Robot automatic tapping device and equipment based on mechanical balance

Abstract

The utility model provides a robot automatic tapping device and equipment based on mechanical balance. The robot automatic tapping device based on mechanical balance comprises a robot and a tapping mechanism. A tapping mechanism bottom plate on the tapping structure is detachably connected to a mechanical arm at the tail end of the robot so as to receive tapping initial force provided by the robot. The guide shaft assembly comprises a guide shaft, a tapping connecting block and a linear bearing, the guide shaft is arranged on the tapping mechanism bottom plate in the tapping direction, and the linear bearing is embedded in the tapping connecting block and then arranged on the guide shaft in a sleeving mode. The tapping assembly is detachably connected with the tapping connecting block and drives the tapping connecting block to do linear motion along the guide shaft. One end of the elastic piece is connected to the tapping connecting block, the other end of the elastic piece is connected to the tapping mechanism bottom plate, and the elastic piece buffers and balances the axial force of the tapping assembly through the tapping connecting block and drives the tapping connecting block to reset to the designated initial position after tapping is finished.

Description

Technical Field

[0001] This utility model relates to the field of robotic automated processing technology, and in particular to a robotic automatic tapping device and equipment based on mechanical balance. Background Technology

[0002] Automatic tapping machines are mechanical devices used for machining internal threads. However, their application is often limited by workpiece size, installation angle, and complex working conditions, making it difficult for traditional machine tools to directly process them, still requiring inefficient and labor-intensive manual operation. To address this, some have proposed robot-based tapping mechanisms, such as Chinese patent CN211388807U. This patented solution uses a jointed robot arm to drive the tapping mechanism, achieving multi-directional adaptive machining. This solution relies on a cylinder and guide rail pair to coordinate the tapping spindle feed, where the cylinder and robot need to communicate in real time to dynamically adjust the feed force, thereby maintaining a constant holding force on the tapping tool. However, this solution has the following technical bottlenecks: First, it requires simultaneous control of two drive systems—the tapping spindle and the cylinder—increasing mechanical complexity and manufacturing costs; second, the real-time data interaction between the cylinder and the jointed robot places extremely high demands on both hardware and software, significantly increasing the cost of the tapping mechanism and raising the operator's skill threshold, making widespread adoption difficult.

[0003] In addition, some have proposed a robotic tapping mechanism that uses a servo motor to drive the axial feed force of the tapping; similar to the above solution, this structure still requires two sets of drive systems. Utility Model Content

[0004] In order to overcome the shortcomings of the prior art, this utility model provides a robotic automatic tapping device and equipment based on mechanical balance.

[0005] To achieve the above objectives, this utility model provides a robotic automatic tapping device based on mechanical balance, comprising a robot and a tapping mechanism. The tapping structure includes a tapping mechanism base plate, a guide shaft assembly, a tapping assembly, and an elastic element. The tapping mechanism base plate is detachably connected to the robot's end effector to receive the initial tapping force provided by the robot. The guide shaft assembly includes a guide shaft, a tapping connecting block, and a linear bearing. The guide shaft is disposed on the tapping mechanism base plate along the tapping direction, and the linear bearing is embedded in the tapping connecting block and sleeved on the guide shaft. The tapping assembly is detachably connected to the tapping connecting block, driving the tapping connecting block to move linearly along the guide shaft. One end of the elastic element is connected to the tapping connecting block, and the other end is connected to the tapping mechanism base plate. The elastic element buffers and balances the axial force of the tapping assembly through the tapping connecting block, and drives the tapping connecting block to return to the designated initial position after tapping is completed.

[0006] According to one embodiment of the present invention, the guide shaft assembly further includes an upper buffer member disposed on the upper end of the guide shaft and opposite to the tapping connecting block. When the robot applies the initial tapping force, the upper buffer member buffers the tapping assembly through the tapping connecting block.

[0007] According to one embodiment of the present invention, the guide shaft assembly further includes a lower end buffer disposed at the lower end of the guide shaft and opposite to the tapping connecting block, the lower end buffer providing overtravel buffer for the tapping assembly.

[0008] According to one embodiment of the present invention, the guide shaft assembly further includes two guide shaft end plates respectively disposed at both ends of the guide shaft, and the guide shaft end plates are detachably connected to the bottom plate of the tapping mechanism.

