Movable nut assembly mechanical arm

Abstract

The utility model relates to the field of automatic assembly, in particular to a movable nut assembly mechanical arm which comprises a rack, a first cantilever is hinged to the rack, a second cantilever is hinged to the free end of the first cantilever, a vertical telescopic arm is fixed to the free end of the second cantilever, and the bottom end of a movable body of the telescopic arm is connected with a rotating shaft. The bottom of the rotating shaft is fixedly connected with a mounting frame, an electric wrench is fixed on the mounting frame, a spring balancer is fixed on the telescopic arm, a connecting arm is fixed on the rotating shaft, a connecting hole is formed in the connecting arm, and a drag hook of the spring balancer is connected with the connecting hole. The tightening gun solves the problem that in the prior art, in the tightening process, when the reverse torque is too large, the whole tightening gun deflects, and therefore the assembling stability is affected.

Description

TECHNICAL FIELD

[0001] The utility model relates to automatic assembly field, concretely relates to a movable nut assembly mechanical arm. BACKGROUND

[0002] At present, when the left and right longitudinal beams of the automobile are automatically assembled, the mechanical arm drives the tightening gun to move to the position to be assembled after the product to be assembled is clamped and positioned, and the nut is automatically tightened by the tightening gun. Because the weight of the tightening gun cannot be borne by the operator, auxiliary mechanisms such as a balancer are usually used to balance the weight of the tightening gun and the mechanical arm, for example, a bolt tightening auxiliary arm mechanism (publication number CN209986875U, publication date 2020-01-24) disclosed in the prior art, which can balance the weight of the mechanical arm to some extent and reduce the burden of the operator.

[0003] However, the inventors have found through research that the prior art still has defects: the prior art balances the weight of the mechanical arm by connecting the tension spring and the balance cylinder between the pull rod and the connecting block arranged at one end of the pull rod. The other end of the connecting rod is connected to the vertical rotating shaft through the connecting plate, and the bottom end of the rotating shaft is fixed with the tightening gun, so that the tightening gun can rotate in the horizontal direction to change the processing position. However, the tension spring and the balance cylinder mainly act on the connecting rod, and although the weight of the connecting rod, the connecting plate and the tightening gun as a whole can be balanced to some extent, when the torsion of the tightening gun is too large during work, for example, when assembling large parts, the reverse torque of the tightening gun is too large, which may cause the tightening gun as a whole to deflect around the rotating shaft, thereby affecting the assembly stability. CONTENT OF THE UTILITY MODEL

[0004] The utility model intends to provide a movable nut assembly mechanical arm to solve the problem that the reverse torque is too large during the tightening process in the prior art, which may cause the tightening gun as a whole to deflect, thereby affecting the assembly stability.

[0005] To achieve the above-mentioned purpose, the utility model adopts the following technical solutions:

[0006] The movable nut assembly mechanical arm comprises a rack, a first cantilever is hinged on the rack, a second cantilever is hinged at the free end of the first cantilever, a vertical telescopic arm is fixed at the free end of the second cantilever, a rotating shaft is connected at the bottom end of the moving body of the telescopic arm, a mounting bracket is fixedly connected at the bottom of the rotating shaft, an electric wrench is fixed on the mounting bracket, a spring balancer is fixed on the telescopic arm, a connecting arm is fixed on the rotating shaft, a connecting hole is formed in the connecting arm, and the pull hook of the spring balancer is connected with the connecting hole.

[0007] Preferably, as an improvement, the mounting frame comprises an L-shaped mounting plate and an n-shaped connecting plate, the thickness of the mounting plate is greater than that of the connecting plate, the bottom of the front end of the connecting plate is fixedly connected with the horizontal part of the mounting plate, and the top is connected with the rotating shaft, and the head of the electric wrench is fixed on the vertical part of the mounting plate.

[0008] Preferably, as an improvement, reinforcing plates are integrally formed on both sides of the front end of the connecting plate, the reinforcing plates are fixedly connected with the mounting plate, an auxiliary handle is mounted on the reinforcing plate, and a starting handle is mounted at the rear end of the connecting plate.

[0009] Preferably, as an improvement, first and second weight-reducing holes are formed on both sides of the connecting plate, and the second weight-reducing hole is arranged at the rear side of the first weight-reducing hole.

[0010] Preferably, as an improvement, the top of the first and second weight-reducing holes extends to the top of the connecting plate.

[0011] Preferably, as an improvement, the area of the second weight-reducing hole at the top of the connecting plate is greater than that of the first weight-reducing hole at the top of the connecting plate.

