A single-axis large-torque tightening and loosening device for protecting robots

Abstract

The utility model discloses a single -shaft big torque screwing untwisting device of protection robot, including the connecting frame who is connected with robot arm, it still includes the connecting seat, sleeve shaft, anti -twist cover and servo axle, the connecting seat is connected with the connecting frame, and is provided with the installation cavity in the connecting seat, the top of sleeve shaft is in -to the installation cavity and is formed with the clamping slot in its bottom, is provided with the rotating block that is sleeved in the top of sleeve shaft in the installation cavity and rotates with the connecting seat, and the rotating block both sides form the limit recess, the limit pin that is arranged along X direction is fixed with two limit recesses corresponding position on the connecting seat, and spring no.

Description

Technical Field

[0001] This utility model relates to the field of tightening device technology, and in particular to a single-axis high-torque tightening and loosening device for protecting robots. Background Technology

[0002] In the transformer industry, low-voltage coils are made by winding copper or aluminum foil, insulating paper, and insulating air duct strips on a mold using a foil winding machine. After the coil is wound, it needs to be manually pressed into place using a pressing mold according to the dimensions designed in the drawings. The specific operation is as follows: using an upper pressure plate and a lower pressure plate, the coil is assembled between the upper and lower pressure plates. Several screws are used to fix the upper and lower pressure plates, with the screw heads fixed to the lower pressure plate. Nuts are screwed onto the screws and snapped into the bottom of the positioning groove on the upper pressure plate. Then, it is transferred to a curing oven for drying and curing for 4-6 hours. After the coil undergoes thermal expansion, the tightened nuts become very secure. To facilitate the reuse of the pressure plate, the nuts need to be removed.

[0003] Traditionally, tightening and loosening nuts are done manually. This method is not only physically demanding for operators, but also suffers from inconsistent strength, making it difficult to guarantee the quality of tightening and loosening. Currently, robots are mainly used for tightening and loosening nuts. However, when robots perform ultra-high torque, single-axis tightening or loosening, a reaction force is exerted on the robot arm. Over time, this can affect the accuracy of the robot arm and reduce the robot's lifespan. Utility Model Content

[0004] Therefore, the purpose of this utility model is to provide a single-axis high-torque tightening and loosening device to protect the robot, eliminate the reaction force on the robot arm when tightening or loosening the nut, thereby protecting the precision of the robot arm.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] This utility model provides a single-axis high-torque tightening and loosening device for protecting a robot, including a connecting frame connected to the robot arm, and further including a connecting seat, a sleeve shaft, an anti-torsion sleeve, and a servo shaft; the connecting seat is connected to the connecting frame, and the connecting seat is provided with an installation cavity; the top end of the sleeve shaft extends into the installation cavity and a groove is formed at its bottom; a rotating block is provided in the installation cavity, which is fitted onto the top end of the sleeve shaft and rotates with the connecting seat; both sides of the rotating block are formed with limiting grooves; a limiting pin is fixed on the connecting seat at a position corresponding to the two limiting grooves, arranged along the X direction; a spring is fitted on the limiting pin and the spring is engaged in the corresponding limiting groove; the anti-torsion sleeve is fitted onto the sleeve shaft, the top end of the anti-torsion sleeve is fixed to the connecting seat, and a retainer is provided at its bottom end; the servo shaft is coaxial with the sleeve shaft, and its bottom is connected to the top of the sleeve shaft.

[0007] This utility model's single-axis high-torque tightening and loosening device connects to a robot arm via a connecting frame. The anti-torque sleeve's holder engages with the positioning groove of the upper pressure plate. The servo shaft drives the sleeve shaft to rotate, tightening or loosening the nut. The torque is applied to the upper pressure plate through the anti-torque sleeve, preventing torque transmission to the robot arm and significantly extending the robot's lifespan in this working condition. The servo shaft rotation drives the sleeve shaft to rotate, tightening or loosening the nut. Due to the presence of spring one, the sleeve shaft can rotate while limiting its rotation angle, preventing torque transmission to the connecting frame and thus protecting the robot arm.

[0008] As a further improvement of the above-mentioned solution of this utility model, a horizontally arranged slide rail is provided on the connecting frame; the connecting seat is connected to the slider on the slide rail, and a protrusion is provided on the connecting seat, and springs arranged along the X direction are connected to both sides of the protrusion. Springs are connected to the connecting frame.

