Self-dismounting robot

Abstract

The utility model provides a self-disassembly and assembly robot which comprises a moving body used for being movably arranged on a supporting base face; the electric wrench is rotatably arranged around the axis of the electric wrench; the first moving assembly is arranged on the moving main body; the second moving assembly is movably arranged on the first moving assembly in the first direction, and the electric wrench is movably arranged on the second moving assembly through the tool plate in the second direction; the first direction is perpendicular to the second direction; the lifting moving assembly is in driving connection with the first moving assembly so as to drive the first moving assembly, the second moving assembly and the electric wrench to ascend and descend; and the rotating assembly comprises a rotating part, one end of the rotating part is rotationally connected with the tool plate, the side, away from the tool plate, of the rotating part is connected with the electric wrench, so that the electric wrench is driven to turn over relative to the tool plate through the rotating part, and the problem that in the prior art, the electric wrench unreliably disassembles and assembles fasteners on the shovel plate is solved.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic disassembly and assembly of fasteners, in particular to a self-disassembly and assembly robot. Background Art

[0002] A road grader is an earth-moving machine that uses a scraper to level the ground. It is suitable for building roadbeds and pavements, building slopes, and digging ditches. It can also mix road mixtures, remove snow, push bulk materials, and maintain dirt and gravel roads. The shovel of the road grader is installed between the front and rear axles of the machine, and can be lifted, tilted, rotated, and extended through a fixed mechanism. In open-pit mines, road graders are often needed to level the road surface and build roadbeds. Due to the harsh working environment on site, the shovel of the road grader will wear out after a period of use and cannot meet the needs of on-site use. The road grader needs to be replaced with a new shovel.

[0003] At present, the maintenance and replacement of the shovel of a road grader generally uses semi-automatic equipment or manual labor in a simple environment to lift the shovel to the base position. After the shovel is placed on the base through the shovel replacement device, the bolts of the shovel are tightened by manually holding a pneumatic wrench or an electric wrench. During the tightening process, personnel need to hold the wrench in a half-squatting position to tighten and loosen the bolts on the shovel of a road grader one by one. In this process, a high-torque pneumatic wrench or electric wrench is often heavy, and it requires a large arm strength to operate the wrench stably and continuously. During the operation, the waist and legs of the personnel need to withstand multiple influences such as the weight of the wrench, the inertia of the vibration of the pneumatic wrench, and the counter-torque during tightening. Personnel who work for a long time are very likely to suffer from occupational diseases such as lumbar muscle strain and lumbar disc herniation.

[0004] In addition, the prior art also adopts the structure of an industrial multi-axis mechanical arm, and integrates an electric wrench at the end of the mechanical arm to realize a mobile robot device for automatic bolt removal. This method realizes the automatic removal of bolts very well and improves the degree of automation. However, the volume and turning radius of the mechanical arm with a certain load on the market cannot achieve the effect of arbitrary adjustment or rapid integration according to the working space, and the shovel of the road grader is set in the middle of the front and rear wheels of the road grader. When the shovel is replaced, the operating space of the shovel bolt is relatively narrow. Therefore, the existing method of driving the wrench to tighten the bolts by the mechanical arm often has the problem that it is difficult to enter the operation through the mechanical arm in a small space. At the same time, the rotation and posture adjustment of the mechanical arm often need to extend out of the range of the vehicle body itself. Under the conditions of disassembly and assembly that require human-machine cooperation, the mechanical arm may accidentally collide with the staff, so it is difficult to ensure the safety of personnel. In summary, the existing method of driving the electric wrench by the mechanical arm has the problem of unreliable disassembly and assembly of the bolts. Utility Model Content

[0005] The main purpose of the utility model is to provide a self-disassembly and assembly robot to solve the problem that the electric wrench in the prior art is unreliable in disassembling and assembling the fasteners on the shovel plate.

[0006] In order to achieve the above-mentioned purpose, the utility model provides a self-disassembly robot, including: a mobile body, which is used to be movably set on a supporting base; an electric wrench, which is rotatably set around its axis; a first moving component, which is arranged on the mobile body; a second moving component, which is movably set on the first moving component along a first direction, and the electric wrench is movably set on the second moving component along a second direction through a tooling plate; wherein the first direction and the second direction are arranged vertically; a lifting and moving component, which is drivingly connected to the first moving component to drive the first moving component, the second moving component and the electric wrench to lift and lower; a rotating component, which includes a rotating component, one end of which is rotatably connected to the tooling plate, and the side of the rotating component away from the tooling plate is connected to the electric wrench, so as to drive the electric wrench to flip relative to the tooling plate through the rotating component.

[0007] Furthermore, the rotating component includes: a rotating limit seat having a limit space, and the electric wrench is inserted into the limit space; a rotating support seat, the rotating limit seat is connected to the rotating support seat, and the rotating support seat is rotatably connected to the tooling plate.

[0008] Furthermore, the rotating support seat includes a rotating connecting plate and a connecting shaft connected to each other; the rotating assembly also includes: a driving piston cylinder installed on the tooling plate, the driving piston cylinder is drivingly connected to the connecting shaft to drive the connecting shaft and one end of the rotating connecting plate to move, so as to drive the rotating connecting plate to rotate relative to the tooling plate.

[0009] Furthermore, there are two driving piston cylinders, rotating connecting plates, and connecting shafts, the two rotating connecting plates are arranged opposite to each other, the electric wrench is located between the two rotating connecting plates, the two connecting shafts are connected to the two rotating connecting plates one-to-one, and the two driving piston cylinders are connected to the two connecting shafts one-to-one; and / or, the tooling plate includes two oppositely arranged limit plate bodies, the electric wrench is located between the two limit plate bodies, and the driving piston cylinder is installed on the limit plate bodies.

[0010] Furthermore, the rotating assembly includes: a rotating motor, the output shaft of the rotating motor extends along the first direction, the output shaft of the rotating motor is drivingly connected to the first movable assembly to drive the first movable assembly, the second movable assembly and the electric wrench to rotate; wherein the rotating motor is located below the driving piston cylinder.

