Robot nut detection device

Abstract

The utility model relates to a robot nut detection device, which is used for detecting nuts welded on a fork-shaped workpiece, the fork-shaped workpiece is provided with a main body and two fork feet, the two nuts are welded on the bottom wall of the main body, the nut detection device comprises a workbench and a mechanical arm, the top wall of the workbench is fixedly connected with at least two paired positioning columns, the top ends of the positioning columns are provided with positioning counter bores, and the positioning counter bores are connected with the mechanical arm. Each positioning counter bore is matched with a nut, the outer wall of each nut is internally connected with the inner wall of the corresponding positioning counter bore to achieve positioning, the top wall of the workbench is fixedly connected with at least two supporting columns in pairs, the two supporting columns abut against the bottom walls of the two fork feet respectively, main body side clamping air cylinders are arranged on the sides of the two positioning columns, and the main body side clamping air cylinders abut against the bottom walls of the two fork feet. The top end of a piston rod of the main body side clamping air cylinder is fixedly connected with a main body side pressing block, the side of each supporting column is provided with a foot clamping air cylinder, and the top end of a piston rod of each foot clamping air cylinder is fixedly connected with a foot clamping block. According to the utility model, the welding quality of the nut can be detected efficiently and quickly.

Description

Technical Field

[0001] This utility model relates to the field of nut detection technology, specifically to a robot nut detection device. Background Technology

[0002] One type of automotive component is a fork-shaped workpiece. This workpiece has a main body and two fork legs, with two nuts welded to the bottom wall of the main body. Defects may occur during the nut welding process, causing the nut's central axis to deviate from design requirements. Additionally, the nuts themselves may have defects, such as substandard thread quality. Furthermore, there is a possibility of incomplete welding of the nuts. All of these issues with the nuts will affect the overall quality of the fork-shaped workpiece; therefore, it is necessary to inspect the welding quality of the nuts.

[0003] In existing technologies, the welding quality of nuts needs to be inspected manually, which results in low automation and a high false detection rate. Utility Model Content

[0004] The purpose of this invention is to provide a robotic nut inspection device that can efficiently and quickly inspect the welding quality of nuts.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] A robotic nut inspection device is disclosed for inspecting nuts welded to a fork-shaped workpiece. The fork-shaped workpiece has a main body and two forks. Two nuts are welded to the bottom wall of the main body. The nut inspection device includes a worktable and a robotic arm. At least two pairs of positioning pins are fixed to the top wall of the worktable. Each positioning pin has a countersunk hole at its top, and each countersunk hole matches a nut. The outer wall of the nut is internally connected to the inner wall of the countersunk hole to achieve positioning. At least two pairs of support pins are fixed to the top wall of the worktable, and the two support pins abut against the bottom walls of the two forks respectively. A main body side clamping cylinder is provided on the side of the two positioning pins for main body side clamping. A main body side pressure block is fixedly connected to the top of the piston rod of the cylinder. A foot clamping cylinder is provided on each side of the two support columns. A foot clamping block is fixedly connected to the top of the piston rod of the foot clamping cylinder. A vertical mounting plate is fixedly connected to the end section of the robotic arm. A vertical guide rail is fixedly connected to the vertical mounting plate. A vertical slider is slidably connected to the vertical guide rail. A stroke cylinder is provided on the vertical mounting plate. The piston rod of the stroke cylinder is connected to the vertical slider. An upper mounting seat and a lower mounting seat are fixedly connected to the vertical slider. A pneumatic motor is provided on the upper mounting seat. A test screw is rotatably provided on the lower mounting seat. The shaft of the pneumatic motor is coaxially fixedly connected to the test screw.

[0007] Specifically, a pair of positioning pins are provided on both sides of the main body clamping cylinder, and a swing beam is fixedly connected to the top of the piston rod of the main body clamping cylinder. Main body pressure blocks are fixedly connected to the bottom sides of both ends of the swing beam.

[0008] Specifically, the end of the foot clamping block is fixedly connected to the top of the piston rod of the foot clamping cylinder.

[0009] Specifically, the main body of the nut is square in cross-section, and the four sides of the nut are provided with positioning protrusions. The upper part of the outer wall of the positioning protrusion is provided with positioning inclined surfaces, which gradually taper inward from top to bottom. The four positioning inclined surfaces are connected to the annular chamfer at the upper end of the positioning countersunk hole.