[0009] According to one embodiment of the present invention, the tapping mechanism base plate is detachably connected to the end effector of the robot via a flange.

[0010] According to one embodiment of the present invention, the guide shaft assembly includes two guide shafts, and the tapping connecting block is movably connected to the two guide shafts through two linear bearings. Two elastic elements are symmetrically arranged on both sides of the tapping connecting block.

[0011] On the other hand, this utility model also provides an automatic tapping device, which includes the above-mentioned robotic automatic tapping device based on mechanical balance and a worktable assembly. The worktable assembly includes a worktable and a workpiece clamping assembly disposed on the worktable surface, the workpiece clamping assembly clamping the workpiece to be tapped.

[0012] According to one embodiment of the present invention, the workbench assembly further includes a tap oil-sticking groove and a cleaning groove disposed on the side of the workbench or on the workbench surface.

[0013] According to one embodiment of the present invention, the workpiece clamping assembly includes a clamping base, a clamping arm, and a suction cup. The workpiece to be tapped is placed on the clamping base, and the clamping arm applies a clamping force perpendicular to the worktable surface to the workpiece through the suction cup.

[0014] In summary, in the mechanically balanced robotic automatic tapping device provided by this invention, the robot's end effector provides the initial tapping force to the tapping assembly through the tapping mechanism base plate. Based on this, the invention connects the tapping connecting block and the tapping mechanism base plate via an elastic element. This elastic element can buffer and balance the axial force of the tapping assembly. This mechanically balanced design can effectively absorb and balance the tapping reaction force during the tapping process, reducing the impact of the axial force on the robot's end effector and improving the stability and accuracy of the tapping process. The mechanically balanced robotic automatic tapping device provided in this embodiment achieves axial force balance of the tapping assembly during the tapping process through the cooperation of the guide shaft assembly and the elastic element, based on the robot providing the initial tapping force. Compared to existing robotic tapping mechanisms based on cylinders or servo motors, this invention not only offers high tapping accuracy, simple structure, and low cost, but also eliminates the need for real-time communication or programming, greatly simplifying the structure of the tapping device and lowering its usage threshold.

[0015] To make the above and other objects, features and advantages of this utility model more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0016] Figure 1 The diagram shown is a structural schematic of a robotic automatic tapping device based on mechanical balance provided in an embodiment of this utility model.

[0017] Figure 2 As shown Figure 1 A schematic diagram of the tapping mechanism.

[0018] Figure 3 and Figure 4 As shown Figure 2 A structural diagram from another perspective.

[0019] Figure 5 The diagram shown is a structural schematic of an automatic tapping device provided in an embodiment of this utility model.

[0020] Figure 6 As shown Figure 5 A schematic diagram of the structure of the middle workbench component.

[0021] Figure 7 As shown Figure 6 Enlarged diagram of point A in the middle. Detailed Implementation

[0022] Existing robotic tapping mechanisms require two driving systems: an axial feed drive provided by a cylinder (or motor) and a rotary drive for the tapping spindle. Furthermore, to achieve axial feed force balance during the tapping process, this dual-drive robotic tapping mechanism not only needs to monitor the axial feed drive force in real time and communicate with the robot for balance, but also requires other buffer mechanisms such as floating adjustment devices. This results in robotic tapping mechanisms that are not only structurally complex and costly, but also inconvenient to use.

[0023] In view of this, this embodiment provides a robotic automatic tapping device and equipment that does not require axial feed drive and uses a mechanical structure for axial force balancing. For example... Figures 1 to 4 As shown, the robotic automatic tapping device 100 based on mechanical balance provided in this embodiment includes a robot 10 and a tapping mechanism 20. The tapping mechanism 20 includes a tapping mechanism base plate 1, a guide shaft assembly 2, a tapping assembly 3, and an elastic element 4. The tapping mechanism base plate 1 is detachably connected to the robot's end effector 101 to receive the initial tapping force provided by the robot 10. The guide shaft assembly 2 includes a guide shaft 21, a tapping connecting block 22, and a linear bearing 23. The guide shaft 21 is disposed on the tapping mechanism base plate 1 along the tapping direction, and the linear bearing 23 is embedded in the tapping connecting block 22 and then sleeved on the guide shaft 21. The tapping assembly 3 is detachably connected to the tapping connecting block 22, driving the tapping connecting block 22 to move linearly along the guide shaft 21. One end 41 of the elastic element 4 is connected to the tapping connecting block 22, and the other end 42 is connected to the base plate 1 of the tapping mechanism. The elastic element 4 buffers and balances the axial force of the tapping assembly 2 through the tapping connecting block 22, and drives the tapping connecting block 22 to reset to the designated initial position after tapping is completed. Specifically, the axial force of the tapping assembly 2 includes the initial tapping force and the tapping reaction force provided by the robot 10.