[0011] Furthermore, the first movable component includes a support plate and a first movable guide rail arranged on the support plate, the support plate is arranged on the movable body, and the second movable component is movably arranged on the first movable guide rail; the lifting and moving component includes: a connecting frame, the connecting frame is connected to the support plate; and a lifting and lowering driving structure, the lifting and lowering driving structure is drivingly connected to the connecting frame to drive the connecting frame and the support plate to lift and lower.

[0012] Furthermore, the lifting drive structure includes: a lifting drive motor, a driving wheel, the output shaft of the lifting drive motor is connected to the driving wheel; a transmission wheel, the transmission wheel is transmission-connected to the driving wheel; a screw rod, the screw rod and the transmission wheel are threadedly connected, and the screw rod is movably arranged on the mobile body to drive the screw rod to move through the rotation of the transmission wheel.

[0013] Furthermore, a mounting groove is provided on the mobile body, a support plate is provided in the mounting groove, and a lifting and moving assembly is provided on one side of the mounting groove; wherein, the connecting frame comprises: a first connecting plate, a lifting and lowering driving structure is drivingly connected to the first connecting plate; a second connecting plate, the first connecting plate and the second connecting plate are connected to each other and are arranged at a preset angle, and the second connecting plate is connected to the support plate.

[0014] Furthermore, the lifting and moving assembly also includes: a supporting guide rod, one end of which is connected to the connecting frame, and the other end of which is movably arranged on the moving body; wherein the supporting guide rod is spaced apart from the lifting drive structure.

[0015] Furthermore, the electric wrench is a cylindrical structure, and has two lifting and moving components, which are respectively arranged on both sides of the radial direction of the electric wrench.

[0016] Furthermore, the self-disassembly and assembly robot includes: an image acquisition component for acquiring images of components to be disassembled and assembled, the image acquisition component being arranged on the electric wrench; a control component, the control component being located on one side of the electric wrench, the control component being signal-connected to the image acquisition component, the first moving component, the second moving component, the lifting and moving component, the rotating component and the electric wrench to control the movement of the first moving component, the second moving component, the lifting and moving component, the rotating component and the electric wrench according to the image information acquired by the image acquisition component.

[0017] Further, the self-disassembly robot includes a first laser radar for sensing the relative position between the mobile body and the part to be disassembled, the first laser radar is arranged on the control component and is connected to the control component signal, the control component is connected to the mobile body signal, so as to control the movement of the mobile body according to the detection result of the first laser radar; and / or, the self-disassembly robot includes multiple ranging sensors, all of which are used to detect the distance between the mobile body and the part to be disassembled, the multiple ranging sensors are arranged on the mobile body, the control component is connected to the mobile body and the multiple ranging sensors signal, so as to control the movement of the mobile body according to the detection results of the multiple ranging sensors; and / or, the self-disassembly robot includes a second laser radar for obtaining image information of the to-be-disassembled position of the part to be disassembled, the second laser radar is connected to the control component signal, so as to control the movement of the first mobile component, the second mobile component, and the lifting and moving component according to the detection result of the second laser radar; and / or, the self-disassembly robot includes a torque sensor, which is arranged on the electric wrench to detect the rotational torque of the electric wrench, and the torque sensor is connected to the control component signal, so as to control the running state of the electric wrench according to the detection result of the torque sensor.

[0018] Furthermore, the electric wrench has a connecting section for being inserted into the part to be disassembled, wherein: the self-disassembly robot includes a reaction arm, which is arranged on the connecting section and is located on a side of the connecting section close to the moving body; and / or the connecting section is made of elastic material.

[0019] Applying the technical solution of the utility model, the utility model provides a self-disassembly robot, including: a mobile body, which is used to be movably set on a supporting base; an electric wrench, which is rotatably set around its axis; a first moving assembly, which is arranged on the mobile body; a second moving assembly, which is movably set on the first moving assembly along a first direction, and the electric wrench is movably set on the second moving assembly along a second direction through a tooling plate; wherein the first direction and the second direction are vertically arranged; a lifting and moving assembly, which is drivingly connected to the first moving assembly to drive the first moving assembly, the second moving assembly and the electric wrench to lift and lower; a rotating assembly, which includes a rotating component, one end of the rotating component is rotatably connected to the tooling plate, and the side of the rotating component away from the tooling plate is connected to the electric wrench, so as to drive the electric wrench to flip relative to the tooling plate through the rotating component. The electric wrench can be directional moved in all directions through the first moving component, the second moving component, and the lifting and moving component. In this way, it can be adjusted arbitrarily according to the working space. Compared with the robotic arm, the above-mentioned setting of the present application makes the adjustment of the position of the electric wrench safer and the use more reliable. It can also enter places with relatively narrow operating spaces. Moreover, through the setting of the rotating component, the use angle of the electric wrench can be further adjusted, making the use of the electric wrench more flexible. And through the setting of the mobile body, the flexibility of the use of the self-disassembly robot can be further increased. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings constituting part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention. In the drawings:

[0021] Figure 1 A schematic diagram of the installation structure of the first moving assembly, the second moving assembly and the electric wrench of the automatic disassembly robot according to the embodiment of the utility model installed on the moving body from a first viewing angle is shown;

[0022] Figure 2 A schematic diagram of the installation structure of the first moving assembly, the second moving assembly and the electric wrench of the automatic disassembly robot according to the embodiment of the utility model installed on the moving body from a second viewing angle is shown;

[0023] Figure 3 A side view of an embodiment of an automatic disassembly robot according to the present utility model is shown;

[0024] Figure 4 A rear view of an embodiment of the automatic disassembly robot according to the present utility model is shown;

[0025] Figure 5A schematic diagram of the installation structure of the electric wrench of the embodiment of the automatic disassembly robot according to the utility model is shown in a first viewing angle installed on the second moving assembly;

[0026] Figure 6 A schematic diagram of the installation structure of the electric wrench installed on the second moving assembly according to the embodiment of the automatic disassembly robot of the utility model is shown in a second viewing angle;

[0027] Figure 7 The schematic diagram of the structure of the electric wrench of the automatic disassembly robot according to the utility model is shown.