[0010] Specifically, the angle between the positioning inclined surface and the central axis of the nut screw hole is 28°-36°.

[0011] Specifically, the lower mounting base is fixedly connected to a mounting sleeve, and the mounting sleeve is equipped with two rolling bearings. The two rolling bearings jointly support the drive shaft, and the top end of the drive shaft is coaxially fixedly connected to the rotating shaft of the pneumatic motor.

[0012] Specifically, a connecting sleeve is threaded to the lower end of the drive shaft, and a test screw is connected to the lower end of the drive shaft via a drive pin. The connecting sleeve tightens around the head of the test screw.

[0013] Specifically, the cross-section of the transmission pin is hexagonal, and the upper and lower ends of the transmission pin mate with the lower section of the transmission shaft and the top wall of the screw head, respectively.

[0014] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0015] The fork-shaped workpiece has a main body and two fork legs. Two nuts are welded to the bottom wall of the main body. The two nuts are placed into the positioning countersunk holes of the two paired positioning pins. Since the four positioning inclined surfaces are connected to the annular chamfer at the upper end of the positioning countersunk holes, the two positioning countersunk holes position the two nuts, i.e., the entire fork-shaped workpiece.

[0016] After positioning is complete, the main body clamping cylinder drives the swing beam to swing at a certain angle, causing the main body clamping block to swing above the fork-shaped workpiece body. Then, the main body clamping cylinder drives the main body clamping block to press down, thereby clamping the fork-shaped workpiece body. At the same time, the two foot clamping cylinders drive the foot clamping blocks to swing above the corresponding fork feet, and drive the foot clamping blocks to press down, thereby clamping the two fork feet of the fork-shaped workpiece, thus clamping the entire fork-shaped workpiece.

[0017] After clamping the fork-shaped workpiece, the robotic arm drives the test screw to move to the nut mounting hole aligned with the top wall of the fork-shaped workpiece. Then, a stroke cylinder moves the test screw downwards into the nut, while a pneumatic motor drives the test screw to rotate, thus screwing the test screw into the nut, and then unscrewing it. The positioning post is equipped with a pressure sensor. If the nut has problems such as center axis deviation, defective threads, or incomplete welding, the pressure sensor will detect and identify these issues during the screw-in process. This efficient and rapid method of detecting the welding quality of the nut improves the automation level of the detection process and reduces the false detection rate. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 An overall view of the robot's nut-inspection device;

[0020] Figure 2 for Figure 1 A partial view;

[0021] Figure 3 for Figure 1 A magnified view of a portion of point A in the middle;

[0022] Figure 4 This is a view of a fork-shaped workpiece;

[0023] Figure 5 A partial view of the pneumatic motor and related structures;

[0024] Figure 6 This is a partial exploded view of the pneumatic motor and related structures.

[0025] In the picture:

[0026] 1. Fork-shaped workpiece; 11. Fork foot; 12. Nut; 121. Locating protrusion; 122. Locating inclined surface;

[0027] 2. Positioning pin; 21. Positioning countersunk hole; 211. Annular chamfer at the upper hole end; 22. Main body side clamping cylinder; 221. Main body side pressure block; 222. Swinging crossbeam;

[0028] 3. Support column; 31. Foot clamping cylinder; 32. Foot clamping block;

[0029] 41. Vertical mounting plate; 42. Vertical guide rail; 43. Vertical slider; 431. Upper mounting base; 432. Lower mounting base; 433. Mounting sleeve; 434. Rolling bearing; 44. Stroke cylinder; 45. Pneumatic motor; 461. Test screw; 462. Connecting sleeve; 463. Drive pin; 47. Drive shaft. Detailed Implementation

[0030] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0031] See Figures 1 to 4 The robot nut inspection device is used to inspect the nuts 12 welded to the fork-shaped workpiece 1. The fork-shaped workpiece 1 has a main body and two fork legs 11, and two nuts 12 are welded to the bottom wall of the main body.

[0032] The nut inspection device includes a worktable and a robotic arm. At least two pairs of positioning pins 2 are fixed to the top wall of the worktable, and each positioning pin 2 has a countersunk hole 21 at its top (see...). Figure 3 Each positioning countersunk hole 21 is matched with a nut 12, and the outer wall of the nut is connected to the inner wall of the positioning countersunk hole 21 to achieve positioning.

