Automatic bolt marking device based on collaborative robot

Abstract

The utility model belongs to bolt marking technical field, concretely relates to bolt automatic marking marking device based on collaborative robot. The utility model, through installing the marking frame on the surface of mechanical arm, then bolt marking pen is fixed on the marking frame, the micro motor of one side installation of marking frame drives the rotation of the connected screw rod, from making the bolt marking pen fixed on the screw block is driven to move position, and then the bolt needing marking is marked automatically, and the bolt marking pen is elastically fixed between the top pipe and the bottom pipe, and the bolt marking pen is self -adaptation floating when marking, avoids the damage because of the excessive pressure of rigid contact and leads to the marking pen nib, and the elastic connection can reduce the dependence on the positioning accuracy of robot, even if the robot mechanical arm leads to the slight deviation of marking pen position because of programming error or motion jitter, the elastic structure can also compensate through the self -deformation, maintains the contact pressure of marking pen and surface, guarantees the clear and accurate marking.

Description

Technical Field

[0001] This utility model belongs to the field of bolt marking technology, specifically relating to an automatic bolt marking and marking device based on a collaborative robot. Background Technology

[0002] After the bolts are assembled (i.e., the installation position and drilling position are determined), a "position reference" is formed by drawing a continuous straight line (or a specific mark) between the bolt head and the surface of the connected parts. When the bolts loosen due to vibration, stress, or other factors, the relative position between the bolt head and the connected parts will change, and the marked line will shift, break, or become misaligned. Workers can directly judge whether the bolts are loose by visual inspection without the need for disassembly and inspection with tools.

[0003] Most existing bolt markings are done manually. During processing, manual operation relies on visual alignment, which is easily affected by factors such as light and fatigue, thus affecting the accuracy of the marking position. In addition, when the manual marking operation takes a long time, physical fatigue may affect the marking efficiency. In assembly line operations, the low efficiency may lead to omissions. Utility Model Content

[0004] The purpose of this invention is to provide an automatic bolt marking device based on a collaborative robot, which aims to solve the problem that existing bolt marking is mostly done manually. During processing, manual operation relies on visual alignment, which is easily affected by factors such as light and fatigue, thus affecting the accuracy of the marking position. In addition, when the manual marking operation takes a long time, physical fatigue may affect the marking efficiency. In assembly line operations, the low efficiency may lead to missed markings.

[0005] To achieve the above objectives, this utility model provides the following technical solution: an automatic bolt marking and labeling device based on a collaborative robot, comprising a bolt marking pen, the surface of which is inserted into the inner wall of a bottom tube, rubber rods symmetrically connected to the upper surface of the bottom tube, connecting ears sleeved on the surface of the rubber rods, the top surface of the connecting ears connected to the lower end of a top tube, a spring adhered to the top surface of the inner wall of the top tube, a rubber sleeve connected to the bottom surface of the spring, a guide rod connected to the top surface of the rubber sleeve, the guide rod movably inserted into the top of the top tube, the bottom surface of the rubber sleeve sleeved to the top of the bolt marking pen, the surface of the top tube connected to the surface of a threaded block, the other side of the threaded block threadedly connected to the surface of a lead screw, the two ends of the lead screw respectively sleeved in bearings mounted on the surface of a marking frame, a micro motor mounted on one side of the marking frame, the output end of the micro motor connected to one side of the lead screw, a mounting head fixedly connected to the top of the marking frame, and the surface of the mounting head threadedly connected to the surface of a robotic arm using a bolt assembly.

[0006] As a preferred embodiment of the automatic bolt marking device based on collaborative robots of this utility model, a cylindrical circular through groove is opened on the inner wall of the bottom tube, the shape and size of which are adapted to the lower end of the bolt marking pen tip.

[0007] As a preferred embodiment of the automatic bolt marking and labeling device based on collaborative robots of this utility model, the two connecting ears are symmetrically distributed at the bottom of the top pipe, and a circular through groove is opened laterally on the surface of the connecting ear, the shape and size of which are adapted to the rubber rod.

[0008] As a preferred embodiment of the automatic bolt marking and labeling device based on collaborative robots of this utility model, the top tube, spring and rubber sleeve form an elastic connection structure.

[0009] As a preferred embodiment of the automatic bolt marking and labeling device based on collaborative robots of this utility model, a through groove is opened at the top of the jacking pipe, the shape and size of which are adapted to the guide rod.

[0010] As a preferred embodiment of the automatic bolt marking and marking device based on collaborative robots of this utility model, the surface of the marking frame is provided with a rectangular groove, and the shape and size of the groove are adapted to the thread block.