[0028] The above drawings include the following reference numerals:

[0029] 1. Mobile body; 101. Mounting slot; 10. Chassis; 11. Traveling wheels;

[0030] 2. Electric wrench; 20. Connecting section; 201. Reaction arm; 21. Wrench drive motor; 22. Speed ​​reducer; 3. First moving assembly; 30. Support plate; 31. First moving guide rail; 32. First driving component; 33. First slider;

[0031] 4. Second moving assembly; 40. Second moving guide rail; 41. Second driving component; 42. Second slider; 43. Mounting plate; 5. Tooling plate; 50. Position limiting plate;

[0032] 6. Lifting and moving assembly; 60. Connecting frame; 601. First connecting plate; 602. Second connecting plate; 61. Lifting drive structure; 610. Lifting drive motor; 62. Support guide rod; 63. Support column;

[0033] 7. Rotating assembly; 70. Rotating component; 71. Rotating limit seat; 72. Rotating support seat; 720. Rotating connecting plate; 721. Connecting shaft; 73. Driving piston cylinder; 74. Rotating motor; 8. Image acquisition component; 80. Fill light; 9. Control assembly; 90. Control panel; 91. Debug port; 92. Emergency stop switch; 100. First laser radar; 200. Distance sensor; 300. Torque sensor; 400. Second laser radar. DETAILED DESCRIPTION

[0034] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present utility model will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0035] Please refer to Figures 1 to 7The utility model provides a self-disassembly robot, comprising: a mobile body 1, which is used to be movably arranged on a supporting base; an electric wrench 2, which is rotatably arranged around its axis; a first moving assembly 3, which is arranged on the mobile body 1; a second moving assembly 4, which is movably arranged on the first moving assembly 3 along a first direction, and the electric wrench 2 is movably arranged on the second moving assembly 4 along a second direction through a tooling plate 5; wherein the first direction and the second direction are arranged vertically; a lifting and moving assembly 6, which is drivingly connected to the first moving assembly 3 to drive the first moving assembly 3, the second moving assembly 4 and the electric wrench 2 to rise and fall; a rotating assembly 7, which comprises a rotating component 70, one end of which is rotatably connected to the tooling plate 5, and the side of the rotating component 70 away from the tooling plate 5 is connected to the electric wrench 2, so as to drive the electric wrench 2 to flip relative to the tooling plate 5 through the rotating component 70. The electric wrench can be moved in all directions by the first moving component 3, the second moving component 4 and the lifting moving component 6. In this way, it can be adjusted arbitrarily according to the working space. Compared with the robotic arm, the above-mentioned setting of the present application makes the adjustment of the position of the electric wrench safer and more reliable. It can also enter places with relatively narrow operating spaces. Moreover, through the setting of the rotating component 7, the use angle of the electric wrench 2 can be further adjusted, making the use of the electric wrench 2 more flexible. And through the setting of the mobile body 1, the flexibility of the use of the self-disassembly robot can be further increased.

[0036] In the embodiment of the present application, the first direction is the length direction (X-axis) of the electric wrench 2 .

[0037] Specifically, the rotating component 70 includes: a rotating limit seat 71, which has a limit space, and the electric wrench 2 is inserted into the limit space; a rotating support seat 72, the rotating limit seat 71 is connected to the rotating support seat 72, and the rotating support seat 72 is rotatably connected to the tooling plate 5, so that the flipping and rotation of the electric wrench 2 is realized, and the rotating support seat 72 plays a role in supporting the electric wrench 2. Combined with the setting of the rotating limit seat 71, the installation structure of the electric wrench 2 can be made more stable.

[0038] In order to realize the automatic rotation of the rotating component 70, the rotating support seat 72 includes a rotating connecting plate 720 and a connecting shaft 721 connected to each other; the rotating assembly 7 also includes: a driving piston cylinder 73, which is installed on the tooling plate 5, and the driving piston cylinder 73 is drivingly connected to the connecting shaft 721 to drive the connecting shaft 721 and one end of the rotating connecting plate 720 to move, so as to drive the rotating connecting plate 720 to rotate relative to the tooling plate 5. Through the above arrangement, the piston rod of the driving piston cylinder 73 extends, driving the rotating connecting plate 720 to rotate relative to the tooling plate 5, so that the rotating support seat 72 and the electric wrench 2 located on the rotating support seat 72 are turned downward.

[0039] In the embodiment of the present application, the driving piston cylinder 73 is an electric cylinder.

[0040] Specifically, there are two driving piston cylinders 73, rotating connecting plates 720, and connecting shafts 721. The two rotating connecting plates 720 are arranged opposite to each other, and the electric wrench 2 is located between the two rotating connecting plates 720. The two connecting shafts 721 are connected to the two rotating connecting plates 720 one-to-one, and the two driving piston cylinders 73 are connected to the two connecting shafts 721 one-to-one. Such an arrangement can make the rotation of the rotating support seat 72 and the electric wrench 2 stable and reliable; and / or, the tooling plate 5 includes two relatively arranged limiting plate bodies 50, the electric wrench 2 is located between the two limiting plate bodies 50, and the driving piston cylinder 73 is installed on the limiting plate bodies 50. In this way, the stability of the installation of the electric wrench 2 is further guaranteed, and the installation structure between the driving piston cylinder 73 and the electric wrench 2 is reasonably arranged and compact.

[0041] In the embodiment of the present application, there are two driving piston cylinders 73 , and the two driving piston cylinders 73 are connected to the two limiting plate bodies 50 in a one-to-one correspondence.

[0042] Preferably, the central axis of the electric wrench 2 is used as the symmetry axis, and the two driving piston cylinders 73 are symmetrically distributed on both sides of the electric wrench 2. In this way, the rotation stability and reliability of the rotating support seat 72 and the electric wrench 2 are further guaranteed.

