Nut and R-type pin assembling manipulator

Abstract

The utility model discloses a nut and R-type pin assembling manipulator which comprises a mechanical arm, the mechanical arm is a multi-degree-of-freedom mechanical arm, a fixing plate is installed at the front end of the mechanical arm, a nut fastening device and an R-type pin assembling manipulator are installed on the fixing plate, two cameras are directly or indirectly installed on the fixing plate, and the two cameras are connected with the mechanical arm. And the view fields of the two cameras respectively cover the nut fastening device and the R-type pin assembling manipulator. The nut assembling wrench and the R-type pin assembling mechanical arm are arranged on the multi-degree-of-freedom mechanical arm, meanwhile, a plurality of cameras are arranged, the mechanical arm can automatically recognize bolts needing to be assembled with nuts and insert R-type pins into the bolts after the nuts are assembled, the intelligent degree is high, and the assembling efficiency is high.

Description

Technical Field

[0001] This application relates to the field of robotic arm technology, specifically to a robotic arm capable of intelligently identifying the assembly positions of nuts and R-pins and assembling them into place. Background Technology

[0002] In mechanical manufacturing and assembly processes, such as in the power sector, tightening nuts and installing R-pins are common operations for electrical fittings like spacers and surge arresters. Traditionally, these operations are usually performed manually, which involves high labor intensity, low efficiency, and inconsistent assembly quality. Especially in mass production environments, manual operation is difficult to meet the demands of efficient and precise production.

[0003] While some automated assembly equipment exists in the current technology, it is often single-function, capable of performing only one task: tightening nuts or installing R-pins. To complete both tasks simultaneously, multiple machines are required, which not only increases equipment costs and floor space but also necessitates a complex logistics system to coordinate the workflows between different machines, resulting in low efficiency throughout the assembly process.

[0004] Furthermore, existing assembly equipment often requires extensive adjustments and component replacements when dealing with nuts and R-pins of different specifications, exhibiting poor adaptability. Moreover, the lack of effective visual guidance and inspection mechanisms during assembly makes it difficult to guarantee the stability of assembly accuracy and quality.

[0005] Therefore, there is a need for an assembly robot that can simultaneously perform nut tightening and R-pin installation tasks, and has high adaptability, high precision and high efficiency. Utility Model Content

[0006] In view of this, this application provides a nut and R-pin assembly robot, which is equipped with a nut assembly wrench and an R-pin assembly robot on a multi-degree-of-freedom robotic arm, and is also equipped with multiple cameras, so that the robot can automatically identify the bolt that needs to be nut assembled and insert the R-pin into the bolt after nut assembly. It has a high degree of intelligence and high assembly efficiency.

[0007] According to one aspect of this application, one embodiment provides a nut and R-pin assembly robot, including a robotic arm, the robotic arm being a multi-degree-of-freedom robotic arm, a fixed plate being mounted at the front end of the robotic arm, a nut fastening device and an R-pin assembly robot being mounted on the fixed plate, and two cameras being directly or indirectly mounted on the fixed plate, the fields of view of the two cameras respectively covering the nut fastening device and the R-pin assembly robot.

[0008] In some embodiments, the robotic arm is a multi-free robotic arm with 4-7 degrees of freedom.

[0009] In some embodiments, the nut tightening device includes a wrench holder, an electric wrench, and a socket. The wrench holder is mounted on a fixed plate, and the electric wrench is fixed to the wrench holder. The head of the electric wrench is replaceably equipped with a socket for installing and tightening nuts.

[0010] In some embodiments, a magnet is provided inside the sleeve, and the magnetic attraction of the magnet is used to attract the nut and place the nut inside the sleeve, so as to facilitate the installation of the nut onto the bolt.