[0024] In the mechanically balanced robotic automatic tapping device provided in this embodiment, the robot's end effector 101 provides the initial tapping force to the tapping assembly 3 through the tapping mechanism base plate 1, thereby eliminating the need for the axial feed drive based on a motor or cylinder in the prior art. Therefore, the mechanically balanced robotic automatic tapping device provided in this embodiment only has the rotary drive system carried by the tapping assembly 3 itself. In this embodiment, the tapping mechanism base plate 1 is detachably connected to the end effector 101 of the robot 10 via a flange 5. However, this utility model does not impose any limitations on this aspect.

[0025] In this embodiment, the simple mechanical buffer structure formed by the tapping connecting block 22 and the elastic element 4 can effectively absorb the tapping reaction force according to the change of lever arm during the tapping process, stabilizing the axial force of the tapping assembly 3 and improving tapping accuracy and stability. Furthermore, based on the initial air pressure value of the elastic element 4, after tapping, the elastic element 4 will drive the tapping assembly 3 to reset to the initial position of the effective lead on the guide shaft 21 via the tapping connecting block 22 to achieve precise reset. Since the initial air pressure value of the elastic element 4 is adjustable, the initial position of the effective lead on the guide shaft 21 can also be changed by adjusting the initial air pressure value to meet the tapping depth requirements of different screw types. In this embodiment, the robot 10 is an articulated robot. However, this invention does not limit this. In other embodiments, the robot can also be a Cartesian coordinate robot, or other robots capable of providing axial feed force. The elastic element 4 is a pneumatic spring, specifically a nitrogen spring. However, this invention also does not limit this. In other embodiments, the elastic element may also be a spring of other structures or other components capable of elastic deformation.

[0026] In the guide shaft assembly 2, a linear bearing 23 is embedded within the tapping connecting block 22 and then sleeved on the guide shaft 21. This structure ensures that the tapping connecting block 22 moves linearly along the guide shaft 21, resulting in high guiding accuracy and guaranteeing the straightness and accuracy of the tapping process. This structure offers significant advantages in applications requiring high tapping accuracy. In this embodiment, the guide shaft assembly 2 includes two guide shafts 21, and the tapping connecting block 22 is movably connected to the two guide shafts 21 via two linear bearings 23. Two elastic elements 4 are symmetrically arranged on both sides of the tapping connecting block 22. This symmetrical distribution ensures that the tapping connecting block 22 is subjected to balanced forces perpendicular to the tapping direction during tapping. The tapping connecting block 22 moves linearly only along the guide shaft 21 to avoid eccentricity, thereby improving tapping accuracy and stability. However, this invention does not limit the scope of the invention. In other embodiments, the guide shaft assembly may also include one guide shaft, with the middle portion of the tapping connecting block sleeved on the guide shaft via a linear bearing. Alternatively, the guide shaft assembly may include three or four guide shafts.

[0027] In this embodiment, the guide shaft assembly 2 further includes two guide shaft end plates 24 respectively disposed at both ends of the guide shaft 21, and the guide shaft end plates 24 are detachably connected to the tapping mechanism base plate 1. The provision of the guide shaft end plates 24 facilitates the installation and replacement of the guide shaft 21.

[0028] like Figure 2 and Figure 3As shown, the guide shaft assembly 2 also includes an upper buffer 25 disposed on the upper end of the guide shaft 21 and opposite to the tapping connecting block 22. When the robot 1 applies the initial tapping force, the upper buffer 25 buffers the tapping assembly 3 through the tapping connecting block 22, thereby buffering the application of the initial tapping force. Furthermore, the guide shaft assembly 2 also includes a lower buffer 26 disposed on the lower end of the guide shaft 21 and opposite to the tapping connecting block 22. The lower buffer 26 buffers the overtravel of the tapping assembly 3. Specifically, when a fault occurs causing the tapping assembly 3 to exceed the effective lead on the guide shaft 21, the lower buffer 26 will buffer the tapping connecting block 22 to prevent the tap 31 from breaking.