[0043] In the embodiment of the present application, the driving piston cylinder 73 is an electric cylinder.

[0044] In the present application, the rotating assembly 7 includes: a rotating motor 74, the output shaft of the rotating motor 74 extends along the first direction, and the output shaft of the rotating motor 74 is drivingly connected to the first moving assembly 3 to drive the first moving assembly 3, the second moving assembly 4 and the electric wrench 2 to rotate; wherein the rotating motor 74 is located below the driving piston cylinder 73. Through the above arrangement, combined with the arrangement of the driving piston cylinder 73, the electric wrench 2 can be adjusted along different rotation directions, thereby improving the flexibility of adjusting the electric wrench 2.

[0045] In order to realize the connection between the lifting and moving component 6 and the first moving component 3, the first moving component 3 includes a support plate 30 and a first moving guide rail 31 arranged on the support plate 30, the support plate 30 is arranged on the moving body 1, and the second moving component 4 is movably arranged on the first moving guide rail 31; the lifting and moving component 6 includes: a connecting frame 60, the connecting frame 60 is connected to the support plate 30; a lifting drive structure 61, the lifting drive structure 61 is drivingly connected to the connecting frame 60 to drive the connecting frame 60 and the support plate 30 to rise and fall.

[0046] like Figure 5As shown, the first moving assembly 3 includes a connecting protrusion, a connecting protrusion is provided on the support plate 30, the connecting protrusion is spaced apart from the first moving guide rail 31, and the output shaft of the rotating motor 74 is connected to the connecting protrusion to drive the connecting protrusion to rotate; wherein, the axis of the output shaft of the rotating motor 74 extends along the first direction. Through the above arrangement, combined with the arrangement of the driving piston cylinder 73, the electric wrench 2 can be adjusted along different rotation directions, thereby improving the flexibility of adjusting the electric wrench 2.

[0047] In the present application, the rotating motor 74 is located below the driving piston cylinder 73 , so that the connecting protrusion can support the driving piston cylinder 73 and improve the installation structure strength of the driving piston cylinder 73 .

[0048] Preferably, the connecting protrusion and the support plate 30 are an integral structure; optionally, the connecting protrusion and the support plate 30 are welded into an integral structure, so that it can be ensured that the rotating motor 74 can drive the entire support plate 30 to rotate to adjust the position of the electric wrench 2.

[0049] Optionally, there are two rotating motors 74 and two connecting protrusions, the two rotating motors 74 and the two connecting protrusions are connected one-to-one, and the two rotating motors 74 are respectively located below the two driving piston cylinders 73.

[0050] like Figure 6 As shown, the first movable component 3 also includes: a first driving rod, a first driving component 32 and a first slider 33. The first driving component 32 is drivingly connected to the first driving rod, and the first driving rod is connected to the second movable component 4, so that the first driving rod is driven to move by the first driving component 32 to drive the second movable component 4 to move. The first slider 33 is movably arranged on the first movable guide rail 31 and connected to the second movable component 4.

[0051] Optionally, the first driving component 32 is a piston cylinder, and the piston rod of the piston cylinder is connected to the first driving rod; or, the first driving component 32 is a motor, and the output shaft of the motor is connected to the first driving rod. The first moving component 3 also includes a first driving slider, which is threadedly connected to the first driving rod. The first driving rod is connected to the second moving component 4 through the first driving slider, so that the rotation of the motor drives the rotation of the first driving rod, thereby driving the movement of the first driving slider, and then driving the movement of the second moving component 4.

[0052] Specifically, the second movable assembly 4 includes a movable transmission assembly, a second movable guide rail 40, a second driving component 41, a second slider 42 and a mounting plate 43. The second movable guide rail 40 extends along the second direction (Y axis). The first driving rod is connected to the mounting plate 43. The second movable guide rail 40 is arranged on the mounting plate 43. The second driving component 41 is drivingly connected to the movable transmission assembly. The movable transmission assembly is connected to the tooling plate 5 to drive the movable transmission assembly to move through the second driving component 41, thereby driving the tooling plate 5 to move on the second movable guide rail 40. The second slider 42 is connected to the tooling plate 5, and the second slider 42 is movably arranged on the second movable guide rail 40. The first slider 33 is connected to the mounting plate 43.

[0053] In the embodiment of the present application, the first driving component 32 and the second driving component 41 are arranged in parallel, the first driving component 32 and the second driving component 41 are located on the same side of the tooling plate 5, the first driving component 32 and the second driving component 41 are both motors, and the mobile transmission assembly includes a first transmission screw, a first transmission gear and a first driving gear, the first transmission screw is fixedly connected to the tooling plate 5, the first transmission screw extends along the second direction, the first transmission gear and the first driving gear are meshed with each other, the first transmission gear is sleeved on the first transmission screw and is threadedly connected to the first transmission screw, and the second driving component 41 is drivingly connected to the first driving gear to drive the first driving gear to rotate, thereby driving the first transmission gear to rotate, so that the first transmission screw can be driven to move, thereby driving the tooling plate 5 to move. Among them, the above-mentioned first transmission gear and the first driving gear can be pulleys or sprockets, which are driven by transmission belts and transmission chains.

[0054] Specifically, the first transmission screw and the tooling plate 5 are fixedly connected via a connecting bracket.

[0055] Specifically, the lifting drive structure 61 includes: a lifting drive motor 610, a driving wheel, the output shaft of the lifting drive motor 610 is connected to the driving wheel; a transmission wheel, the transmission wheel is connected to the driving wheel; a screw rod, the screw rod and the transmission wheel are threadedly connected, and the screw rod is movably arranged on the mobile body 1 to drive the screw rod to move through the rotation of the transmission wheel. Through the above arrangement, the structural layout of the lifting drive motor 610 is reasonable and compact.

[0056] Optionally, the transmission wheel and the driving wheel are both gears, and the transmission wheel and the driving wheel are meshed with each other.

