Large thread floating tightening mechanism

Through the six-axis manipulator combining the upper and lower floating mechanism and the floating claw mechanism, the problems of low tightening efficiency and poor depth consistency of large threads of pyrotechnics are solved, and efficient and automated tightening effects are achieved.

CN223146519UActive Publication Date: 2025-07-25SHANGHAI WORKPOWER TELECOM TECH
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Patent Information

Application Number
CN202421397141.7
Authority / Receiving Office
CN · China
Patent Type
Utility models(China)
Current Assignee / Owner
Filing Date
2024-06-19
Publication Date
2025-07-25
Estimated Expiration
2034-06-19

AI Technical Summary

Technical Problem

During the tightening process of large threads of existing pyrotechnic products, there are problems such as low tightening efficiency and poor consistency in screwing depth.

Method used

A six-axis manipulator is used to combine the upper and lower floating mechanism and the floating claw mechanism to achieve large thread tightening through the motor rotation of the six-axis manipulator, and is equipped with a detection mechanism to ensure consistency of the tightening depth.

Benefits of technology

It realizes large thread tightening of hot products with simple structure, good tightening effect and high consistency in screwing depth, improving the degree of automation and tightening efficiency.

✦ Generated by Eureka AI based on patent content.

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Abstract

The utility model belongs to the technical field of automatic tightening of initiating explosive devices, and particularly relates to a large-thread floating tightening mechanism which is used for achieving thread fit of a first product and a second product and comprises a six-axis mechanical arm and a supporting and positioning plate, the first product is fixed to the supporting and positioning plate, and the second product is arranged on the first product. A plurality of screwing grooves are formed in the end face of the second product. A mounting plate, an up-down floating mechanism and a floating claw screwing mechanism are sequentially assembled at the operation end of the six-axis manipulator; the up-down floating mechanism comprises a sliding shaft sleeve connected with the mounting plate, and a floating shaft is arranged in the sliding shaft sleeve in a sliding fit mode. According to the technical scheme of the large thread floating tightening mechanism, the up-down floating mechanism and the floating tightening claw mechanism are combined into a whole, the mechanism only needs to be placed on the surface of a second product, large thread tightening of an initiating explosive device can be achieved through rotation of a motor on a six-axis mechanical arm, the structure is simple, the tightening effect is good, and the consistency of the screwing depth is high.
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Description

Technical Field

[0001] The utility model belongs to the technical field of automatic tightening of initiators, and particularly relates to a large-thread floating tightening mechanism. Background Art

[0002] With the rapid development of industrial automation, more and more initiator operations have been automated. Among them, most of the large-thread tightening in initiators still uses manual tightening, which has problems such as low tightening efficiency and poor consistency of screwing-in depth. Content of the Utility Model

[0003] In view of the problems in the prior art, the utility model proposes the following technical solutions:

[0004] A large-thread floating tightening mechanism is used to realize the thread fitting of Product 1 and Product 2. The tightening mechanism includes a six-axis manipulator and a support positioning plate. Product 1 is fixed on the support positioning plate, Product 2 is placed on Product 1, and a plurality of screwing grooves are arranged on the end face of Product 2.

[0005] An operation end of the six-axis manipulator is sequentially equipped with a mounting plate, an up-and-down floating mechanism, and a floating claw mechanism.

[0006] The up-and-down floating mechanism includes a sliding shaft sleeve connected to the mounting plate. A floating shaft is slidably fitted in the sliding shaft sleeve, and a first spring is arranged between the floating shaft and the sliding shaft sleeve.

[0007] The floating claw mechanism includes a rotary mounting plate assembled with the floating shaft. A claw mounting plate is connected to the rotary mounting plate. Claw grooves with the same number as the screwing grooves are formed in the claw mounting plate. A tightening claw is slidably fitted in the claw groove, and the tightening claw is matched with the screwing groove. A second spring is arranged between the tightening claw and the claw groove.

