Large-torque tightening robot clamp with clamping jaws
By designing a large torque tightening robot fixture with jaws, using multiple linear bearings and guide rods to transmit torque, and combining with the cylinder to compensate for linear motion, the problem of difficulty in automatically tightening large parts in the prior art is solved, and reliable tightening and efficient production of parts with special shapes, too large sizes or too large weights are achieved.
Patent Information
- Application Number
- CN202421400060.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-19
- Publication Date
- 2025-05-13
- Estimated Expiration
- 2034-06-19
AI Technical Summary
Existing large torque tightening guns are difficult to automatically tighten parts with special shapes, too large sizes or too large weights, and the telescopic friction force increases under high torque, which can easily lead to jamming and part displacement.
A large torque tightening robot fixture with jaws is designed, using multiple linear bearings and guide rods to transmit torque, combining the cylinder to compensate for the linear movement of the parts, and a clamping cylinder is installed at the front end of the fixture to grab the parts.
Reliable tightening of parts with special shapes, too large sizes or too large weights is achieved, reducing telescopic friction during tightening and additional thrust that parts bear, and improving production efficiency.
Smart Images
Figure CN222857268U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of tightening equipment, in particular to a large-torque tightening robot clamp with clamping claws. Background Art
[0002] In automated production, it is often necessary to tighten threaded parts. When the threads are tightened, the parts rotate and move linearly along the axis of the threads. Currently, the high-torque tightening guns sold on the market mostly use a motor + spring telescopic structure to complete the tightening action. This type of tightening gun can only complete the tightening action and cannot automatically take parts for assembly. It is mostly used for manual and semi-automatic assembly with low efficiency. When automatic assembly is required, a negative pressure structure is generally added to the front end of the gun head to use negative pressure adsorption to absorb parts, but generally only screws with smaller mass can be absorbed.
[0003] During the process of thread tightening, the part rotates and moves linearly along the thread axis. In addition to rotating, the tightening gun needs to expand and contract to compensate for the linear motion of the part. At present, spring compression is often used to compensate for linear motion. When the torque increases, the friction of expansion and contraction increases accordingly, and a larger spring is needed to provide expansion and contraction force. At this time, the expansion and contraction mechanism is easy to get stuck, and the part is subjected to additional thrust, which is easy to cause the part to move. When the part is of special shape / oversized / overweight, etc., the negative pressure cannot suck up the part. Utility Model Content
[0004] The utility model aims to provide a large torque tightening robot clamp with clamping claws, which can grasp parts with special shapes, large sizes or heavy weights, and reduce the telescopic friction during tightening and the additional thrust borne by the parts.
[0005] The above purpose is achieved through the following technical solutions:
[0006] A large torque tightening robot fixture with a clamping claw comprises: a tightening mechanism and a telescopic clamping mechanism, wherein the tightening mechanism is fixed to the end of the robot, the tightening mechanism comprises a box body, the box body is connected to a box body tightening motor mounting plate, a tightening motor is mounted on the tightening motor mounting plate, the tightening motor is connected to a hollow shaft, the hollow shaft is connected to the box body through a bearing, the front section of the gas-electric slip ring is connected to the box body, and the rear section of the gas-electric slip ring is connected to the hollow shaft;
[0007] The telescopic clamping mechanism is mounted on the hollow shaft of the tightening mechanism.
[0008] Furthermore, the front end protrusion of the tightening motor is inserted into the groove of the rear section of the hollow shaft.
[0009] Furthermore, the rear end cable and the air pipe of the gas-electric slip ring pass through the threading hole on the hollow shaft and extend out from the front end of the hollow shaft.
[0010] Furthermore, the telescopic clamping mechanism includes a telescopic flange, a group of linear bearings are installed on one side of the telescopic flange, the linear bearing is connected to the guide rod, the guide rod is connected to the tightening disk, the tightening disk is equipped with a tightening claw and a clamping cylinder, and the clamping cylinder is connected to the clamping claw; the other side of the telescopic flange is connected to the telescopic cylinder, the telescopic cylinder is connected to the telescopic cylinder extension rod, and the telescopic cylinder extension rod passes through the telescopic flange and is connected to the tightening disk.
[0011] Furthermore, the guide rod is connected to the guide rod connecting plate.
