning, and guide the robot and end effector to quickly adjust to the bolt tightening requirement position based on the visual positioning result, so as to efficiently and quickly meet the production needs of automated bolt tightening.

[0020] Compared with the prior art, the present invention has the following beneficial effects: The robotic end effector for bolt tightening described in this invention adopts a box-type structure design, integrating heavy-duty slide rails and thin-walled cylinders to achieve smooth lifting and lowering of the bottom inner frame and the tightening machine connecting plate. This design enables the platform to maintain sufficient strength when performing high-torque bolt tightening operations, meeting the general operational needs of multi-specification products. In addition, while meeting the requirements for tightening bolts of different lengths, it can also firmly fix the bolts, ensuring the stability of torque transmission during operation.

[0021] The robot end effector for bolt tightening described in this invention features an innovative C-shaped anti-rotation mechanism. It adopts an integrated lever arm-main unit structure, which can convert the counter-torque generated during tightening into internal force of the system. This design effectively eliminates bolt rotation while keeping the torque within the range that the robot can withstand, significantly extending the service life of the robotic arm and reducing the load requirements on the robot end effector.

[0022] The robotic end effector for bolt tightening described in this invention features a modular anti-rotation lever arm equipped with a pneumatic-electric coupling quick-change system. It utilizes a thin-walled cylinder to drive the positioning pin, enabling automatic disassembly of the anti-rotation lever arm. This design ensures that it can adapt to tightening operations of low-torque products under complex working conditions.

[0023] The working method of the robot end effector for bolt tightening described in this invention organically integrates the end effector and the vision positioning system, which greatly enhances the robot's environmental adaptability and reduces the requirements for repeatability positioning accuracy of the workpiece. Attached Figure Description

[0024] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0025] Figure 1 This is the front view of the present invention; Figure 2 This is a bottom view of the present invention; Figure 3 This is a top view of the present invention; Figure 4 for Figure 1 BB section diagram; Figure 5 This invention is in use. Figure 1 ; Figure 6 This invention is in use. Figure 2 ; In the diagram: 1. Inner frame 2. Upper tightening head 3. Anti-rotation lever arm 4. Lifting thin-walled cylinder 5. Outer housing 6. Vision camera 7. Upper connecting stiffener 8. Tightening machine connecting vertical plate 9. Lower connecting stiffener 10. Tightening machine connecting plate 11. Tightening machine 12. Lower tightening head 13. Pin 14. Cylinder fixing component 15. Positioning thin-walled cylinder 16. Oil-free bushing 17. Clamping device 18. Linear guide rail 19. Connecting plate 20. Slider 21. Robot. Detailed Implementation

[0026] The present invention will be further described below with reference to the accompanying drawings. The present invention will be further illustrated by specific embodiments, but it is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

[0027] Example 1, such as Figure 1-2As shown, the robot end effector for bolt tightening includes an outer housing 5 with a bottom opening. A connecting plate 19 connected to the end effector of a robot 21 is installed on the outer wall of the end of the outer housing 5. An anti-rotation arm 3 is detachably installed on the cover plate of the outer housing 5. An upper tightening head 2 is installed at the end of the anti-rotation arm 3 away from the outer housing 5. An inner frame 1 is built inside the outer housing 5. An inner frame lifting drive assembly for lifting the inner frame 1 and a guide assembly for guiding the lifting of the inner frame 1 are provided inside the outer housing 5. A tightening machine 11 is installed on the inner frame 1 through a tightening machine connecting bracket. A lower tightening head 12 is detachably installed on the tightening machine 11. The lower tightening head 12 is arranged opposite to the upper tightening head 2. A vision camera 6 is installed on one side of the outer housing 5.

[0028] Based on the need for automated bolt tightening operations, this patent combines the company's actual production needs to independently design a fully automatic tightening robot end effector. It organically integrates robot and 3D vision guidance technology to effectively solve pain points such as automated bolt tightening, poor bolt tightening torque control, high labor intensity of bolt tightening, nut rotation during bolt tightening, high safety risks of manual tightening, and inability to collect torque curves during tightening.

[0029] Reference Figure 5 and Figure 6 This application adopts a box-type structure design, integrating heavy-duty slide rails and thin-walled cylinders to achieve smooth lifting and lowering of the bottom inner frame 1 and the tightening machine connecting plate 10. This design enables the platform to maintain sufficient strength when performing high-torque bolt tightening operations, meeting the universal operation requirements of multiple product specifications. In addition, while meeting the tightening requirements of bolts of different lengths, it can also firmly fix the bolts, ensuring the stability of torque transmission during operation.