[0011] In some embodiments, the R-pin assembly robot includes a two-finger gripper, an R-pin gripper, a pusher fixing plate, and a pusher. The two-finger gripper has two fingers, and the R-pin gripper is also a two-finger gripper. When closed, it has a cavity to accommodate the R-pin. The R-pin gripper is detachably fixed to the two fingers of the two-finger gripper. When the two-finger gripper is closed, it can clamp the R-pin. At this time, the R-pin will close, making it easy to insert into the bolt pin hole. The pusher fixing plate is provided on the two-finger gripper, and the pusher is fixed on the pusher fixing plate. The pusher is directly facing the R-pin after the R-pin gripper is closed. When the R-pin is facing the bolt pin hole, the pusher extends and pushes the R-pin into the bolt pin hole. After the R-pin is inserted, due to the elasticity of the R-pin itself, it can automatically open to achieve elastic fastening.

[0012] In some embodiments, the pusher is a telescopic push rod.

[0013] In some embodiments, the telescopic push rod is one of a miniature electric cylinder, a miniature pneumatic cylinder, or a miniature hydraulic cylinder.

[0014] In some embodiments, the camera is mounted on a fixed plate or a pusher plate via a camera support arm to expand the camera's field of view.

[0015] In some embodiments, the camera support arm is a universal bamboo joint positioning tube, which allows the camera to be placed in any fixed position.

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

[0017] 1. This utility model provides a nut and R-pin assembly robot that integrates nut fastening and R-pin assembly on one robotic arm. It achieves intelligent visual recognition and assembly through a camera, which not only simplifies the assembly process and adapts to assembly in various positions, but also improves assembly efficiency.

[0018] 2. The present invention provides a nut and R-pin assembly robot with replaceable sleeves and detachable R-pin grippers to adapt to nuts and R-pins of different sizes, meeting diverse production needs.

[0019] 3. The present invention provides a nut and R-pin assembly robot, in which two cameras monitor the working areas of the nut fastening device and the R-pin assembly robot, respectively, realizing visual guidance and inspection of the assembly process, and improving assembly accuracy and quality stability. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of this utility model;

[0021] Figure 2 This is a schematic diagram of the structure of the robotic arm's front-end manipulator of this utility model;

[0022] In the diagram: 1. Robotic arm; 2. Connecting plate; 3. Nut fastening device; 31. Wrench holder; 32. Electric wrench; 33. Socket; 4. R-pin assembly hand; 41. Two-finger gripper; 42. R-pin gripper; 43. Pusher fixing plate; 44. Pusher; 5. Camera; 51. Camera support arm; 6. R-pin. Detailed Implementation

[0023] The present application will now be described in further detail with reference to the accompanying drawings and specific embodiments. Similar elements in different embodiments are referred to by related similar element reference numerals. In the following embodiments, many details are described to facilitate a better understanding of the present application. However, those skilled in the art will readily recognize that some features may be omitted in different situations, or may be replaced by other elements, materials, or methods. In some cases, certain operations related to the present application are not shown or described in the specification. This is to avoid obscuring the core parts of the present application with excessive description. For those skilled in the art, detailed description of these related operations is not necessary; they can fully understand the related operations based on the description in the specification and general technical knowledge in the art.

[0024] Furthermore, the features, operations, or characteristics described in the specification can be combined in any suitable manner to form various embodiments, and the operational steps involved in each embodiment can also be rearranged or adjusted in a manner that is obvious to those skilled in the art. Therefore, the specification and drawings are only for clearly describing a particular embodiment and do not imply that they represent the necessary components and / or order.

[0025] The serial numbers assigned to components in this document, such as "first" and "second," are used only to distinguish the described objects and have no sequential or technical meaning. The terms "connection" and "linkage" used in this application, unless otherwise specified, include both direct and indirect connections (linkages).

[0026] Example:

[0027] Please refer to Figure 1 and Figure 2 According to one aspect of this application, one embodiment provides a nut and R-pin assembly robot, including a robotic arm 1. The robotic arm 1 is a multi-degree-of-freedom robotic arm with 4-7 degrees of freedom. Generally, a 4-degree-of-freedom robotic arm 1 can meet the requirements, but in some special environments, a 6-degree-of-freedom or 7-degree-of-freedom robotic arm 1 can better adapt to the environment. For example, the robotic arm of this utility model can be installed on an inspection robot for overhead power lines to repair loose bolts or missing nuts on overhead power lines and to repair R-pins.