[0012] Beneficial effects of the utility model:
[0013] The utility model adopts a combination of multiple linear bearings and guide columns to transmit the torque of tightening the thread while reducing friction. At the same time, a hollow main shaft + air-electric slip ring combination is used to transmit air and electricity to the front end of the clamp, and a cylinder is used to drive the guide column to extend and retract to ensure that the extension and retraction force is controllable during tightening. A three-claw cylinder is installed at the front end of the clamp to grab parts, and the clamping is safe and reliable.
[0014] The utility model has a reliable structure, clear functions and is easy to implement. Torque is transmitted through multiple linear bearings and guide rods, and the cylinder is used to compensate for the linear motion of the parts, thereby ensuring reliable tightening of the parts. Through the combination of the pneumatic slip ring, the hollow shaft and the front clamping cylinder, the tightening fixture has the ability to independently clamp complex parts.
[0015] The utility model overcomes the difficulty of tightening large-size parts and large-torque threads, enables the robot to automatically tighten complex large-torque parts, and greatly improves production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Attached Figure 1 It is a structural schematic diagram of the utility model.
[0017] Attached Figure 2 It is a structural schematic diagram of the tightening mechanism of the utility model.
[0018] Attached Figure 3 It is a structural schematic diagram of the telescopic clamping mechanism of the utility model.
[0019] Attached Figure 4 It is a schematic diagram of the utility model before clamping a workpiece.
[0020] Attached Figure 5 It is a schematic diagram of the utility model after clamping a workpiece. DETAILED DESCRIPTION
[0021] In order to make the purpose, technical solution and advantages of the embodiment of the utility model clearer, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is a part of the embodiment of the utility model, not all of the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.
[0022] The utility model provides a large torque tightening robot clamp with a clamping claw, as shown in the attached Figure 1 As shown, it comprises: a tightening mechanism 1 and a telescopic clamping mechanism 2. The tightening mechanism 1 is fixed on the end of the robot.
[0023] As attached Figure 2 As shown, the tightening mechanism 1 is composed of a tightening motor 101 , a tightening motor mounting plate 102 , a box 103 , a pneumatic slip ring 104 , and a hollow shaft 105 .
[0024] The tightening motor 101 and the tightening motor mounting plate 102 are connected together by screws.
[0025] Tighten the motor mounting plate 102 and the box body 103 together by screws.
[0026] The housing 103 and the hollow shaft 105 are connected together via a bearing.
[0027] The front end protrusion of the tightening motor 101 is inserted into the rear end groove of the hollow shaft 105, so as to drive the hollow shaft to rotate.
[0028] The gas-electric slip ring 104 is a two-section rotatable structure. The front section of the gas-electric slip ring 104 is connected to the box body 103 through a connecting plate and screws, and the rear section of the gas-electric slip ring 104 is connected to the hollow shaft 105 through a connecting plate and screws.
[0029] The rear end cable and air pipe of the gas-electric slip ring 104 pass through the threading hole on the hollow shaft 105 and extend from the front end of the hollow shaft 105 to provide power for the telescopic clamping mechanism 2.
[0030] As attached Figure 3 As shown, the telescopic clamping mechanism 2 is mounted on the hollow shaft 105 of the tightening mechanism 1 and connected with the flat key through a round nut. The telescopic clamping mechanism 2 is composed of a guide rod connecting plate 201, a telescopic flange 202, a tightening plate 203, a tightening claw 204, a clamping claw 205, a clamping cylinder 206, a telescopic cylinder extension rod 207, a telescopic cylinder 208, a linear bearing 209, and a guide rod 210.
[0031] The telescopic flange 202 and the linear bearing 209 are connected together by screws.
[0032] The telescopic flange 202 and the telescopic cylinder 208 are connected together by screws.
[0033] The guide rod 210 is connected to the tightening disk 203 by screws, and the guide rod 210 is inserted into the linear bearing 209 .
[0034] The guide rod 210 and the guide rod connecting plate 201 are connected together by screws.
[0035] The telescopic cylinder 208 and the telescopic cylinder extension rod 207 are connected together through threads.
[0036] The telescopic cylinder extension rod 207 is connected to the tightening plate 203 by screws.