[0030] Example 2, as Figure 1-4 As shown, the robot end effector for bolt tightening includes an outer housing 5 with a bottom opening. A connecting plate 19 connected to the end effector of a robot 21 is installed on the outer wall of the end of the outer housing 5. An anti-rotation arm 3 is detachably installed on the cover plate of the outer housing 5. An upper tightening head 2 is installed at the end of the anti-rotation arm 3 away from the outer housing 5. An inner frame 1 is built inside the outer housing 5. An inner frame lifting drive assembly for lifting the inner frame 1 and a guide assembly for guiding the lifting of the inner frame 1 are provided inside the outer housing 5. A tightening machine 11 is installed on the inner frame 1 through a tightening machine connecting bracket. A lower tightening head 12 is detachably installed on the tightening machine 11. The lower tightening head 12 is arranged opposite to the upper tightening head 2. A vision camera 6 is installed on one side of the outer housing 5.

[0031] Furthermore, the inner frame lifting drive assembly is a lifting thin-walled cylinder 4, the cylinder body of the lifting thin-walled cylinder 4 is fixed on the inner wall of the outer box 5 cover plate, and the telescopic end of the lifting thin-walled cylinder 4 is fixedly connected to the inner frame 1.

[0032] Furthermore, the guide assembly includes a linear guide rail 18 and a slider 20. Multiple sets of sliders 20 are fixed on both sides of the inner frame 1, and a linear guide rail 18 is provided on the inner wall of the outer box 5 to slide in cooperation with the corresponding slider 20.

[0033] Furthermore, two sets of slider connecting plates for fixing sliders 20 are respectively installed on both sides of the inner frame 1, and two sets of sliders 20 are correspondingly provided on each side of the inner frame 1.

[0034] Furthermore, the tightening machine connecting bracket includes a tightening machine connecting vertical plate 8 vertically connected to the inner frame 1. A tightening machine connecting plate 10 is vertically connected to the bottom end of the tightening machine connecting vertical plate 8, and the tightening machine 11 is mounted on the tightening machine connecting plate 10. The innovatively designed C-shaped anti-rotation mechanism, employing an integrated lever arm-main unit structure, can convert the counter-torque generated during tightening operations into internal system force. This design effectively eliminates bolt rotation while controlling the torque within the robot's tolerance range, significantly extending the service life of the robotic arm and reducing the load requirements on the robot's end effector.

[0035] Furthermore, an upper connecting rib 7 for reinforcement is provided between the tightening machine connecting vertical plate 8 and the inner frame 1, and a lower connecting rib 9 for reinforcement is provided between the tightening machine connecting plate 10 and the tightening machine connecting vertical plate 8.

[0036] Furthermore, the tail end of the anti-rotation arm 3 is mounted on the cover plate of the outer casing 5 via a detachable connector.

[0037] Furthermore, the detachable connector includes clamping devices 17 fixed to both sides of the tail of the anti-heel rotation arm 3. Each clamping device 17 has an oil-free bushing 16. A positioning thin-walled cylinder 15, which cooperates with the clamping device 17, is mounted on the cover plate. The telescopic end of the positioning thin-walled cylinder 15 is fitted with a pin 13 that engages with the oil-free bushing 16. The positioning pin is driven by the thin-walled cylinder, enabling the automatic disassembly of the anti-heel rotation arm.

[0038] Furthermore, each side of the anti-rotation arm 3 is provided with two sets of positioning thin-walled cylinders 15, and each set of positioning thin-walled cylinders 15 is mounted on the cover plate through a corresponding cylinder fixing part 14.

[0039] Example 3 describes the robotic end effector and its working method for bolt tightening. It controls the vision camera 6 to capture the bolt tightening position for visual positioning. Based on the visual positioning results, it guides the robot and end effector to quickly adjust to the bolt tightening point, efficiently and quickly meeting the production needs of automated bolt tightening.

[0040] The robotic end effector for bolt tightening described in this invention adopts a box-type structure design, integrating heavy-duty slide rails and thin-walled cylinders to achieve smooth lifting and lowering of the bottom inner frame and the tightening machine connecting plate. This design enables the platform to maintain sufficient strength when performing high-torque bolt tightening operations, meeting the general operational needs of multi-specification products. In addition, while meeting the requirements for tightening bolts of different lengths, it can also firmly fix the bolts, ensuring the stability of torque transmission during operation.

[0041] The robot end effector for bolt tightening described in this invention features an innovative C-shaped anti-rotation mechanism. It adopts an integrated lever arm-main unit structure, which can convert the counter-torque generated during tightening into internal force of the system. This design effectively eliminates bolt rotation while keeping the torque within the range that the robot can withstand, significantly extending the service life of the robotic arm and reducing the load requirements on the robot end effector.