[0012] The principle and advantages of the scheme are as follows:

[0013] 1. The telescopic arm is used to realize the lifting of the electric wrench, and the pull hook of the spring balancer is connected to the connecting arm, which can effectively balance the weight of the electric wrench, thereby balancing the gravity of the electric wrench and reducing the burden of the telescopic arm and the operator. In addition, the connecting arm is fixed at the rotating shaft, so that the pull hook of the balancer connected at this position can also effectively prevent the electric wrench from deflecting during the tightening process.

[0014] 2. The connecting arm is fixed at the rotating shaft, compared with fixing the pull hook of the spring balancer at other positions of the mounting frame or on the telescopic arm, directly fixing it at the rotating point of the tightening gun, which can more effectively prevent the electric wrench from deflecting due to excessive torque during the tightening process.

[0015] 3. The telescopic arm is used to realize the lifting of the tightening gun, compared with the existing technology which uses a hinged connecting rod to lift, the present scheme can be lifted vertically, which saves more horizontal space and can be used in space-limited scenes.

[0016] 4. Through the first and second cantilever arms and the rotating shaft, the electric wrench can be rotated in multiple directions in the horizontal direction, which is convenient for switching between multiple workstations, and multiple workstations can share a set of assembly robot arm, saving equipment resources.

[0017] 5. The L-shaped mounting plate and the N-shaped connecting plate are combined to form a mounting frame. The head of the electric wrench is fixed to the thicker mounting plate, while the mounting plate and the rotating shaft are located at the front end of the connecting plate. The start handle is located at the rear end of the connecting plate. In actual use, the operator holds the start handle to operate the wrench. The operator's force is applied to the rear end of the connecting plate, while the telescopic arm is connected to the electric wrench at the front end of the connecting plate. This allows the electric wrench and the connecting plate to remain stable front and back, thus keeping the electric wrench horizontal and ensuring the assembly effect.

[0018] 6. The modular mounting bracket facilitates disassembly, transportation, and processing, as well as maintenance and replacement. A reinforcing plate at the front end of the connecting plate connects to the mounting plate, providing greater stability and structural strength compared to relying solely on a top connection.

[0019] 7. The connecting plate is made of thinner sheet metal, and large weight-reducing holes are set on both sides, which can effectively reduce the weight of the connecting plate, thereby further reducing the burden on the operator, making operation more convenient, and also reducing the load on the telescopic arm.

[0020] 8. Since the rear end of the connecting plate only needs to load the start handle and the load requirement is not high, the top of the second weight reduction hole extends further to the top of the connecting plate, thereby forming a larger weight reduction hole area, which can reduce the weight of the connecting plate as much as possible while meeting the load requirements. Attached Figure Description

[0021] Figure 1 This is a structural schematic diagram of an embodiment of the present utility model.

[0022] Figure 2 This is a partial structural schematic diagram of an embodiment of the present utility model. Detailed Implementation

[0023] The following detailed description illustrates the specific implementation method:

[0024] The reference numerals in the accompanying drawings include: frame 1, hinge 2, first cantilever 3, second cantilever 4, fixed body 5, spring balancer 6, moving body 7, connecting arm 8, connecting plate 9, start handle 10, auxiliary handle 11, electric wrench 12, mounting plate 13, first weight reduction hole 14, second weight reduction hole 15, reinforcing plate 16, rotating shaft 17, and connecting hole 18.

[0025] Example:

[0026] like Figure 1 and Figure 2As shown, the mobile nut assembly robot arm comprises a vertical frame 1, the top end of the frame 1 is hinged with a horizontal first cantilever 3 through a hinge 2, the free end of the first cantilever 3 is hinged with a horizontal second cantilever 4 through a hinge 2. The free end of the second cantilever 4 is fixed with a vertical telescopic arm through a bolt, the telescopic arm adopts the telescopic arm in the prior art, comprising a fixed body 5 and a moving body 7, the fixed body 5 is fixed with the second cantilever 4, the moving body 7 is driven to move in the fixed body 5 through a driving member, thereby realizing telescopic, which is prior art and will not be described here. The bottom end of the moving body 7 of the telescopic arm is connected with a rotating shaft 17, the rotating shaft 17 is bolted with a connecting arm 8, the connecting arm 8 is provided with a connecting hole 18, the telescopic arm is bolted with a spring balancer 6, and the pull hook of the spring balancer 6 is connected with the connecting hole 18.

[0027] The bottom of the rotating shaft 17 is fixedly connected with a mounting bracket, and the mounting bracket is fixedly connected with an electric wrench 12. Specifically, the mounting bracket comprises an L-shaped mounting plate 13 and an n-shaped connecting plate 9, the thickness of the mounting plate 13 is greater than the thickness of the connecting plate 9, the bottom of the front end of the connecting plate 9 is located at the top of the horizontal part of the mounting plate 13, and the rotating shaft 17 is located at the top of the front end of the connecting plate 9, and the three are fixedly connected through bolts. The head of the electric wrench 12 is fixed on the vertical part of the mounting plate 13 through a bolt.

