A robot gripping tool with self-adjusting tightening function

Abstract

The utility model relates to a robot clamping tool with a self-adjusting tightening function, comprising: a fixed frame, a mobile frame and a cylinder; the mobile frame is slidably mounted on the fixed frame; the base of the cylinder is fixedly connected to the fixed frame, and the cylinder can drive the mobile frame to move away from or approach the fixed frame; the mobile frame and the fixed frame cooperate to clamp a workpiece; motors are arranged on both sides of the fixed frame; the motor drives the sleeve to rotate through a telescopic conversion head. The robot clamping tool with a self-adjusting tightening function provided by the utility model improves the automation level and production efficiency of assembly and tightening, and ensures the assembly efficiency and quality of the product. It can partially realize automatic cap recognition of bolt tightening, ensuring stability during work. The sleeve at the end of the automatic tightening part can be replaced in real time, so as to be compatible with bolts of different specifications.

Description

Technical Field

[0001] The utility model relates to a robot clamping tool with a self-adjusting tightening function, belonging to the technical field of tooling. Background Art

[0002] With the rapid development of the intelligent manufacturing industry, the utilization rate of robots is getting higher and higher, and robots can be widely used in various industries. When using robots to clamp and install workpieces, it is necessary to use matching clamping tools according to the type of workpiece. At the same time, under the conditions of industrial production automation, automatic tightening devices are required when it is necessary to tighten the fixtures. Although the existing automatic tightening devices can realize the automatic tightening function, they are difficult to use with robots or are not stable enough and easy to be damaged during the use of robots. Summary of the invention

[0003] The technical problem to be solved by the utility model is: to overcome the disadvantages of the above-mentioned technology and to provide a robot clamping tool with a simple structure and reliable performance and a self-adjusting tightening function.

[0004] In order to solve the above technical problems, the technical solution proposed by the utility model is: a robot clamping tool with a self-adjusting tightening function, comprising: a fixed frame, a movable frame and a cylinder; the movable frame is slidably installed on the fixed frame; the base of the cylinder is fixedly connected to the fixed frame, and the cylinder can drive the movable frame away from or close to the fixed frame; the movable frame and the fixed frame can clamp the workpiece in cooperation; motors are arranged on both sides of the fixed frame; the motor drives the sleeve to rotate through a telescopic conversion head; the sleeve is slidably connected to the telescopic conversion head, and the telescopic conversion head has a spring; the spring applies a force to the sleeve in a direction away from the telescopic conversion head.

[0005] A further improvement of the above solution is that the fixing frame is connected to the robot via a base.

[0006] A further improvement of the above scheme is that: the motor is a pneumatic motor, and a pressure sensor and a solenoid valve are installed on the pipeline driving the pneumatic motor; the pressure sensor detects the air pressure in the pipeline, and the solenoid valve can cut off the pipeline.

[0007] A further improvement of the above scheme is that: the telescopic conversion head is installed on the output shaft of the pneumatic motor through a connector; one end of the connector is connected to the output shaft of the pneumatic motor through a thread, and the other end is connected to the telescopic conversion head through a spring pin.

[0008] A further improvement of the above scheme is that a guide rail is installed on the fixed frame, and the movable frame is slidably matched with the guide rail.

[0009] A further improvement of the above solution is that: the movable frame has a pin shaft facing the fixed frame.

[0010] The robot clamping tool with self-adjusting tightening function provided by the utility model improves the automation level and production efficiency of assembly and tightening, and ensures the assembly efficiency and quality of the product. It can partially realize automatic cap recognition of bolt tightening, ensuring stability during work. The sleeve at the end of the automatic tightening part can be replaced in real time, so as to be compatible with bolts of different specifications. The pressure sensor and solenoid valve effectively solve the problem that the tightening torque cannot be detected in real time. No manual participation is required during use, which improves production efficiency, effectively protects the product, and improves the reliability of the clamping tool. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The utility model will be further described below in conjunction with the accompanying drawings.

[0012] Figure 1 It is a schematic structural diagram of a preferred embodiment of the utility model.

[0013] Figure 2 yes Figure 1 Another state structure diagram of .

[0014] Figure 3 yes Figure 1 Schematic diagram of the main structure.

[0015] Figure 4 yes Figure 1 Schematic diagram of the structure viewed from above.

[0016] Figure 5 yes Figure 3 Schematic diagram of the local enlarged structure.

[0017] Figure 6 yes Figure 1 Schematic diagram of the telescopic conversion head structure. DETAILED DESCRIPTION

[0018] Embodiment: The robot gripping tool with self-adjusting tightening function of this embodiment is as follows: Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, it includes: a fixed frame 2, a movable frame 3 and a cylinder 4.

[0019] The top base 1 of the fixed frame 2 is connected to the robot through the base 1.

[0020] A guide rail 22 is installed on the fixed frame 2, and the guide rail 22 passes through the fixed frame 2. A guide rail shaft 32 is provided in the guide rail 22 for sliding cooperation with the guide rail 22. One end of the guide rail shaft 32 is fixedly connected to the movable frame 3, and the other end passes through the guide rail 22 and is provided with a limit plate 32.