[0042] The robotic end effector for bolt tightening described in this invention features a modular anti-rotation lever arm equipped with a pneumatic-electric coupling quick-change system. It utilizes a thin-walled cylinder to drive the positioning pin, enabling automatic disassembly of the anti-rotation lever arm. This design ensures that it can adapt to tightening operations of low-torque products under complex working conditions.

[0043] The working method of the robot end effector for bolt tightening described in this invention organically integrates the end effector and the vision positioning system, which greatly enhances the robot's environmental adaptability and reduces the requirements for repeatability positioning accuracy of the workpiece.

[0044] Explanation of related terms Tightening Machine: A tightening machine is an electric wrench tool based on a servo control system, mainly used for automated tightening of fasteners such as bolts and nuts in industrial assembly scenarios. Its core technologies include multi-axis synchronous positioning, torque and angle dual-mode control, and tightening data traceability, which can effectively reduce manual labor intensity and improve production efficiency and product quality stability. This equipment is widely used in automobile manufacturing, machinery assembly, and home appliance production, with typical applications including engine assembly and chassis component fixing.

[0045] Visual guidance: A testing instrument based on 3D visual guidance technology, integrating motion control and visual detection functions, supporting algorithm development and physical experiment scenarios.

[0046] A robot is an intelligent machine capable of semi-autonomous or fully autonomous operation. Robots can perform tasks such as manual labor or movement through programming and automatic control.

[0047] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

[0048] Any aspects of this invention not described in detail are well-known to those skilled in the art.

Claims

1. A robot end effector for bolt tightening, comprising an outer housing with a bottom opening, a connecting plate for connection to the robot end effector being mounted on the outer wall of the end of the outer housing, an anti-heel-rotation lever being detachably mounted on the cover plate of the outer housing, and an upper tightening head being mounted on the end of the anti-heel-rotation lever away from the outer housing, characterized in that: The outer casing houses an inner frame. Inside the outer casing are an inner frame lifting drive assembly for raising and lowering the inner frame, and a guide assembly for guiding the raising and lowering of the inner frame. A tightening machine is mounted on the inner frame via a connecting bracket. A lower tightening head is detachably mounted on the tightening machine, and the lower tightening head is positioned opposite to the upper tightening head. A vision camera is mounted on one side of the outer casing. The inner frame lifting drive assembly is a thin-walled lifting cylinder. The cylinder body of the thin-walled lifting cylinder is fixed to the inner wall of the outer casing cover. The telescopic end of the thin-walled lifting cylinder is fixed to the inner frame. The guide assembly includes a linear guide rail and a slider. Multiple sets of sliders are fixed on both sides of the inner frame. A linear guide rail that slides in cooperation with the corresponding slider is provided on the inner wall of the outer housing. The tail end of the anti-heel rotation lever arm is installed on the cover plate of the outer housing through a detachable connector. The detachable connector includes clamping devices fixed on both sides of the tail end of the anti-heel rotation lever arm. The clamping devices have oil-free bushings. A positioning thin-walled cylinder that cooperates with the clamping devices is installed on the cover plate. The telescopic end of the positioning thin-walled cylinder is equipped with a pin that inserts into the oil-free bushing.

2. The robot end effector for bolt tightening according to claim 1, characterized in that, Two sets of slider connecting plates for fixing sliders are installed on both sides of the inner frame, and two sets of sliders are provided on each side of the inner frame.

3. The robot end effector for bolt tightening according to claim 2, characterized in that, The tightening machine connecting bracket includes a tightening machine connecting vertical plate that is vertically connected to the inner frame. A tightening machine connecting plate is vertically connected to the bottom end of the tightening machine connecting vertical plate, and the tightening machine is installed on the tightening machine connecting plate.

4. The robot end effector for bolt tightening according to claim 3, characterized in that, An upper connecting rib for reinforcement is provided between the tightening machine connecting vertical plate and the inner frame, and a lower connecting rib for reinforcement is provided between the tightening machine connecting plate and the tightening machine connecting vertical plate.

5. The robot end effector for bolt tightening according to claim 4, characterized in that, Two sets of positioning thin-walled cylinders are provided on each side of the anti-rotation lever arm, and each set of positioning thin-walled cylinders is mounted on the cover plate through corresponding cylinder fixing parts.

6. The method of operating the robot end effector for bolt tightening according to claim 5, characterized in that, The vision camera is controlled to capture the bolt tightening position for visual positioning. Based on the visual positioning results, the robot and end effector are guided to quickly adjust to the bolt tightening point.

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