[0008] Preferably, as the above technical solution, it further includes a detection mechanism. The detection mechanism includes a tightening sensor mounting plate and an in-place sensor mounting plate mounted on the sliding shaft sleeve. A tightening sensor is mounted on the tightening sensor mounting plate. A tightening light-shielding sheet is arranged below the tightening sensor and is mounted on the rotary mounting plate.

[0009] An in-place sensor is mounted on the in-place sensor mounting plate. An in-place light-shielding sheet is arranged below the in-place sensor and is mounted on the rotary mounting plate.

[0010] Preferably, as the above technical solution, a strip-shaped hole is formed in the side wall of the sliding shaft sleeve.

[0011] A stop rod is arranged on the floating shaft. An end of the stop rod penetrates through the strip-shaped hole and is connected with a retaining ring.

[0012] Preferably, one end of the floating shaft extends radially to form a limiting end;

[0013] An assembly hole is formed in the middle of the rotary mounting plate, and a second limiting groove is formed in the jaw mounting plate. The limiting end passes through the assembly hole and cooperates with the second limiting groove.

[0014] Preferably, a first limiting groove is formed on the floating shaft, and a convex block matching the first limiting groove is arranged on the side wall of the assembly hole.

[0015] Preferably, a groove communicating with the second limiting groove is formed in the jaw mounting plate, and the upper end of the second product is accommodated in the groove.

[0016] The beneficial effects of the utility model are as follows:

[0017] 1. In the technical solution of the large-thread floating tightening mechanism of the present invention, the up-and-down floating mechanism and the floating jaw mechanism are combined into one. It only needs to place the mechanism on the surface of the second product, and the large-thread tightening of the initiator can be realized by rotating the motor on the six-axis robot. The structure is simple and the tightening effect is good.

[0018] 2. In the technical solution of the large-thread floating tightening mechanism of the present invention, the floating amounts of the up-and-down floating mechanism and the floating jaw mechanism in the up-and-down direction are compared with the tightening amounts of the first product and the second product, and the consistency of the screwing depth is high. Description of the Drawings

[0019] Figure 1 Fig. shows the structural schematic diagram of a large-thread floating tightening mechanism in Embodiment 1;

[0020] Figure 2 Fig. shows Figure 1 the partial structural schematic diagram of a large-thread floating tightening mechanism in;

[0021] Figure 3 Fig. shows Figure 2 the cross-sectional schematic diagram of the up-and-down floating mechanism in;

[0022] Figure 4 Fig. shows Figure 2 the cross-sectional schematic diagram of the floating jaw mechanism in;

[0023] Figure 5 Fig. shows Figure 2 the structural schematic diagram of the detection mechanism in.

[0024] Reference numerals: six-axis manipulator 10, mounting plate 20, up-and-down floating mechanism 30, sliding bushing 31, strip-shaped hole 311, first spring 32, floating shaft 33, limiting end 331, first limiting groove 332, stop lever 34, retaining ring 35, floating claw tightening mechanism 40, rotary mounting plate 41, assembly hole 411, convex block 412, claw mounting plate 42, claw groove 421, second spring 422, tightening claw 423, second limiting groove 424, groove 425, detection mechanism 50, tightening sensor mounting plate 51, tightening sensor 52, tightening light-shielding sheet 53, in-place sensor mounting plate 54, in-place sensor 55, in-place light-shielding sheet 56, support positioning plate 60, product one 70, product two 80. Detailed implementation manners

[0025] To make the objectives, technical solutions, and advantages of the embodiments of the present utility model clearer, the technical solutions of the present utility model will be clearly and completely described below in conjunction with the embodiments.