[0011] Compared with the prior art, the beneficial effects of this utility model are:

[0012] By mounting a marking frame on the surface of the robotic arm and fixing the bolt marking pen to the frame, a micro motor mounted on one side of the frame drives a connected lead screw to rotate, causing the bolt marking pen fixed on the threaded block to move to a different position, thus automatically marking the bolts that need to be marked. At the same time, the bolt marking pen is elastically fixed between the top and bottom pipes, allowing it to float adaptively during marking. This avoids damage to the marking pen tip due to excessive pressure caused by rigid contact. The elastic connection also reduces the dependence on the robot's positioning accuracy. Even if the marking pen's position deviates slightly due to programming errors or motion jitter in the robotic arm, the elastic structure can compensate for the deformation and maintain the contact pressure between the marking pen and the surface, ensuring clear and accurate marking. Attached Figure Description

[0013] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings:

[0014] Figure 1 This is a schematic diagram of the main structure of this utility model;

[0015] Figure 2 This is a side view of the structure of this utility model;

[0016] Figure 3 This is a side view sectional structural diagram of the present invention;

[0017] Figure 4 This is a schematic diagram of the exploded structure of the threaded block and the jacking pipe of this utility model.

[0018] In the diagram: 1. Bolt marking pen; 2. Bottom tube; 3. Rubber rod; 4. Connecting ear; 5. Top tube; 6. Spring; 7. Rubber sleeve; 8. Guide rod; 9. Threaded block; 10. Lead screw; 11. Marking frame; 12. Micro motor; 13. Mounting head; 14. Bolt assembly; 15. Robotic arm. Detailed Implementation

[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0020] Please see Figures 1-4 This utility model provides the following technical solution: an automatic bolt marking and marking device based on a collaborative robot, including a bolt marking pen 1, the surface of which is inserted into the inner wall of a bottom tube 2, rubber rods 3 symmetrically connected to the upper surface of the bottom tube 2, connecting ears 4 sleeved on the surface of the rubber rods 3, the top surface of the connecting ears 4 connected to the lower end of a top tube 5, a spring 6 bonded to the top surface of the inner wall of the top tube 5, a rubber sleeve 7 connected to the bottom surface of the spring 6, a guide rod 8 connected to the top surface of the rubber sleeve 7, the guide rod 8 movably inserted into the top of the top tube 5, the bottom surface of the rubber sleeve 7 sleeved on the top of the bolt marking pen 1, the surface of the top tube 5 connected to the surface of a threaded block 9, and the other side of the threaded block 9... A threaded connection is made to the surface of the lead screw 10. Both ends of the lead screw 10 are respectively sleeved in the bearings mounted on the surface of the scribing frame 11. A micro motor 12 is mounted on one side of the scribing frame 11. The output end of the micro motor 12 is connected to one side of the lead screw 10. The top of the scribing frame 11 is fixedly connected to the mounting head 13. The surface of the mounting head 13 is threadedly connected to the surface of the robotic arm 15 using a bolt assembly 14. In this design, the robotic arm 15 is the main body of the collaborative robot robotic arm, and a large number of related components are set in the main body of the collaborative robot robotic arm. Since these are existing technologies and the core content of this technical solution is irrelevant to them, they will not be described in detail in this technical solution.

[0021] Preferably, a cylindrical circular groove is provided on the inner wall of the bottom tube 2, the shape and size of which are adapted to the pen tip at the lower end of the bolt marking pen 1.

[0022] In practical use, the through groove opened on the inner wall of the bottom tube 2 can be used to fit and limit the bolt marking pen 1 while keeping it in place, so as to prevent it from slipping down. In this design scheme, an oil-based marker or paint pen can be selected as the bolt marking pen 1 according to the processing requirements.

[0023] Preferably, two connecting ears 4 are symmetrically distributed at the bottom of the top tube 5, and a circular through groove is opened horizontally on the surface of the connecting ears 4, the shape and size of which are adapted to the rubber rod 3.

[0024] In practical use, when the ink flow of the bolt marking pen 1 becomes obstructed due to long-term use, the rubber connecting ears 4 attached to the rubber rod 3 can be pulled to both sides. In actual application, nitrile rubber (for production lines with a lot of oil) or silicone rubber (for production lines that require long-term use or high intensity) can be selected according to the processing site to cope with various applications. Then, the bottom tube 2 can be pulled down and the bolt marking pen 1 inside the bottom tube 2 can be replaced. At the same time, the rubber rod 3 and connecting ears 4 can increase the friction of the contact surface, making the connection between the bottom tube 2 and the top tube 5 more stable.

[0025] Preferably, the jacking pipe 5, the spring 6, and the rubber sleeve 7 form an elastic connection structure.

[0026] In actual use, the bolt marking pen 1 can be bounced upward by the rubber sleeve 7 on the top and the spring 6 connected thereto, so as to finely adjust the height of the bolt marking pen 1 according to the height of the marking component.

[0027] Preferably, a through groove is opened at the top of the jacking pipe 5, the shape and size of which are adapted to the guide rod 8.

[0028] In practical use, when the rubber sleeve 7 is raised, the guide rod 8 connected to its top slides on the top of the top tube 5, thereby guiding and limiting the movement of the rubber sleeve 7 and the spring 6, so that they can move up and down stably and avoid lateral deviation.