[0028] A fixing plate 2 is installed at the front end of the robotic arm 1. The fixing plate 2 is made of thick metal plate or other high-strength material plate and has a certain rigidity. A nut fastening device 3 and an R-pin assembly robotic arm 4 are installed on the fixing plate 2.

[0029] The nut tightening device 3 includes a wrench holder 31, an electric wrench 32, and a socket 33. The wrench holder 31 is a fixed frame composed of two L-shaped fixing plates, one of which has a wrench head hole. The wrench holder 31 is mounted on a fixing plate 2. The electric wrench 32 is fixed to the wrench holder 31, and the head of the electric wrench 32 extends out of the wrench head hole on the L-shaped fixing plate. The electric wrench 32 can be firmly fixed to the wrench holder 31. In order to tighten the bolt, the electric wrench 32 is an electric wrench with a set tightening device. The head of the electric wrench 32 can be replaced with a socket 33. Since one socket 33 can only install and tighten one type of nut, different types of nuts can be tightened by changing the socket 33. A magnet is installed inside the socket 33. The magnetic force of the magnet attracts the nut and places it inside the socket 33, making it easy to install the nut onto the bolt.

[0030] The R-pin assembly robot 4 includes a two-finger gripper 41, an R-pin gripper 42, a pusher fixing plate 43, and a pusher 44. The two-finger gripper 41 has two fingers, and the R-pin gripper 42 is also a two-finger gripper. When closed, it has a cavity to accommodate the R-pin 6. The R-pin gripper 42 is detachably fixed to the two fingers of the two-finger gripper 41. When the two-finger gripper 41 is closed, it can clamp the R-pin 6, making it easy to insert into the bolt hole. The pusher fixing plate 43 is provided on the two-finger gripper 41, and the pusher 44 is fixed on the pusher fixing plate 43. The R-pin 6 is directly opposite the R-pin clamp 42 after it is closed. When the R-pin 6 is aligned with the bolt pin hole, the pusher 44 extends to push the R-pin 6 into the bolt pin hole. After the R-pin 6 is inserted, it can automatically open due to its own elasticity to achieve elastic fastening. The pusher 44 is a telescopic push rod, which is one of a miniature electric cylinder, a miniature pneumatic cylinder, or a miniature hydraulic cylinder. In this embodiment, the two-finger clamp 41 is an electric two-finger clamp, and the pusher 44 is a miniature electric cylinder. The pushing force of the pusher 44 is at least greater than or equal to 10 kg to ensure that the R-pin 6 can be pushed into the bolt pin hole.

[0031] Two cameras 6 are mounted directly or indirectly on the fixed plate 2 via camera support arms 51. The camera support arms 51 are universal bamboo-joint positioning tubes, allowing the cameras 6 to be positioned in any defined location, ensuring that the cameras 6 clearly cover the working areas of the nut fastening device 3 and the R-pin assembly robot 4. To adapt to different environments, the cameras 5 are equipped with protective shells; in this embodiment, the protective shell is a cuboid. The cameras 5 should have a resolution of 4 megapixels or higher. In some cases, cameras with infrared or night vision capabilities are selected.

[0032] This utility model discloses a nut and R-pin assembly robot. During operation, the robotic arm 1 moves the nut fastening device 3 to the nut assembly position according to a preset program. The camera 5 acquires the nut's position information and feeds it back to the control system. The control system adjusts the position of the robotic arm 2 so that the sleeve 33 is accurately aligned with the nut. The electric wrench 32 drives the sleeve 33 to rotate, completing the nut fastening operation.

[0033] The robotic arm 1 can also be controlled to move freely based on the information from the camera 5, autonomously find the bolt for which a nut needs to be installed, and adjust the position of the robotic arm 1 so that the sleeve 33 of the nut fastening device 3 is aligned with the bolt. The electric wrench 32 drives the sleeve 33 to rotate, thus completing the nut fastening operation.