[0029] like Figure 2 As shown, in this embodiment, both the upper buffer 25 and the lower buffer 26 are rectangular springs. The upper buffer 25 is disposed on the lower surface of the guide shaft end plate 24 at the upper end of the guide shaft 21 and is opposite to the tapping connecting block 22, while the lower buffer 26 is disposed on the upper surface of the guide shaft end plate 24 at the lower end of the guide shaft 21 and is opposite to the tapping connecting block 22. However, this utility model does not impose any limitations on this. In this embodiment, the tapping assembly 3 includes a tap 31 and a tapping spindle 32. During assembly, after the tap 31 is inserted into the tapping spindle 32, the tapping spindle 32 is detachably connected to the tapping machine connecting block 22 via a positioning pin. Two linear bearings 23 are installed into the connecting holes on the tapping machine connecting block 22, and then the two linear bearings 23 are respectively sleeved on the two guide shafts 21. The upper buffer 25 and the lower buffer 26 are respectively installed on the corresponding guide shaft mounting plates 24. Next, the two guide shaft mounting plates 24 are respectively installed at both ends of the guide shaft 21 and fixed to the tapping mechanism base plate 1. Finally, elastic elements 4 are installed on both sides of the tapping connecting block 22.

[0030] During tapping, the tapping assembly 3 is held at the 0-point position of the effective lead of the guide shaft 21 by the elastic element 4. The effective lead of the tapping assembly 3 on the guide shaft 21 is 0mm to 78mm. However, this utility model does not limit this. When the tapping assembly 3 is at the 0-point position, the robot 10 drives the tapping mechanism 20 to move through the end effector 101 so that the head of the tap 31 is aligned with the bottom hole to be tapped on the workpiece. The end effector 101 moves down to provide the initial tapping force. Afterward, the robot 10 remains stationary and starts the tapping spindle 32. The tapping assembly 3 drives the tap 31 to perform automatic tapping, and the tapping connecting block 22 follows the tapping assembly 3 to move linearly along the guide shaft 21. The tapping spindle 32 has a built-in torque overload protection function to prevent the tap 31 from breaking. During the tapping process, the elastic element 4 continuously adjusts its air pressure with the movement of the tapping connecting block 22 to absorb the tapping reaction force, thereby maintaining the axial force balance of the tapping assembly 3. After tapping is completed, the robot prepares to retract the tap. At this time, the end effector 101 moves vertically upward by 4-8 mm to dissipate the initial tapping force, preventing the threads at the front end of the tap 31 from deforming due to the initial tapping force when the tap 31 retracts to its initial position. After the tap 31 retracts, the robot 10 returns to the designated position.

[0031] In the robotic automatic tapping device based on mechanical balance provided in this embodiment, the tapping mechanism 20 is mainly composed of a tapping mechanism base plate 1, a guide shaft assembly 2, a tapping assembly 3, and an elastic element 4. The connection and cooperation between the components are relatively simple, easy to implement and manufacture, and suitable for large-scale production and application.

[0032] Correspondingly, this embodiment also provides an automatic tapping device. For example... Figure 5 As shown, it includes the aforementioned robotic automatic tapping device 100 based on mechanical balance and a worktable assembly 200. The worktable assembly 200 includes a worktable 201 and a workpiece clamping assembly 202 disposed on the surface of the worktable 201, the workpiece clamping assembly 202 clamping the workpiece 300 to be tapped. Specifically, as... Figure 7 As shown, the workpiece clamping assembly 202 includes a clamping base 2021, a clamping arm 2022, and a suction cup 2023. The workpiece 300 to be tapped is disposed on the clamping base 2021, and the clamping arm 2022 applies a clamping force perpendicular to the surface of the worktable 201 to the workpiece 300 through the suction cup 2023. However, this utility model does not impose any limitations on this.

[0033] In this embodiment, as Figure 5 and Figure 6As shown, the worktable assembly 200 also includes a tap oiling groove 203 and a cleaning groove 204 disposed on the side of the worktable 201. However, this utility model does not limit this in any way. In other embodiments, the tap oiling groove and / or cleaning groove may also be disposed on the worktable surface. Specifically, before tapping, the tap 31 is first treated with oil in the tap oiling groove 203, and then the workpiece 300 to be tapped is tapped. After tapping, the tap 31 is then cleaned in the cleaning groove 204, and after cleaning, it is treated with oil in the tap oiling groove 203, and then the next tapping process is performed. The whole process is repeated until all the bottom holes on the workpiece are tapped.