[0009] As a further improvement of the above-mentioned solution of this utility model, the single-axis high-torque tightening and loosening device also includes a floating seat. The floating seat is connected to the connecting frame through a Y-axis floating mechanism. A horizontally arranged slide rail is provided on the floating seat and the connecting seat is connected to the slider on the slide rail. Limit blocks are provided on both sides of the protrusion on the floating seat, and two springs are respectively connected to the two limit blocks.

[0010] As a further improvement of the above-mentioned solution of this utility model, the Y-direction floating mechanism includes two Y-direction floating components, which are respectively disposed on both sides of the connecting seat. Each Y-direction floating component includes a connecting plate, two connecting shafts, two springs (three) and several springs (four). Both connecting shafts are arranged along the Y direction, and one end of each connecting shaft is fixedly connected to the connecting plate. The other end of each connecting seat slides through the floating seat and is fixedly connected to the connecting frame. Both springs (three) are disposed between the connecting plate and the floating seat, and are respectively fitted onto the two connecting shafts. Several springs (four) are arranged along the Y direction and located between the floating seat and the connecting frame, with both ends of each spring (four) connected to the floating seat and the connecting frame, respectively.

[0011] As a further improvement of the above-mentioned solution of this utility model, the single-axis high-torque tightening and loosening device also includes a mounting base. The mounting base is arranged along the Y direction and one end of it is connected to the connecting frame. A flange block for connecting to the robot is provided on the mounting base. The mounting base is hollowed out and the servo shaft passes through the mounting base.

[0012] As a further improvement of the above-mentioned solution of this utility model, a slide rail II arranged in the Z direction is provided on the connecting frame, and the mounting seat is connected to the slider of the slide rail II; the single-axis high torque tightening and loosening device also includes a cylinder, a connecting sleeve, a connecting rod and a spring V. The cylinder is installed on the connecting frame, the connecting sleeve is arranged in the Z direction and installed on the mounting seat, one end of the connecting rod is connected to the telescopic end of the cylinder and the other end extends into the connecting sleeve and is connected to the connecting sleeve, and the spring V is fitted on the connecting rod and its two ends are respectively connected to the connecting sleeve and the connecting rod.

[0013] As a further improvement of the above-mentioned solution of this utility model, the top of the rotating block extends out of the connecting seat, and a mounting plate is fixed on the top of the rotating block. The bottom of the servo shaft is snapped into the mounting plate and fixedly connected to the top of the sleeve shaft.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] This utility model's single-axis high-torque tightening and loosening device connects to a robot arm via a connecting frame. The anti-torque sleeve's holder engages with the positioning groove of the upper pressure plate. The servo shaft drives the sleeve shaft to rotate, tightening or loosening the nut. The torque is applied to the upper pressure plate through the anti-torque sleeve, preventing torque transmission to the robot arm and significantly extending the robot's lifespan in this working condition. The servo shaft rotation drives the sleeve shaft to rotate, tightening or loosening the nut. Due to the presence of spring one, the sleeve shaft can rotate while limiting its rotation angle, preventing torque transmission to the connecting frame and thus protecting the robot arm. Attached Figure Description

[0016] Figure 1 A schematic diagram of a single-axis high-torque tightening and loosening device for protecting a robot, provided for an embodiment of this utility model;

[0017] Figure 2 A half-sectional schematic diagram of a single-axis high-torque tightening and loosening device for protecting a robot provided in an embodiment of this utility model;

[0018] Figure 3 A partial structural diagram of a single-axis high-torque tightening and loosening device for protecting a robot, provided in an embodiment of this utility model;

[0019] Figure 4 for Figure 3 A half-section diagram;

[0020] Figure 5 for Figure 1 Another perspective view;

[0021] Figure 6 for Figure 5 Partial structural diagram;

[0022] Figure 7This is a schematic diagram illustrating the working principle of a single-axis high-torque tightening / loosening device for protecting a robot, provided as an embodiment of the present invention.