[0026] Embodiment 1

[0027] As Figure 1 , Figure 2 , Figure 3 , Figure 4 shown, a large-thread floating tightening mechanism is used to realize the thread fitting of product one 70 and product two 80. The tightening mechanism includes a six-axis manipulator 10 and a support positioning plate 60. Product one 70 is fixed on the support positioning plate 60. Product two 80 is placed on product one 70. A plurality of tightening grooves are provided on the end face of product two 80;

[0028] The operating end of the six-axis manipulator 10 is sequentially assembled with a mounting plate 20, an up-and-down floating mechanism 30, and a floating claw tightening mechanism 40;

[0029] The up-and-down floating mechanism 30 includes a sliding bushing 31 connected to the mounting plate 20. A floating shaft 33 is slidably fitted in the sliding bushing 31. A first spring 32 is provided between the floating shaft 33 and the sliding bushing 31;

[0030] The floating claw tightening mechanism 40 includes a rotary mounting plate 41 assembled with the floating shaft 33. A claw mounting plate 42 is connected to the rotary mounting plate 41. Claw grooves 421 with the same number as the tightening grooves are provided on the claw mounting plate 42. A tightening claw 423 is slidably fitted in the claw groove 421. The tightening claw 423 matches the tightening groove. A second spring 422 is provided between the tightening claw 423 and the claw groove 421.

[0031] In the technical solution of this large-thread floating tightening mechanism, the setting of the first spring 32 enables the floating claw tightening mechanism 40 to drive the floating shaft 33 to move upward inside the sliding bushing 31 when the floating claw tightening mechanism 40 is subjected to an upward force, so that the mechanism has a certain range of floating amount in the up-and-down direction.

[0032] When this mechanism performs tightening operations on Product 1 - 70 and Product 2 - 80, it includes the following steps:

[0033] 1. Fix Product 1 - 70 on the support positioning plate 60, and place Product 2 - 80 on top of Product 1 - 70;

[0034] 2. The six - axis manipulator 10 drives the up - and - down floating mechanism 30 and the floating claw mechanism 40 to move downward until the claw mounting plate 42 contacts the upper end face of Product 2 - 80, and the tightening claw 423 is pressed into the inside of the claw groove 421;

[0035] The six - axis manipulator 10 drives the up - and - down floating mechanism 30 and the floating claw mechanism 40 to continue moving downward until the set floating amount is reached. At this time, because the up - and - down floating mechanism 30 and the floating claw mechanism 40 move downward while the position of Product 2 - 80 is fixed, Product 2 - 80 exerts an upward force on the floating claw mechanism 40, and the floating claw mechanism 40 drives the floating shaft 33 to move upward inside the sliding bushing 31;

[0036] 3. Correct the relative position between the tightening claw 423 and the screw groove. The six - axis manipulator 10 drives the up - and - down floating mechanism 30 and the floating claw mechanism 40 to rotate. Under the action of the second spring 422, the tightening claw 423 extends out of the claw groove 421 and inserts into the inside of the screw groove;

[0037] 4. The six - axis manipulator 10 drives the up - and - down floating mechanism 30 and the floating claw mechanism 40 to continue rotating. During the rotation process, the floating claw mechanism 40 moves downward under the action of the first spring 32. Through the cooperation of the tightening claw 423 and the screw groove, it drives Product 2 - 80 to rotate and screw into Product 1 - 70 until the floating amount is 0, and the tightening operation is completed.

[0038] In the technical solution of this large - thread floating tightening mechanism, the up - and - down floating mechanism 30 and the floating claw mechanism 40 are combined into one body. Only by placing this mechanism on the surface of Product 2 - 80 and rotating the motor on the six - axis manipulator 10 can the large - thread tightening of the initiator be achieved. The structure is simple and the tightening effect is good.

[0039] At the same time, in the technical solution of this large - thread floating tightening mechanism, the floating amounts of the up - and - down floating mechanism 30 and the floating claw mechanism 40 in the up - and - down direction are calibrated with the tightening amounts of Product 1 - 70 and Product 2 - 80, and the consistency of the screwing depth is high.