[0021] The base of the cylinder 4 is mounted on the fixed frame 2 by bolts, and the piston rod of the cylinder 4 is connected to the moving frame 3, so that the cylinder 4 can drive the moving frame 3 to move along the guide rail 22, thereby moving away from or close to the fixed frame 2. Figure 1 As shown, the piston rod of the cylinder 4 is extended. Figure 2 That is, the piston rod of the cylinder 4 is retracted. In this way, the fixed frame 2 and the movable frame 3 can clamp the workpiece through the action of the cylinder 4. In order to ensure the firmness of the clamping, the movable frame 3 has a pin 31 facing the fixed frame 2. When the fixed frame 2 and the movable frame 3 clamp the workpiece, the pin 31 can be inserted into the workpiece for support.

[0022] The fixing frame 2 has connecting plates 21 on both sides, and the connecting plates 31 are equipped with pneumatic motors 5; the output shaft of the pneumatic motor 5 is equipped with a connector 8, one end of which is processed into a threaded hole for connecting the output shaft of the pneumatic motor 5, and the other end is a spring pin hole; one end of the telescopic conversion head 6 has a spring pin, which cooperates with the spring pin hole of the connector 8, so that the telescopic conversion head 6 is installed on the connector 8, and the other end of the telescopic conversion head 6 is connected to the sleeve 7; the sleeve 7 can slide along the telescopic conversion head 6. The telescopic conversion head 6 has a spring 61 inside; the spring 61 applies a force to the sleeve 7 in the direction away from the telescopic conversion head 6.

[0023] A pressure sensor and a solenoid valve are installed on the pipeline of the pneumatic motor 5; the pressure sensor detects the air pressure in the pipeline, and the solenoid valve can cut off the pipeline. By detecting the pressure in the pipeline, the working state of the pneumatic motor 5 can be determined, and then it can be determined whether the target bolt is tightened. If tightened, the pipeline is cut off by the solenoid valve.

[0024] The working method of the robot clamping tool with self-adjusting tightening function of this embodiment includes the following steps: step 1, according to the size of the workpiece to be clamped and transported, the cylinder 4 extends to adjust the distance between the mobile frame 3 and the fixed frame 2; step 2, the robot drives the clamping tool to move to the workpiece, and the robot places the clamping tool at the workpiece clamping position; step 3, the cylinder 4 retracts, the pin shaft 31 on the mobile frame 3 is inserted into the workpiece, and the mobile frame 3 is engaged with the fixed frame 2 to complete the workpiece clamping; step 4, the robot drives the clamping tool to transport the workpiece to the target position, and the cylinder 4 extends out, the mobile frame 3 is separated from the fixed frame 2, and the workpiece handling is completed; step five, the pneumatic motor 5 starts to rotate and tighten. Considering that the shapes of the sleeve 7 and the target bolt are hexagonal, there may be a certain misalignment between the two. Therefore, the pneumatic motor 5 needs to start rotating a certain angle, and the telescopic conversion head 6 pushes the sleeve 7 out through the internal spring 61 to complete the cap recognition, and then tighten it; step six, after the tightening is completed, the pressure sensor detects the air pressure drop and makes a tightening judgment. After the tightening operation is completed, the robot drives the clamping tooling to perform the next operation cycle.

[0025] The present invention is not limited to the specific technical solutions described in the above embodiments. In addition to the above embodiments, the present invention may also have other implementations. Any technical solution formed by equivalent replacement is within the protection scope required by the present invention.

Claims

1. A robot gripping tool with self-adjusting tightening function, characterized in that: include: A fixed frame, a movable frame and a cylinder; the movable frame is slidably mounted on the fixed frame; the base of the cylinder is fixedly connected to the fixed frame, and the cylinder can drive the movable frame away from or close to the fixed frame; the movable frame and the fixed frame cooperate to clamp a workpiece; motors are arranged on both sides of the fixed frame; the motor drives the sleeve to rotate through a telescopic conversion head; the sleeve is slidably connected to the telescopic conversion head, and a spring is provided in the telescopic conversion head; the spring applies a force to the sleeve in a direction away from the telescopic conversion head.

2. The robot gripping tool with self-adjusting tightening function according to claim 1, characterized in that: The fixing frame is connected to the robot via a base.

3. The robot gripping tool with self-adjusting tightening function according to claim 2, characterized in that: The motor is a pneumatic motor, and a pressure sensor and a solenoid valve are installed on the pipeline driving the pneumatic motor; the pressure sensor detects the air pressure in the pipeline, and the solenoid valve can cut off the pipeline.

4. The robot gripping tool with self-adjusting tightening function according to claim 3, characterized in that: The telescopic conversion head is installed on the output shaft of the pneumatic motor through a connector; one end of the connector is connected to the output shaft of the pneumatic motor through a thread, and the other end is connected to the telescopic conversion head through a spring pin.

5. The robot gripping tool with self-adjusting tightening function according to claim 4, characterized in that: A guide rail is installed on the fixed frame, and the movable frame is slidably matched with the guide rail.

6. The robot gripping tool with self-adjusting tightening function according to claim 5, characterized in that: The movable frame is provided with a pin shaft facing the fixed frame.

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