[0023] Reference numerals in the attached diagram: 1. Connecting seat; 2. Connecting frame; 3. Sleeve shaft; 4. Anti-torsion sleeve; 5. Servo shaft; 6. Slide rail one; 7. Protrusion; 8. Spring two; 9. Rotating block; 10. Limiting groove; 11. Limiting pin; 12. Spring one; 13. Floating seat; 14. Card seat; 15. Limiting block; 16. Connecting plate; 17. Connecting shaft; 18. Spring three; 19. Spring four; 20. Mounting seat; 21. Flange block; 22. Slide rail two; 23. Cylinder; 24. Connecting sleeve; 25. Connecting rod; 26. Spring five; 27. Mounting plate; 28. Upper pressure plate; 29. ​​Screw; 30. Nut; 31. Card slot. Detailed Implementation

[0024] To facilitate understanding of this invention, a more comprehensive description of the invention will be provided below with reference to specific embodiments. However, this invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to enable a more thorough and complete understanding of the disclosure of this invention.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0026] To address the technical problem that existing robots experience reaction forces when performing ultra-high torque, single-axis tightening or loosening, which can affect the robot arm's precision and reduce its lifespan over time, this embodiment proposes a single-axis high-torque tightening / loosening device to protect the robot.

[0027] Reference Figure 1-3 This embodiment proposes a single-axis high-torque tightening and loosening device for protecting robots, which includes a connecting seat 1, a connecting frame 2, a sleeve shaft 3, an anti-torsion sleeve 4, and a servo shaft 5. It may also include a floating seat 13, a mounting seat 20, a cylinder 23, a connecting sleeve 24, a connecting rod 25, and a spring 26.

[0028] In this embodiment, the connecting seat 1 has a vertically penetrating mounting cavity, and a rotating block 9 is movably disposed within the mounting cavity. The upper and lower ends of the rotating block 9 are flush with the upper and lower ends of the connecting seat 1, respectively. Figure 4Each rotating block 9 has a limiting groove 10 on both sides. A limiting pin 11, arranged along the X-direction, is fixedly installed on the connecting seat 1 at a position corresponding to each limiting groove 10. A spring 12 is fitted onto each limiting pin 11 and engages with the corresponding limiting groove 10. A mounting plate 27 is bolted to the top of the rotating block 9. A slot coaxial with the rotating block 9 is provided in the center of the mounting plate 27.

[0029] The sleeve shaft 3 is coaxially arranged with the rotating block 9, and the top of the sleeve shaft 3 extends into the rotating block 9 and is fixedly connected to the rotating block 9. The inner circumferential surface of the bottom of the sleeve shaft 3 is provided with a groove 31 that matches the shape of the nut 30 to be tightened or loosened, so that the nut 30 can be engaged with the bottom of the sleeve shaft 3.

[0030] The anti-torsion sleeve 4 is located below the connecting seat 1 and is coaxially sleeved on the outside of the sleeve shaft 3. The top of the sleeve shaft 3 is fixedly connected to the rotating block 9 by multiple bolts. The bottom outer wall of the anti-torsion sleeve 4 is provided with an annular retaining seat 14.

[0031] The servo shaft 5 is located above the connecting seat 1 and is coaxially arranged with the sleeve shaft 3. The bottom of the servo shaft 5 is snapped into the slot and fixedly connected to the top of the sleeve shaft 3. The power of the servo shaft 5 can be transmitted to the sleeve shaft 3. When the servo shaft 5 drives the sleeve shaft 3 to rotate, the sleeve shaft 3 will drive the rotating block 9 and the anti-torsion sleeve 4 to rotate synchronously. However, due to the presence of the spring 12 and the limit pin 11, the rotation angle of the sleeve shaft 3 will be limited.

[0032] A floating seat 13 is disposed on one side of the connecting seat 1. A slide rail 6 arranged along the X direction is disposed on the side of the floating seat 13 facing the connecting seat 1. The connecting seat 1 is connected to the slider of the slide rail 6. Two opposing limit blocks 15 are disposed on the top of the floating seat 13. A locking block is disposed on the connecting seat 1 between the two limit blocks 15. Springs 12 are connected to both sides of the locking block. The two springs 12 are respectively connected to the two limit blocks 15.

[0033] The connecting frame 2 is located on the side of the floating seat 13 away from the connecting seat 1, and the floating seat 13 is connected to the connecting frame 2 via a Y-axis floating mechanism. Figure 4In this embodiment, the Y-axis floating mechanism includes two Y-axis floating components, which are respectively disposed on both sides of the connecting seat 1. Each Y-axis floating component includes a connecting plate 16, two connecting shafts 17, two springs 18, and several springs 19. Both connecting shafts 17 are arranged along the Y-axis, with one end fixedly connected to the connecting plate 16. The other end of each connecting seat 1 slides through the floating seat 13 and is fixedly connected to the connecting frame 2. The two springs 18 are disposed between the connecting plate 16 and the floating seat 13, and are respectively fitted onto the two connecting shafts 17. The several springs 19 are arranged along the Y-axis and located between the floating seat 13 and the connecting frame 2, with both ends of each spring 19 connected to the floating seat 13 and the connecting frame 2, respectively. In this embodiment, the connecting frame 2 is provided with a slide rail 22 arranged in the Z-axis.