[0028] The front end of the connecting plate 9 is integrally formed with a reinforcing plate 16 on both sides, and the two reinforcing plates 16 are fixedly connected with the vertical part of the mounting plate 13 on both sides through bolts. A side of the reinforcing plate 16 is screw-mounted with an auxiliary handle 11, and the top of the rear end of the connecting plate 9 is screw-mounted with a starting handle 10. The auxiliary handle 11 is used for the operator to hold to assist the electric wrench 12 to move forward and backward and rotate around the rotating shaft 17. First and second weight-reducing holes 14 and 15 are formed in the two sides of the connecting plate 9, the second weight-reducing hole 15 is formed on the rear side of the first weight-reducing hole 14, the top of the first and second weight-reducing holes 14 and 15 extends to the top of the connecting plate 9, and the area of the second weight-reducing hole 15 on the top of the connecting plate 9 is greater than the area of the first weight-reducing hole 14 on the top of the connecting plate 9.

[0029] In actual application, after the product is clamped on the machining table, the robot arm drives the electric wrench 12 to move to the specified assembly position, the movement of the electric wrench 12 in the horizontal direction is driven by the first cantilever 3, the second cantilever 4 and the rotating shaft 17, and the movement of the electric wrench 12 in the vertical direction is realized by the telescopic arm.

[0030] After the electric wrench 12 is in place, the operator holds the starting handle 10, aligns the electric wrench 12 with the nut to be assembled, and then presses the starting button on the starting handle 10, so that the electric wrench 12 rotates to tighten the nut. During the whole process, the spring balancer 6 can effectively balance the gravity of the electric wrench 12 by pulling the mounting frame and the electric wrench 12 through the pull rope, thereby reducing the burden of the operator. In addition, the pull hook of the spring balancer 6 is connected at the rotating shaft 17, which can effectively prevent the electric wrench 12 from deflecting around the telescopic arm as the axis due to excessive torque during the tightening process, thereby ensuring the normal operation of the electric wrench 12 and the assembly quality of the nut.

[0031] The above is only an embodiment of the present application, and the specific technical solutions and / or common knowledge of characteristics in the scheme are not described in detail. It should be noted that for those skilled in the art, without departing from the technical solutions of the present application, a number of modifications and improvements can be made, which should also be considered as the protection scope of the present application, and these will not affect the effect and practicality of the present application. The protection scope of the present application should be subject to the content of its claims, and the specific implementation mode and the like recorded in the specification can be used to explain the content of the claims.

Claims

1. A mobile nut assembly robot comprising a frame, a first cantilever arm hingedly connected to the frame, and a second cantilever arm hingedly connected to a free end of the first cantilever arm, characterized in that: The second cantilever free end is fixed with a vertical telescopic arm, the moving body bottom end of the telescopic arm is connected with a rotating shaft, the rotating shaft bottom is fixedly connected with a mounting frame, the mounting frame is fixed with an electric wrench, the telescopic arm is fixed with a spring balancer, the rotating shaft is fixed with a connecting arm, the connecting arm is provided with a connecting hole, and the spring balancer pull hook is connected with the connecting hole.

2. The mobile nut assembly robotic arm of claim 1, wherein: The mounting frame comprises an L-shaped mounting plate and an n-shaped connecting plate, the thickness of the mounting plate is greater than that of the connecting plate, the bottom of the connecting plate front end is fixedly connected with the horizontal straight part of the mounting plate, and the top is connected with the rotating shaft; the head of the electric wrench is fixed on the vertical part of the mounting plate.

3. The mobile nut assembly robotic arm of claim 2, wherein: The reinforcing plates are integrally formed on both sides of the connecting plate front end, the reinforcing plates are fixedly connected with the mounting plate, the auxiliary handle is mounted on the reinforcing plate, and the starting handle is mounted on the rear end of the connecting plate.

4. The mobile nut assembly robotic arm of claim 3, wherein: The first and second weight-reducing holes are formed on both sides of the connecting plate, and the second weight-reducing hole is arranged on the rear side of the first weight-reducing hole.

5. The mobile nut assembly robotic arm of claim 4, wherein: The top of the first and second weight-reducing holes extends to the top of the connecting plate.

6. The mobile nut assembly robotic arm of claim 5, wherein: The area of the second weight-reducing hole at the top of the connecting plate is greater than that of the first weight-reducing hole.

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