[0029] Preferably, a rectangular groove is opened horizontally on the surface of the scribing frame 11, and the shape and size of the groove are adapted to the threaded block 9.

[0030] In practical use, the rectangular groove on the surface of the scribing frame 11 allows the threaded block 9 to slide on the surface of the scribing frame 11 while limiting its sliding range, so that it can move parallel on the scribing frame 11 and ensure the accuracy of the bolt scribing pen 1.

[0031] Working principle: When marking bolts on an assembly line, the mounting head 13 is threaded onto the surface of the corresponding model of robotic arm 15 on the production line via bolt assembly 14. Then, according to the set parameters, the control system connected to the robotic arm 15 and the external power switch connected to the micro motor 12 are simultaneously activated. The collaborative robot moves the robotic arm 15 to the designated position, using a vision module for positioning. The tip of the bolt marking pen 1 is then placed against the area to be marked. Simultaneously, the rotation of the output end of the micro motor 12 drives the lead screw 10 to rotate within the bearings installed on both sides of the marking frame 11. This causes the threaded block 9 to move from one side to the other on the marking frame 11. As the threaded block 9 moves, the bolt marking pen 1, which is sleeved and fixed between the bottom pipe 2 and the top pipe 5, marks the area to be marked. During marking, if a sudden increase in height is encountered, the bolt marking pen 1 can... The rubber sleeve 7 and the spring 6 connected to it bounce upwards. When the rubber sleeve 7 rises, the guide rod 8 connected to its top slides on the top of the top tube 5, thereby guiding and limiting the movement of the rubber sleeve 7 and the spring 6, so that they can move up and down stably. This allows the bolt marking pen 1 to float adaptively according to the working environment. When it moves to a higher position, the rebound of the spring 6 will drive the bolt marking pen 1 downwards, thereby ensuring the clarity and accuracy of the markings made by the bolt marking pen 1. When the bolt marking pen 1 becomes clogged with ink after long-term use, the rubber connecting ears 4 connected to the rubber rod 3 can be pulled to both sides. In actual application, nitrile rubber (for production lines with a lot of oil) or silicone rubber (for production lines that need to be used for a long time or with high intensity) can be selected according to the processing site to cope with various applications. Then, the bottom tube 2 can be pulled down and the bolt marking pen 1 inside the bottom tube 2 can be replaced.

[0032] Finally, it should be noted that the above are merely preferred embodiments of this utility model and are not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. An automatic bolt marking and marking device based on a collaborative robot, comprising a bolt marking pen (1), characterized in that: The surface of the bolt marking pen (1) is inserted into the inner wall of the bottom tube (2). Rubber rods (3) are symmetrically connected to the upper surface of the bottom tube (2). Connecting ears (4) are sleeved on the surface of the rubber rods (3). The top surface of the connecting ears (4) is connected to the lower end of the top tube (5). A spring (6) is glued to the top surface of the inner wall of the top tube (5). A rubber sleeve (7) is connected to the bottom surface of the spring (6). A guide rod (8) is connected to the top surface of the rubber sleeve (7). The surface of the guide rod (8) is movably inserted into the top of the top tube (5). The bottom surface of the rubber sleeve (7) is sleeved on the bolt marking pen. The top of the pen (1) has the surface of the top tube (5) connected to the surface of the threaded block (9), and the other side of the threaded block (9) is threaded to the surface of the lead screw (10). The two ends of the lead screw (10) are respectively sleeved in the bearings installed on the surface of the scribing frame (11). A micro motor (12) is installed on one side of the scribing frame (11), and the output end surface of the micro motor (12) is connected to one side of the lead screw (10). The top of the scribing frame (11) is fixedly connected to the mounting head (13), and the surface of the mounting head (13) is threaded to the surface of the robotic arm (15) using a bolt assembly (14).

2. The automatic bolt marking and labeling device based on a collaborative robot according to claim 1, characterized in that: The inner wall of the bottom tube (2) is provided with a cylindrical circular through groove, the shape and size of which are adapted to the pen tip at the lower end of the bolt marking pen (1).

3. The automatic bolt marking and labeling device based on a collaborative robot according to claim 1, characterized in that: Two connecting ears (4) are symmetrically distributed at the bottom of the top tube (5). A circular through groove is opened horizontally on the surface of the connecting ears (4), and its shape and size are adapted to the rubber rod (3).

4. The automatic bolt marking and labeling device based on a collaborative robot according to claim 3, characterized in that: The jacking pipe (5), spring (6) and rubber sleeve (7) form an elastic connection structure.

5. The automatic bolt marking and labeling device based on a collaborative robot according to claim 4, characterized in that: The top of the jacking pipe (5) has a through groove, the shape and size of which are adapted to the guide rod (8).

6. The automatic bolt marking and labeling device based on a collaborative robot according to claim 5, characterized in that: The surface of the marking frame (11) has a rectangular groove opened laterally, and the shape and size of the groove are adapted to the thread block (9).

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