[0057] like Figure 5As shown, a mounting groove 101 is provided on the mobile body 1, a support plate 30 is provided in the mounting groove 101, and a lifting and moving assembly 6 is provided on one side of the mounting groove 101; wherein, the connecting frame 60 comprises: a first connecting plate 601, a lifting and moving driving structure 61 is drivingly connected to the first connecting plate 601; and a second connecting plate 602, wherein the first connecting plate 601 and the second connecting plate 602 are connected to each other and are arranged at a preset angle, and the second connecting plate 602 is connected to the supporting plate 30. Through the arrangement of the mounting groove 101, the mounting structure of the first moving assembly, the second moving assembly and the electric wrench installed on the mobile body 1 can be made stable and reliable, and the connection between the first connecting plate 601 and the second connecting plate 602 and the supporting plate 30 realizes the lifting and moving of the first moving assembly, the second moving assembly and the electric wrench as a whole, and such an arrangement makes the structure between the lifting and moving assembly and the first moving assembly and the second moving assembly more compact, reduces the overall volume of the self-disassembly and assembly robot, and enables the self-disassembly and assembly robot to enter a relatively narrow space for disassembly and assembly operations.

[0058] In the embodiment of the present application, the second connecting plate 602 is located on a side of the first connecting plate 601 away from the electric wrench 2 .

[0059] In an embodiment of the present application, the support plate 30 , the first connecting plate 601 , and the second connecting plate 602 are an integrated structure; optionally, the support plate 30 , the first connecting plate 601 , and the second connecting plate 602 are welded into an integrated structure.

[0060] Specifically, the mobile body 1 includes a chassis 10 and running wheels 11 , and the running wheels 11 are movably disposed on the chassis 10 .

[0061] Specifically, the running wheel 11 is an omnidirectional steering wheel; there are multiple running wheels 11, and the multiple running wheels 11 are arranged at intervals around the circumference of the chassis 10.

[0062] The mounting groove 101 is arranged on the chassis 10 .

[0063] Specifically, the lifting and moving assembly 6 further includes: a support guide rod 62, one end of which is connected to the connecting frame 60, and the other end of which is movably arranged on the moving body 1; wherein the support guide rod 62 is arranged at a distance from the lifting drive structure 61. The arrangement of the support guide rod 62 can ensure the stability and reliability of the lifting and moving.

[0064] Optionally, there are multiple support guide rods 62, and the multiple support guide rods 62 are spaced apart from the screw rod.

[0065] In the embodiment of the present application, there are two support guide rods 62 , and the two support guide rods 62 are respectively located on both sides of the screw rod.

[0066] Preferably, the central axis direction of the screw rod is used as the symmetry axis, and the two support guide rods 62 are symmetrically distributed on both sides of the screw rod. In this way, the stability and reliability of the lifting movement can be further ensured.

[0067] like Figure 5 As shown, the lifting and moving assembly 6 also includes a support column 63, which is inserted into the moving body 1 and located outside the mounting groove 101. The screw rod is movably inserted into the support column 63 so as to guide the screw rod through the support column 63.

[0068] like Figure 1 and Figure 2 As shown, the electric wrench 2 is a cylindrical structure, and there are two lifting and moving components 6, which are respectively arranged on both sides of the radial direction of the electric wrench 2. By setting the two lifting and moving components 6, the driving force of lifting is increased, and the stability and reliability of lifting and moving are further guaranteed.

[0069] In the prior art, bolt self-disassembly and assembly robots require human intervention and cannot achieve autonomous movement and real-time obstacle avoidance through relevant acquisition systems, as well as automatic positioning and identification of shovel plates and bolts. Road graders, especially large road graders in coal mines, may have multiple shovel plates, each with a large number of bolts. The bolts on the middle shovel plate are in a position that is not easily visible to the human eye. Manual remote control of the robot is no longer realistic. This requires a robot that can fully or semi-automatically disassemble and assemble road grader bolts.

[0070] In an embodiment of the present application, the self-disassembly robot includes: an image acquisition component 8, which is used to acquire images of the components to be disassembled, and the image acquisition component 8 is arranged on the electric wrench 2; a control component 9, which is located on one side of the electric wrench 2, and the control component 9 is signal-connected with the image acquisition component 8, the first moving component 3, the second moving component 4, the lifting and moving component 6, the rotating component 7 and the electric wrench 2, so as to control the movement of the first moving component 3, the second moving component 4, the lifting and moving component 6, the rotating component 7 and the electric wrench 2 according to the image information acquired by the image acquisition component 8. Through the above-mentioned arrangement, the image of the components to be disassembled can be acquired by the image acquisition component 8, so as to avoid missing the disassembly and assembly of bolts in places that cannot be recognized by the human eye, thereby improving the reliability of the use of the self-disassembly robot and realizing the full-automatic disassembly and assembly of the self-disassembly robot, thus reducing the burden on the staff.

[0071] Specifically, the image acquisition component 8 is a depth camera.

[0072] Specifically, the self-assembly and disassembly robot includes an installation component, the installation component has an installation space, the image acquisition component 8 is installed in the installation space, and the installation component has an avoidance opening connected to the installation space to avoid the shooting part of the image acquisition component 8 to facilitate the acquisition of images of the outside world.

[0073] Specifically, the self-assembly and disassembly robot includes a fill light 80, which is installed on the outside of the installation component.

[0074] Specifically, there are multiple fill lights 80 , and the multiple fill lights 80 are respectively located on both sides of the image acquisition component 8 ; optionally, there are two fill lights 80 , and the two fill lights 80 are located on both sides of the image acquisition component 8 .