[0034] Mounting base 20 is arranged along the Y direction and one end of it is connected to the slider of slide rail 22. Mounting base 20 is provided with flange block 21 connected to robot arm. Mounting base 20 is hollowed out and servo axis 5 passes through mounting base 20.

[0035] Combination Figure 5 , Figure 6 Cylinder 23 is mounted on connecting bracket 2. Connecting sleeve 24 is arranged along the Z direction and mounted on mounting base 20. One end of connecting rod 25 is connected to the telescopic end of cylinder 23 and the other end extends into connecting sleeve 24 and is connected to connecting sleeve 24. Spring 5 26 is fitted on connecting rod 25 and its two ends are connected to connecting sleeve 24 and connecting rod 25 respectively.

[0036] Combination Figure 7When the coil is press-fitted between the upper pressure plate 28 and the lower pressure plate (not shown), the coil (not shown) is assembled between the upper pressure plate 28 and the lower pressure plate. The upper pressure plate 28 and the lower pressure plate are connected by multiple screws 29. The heads of the screws 29 are fixed to the lower pressure plate, and the nut 30 is screwed onto the screw 29 and snapped into the bottom of the positioning groove of the upper pressure plate 28. When the nut 30 is tightened or loosened using the single-axis high-torque tightening and loosening device for protecting the robot in this embodiment, it is first connected to the robot arm through the flange block 21. Under the action of the cylinder 23, the entire single-axis high-torque tightening and loosening device is moved above the upper pressure plate 28, making the anti-torque sleeve 4 coaxial with the nut 30 to be tightened or loosened. Then, the entire single-axis high-torque tightening and loosening device is moved downward, causing the retainer 14 on the sleeve shaft 3 to extend into the positioning groove of the upper pressure plate 28 (the shape of the retainer 14 matches the shape of the positioning groove so that the retainer 14 can be locked in the positioning groove). Due to the error of the robot's movement, the retainer 14 may not be able to be fully locked into the positioning groove. As the piston rod retracts, the position of the mounting base 20 remains unchanged due to its connection with the robot arm. Since the connecting frame 2 is slidably connected to the mounting base 20, the retraction of the piston rod of the cylinder 23 causes the connecting frame 2 to move downwards relative to the mounting base 20, thereby lowering the retaining seat 14 to a suitable position so that the retaining seat 14 can be engaged in the positioning groove. Finally, the top of the screw 29 and the nut 30 are inserted into the sleeve shaft 3, and the nut 30 engages with the retaining groove 31 at the bottom of the sleeve shaft 3. The servo shaft 5 is then activated to rotate, causing the sleeve shaft 3 to rotate. Tightening or loosening the nut 30 is performed, and the rotating block 9 rotates with the sleeve shaft 3. Due to the presence of spring 28, the rotation angle of the rotating block 9 is limited. When the maximum torque is reached, the connecting seat 1 tends to rotate with the rotating block 9. At this time, under the action of spring 12, spring 318, and spring 419, it is ensured that the sleeve shaft 3 is always coaxial with the screw 29, and the maximum torque will act on the upper pressure plate 28 through the anti-torsion sleeve 4, which can prevent the torque from being transmitted to the robot arm and greatly improve the service life of the robot in this working condition. After the nut is tightened or loosened, the piston rod of the cylinder 23 extends, causing the connecting frame 2 to move upward relative to the mounting seat 20, so that the clamp 14 disengages from the positioning groove, and the robot can then drive the entire single-axis high-torque tightening and loosening device away.

[0037] It should be noted that when a component is said to be "installed on" another component, it can be directly on the other component or it may be in a component that is centered on it. When a component is said to be "set on" another component, it can be directly set on the other component or it may also be in a component that is centered on it. When a component is said to be "fixed to" another component, it can be directly fixed to the other component or it may also be in a component that is centered on it.

[0038] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "or / and" as used herein includes any and all combinations of one or more of the associated listed items.