[0033] At least two pairs of support columns 3 are fixed to the top wall of the workbench, and the two support columns 3 abut against the bottom wall of the two fork legs 11 respectively. A main body side clamping cylinder 22 is provided on the side of the two positioning columns 2, and a main body side pressure block 221 is fixed to the top of the piston rod of the main body side clamping cylinder 22. A foot clamping cylinder 31 is provided on the side of each of the two support columns 3, and a foot clamping block 32 is fixed to the top of the piston rod of the foot clamping cylinder 31.

[0034] See Figure 5 , Figure 6 The distal arm of the robotic arm is fixedly connected to a vertical mounting plate 41, which is also fixedly connected to a vertical guide rail 42. A vertical slider 43 is slidably connected to the vertical guide rail 42. The vertical mounting plate 41 is equipped with a stroke cylinder 44, the piston rod of which is connected to the vertical slider 43. The vertical slider 43 is fixedly connected to an upper mounting base 431 and a lower mounting base 432. The upper mounting base 431 is equipped with a pneumatic motor 45, and the lower mounting base 432 is rotatably equipped with a test screw 461. The shaft of the pneumatic motor 45 is coaxially fixed to the test screw 461.

[0035] Specifically, see Figure 2 A pair of positioning pins 2 are provided on both sides of the main body clamping cylinder 22, and a swing beam 222 is fixedly connected to the top of the piston rod of the main body clamping cylinder 22. Figure 1 (As shown on the right side of the workbench), both ends of the swing beam 222 are fixed with main body side pressure blocks 221.

[0036] Specifically, see Figure 2 The end of the foot clamping block 32 is fixedly connected to the top of the piston rod of the foot clamping cylinder 31.

[0037] Specifically, see Figure 3 The main body of the nut 12 has a square cross section. The four sides of the nut 12 are provided with positioning protrusions 121. The upper part of the outer wall of the positioning protrusions 121 is provided with positioning inclined surfaces 122. The positioning inclined surfaces 122 gradually taper inward from top to bottom. The four positioning inclined surfaces 122 are connected to the annular chamfer 211 at the upper end of the positioning countersunk hole 21.

[0038] Specifically, the angle between the positioning inclined surface 122 and the central axis of the nut screw hole is 28°-36°.

[0039] Specifically, see Figure 5 , Figure 6 The lower mounting base 432 is fixedly connected to the mounting sleeve 433, and the mounting sleeve 433 is provided with two rolling bearings 434. The two rolling bearings 434 jointly support the drive shaft 47, and the top end of the drive shaft 47 is coaxially fixedly connected to the rotating shaft of the pneumatic motor 45.

[0040] Specifically, a connecting sleeve 462 is threaded to the lower end of the drive shaft 47, and a test screw 461 is connected to the lower end of the drive shaft 47 via a drive pin 463. The connecting sleeve 462 tightens the screw head of the test screw 461.

[0041] Specifically, the cross-section of the transmission pin 463 is hexagonal, and the upper and lower ends of the transmission pin 463 are respectively engaged with the lower section of the transmission shaft 47 and the top wall of the screw head.

[0042] The working principle of this utility model is as follows:

[0043] Connecting sleeve 462 is used to lock test screw 461 to the lower end of drive shaft 47. After removing connecting sleeve 462, test screw 461 can be replaced. The thread of test screw 461 is compatible with nut 12.

[0044] The fork-shaped workpiece 1 has a main body and two fork legs 11. Two nuts 12 are welded to the bottom wall of the main body. The two nuts 12 are inserted into the countersunk holes 21 of the paired positioning pins 2 (see reference). Figure 3 Since the four positioning inclined surfaces 122 are connected to the annular chamfer 211 at the upper end of the positioning countersunk hole 21, the two positioning countersunk holes 21 position the two nuts 12, i.e. the entire fork-shaped workpiece 1.

[0045] After positioning is completed, the main body clamping cylinder 22 drives the swing beam 222 to swing at a certain angle, causing the main body pressure block 221 to swing above the main body of the fork-shaped workpiece 1. Then, the main body clamping cylinder 22 drives the main body pressure block 221 to press down, thereby pressing the main body of the fork-shaped workpiece 1. At the same time, the two foot clamping cylinders 31 drive the foot clamping blocks 32 to swing above the corresponding fork feet 11, and drive the foot clamping blocks 32 to press down, thereby pressing the two fork feet 11 of the fork-shaped workpiece 1, thus pressing the entire fork-shaped workpiece 1.