[0040] To improve the automation level of this mechanism and further ensure the consistency of the screwing depth, a detection mechanism 50 is set to control the tightening amount, and the specific performance is as follows Figure 1 , Figure 2 , Figure 5As shown, it also includes a detection mechanism 50, which includes a tightening sensor mounting plate 51 and an in-position sensor mounting plate 54 mounted on the sliding sleeve 31, a tightening sensor 52 is mounted on the tightening sensor mounting plate 51, a tightening light shielding sheet 53 is arranged below the tightening sensor 52, and the tightening light shielding sheet 53 is mounted on the rotating mounting plate 41;

[0041] An in-position sensor 55 is mounted on the in-position sensor mounting plate 54 . An in-position light shielding sheet 56 is provided below the in-position sensor 55 . The in-position light shielding sheet 56 is mounted on the rotating mounting plate 41 .

[0042] In the detection mechanism 50 of the present technical solution, the six-axis manipulator 10 drives the up-and-down floating mechanism 30 and the floating claw mechanism 40 to move downward to counter the product 2 80. When the mechanism reaches the set floating amount, the in-place sensor 55 detects the rising in-place light shielding sheet 56 and transmits a rotation signal to the six-axis manipulator 10.

[0043] When the six-axis manipulator 10 drives the upper and lower floating mechanism 30 and the floating claw mechanism 40 to rotate and tighten the product 1 70 and the product 2 80, the floating claw mechanism 40 moves downward relative to the upper and lower floating mechanism 30. When the floating amount is reduced to 0, the tightening sensor 52 detects the descending tightening shading plate 53 and transmits a stop rotation signal to the six-axis manipulator 10, indicating that the tightening is in place.

[0044] The provision of the detection mechanism 50 improves the automation level of the mechanism and ensures the consistency of the screwing depth.

[0045] To ensure that the floating shaft 33 and the sliding sleeve 31 slide together in the up and down directions, and to prevent the floating shaft 33 from rotating inside the sliding sleeve 31 and affecting the tightening operation, Figure 3 As shown, a strip hole 311 is opened on the side wall of the sliding sleeve 31; a stop rod 34 is arranged on the floating shaft 33, and the end of the stop rod 34 passes through the strip hole 311 and is connected to a retaining ring 35, and the stop rod 34 and the retaining ring 35 can be assembled by screws.

[0046] When the floating shaft 33 moves up and down inside the sliding sleeve 31, the stop rod 34 slides in cooperation with the strip hole 311. The setting of the sliding cooperation between the stop rod 34 and the strip hole 311 prevents the floating shaft 33 from rotating inside the sliding sleeve 31. At the same time, the height of the strip hole 311 also limits the floating amount of the floating shaft 33, thereby preventing the floating shaft 33 from escaping from the sliding sleeve 31.

[0047] In order to improve the stability of the assembly of the up and down floating mechanism 30 and the floating claw mechanism 40, as Figure 3 , Figure 4 As shown, one end of the floating shaft 33 radially extends to form a limiting end 331;

[0048] An assembly hole 411 is provided in the middle of the rotating mounting plate 41. A second limiting groove 424 is provided on the jaw mounting plate 42. When the up-and-down floating mechanism 30 and the floating wrench jaw mechanism 40 are assembled, the limiting end 331 passes through the assembly hole 411 and cooperates with the second limiting groove 424 to limit the floating shaft 33 in the axial direction (the up-and-down direction of the mechanism), improving the position accuracy during assembly and at the same time preventing the floating shaft 33 from moving in the up-and-down direction in the assembly hole 411.

[0049] To further improve the assembly stability of the up-and-down floating mechanism 30 and the floating wrench jaw mechanism 40, as Figure 3 、 Figure 4 shown, a first limiting groove 332 is provided on the floating shaft 33, and a convex block 412 matching the first limiting groove 332 is provided on the side wall of the assembly hole 411;

[0050] When the up-and-down floating mechanism 30 and the floating wrench jaw mechanism 40 are assembled, the floating shaft 33 is inserted into the interior of the assembly hole 411, and the convex block 412 is located inside the first limiting groove 332 to limit the floating shaft 33 in the circumferential direction, preventing the floating shaft 33 from rotating inside the assembly hole 411 during assembly and use.