[0039] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0040] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A single-axis high-torque tightening and loosening device for protecting a robot, comprising a connecting frame (2) connected to the robot arm, characterized in that, It also includes a connecting seat (1), a sleeve shaft (3), an anti-torsion sleeve (4), and a servo shaft (5); the connecting seat (1) is connected to the connecting frame (2); the connecting seat (1) is provided with an installation cavity, the top end of the sleeve shaft (3) extends into the installation cavity and a groove is formed at its bottom, a rotating block (9) is provided in the installation cavity and is fitted onto the top end of the sleeve shaft (3) and the rotating block (9) rotates with the connecting seat (1), and limit grooves (10) are formed on both sides of the rotating block (9); the connecting seat (1) is connected to the two Each limiting groove (10) has a corresponding limiting pin (11) arranged along the X direction. A spring (12) is fitted on the limiting pin (11) and the spring (12) is inserted into the corresponding limiting groove (10). The anti-torsion sleeve (4) is fitted outside the sleeve shaft (3). The top end of the anti-torsion sleeve (4) is rotatably connected to the connecting seat (1) and the bottom end is provided with a retainer (14). The servo shaft (5) is coaxially arranged with the sleeve shaft (3) and its bottom end is connected to the top of the sleeve shaft (3).

2. The single-axis high-torque tightening and loosening device for protecting robots according to claim 1, characterized in that, A horizontally arranged slide rail (6) is provided on the connecting frame (2); the connecting seat (1) is connected to the slider on the slide rail (6), and a protrusion (7) is provided on the connecting seat (1) and springs (8) arranged along the X direction are connected on both sides of the protrusion (7). Springs (8) are connected to the connecting frame (2).

3. The single-axis high-torque tightening and loosening device for protecting robots according to claim 2, characterized in that, The single-axis high-torque tightening and loosening device also includes a floating seat (13). The floating seat (13) is connected to the connecting frame (2) through a Y-axis floating mechanism. A horizontally arranged slide rail (6) is provided on the floating seat (13), and the connecting seat (1) is connected to the slider on the slide rail (6). Limit blocks (15) are provided on both sides of the protrusion (7) on the floating seat (13), and two springs (8) are connected to the two limit blocks (15) respectively.

4. The single-axis high-torque tightening and loosening device for protecting robots according to claim 3, characterized in that, The Y-axis floating mechanism includes two Y-axis floating components, which are respectively arranged on both sides of the connecting seat (1). The Y-axis floating component includes a connecting plate (16), two connecting shafts (17), two springs (18), and several springs (19). The two connecting shafts (17) are both arranged along the Y direction. One end of the two connecting shafts (17) is fixedly connected to the connecting plate (16). The other end of the two connecting seats (1) slides through the floating seat (13) and is fixedly connected to the connecting frame (2). The two springs (18) are both arranged between the connecting plate (16) and the floating seat (13), and the two springs (18) are respectively fitted on the two connecting shafts (17). The several springs (19) are all arranged along the Y direction and located between the floating seat (13) and the connecting frame (2). The two ends of the springs (19) are respectively connected to the floating seat (13) and the connecting frame (2).

5. The single-axis high-torque tightening and loosening device for protecting robots according to claim 1, characterized in that, The single-axis high-torque tightening and loosening device also includes a mounting base (20), which is arranged along the Y direction and one end of it is connected to the connecting frame (2). A flange block (21) for connecting to the robot is provided on the mounting base (20). The mounting base (20) is hollowed out and the servo axis (5) passes through the mounting base (20).

6. The single-axis high-torque tightening and loosening device for protecting robots according to claim 5, characterized in that, The connecting frame (2) is provided with a slide rail two (22) arranged in the Z direction, and the mounting seat (20) is connected to the slider of the slide rail two (22); the single-axis high torque tightening and loosening device also includes a cylinder (23), a connecting sleeve (24), a connecting rod (25) and a spring five (26). The cylinder (23) is installed on the connecting frame (2), the connecting sleeve (24) is arranged in the Z direction and installed on the mounting seat (20), one end of the connecting rod (25) is connected to the telescopic end of the cylinder (23) and the other end extends into the connecting sleeve (24) and is connected to the connecting sleeve (24), and the spring five (26) is fitted on the connecting rod (25) and its two ends are connected to the connecting sleeve (24) and the connecting rod (25) respectively.

7. The single-axis high-torque tightening and loosening device for protecting robots according to claim 2, characterized in that, The top of the rotating block (9) extends out of the connecting seat (1), and the top of the rotating block (9) is fixed with a mounting plate (27). The bottom of the servo axis (5) is snapped into the mounting plate (27) and fixedly connected to the top of the sleeve shaft (3).

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