[0075] In order to further improve the degree of automation of the self-disassembly robot, the self-disassembly robot includes a first laser radar 100, which is used to sense the relative position between the mobile body 1 and the part to be disassembled. The first laser radar 100 is arranged on the control component 9 and is connected to the control component 9 by signal. The control component 9 is connected to the mobile body 1 by signal to control the movement of the mobile body 1 according to the detection result of the first laser radar 100; and / or, the self-disassembly robot includes multiple ranging sensors 200, which are all used to detect the distance between the mobile body 1 and the part to be disassembled. The multiple ranging sensors 200 are arranged on the mobile body 1, and the control component 9 is connected to the mobile body 1 and the multiple ranging sensors 200 by signal to control the movement of the mobile body 1 according to the detection result of the first laser radar 100. The movement of the mobile body 1 is controlled according to the detection results of multiple ranging sensors 200; and / or, the self-disassembly robot includes a second laser radar 400, which is used to obtain image information of the to-be-disassembled position of the parts to be disassembled, and the second laser radar 400 is connected to the control component 9 by signal to control the movement of the first moving component 3, the second moving component 4, and the lifting moving component 6 according to the detection results of the second laser radar 400; and / or, the self-disassembly robot includes a torque sensor 300, which is arranged on the electric wrench 2 to detect the rotational torque of the electric wrench 2, and the torque sensor 300 is connected to the control component 9 by signal to control the operating state of the electric wrench 2 according to the detection results of the torque sensor 300.

[0076] Optionally, a plurality of distance measuring sensors 200 are arranged at intervals along the circumference of the mobile body 1 .

[0077] Optionally, there are two distance measuring sensors 200 , and both of the two distance measuring sensors 200 are arranged on the side wall of the mobile body 1 on the side close to the rotating assembly 7 , and the two distance measuring sensors 200 are respectively located on both sides of the electric wrench 2 .

[0078] The central axis of the electric wrench 2 is used as the symmetry axis, and the two distance measuring sensors 200 are symmetrically distributed on both sides of the electric wrench 2 .

[0079] In an embodiment of the present application, the component to be disassembled is a shovel plate of a road grader, and the position to be disassembled on the component to be disassembled is a bolt on the shovel plate.

[0080] Due to the harsh operating environment of the road grader, the shovel of the road grader needs to tighten the bolts strictly according to the installation torque requirements. In actual operation, it is inevitable that the electric wrench and the bolt are difficult to fully align. This requires a certain design to achieve the electric wrench. When the electric wrench and the bolt are not fully aligned, the electric wrench can still tighten the bolt.

[0081] like Figure 7 As shown, in the present application, the electric wrench 2 has a connecting section 20 for being inserted into the part to be disassembled, wherein: the self-disassembly robot includes a reaction arm 201, which is arranged on the connecting section 20 and is located on the side of the connecting section 20 close to the mobile body 1, so as to ensure that the electric wrench can provide a sufficiently large torque, ensure stable operation within the range of 0 to 8000 N / M, and realize stable and reliable disassembly and assembly of the shovel plate fastening bolts; and / or, the connecting section 20 is made of elastic material, so that when the bolt and the rotating sleeve of the electric wrench are not completely matched, the alignment of the sleeve and the bolt is finally achieved through the elastic connecting section 20, thereby completing the tightening operation.

[0082] In the embodiment of the present application, the electric wrench 2 includes a wrench body, a wrench drive motor 21 and a reduction box 22, the wrench drive motor 21 and the input shaft of the reduction box 22 are connected, the output shaft of the reduction box 22 is connected to the wrench body, and the torque sensor 300 is arranged on the output shaft of the reduction box 22. Among them, the connecting section 20 is arranged at one end of the wrench body.

[0083] Specifically, the wrench driving motor 21 is a large torque servo motor.

[0084] In the present application, the control assembly 9 includes a control box, a controller is arranged in the control box, a control panel 90, a debugging port 91 and an emergency stop switch 92 are arranged on the control box, the emergency stop switch 92 and the control panel 90 are arranged along the circumference of the control box, and the control panel 90 is provided with operation buttons and a debugging port 91. The emergency stop switch is mainly used for emergency stop of the robot. When the robot operates abnormally or there is a safety risk, the emergency stop switch can be pressed manually to ensure on-site safety; the control panel 90 uses a touchable LCD screen, which is mainly used for robot working status display, human-computer interaction, system maintenance and other tasks; the operation buttons include a power on button, a power off button, and the debugging port includes a system indicator, etc., which are used for robot human-computer operation and basic status indication.

[0085] During the specific implementation of this application:

[0086] Step S1: Use a depth camera (image acquisition component 8) to take photos of the shovel plate and the bolts for study, and record the technical features of the shovel plate and the bolts in different postures.

[0087] Step S2: The staff selects the working condition requirement on the control panel, and automatically sets the maximum torque of the electric wrench 2 according to the operating procedures entered in advance.

[0088] Step S3: The first laser radar 100 is a 3D laser radar, which is set on the top of the control box. The 3D laser radar is mainly used for chassis navigation and obstacle avoidance, constructing a three-dimensional point cloud map of the working area, and providing the robot with real-time position and mobile obstacle avoidance during movement. At the same time, it can identify the shovel installation preset position during work, and move the robot to the operating position (shovel installation preset position) at the bolt of the shovel of the road grader through the robot navigation algorithm combined with the three-dimensional point cloud data.

[0089] Step S4: The ranging sensor 200 is a single-point laser sensor. When the robot moves to the operating position at the bolt of the shovel of the road grader, the controller obtains the spatial coordinate value of the shovel, and controls the mobile body 1 to adjust the angle. Through the adjustment of the mobile body 1, the vertical plane where the center line of the electric wrench 2 is located and the vertical plane where the shovel is located are maintained in a vertical relationship. During the adjustment process, the single-point laser sensor installed on the mobile body 1 monitors the distance between the robot and the shovel in real time until the measurement values ​​between the two single-point laser sensors are consistent and equal to the set values. At this time, the position between the electric wrench 2 and the shovel is the initial position where the electric wrench starts working.

[0090] Step S5: The second laser radar 400 is a single-line laser radar, which collects image information of the shovel plate and the bolts through the single-line laser radar and the depth camera (image acquisition component 8), and identifies and calibrates the shovel plate and the bolts to obtain the spatial coordinate values ​​of the bolts; the present application combines the detection results of the single-line laser radar and the depth camera to ensure the accurate positioning of the bolts on the shovel plate.