[0051] To further improve the matching degree of this mechanism with the product two 80 and improve the tightening effect, as Figure 2 、 Figure 4 shown, a groove 425 communicating with the second limiting groove 424 is provided on the jaw mounting plate 42. When this mechanism tightens the product one 70 and the product two 80, the groove 425 accommodates the upper end portion of the product two 80.

[0052] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it.

Claims

1. A large-thread floating tightening mechanism for realizing the thread fit between Product 1 (70) and Product 2 (80). The tightening mechanism includes a six-axis manipulator (10) and a support positioning plate (60). Product 1 (70) is fixed on the support positioning plate (60), and Product 2 (80) is placed on Product 1 (70). It is characterized in that, A plurality of screwing grooves are provided on the end face of the second product (80). An operation end of the six-axis manipulator (10) is sequentially equipped with a mounting plate (20), an up-and-down floating mechanism (30), and a floating screwing claw mechanism (40). The up-and-down floating mechanism (30) includes a sliding shaft sleeve (31) connected to the mounting plate (20). A floating shaft (33) is slidably fitted in the sliding shaft sleeve (31), and a first spring (32) is arranged between the floating shaft (33) and the sliding shaft sleeve (31). The floating screwing claw mechanism (40) includes a rotary mounting plate (41) assembled with the floating shaft (33). A claw mounting plate (42) is connected to the rotary mounting plate (41). The claw mounting plate (42) is provided with claw grooves (421) having the same number as the screwing grooves. A tightening claw (423) is slidably fitted in the claw grooves (421). The tightening claw (423) is matched with the screwing grooves. A second spring (422) is arranged between the tightening claw (423) and the claw grooves (421).

2. The large-thread floating tightening mechanism according to claim 1, characterized in that, It further includes a detection mechanism (50). The detection mechanism (50) includes a tightening sensor mounting plate (51) and a position-in-place sensor mounting plate (54) mounted on the sliding shaft sleeve (31). A tightening sensor (52) is mounted on the tightening sensor mounting plate (51). A tightening light-shielding sheet (53) is arranged below the tightening sensor (52), and the tightening light-shielding sheet (53) is mounted on the rotary mounting plate (41). A position-in-place sensor (55) is mounted on the position-in-place sensor mounting plate (54). A position-in-place light-shielding sheet (56) is arranged below the position-in-place sensor (55), and the position-in-place light-shielding sheet (56) is mounted on the rotary mounting plate (41).

3. A large-thread floating tightening mechanism according to claim 1, characterized in that A strip-shaped hole (311) is formed in the side wall of the sliding shaft sleeve (31). A stop rod (34) is arranged on the floating shaft (33). An end of the stop rod (34) passes through the strip-shaped hole (311) and is connected with a retaining ring (35).

4. The large-thread floating tightening mechanism according to claim 2, characterized in that, A limiting end (331) extends radially at one end of the floating shaft (33). An assembly hole (411) is formed in the middle of the rotary mounting plate (41). A second limiting groove (424) is formed in the claw mounting plate (42). The limiting end (331) passes through the assembly hole (411) and is matched with the second limiting groove (424).

5. A large-thread floating tightening mechanism according to claim 4, characterized in that, A first limiting groove (332) is formed in the floating shaft (33). A convex block (412) matched with the first limiting groove (332) is arranged on the side wall of the assembly hole (411).

6. A large-thread floating tightening mechanism according to claim 4, characterized in that, A groove (425) communicating with the second limiting groove (424) is formed in the claw mounting plate (42). The groove (425) accommodates the upper end of the second product (80).