[0037] The telescopic cylinder 208 is extended and retracted to drive the telescopic cylinder extension rod 207 and the tightening plate 203 to extend and retract, and can compensate for the linear motion of the parts during tightening.
[0038] The clamping cylinder 206 is connected to the tightening plate 203 by screws.
[0039] The clamping cylinder 206 is connected with the clamping claw 205 by screws. When the clamping cylinder 206 is opened, the clamping claw 205 contacts the part and clamps the part by friction.
[0040] The tightening claw 204 is connected with the tightening disk 203 by screws. The tightening claw 204 applies torque to the workpiece.
[0041] Workflow:
[0042] Initially, the robot fixture is located at the origin, the telescopic cylinder 208 is in a retracted state, and the clamping cylinder 206 is in a closed state. Figure 4 shown.
[0043] After receiving the clamping instruction, the tightening claw 204 is inserted into the workpiece, and the tightening disk 203 is close to the end face of the part.
[0044] At this time, the clamping cylinder 206 will open, and the clamping claw 205 will contact the part and clamp the part by friction. Figure 5 shown.
[0045] After receiving the tightening instruction, the tightening motor 101 starts to rotate to drive the telescopic clamping mechanism 2 to rotate as a whole, and the parts rotate together with the telescopic clamping mechanism 2. At the same time, the telescopic cylinder 208 extends to compensate for the linear motion of the parts to complete the tightening.
[0046] The utility model adopts multiple linear bearings and guide rods to bear the torque during tightening, reducing the friction force of compensating the linear motion of parts during tightening. The cylinder is used to replace the spring to compensate the linear motion, making the extension and retraction controllable. The air and electricity are led to the front section of the fixture by using the air-electric slip ring and the hollow shaft, and the clamping cylinder is installed at the front section, so that the fixture has the ability to clamp complex parts.
[0047] Through the improved telescopic structure, the telescopic friction during tightening and the additional thrust on the parts are reduced; the part grasping method is improved to provide the ability to grasp parts with special shapes / oversized / overweight.
[0048] The utility model can use a pneumatic motor, a hydraulic motor or an electric motor to provide the tightening force.
[0049] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the utility model.
Claims
1. A high torque tightening robot fixture with a clamping jaw, characterized in that: include: A tightening mechanism (1) and a telescopic clamping mechanism (2), wherein the tightening mechanism (1) is fixed to the end of the robot, the tightening mechanism (1) comprises a box (103), the box (103) is connected to a box tightening motor mounting plate (102), a tightening motor (101) is mounted on the tightening motor mounting plate (102), the tightening motor (101) is connected to a hollow shaft (105), the hollow shaft (105) is connected to the box (103) via a bearing, a front section of an air-electric slip ring (104) is connected to the box (103), and a rear section of the air-electric slip ring (104) is connected to the hollow shaft (105); The telescopic clamping mechanism (2) is mounted on the hollow shaft (105) of the tightening mechanism (1).
2. The high-torque tightening robot fixture with clamping jaws according to claim 1 is characterized in that: The front end protrusion of the tightening motor (101) is inserted into the rear end groove of the hollow shaft (105).
3. The high-torque tightening robot fixture with clamping jaws according to claim 1 or 2, characterized in that: The rear end cable and the air pipe of the gas-electric slip ring (104) pass through the threading hole on the hollow shaft (105) and extend out from the front end of the hollow shaft (105).
4. The high-torque tightening robot fixture with clamping jaws according to claim 3 is characterized in that: The telescopic clamping mechanism (2) comprises a telescopic flange (202), one side of the telescopic flange (202) is equipped with a group of linear bearings (209), the linear bearings (209) are connected to a guide rod (210), the guide rod (210) is connected to a tightening disk (203), a tightening claw (204) and a clamping cylinder (206) are installed on the tightening disk (203), the clamping cylinder (206) is connected to the clamping claw (205); the other side of the telescopic flange (202) is connected to a telescopic cylinder (208), the telescopic cylinder (208) is connected to a telescopic cylinder extension rod (207), and the telescopic cylinder extension rod (207) passes through the telescopic flange (202) and is connected to the tightening disk (203).
5. The high-torque tightening robot fixture with clamping jaws according to claim 4 is characterized in that: The guide rod (210) is connected to the guide rod connecting plate (201).