[0091] Step S6: The controller adjusts the height of the electric wrench 2 according to the spatial coordinate values ​​of the bolt fed back by the depth camera (image acquisition component 8) and the single-line laser radar (second laser radar 400), and the two lifting and moving components 6 lift the electric wrench 2 to the same height as the central axis of the bolt. Then, the controller controls the electric wrench 2 to move in the Y-axis direction. At this time, the second driving component 41 drives the tooling plate to move on the second moving guide rail 40 to achieve left and right movement of the electric wrench 2, and achieve position correspondence between the electric wrench 2 and the bolt. At this time, the center points of the electric wrench 2 and the bolt are on the same straight line. According to the adjustment of the Y-axis and the Z-axis (the Z-axis is the lifting direction), the depth camera starts shooting again, and the distance between the electric wrench 2 and the shovel nut is obtained. Spatial relationship, for example, there is an angular difference between the spatial positions of the cross sections of the two, the control component 9 will drive the two driving piston cylinders 73 and the two rotating motors 74 to adjust the pitch angle of the electric wrench 2. During the adjustment process, the depth camera obtains the relationship between the electric wrench 2 and the bolt in real time until the cross sections between the electric wrench 2 and the bolt are parallel to each other. During the flipping adjustment process, the controller follows up the position relationship in real time to compensate and fine-tune the Z-axis and Y-axis positions of the electric wrench 2 to ensure that the position relationship is accurate. Finally, the controller controls the first driving component 32 to drive the mounting plate 43 to move in the first direction. By moving back and forth, the electric wrench 2 is in contact with the bolt and continues to move forward, and finally a certain elastic deformation is formed between the elastic shaft (connecting section 20) on the electric wrench 2 and the bolt and squeezed on the bolt.

[0092] Step S7: The controller (control component 9) starts the wrench drive motor 21 of the electric wrench 2, and then the wrench drive motor 21 drives the rotating sleeve on the electric wrench 2 to rotate. When the rotating sleeve rotates to match the shape of the bolt, the elastic deformation between the connecting section 20 of the electric wrench 2 and the bolt is released to form a bite between the rotating sleeve and the bolt. At this time, the torque sensor 300 monitors the torque value rapidly rising in real time to determine that the electric wrench 2 is working normally until the disassembly and assembly of the bolt is completed.

[0093] In the embodiment of the present application, the first moving component 3 and the second moving component 4 are both electric slides.

[0094] From the above description, it can be seen that the above embodiments of the utility model achieve the following technical effects:

[0095] The utility model provides a self-disassembly and assembly robot, comprising: a mobile body 1, which is used to be movably arranged on a supporting base surface; an electric wrench 2, which is rotatably arranged around its axis; a first moving assembly 3, which is arranged on the mobile body 1; a second moving assembly 4, which is movably arranged on the first moving assembly 3 along a first direction, and the electric wrench 2 is movably arranged on the second moving assembly 4 along a second direction through a tooling plate 5; wherein the first direction and the second direction are vertically arranged; a lifting and moving assembly 6, which is drivingly connected to the first moving assembly 3 to drive the first moving assembly 3, the second moving assembly 4 and the electric wrench 2 to rise and fall; a rotating assembly 7, which comprises a rotating component 70, one end of the rotating component 70 is rotatably connected to the tooling plate 5, and the side of the rotating component 70 away from the tooling plate 5 is connected to the electric wrench 2, so as to drive the electric wrench 2 to flip relative to the tooling plate 5 through the rotating component 70. The electric wrench can be moved in all directions by the first moving component 3, the second moving component 4 and the lifting moving component 6. In this way, it can be adjusted arbitrarily according to the working space. Compared with the robotic arm, the above-mentioned setting of the present application makes the adjustment of the position of the electric wrench safer and more reliable. It can also enter places with relatively narrow operating spaces. Moreover, through the setting of the rotating component 7, the use angle of the electric wrench 2 can be further adjusted, making the use of the electric wrench 2 more flexible. And through the setting of the mobile body 1, the flexibility of the use of the self-disassembly robot can be further increased.

[0096] The above description is only the preferred embodiment of the utility model, and is not intended to limit the utility model. For those skilled in the art, the utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A self-assembly and disassembly robot, characterized in that: include: A mobile body (1) is used to be movably arranged on a supporting base surface; An electric wrench (2), the electric wrench (2) being rotatably arranged around its axis; A first moving component (3) is arranged on the moving body (1); A second movable assembly (4), wherein the second movable assembly (4) is movably arranged on the first movable assembly (3) along a first direction, and the electric wrench (2) is movably arranged on the second movable assembly (4) along a second direction via a tooling plate (5); wherein the first direction and the second direction are arranged perpendicularly; A lifting and moving assembly (6), wherein the lifting and moving assembly (6) is drivingly connected to the first moving assembly (3) so as to drive the first moving assembly (3), the second moving assembly (4) and the electric wrench (2) to lift and lower; The rotating assembly (7) comprises a rotating component (70), one end of which is rotatably connected to the tooling plate (5), and a side of the rotating component (70) away from the tooling plate (5) is connected to the electric wrench (2), so that the electric wrench (2) is driven to flip relative to the tooling plate (5) through the rotating component (70).

2. The self-assembly and disassembly robot according to claim 1, characterized in that: The rotating component (70) comprises: A rotating limit seat (71) has a limit space, and the electric wrench (2) is inserted into the limit space; A rotating support seat (72), the rotating limit seat (71) is connected to the rotating support seat (72), and the rotating support seat (72) is rotatably connected to the tooling plate (5).

3. The self-assembling robot according to claim 2, characterized in that: The rotating support seat (72) comprises a rotating connecting plate (720) and a connecting shaft (721) which are connected to each other; the rotating assembly (7) further comprises: A driving piston cylinder (73) is mounted on the tooling plate (5), and the driving piston cylinder (73) is drivingly connected to the connecting shaft (721) to drive the connecting shaft (721) and one end of the rotating connecting plate (720) to move, thereby driving the rotating connecting plate (720) to rotate relative to the tooling plate (5).