[0034] In summary, in the mechanically balanced robotic automatic tapping device provided by this invention, the robot's end effector provides the initial tapping force to the tapping assembly through the tapping mechanism base plate. Based on this, the invention connects the tapping connecting block and the tapping mechanism base plate via an elastic element. This elastic element can buffer and balance the axial force of the tapping assembly. This mechanically balanced design can effectively absorb and balance the tapping reaction force during the tapping process, reducing the impact of the axial force on the robot's end effector and improving the stability and accuracy of the tapping process. The mechanically balanced robotic automatic tapping device provided in this embodiment achieves axial force balance of the tapping assembly during the tapping process through the cooperation of the guide shaft assembly and the elastic element, based on the robot providing the initial tapping force. Compared to existing robotic tapping mechanisms based on cylinders or servo motors, this invention not only offers high tapping accuracy, simple structure, and low cost, but also eliminates the need for real-time communication or programming, greatly simplifying the structure of the tapping device and lowering its usage threshold.

[0035] Although the present invention has been disclosed above by way of preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art may make some modifications and refinements without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be determined by the scope of protection claimed in the claims.

Claims

1. A robotic automatic tapping device based on mechanical balance, characterized in that, Includes a robot and a tapping mechanism, wherein the tapping mechanism includes: The tapping mechanism base plate is detachably connected to the robot's end effector to receive the initial tapping force provided by the robot. The guide shaft assembly includes a guide shaft, a tapping connecting block, and a linear bearing. The guide shaft is disposed on the bottom plate of the tapping mechanism along the tapping direction, and the linear bearing is embedded in the tapping connecting block and then sleeved on the guide shaft. The tapping assembly features a detachable tapping connector that drives the tapping connector to move linearly along the guide shaft. An elastic element is connected at one end to the tapping connection block and at the other end to the base plate of the tapping mechanism. The elastic element buffers and balances the axial force of the tapping assembly through the tapping connection block, and drives the tapping connection block to reset to the specified initial position after tapping is completed.

2. The robotic automatic tapping device based on mechanical balance according to claim 1, characterized in that, The guide shaft assembly also includes an upper buffer member disposed at the upper end of the guide shaft and opposite to the tapping connection block. When the robot applies the initial tapping force, the upper buffer member buffers the tapping assembly through the tapping connection block.

3. The robotic automatic tapping device based on mechanical balance according to claim 1, characterized in that, The guide shaft assembly also includes a lower end buffer disposed at the lower end of the guide shaft and opposite to the tapping connection block, the lower end buffer providing overtravel buffer for the tapping assembly.

4. The robotic automatic tapping device based on mechanical balance according to claim 1, characterized in that, The guide shaft assembly also includes two guide shaft end plates respectively disposed at both ends of the guide shaft, and the guide shaft end plates are detachably connected to the tapping mechanism base plate.

5. The robotic automatic tapping device based on mechanical balance according to claim 1, characterized in that, The tapping mechanism base plate is detachably connected to the robot's end effector via a flange.

6. The robotic automatic tapping device based on mechanical balance according to claim 1, characterized in that, The guide shaft assembly includes two guide shafts, and the tapping connecting block is movably connected to the two guide shafts through two linear bearings. Two elastic elements are symmetrically arranged on both sides of the tapping connecting block.

7. An automatic tapping device, characterized in that, include: The robotic automatic tapping device based on mechanical balance according to any one of claims 1 to 6; A worktable assembly includes a worktable and a workpiece clamping assembly disposed on the worktable surface, the workpiece clamping assembly clamping a workpiece to be tapped.

8. The automatic tapping device according to claim 7, characterized in that, The workbench assembly also includes a tap oil-sticking groove and a cleaning groove disposed on the side or surface of the workbench.

9. The automatic tapping device according to claim 7, characterized in that, The workpiece clamping assembly includes a clamping base, a clamping arm, and a suction cup. The workpiece to be tapped is placed on the clamping base, and the clamping arm applies a clamping force perpendicular to the worktable surface to the workpiece through the suction cup.

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