[0034] After the nut of the nut fastening device 3 is screwed onto the bolt, it can be moved to the designated nut storage device and the next nut can be taken into the sleeve 33 by magnetic attraction, ready to be screwed onto the next bolt.

[0035] After tightening the nut, robotic arm 1 moves the R-pin assembly robot 4 to the R-pin 6 assembly position. Using camera 5 to obtain assembly position information, robotic arm 1 adjusts its position so that the R-pin 6 aligns with the mounting hole. Then, pusher 44 (miniature electric cylinder) extends, pushing the R-pin 6 into the mounting hole. Because the R-pin 6 is a spring steel elastic fastener, it possesses its own elasticity. After being inserted into the bolt hole, the R-pin 6's elasticity allows it to open, achieving a fixing effect and completing the assembly of the R-pin 6.

[0036] After the R-pin 6 is assembled on the R-pin assembly robot 4, it can be moved to the designated R-pin 6 storage position. First, the two-finger gripper 41 is opened, and the R-pin gripper 42 is opened. Then, the next R-pin 6 is picked up, ready to be inserted into the pin hole of the next bolt.

[0037] Throughout the assembly process, the robotic arm is guided by camera 5, achieving intelligent and automated operation, and the entire process does not require human intervention.

[0038] The above-described specific examples are for illustrative purposes only and are not intended to limit the scope of this invention. Those skilled in the art to which this invention pertains can make various simple deductions, modifications, or substitutions based on the concept of this invention.

Claims

1. A robotic arm for assembling nuts and R-pins, characterized in that: The system includes a robotic arm (1), which is a multi-degree-of-freedom robotic arm. A fixed plate (2) is installed at the front end of the robotic arm (1). A nut fastening device (3) and an R-pin assembly robot (4) are installed on the fixed plate (2). Two cameras (5) are directly or indirectly installed on the fixed plate (2). The fields of view of the two cameras (5) cover the nut fastening device (3) and the R-pin assembly robot (4), respectively.

2. The nut and R-pin assembly robot according to claim 1, characterized in that: The robotic arm (1) is a multi-free robotic arm with 4-7 degrees of freedom.

3. The nut and R-pin assembly robot according to claim 1, characterized in that: The nut fastening device (3) includes a wrench holder (31), an electric wrench (32) and a socket (33). The wrench holder (31) is mounted on a fixed plate (2), and the electric wrench (32) is fixed on the wrench holder (31). The head of the electric wrench (32) can be replaced with a socket (33).

4. The nut and R-pin assembly robot according to claim 3, characterized in that: A magnet is provided inside the sleeve (33).

5. The nut and R-pin assembly robot according to claim 1, characterized in that: The R-pin assembly robot (4) includes a two-finger gripper (41), an R-pin gripper (42), a pusher fixing plate (43), and a pusher (44). The two-finger gripper (41) has two fingers, and the R-pin gripper (42) is a two-finger gripper that has a cavity for accommodating the R-pin (6) when closed. The R-pin gripper (42) is detachably fixed to the two fingers of the two-finger gripper (41). The pusher fixing plate (43) is provided on the two-finger gripper (41), and the pusher (44) is fixed on the pusher fixing plate (43). The pusher (44) is directly facing the R-pin (6) after the R-pin gripper (42) is closed.

6. A nut and R-pin assembly robot according to claim 5, characterized in that: The pusher (44) is a telescopic push rod.

7. A nut and R-pin assembly robot according to claim 6, characterized in that: The telescopic push rod is one of a miniature electric cylinder, a miniature pneumatic cylinder, or a miniature hydraulic cylinder.

8. The nut and R-pin assembly robot according to claim 1, characterized in that: The camera (5) is mounted on a fixed plate or a pusher fixed plate via a camera support arm (51).

9. A nut and R-pin assembly robot according to claim 8, characterized in that: The camera support arm (51) is a universal bamboo joint positioning tube.

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