[0046] After clamping the fork-shaped workpiece 1, the robotic arm drives the test screw 461 to move to the mounting hole of the nut 12 on the top wall of the fork-shaped workpiece 1. Then, the stroke cylinder 44 drives the test screw 461 to move down into the nut 12. At the same time, the pneumatic motor 45 drives the test screw 461 to rotate, thereby screwing the test screw 461 into the nut 12 and then unscrewing the test screw 461. The positioning post 2 is equipped with a pressure sensor (not shown in the figure). If the nut 12 has problems such as deviation of the central axis, unqualified threads, or missing welds, the pressure sensor (not shown in the figure) will sense and identify these problems during the screwing of the test screw 461. This efficient and fast method can detect the welding quality of the nut 12, improve the automation of the detection process, and reduce the false detection rate.

[0047] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model in any way. Although the present utility model has been disclosed above with reference to preferred embodiments, it is not intended to limit the present utility model. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present utility model. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present utility model without departing from the scope of the present utility model shall still fall within the scope of the present utility model.

Claims

1. A robotic nut inspection device for inspecting nuts welded to a fork-shaped workpiece, the fork-shaped workpiece having a main body and two fork legs, and two nuts welded to the bottom wall of the main body, characterized in that: The nut inspection device includes a worktable and a robotic arm. At least two pairs of positioning pins are fixed to the top wall of the worktable. Each positioning pin has a countersunk hole at its top, and each countersunk hole matches a nut. The outer wall of the nut is internally connected to the inner wall of the countersunk hole for positioning. At least two pairs of support pins are fixed to the top wall of the worktable, with each support pin abutting against the bottom wall of one of the two forks. A main body side clamping cylinder is located beside each of the two positioning pins. A main body side pressure block is fixed to the top of the piston rod of the main body side clamping cylinder. The two support pins are respectively located beside... Each side is equipped with a foot clamping cylinder, and a foot clamping block is fixedly connected to the top of the piston rod of the foot clamping cylinder. The end section of the robotic arm is fixedly connected to a vertical mounting plate, and a vertical guide rail is fixedly connected to the vertical mounting plate. A vertical slider is slidably connected to the vertical guide rail. The vertical mounting plate is equipped with a stroke cylinder, and the piston rod of the stroke cylinder is connected to the vertical slider. An upper mounting seat and a lower mounting seat are fixedly connected to the vertical slider. The upper mounting seat is equipped with a pneumatic motor, and the lower mounting seat is rotatably equipped with a test screw. The shaft of the pneumatic motor is coaxially fixedly connected to the test screw.

2. The robot nut inspection device according to claim 1, characterized in that: A pair of positioning pins are provided on both sides of the main body clamping cylinder. A swing beam is fixed to the top of the piston rod of the main body clamping cylinder, and a main body pressure block is fixed to the bottom of both ends of the swing beam.

3. The robot nut detection device according to claim 1, characterized in that: The end of the foot clamping block is fixedly connected to the top of the piston rod of the foot clamping cylinder.

4. The robot nut detection device according to claim 1, characterized in that: The main body of the nut is square in cross-section, and there are positioning protrusions on the four sides of the nut. The upper part of the outer wall of the positioning protrusion is provided with positioning inclined surface, which gradually tapers inward from top to bottom. The four positioning inclined surfaces are connected to the annular chamfer at the upper end of the positioning countersunk hole.

5. The robot nut inspection device according to claim 4, characterized in that: The angle between the positioning bevel and the central axis of the nut screw hole is 28°-36°.

6. The robot nut inspection device according to claim 1, characterized in that: The lower mounting base is fixedly connected to a mounting sleeve, which contains two rolling bearings. The two rolling bearings jointly support the drive shaft, and the top end of the drive shaft is coaxially fixedly connected to the rotating shaft of the pneumatic motor.

7. The robot nut inspection device according to claim 6, characterized in that: A connecting sleeve is threaded to the lower end of the drive shaft, and a test screw is connected to the lower end of the drive shaft via a drive pin. The connecting sleeve is tightened around the head of the test screw.

8. The robot nut inspection device according to claim 7, characterized in that: The cross-section of the drive pin is hexagonal, and the upper and lower ends of the drive pin mate with the lower section of the drive shaft and the top wall of the screw head, respectively.

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