4. The self-assembly and disassembly robot according to claim 3, characterized in that: The driving piston cylinder (73), the rotating connecting plate (720), and the connecting shaft (721) are all two, the two rotating connecting plates (720) are arranged opposite to each other, the electric wrench (2) is located between the two rotating connecting plates (720), the two connecting shafts (721) are connected to the two rotating connecting plates (720) in a one-to-one correspondence, and the two driving piston cylinders (73) are connected to the two connecting shafts (721) in a one-to-one correspondence; and / or, The tooling plate (5) comprises two limiting plate bodies (50) arranged opposite to each other, the electric wrench (2) is located between the two limiting plate bodies (50), and the driving piston cylinder (73) is mounted on the limiting plate bodies (50).

5. The self-assembly and disassembly robot according to claim 3, characterized in that: The rotating assembly (7) comprises: a rotating motor (74), wherein the output shaft of the rotating motor (74) extends along the first direction, and the output shaft of the rotating motor (74) is drivingly connected to the first moving assembly (3) to drive the first moving assembly (3), the second moving assembly (4) and the electric wrench (2) to rotate; Wherein, the rotating motor (74) is located below the driving piston cylinder (73).

6. The self-assembly and disassembly robot according to claim 1, characterized in that: The first moving assembly (3) comprises a support plate (30) and a first moving guide rail (31) arranged on the support plate (30), the support plate (30) being arranged on the moving body (1), and the second moving assembly (4) being movably arranged on the first moving guide rail (31); the lifting moving assembly (6) comprises: A connecting frame (60), the connecting frame (60) being connected to the supporting plate (30); A lifting drive structure (61), wherein the lifting drive structure (61) is drivingly connected to the connecting frame (60) to drive the connecting frame (60) and the supporting plate (30) to lift and lower.

7. The self-assembling robot according to claim 6, characterized in that: The lifting drive structure (61) comprises: Lifting drive motor (610), A driving wheel, to which the output shaft of the lifting driving motor (610) is connected; A transmission wheel, the transmission wheel is drivingly connected to the driving wheel; A screw rod is threadedly connected to the transmission wheel, and the screw rod is movably arranged on the movable body (1) so as to drive the screw rod to move through the rotation of the transmission wheel.

8. The self-assembling robot according to claim 6, characterized in that: The mobile body (1) is provided with a mounting groove (101), the support plate (30) is arranged in the mounting groove (101), and the lifting and moving assembly (6) is arranged on one side of the mounting groove (101); wherein the connecting frame (60) comprises: A first connecting plate (601), the lifting drive structure (61) being drivingly connected to the first connecting plate (601); A second connecting plate (602), wherein the first connecting plate (601) and the second connecting plate (602) are connected to each other and are arranged at a preset angle, and the second connecting plate (602) is connected to the supporting plate (30).

9. The self-assembling robot according to claim 6, characterized in that: The lifting and moving assembly (6) further comprises: A support guide rod (62), one end of the support guide rod (62) is connected to the connecting frame (60), and the other end of the support guide rod (62) is movably arranged on the mobile body (1); Wherein, the supporting guide rod (62) and the lifting drive structure (61) are arranged at a distance.

10. The self-assembling robot according to any one of claims 1 to 9, characterized in that: The electric wrench (2) is a cylindrical structure, and there are two lifting and moving assemblies (6), which are respectively arranged on both sides of the radial direction of the electric wrench (2).

11. The self-assembling robot according to any one of claims 1 to 9, characterized in that: The self-assembly and disassembly robot comprises: An image acquisition component (8) for acquiring an image of a component to be disassembled or assembled, wherein the image acquisition component (8) is arranged on the electric wrench (2); A control component (9), the control component (9) is located on one side of the electric wrench (2), and the control component (9) is signal-connected with the image acquisition component (8), the first moving component (3), the second moving component (4), the lifting and moving component (6), the rotating component (7) and the electric wrench (2) so as to control the movement of the first moving component (3), the second moving component (4), the lifting and moving component (6), the rotating component (7) and the electric wrench (2) according to image information acquired by the image acquisition component (8).

12. The self-assembling robot according to claim 11, characterized in that: The self-assembly and disassembly robot comprises a first laser radar (100) for sensing the relative position between the mobile body (1) and the component to be disassembled, the first laser radar (100) being arranged on the control component (9) and connected to the control component (9) by signal, the control component (9) being connected to the mobile body (1) by signal, so as to control the movement of the mobile body (1) according to the detection result of the first laser radar (100); and / or, The self-assembly and disassembly robot comprises a plurality of distance measuring sensors (200), each of which is used to detect the distance between the mobile body (1) and the component to be disassembled; the plurality of distance measuring sensors (200) are arranged on the mobile body (1); the control component (9) is signal-connected to the mobile body (1) and the plurality of distance measuring sensors (200) so as to control the movement of the mobile body (1) according to the detection results of the plurality of distance measuring sensors (200); and / or, The self-assembly and disassembly robot comprises a second laser radar (400) for acquiring image information of a position of a component to be disassembled and assembled, and the second laser radar (400) is connected to the control component (9) by signal so as to control the movement of the first moving component (3), the second moving component (4), and the lifting and moving component (6) according to the detection result of the second laser radar (400); and / or The self-assembly and disassembly robot comprises a torque sensor (300) which is arranged on the electric wrench (2) to detect the rotational torque of the electric wrench (2); the torque sensor (300) is connected to the control component (9) by signal so as to control the operating state of the electric wrench (2) according to the detection result of the torque sensor (300).

13. The self-assembling robot according to any one of claims 1 to 9, characterized in that: The electric wrench (2) has a connecting section (20) for being inserted into a component to be disassembled, wherein: The self-assembly and disassembly robot comprises a reaction arm (201), wherein the reaction arm (201) is arranged on the connecting section (20) and is located on a side of the connecting section (20) close to the moving body (1); and / or, The connecting section (20) is made of elastic material.

Images