Jointed implement assembly automatic screwing device

Abstract

The utility model discloses a kind of joint executor assembly automatic screwing device, including workbench and be mounted on its joint executor clamping positioning device, screw supply device and screw automatic device;The clamping positioning device is rotated by servo drive mechanism control horizontal pivot according to set angle, drives the rotation of joint executor on clamping mechanism, so that the thread hole of its cylindrical surface is accurately positioned to vertical direction;Screw automatic device is driven screw tightening assembly by mechanical arm, and screw is extracted from supply device and accurately screwed into the thread hole after positioning.The utility model effectively solves the positioning problem of cylindrical curved surface screw assembly, realizes the full automation of joint executor screw assembly, significantly improves assembly efficiency, precision and consistency.

Description

Technical Field

[0001] This utility model belongs to the field of joint actuator technology, specifically an automatic screw tightening device for assembling a joint actuator. Background Technology

[0002] As the core power component of a robot system, the joint actuator plays a crucial role in converting electrical energy into mechanical motion. Its performance directly affects the robot's motion accuracy, load capacity, response speed, and overall reliability. From a technical perspective, a typical joint actuator usually consists of modules such as a drive motor, a reduction mechanism, a sensor system, and a control unit. These components are precisely integrated to achieve functions such as torque amplification, motion conversion, and closed-loop control.

[0003] like Figure 1 As shown, the joint actuator 10 is typically configured as a cylindrical structure, including a housing 11 and an end cap 12 mounted on the housing 11. Components such as the drive motor 13 and the reduction mechanism 14 are integrated and installed within the space enclosed by the housing 11 and the end cap 12. Specifically, to improve the reduction ratio of the reduction mechanism 14 and meet torque transmission requirements, the reduction mechanism 14 generally employs a planetary reduction mechanism. Therefore, during the assembly of the joint actuator, a large number of screws 14 are required, involving the connection between the housing 11 and the end cap 12, and the installation and fixing of the planetary reduction mechanism's gear ring. Simultaneously, due to the small size of the joint actuator, limited internal space, and ease of structural design, some screws 15 need to be arranged on the cylindrical surface of the housing 11. However, because the outer circumferential surface of the cylinder is difficult to position, existing screw tightening devices cannot meet the automatic tightening requirements of the screws 15 on the outer cylindrical surface of the joint actuator. Utility Model Content

[0004] In view of this, the purpose of this utility model is to provide an automatic screw tightening device for assembling a joint actuator, which can meet the requirements of positioning and automatically tightening the screws on the outer cylindrical surface.

[0005] To achieve the above objectives, this utility model provides the following technical solution: An automatic screw-tightening device for assembling a joint actuator includes a worktable on which: A joint actuator clamping and positioning device is used to clamp the joint actuator and drive the joint actuator to rotate so that the threaded hole of the screw to be tightened is in the vertical direction; Screw feeding device for automatic screw feeding; An automatic screw-tightening device is used to pick up screws from the screw feeding device and tighten the screws into the corresponding threaded holes; The joint actuator clamping and positioning device includes a mounting base fixedly installed on the worktable. The mounting base is provided with a horizontal rotating shaft that rotates with it. A clamping mechanism for clamping the joint actuator is installed at the front end of the horizontal rotating shaft. The mounting base is provided with a servo drive mechanism for driving the horizontal rotating shaft to rotate at a set angle. The automatic screw-tightening device includes a robotic arm fixedly mounted on the workbench and a screw-tightening assembly mounted on the robotic arm.

[0006] Furthermore, the servo drive mechanism includes a servo motor, the output shaft of which is parallel to the horizontal rotating shaft and is provided with an active synchronous pulley, a driven synchronous pulley is provided on the horizontal rotating shaft, and a synchronous belt is provided between the active synchronous pulley and the driven synchronous pulley.

[0007] Furthermore, the mounting base is provided with a motor mounting plate located in the vertical direction, the servo motor is fixedly mounted on the motor mounting plate, and the motor mounting plate is provided with a tensioning mechanism for tensioning the synchronous belt.

[0008] Furthermore, the tensioning mechanism includes a fixed seat mounted on the motor mounting plate, a sliding seat corresponding to the fixed seat, and an adjusting screw for adjusting the distance between the fixed seat and the sliding seat; the sliding seat is provided with a tensioning shaft parallel to the horizontal rotating shaft, and a tensioning wheel cooperating with the synchronous belt is mounted on the tensioning shaft.

[0009] Furthermore, the screw tightening assembly includes a back plate, a sliding rail on the back plate, a first slider and a second slider on the sliding rail, a first sliding seat mounted on the first slider, and a second sliding seat mounted on the second slider; The first sliding seat is equipped with a gun head, and the gun head has a central through hole; the second sliding seat is equipped with a screw tightening module, and the screw tightening module includes a nail suction tube bit coaxial with the central through hole; the first sliding seat has a first through hole for the nail suction tube bit to extend into the central through hole. It also includes a first drive mechanism and a second drive mechanism for driving the first sliding seat and the second sliding seat to move along the sliding track, respectively.

[0010] Furthermore, the first driving mechanism includes a first cylinder mounted on the second sliding seat and parallel to the nail suction tube bit. The first sliding seat is provided with a second through hole for the piston rod of the first cylinder to pass through. After the piston rod of the first cylinder passes through the second through hole, it is fixedly connected to the back plate.

[0011] Furthermore, the second drive mechanism includes a second cylinder mounted on the second sliding seat and parallel to the nail suction tube bit, the piston rod of the second cylinder being connected to the first sliding seat.

[0012] Furthermore, a linear bearing for guiding the nail-picking tube bit is provided inside the first through hole.

[0013] Furthermore, a module mounting plate is installed at the end of the robotic arm, and the back plate is fixedly connected to the module mounting plate.

[0014] Furthermore, the automatic screw tightening device includes two screw tightening assemblies arranged side by side, with the screw-collecting tube bits of the two screw tightening assemblies parallel to each other, and the back plates of the two screw tightening assemblies are fixedly mounted on the module mounting plate.

[0015] The beneficial effects of this utility model are as follows: The joint actuator of this utility model is equipped with an automatic screw-tightening device, which mainly achieves the following technical effects: (1) Achieve precise positioning and automatic tightening of cylindrical screws: By controlling the horizontal rotating shaft to rotate at a set angle through the servo drive mechanism in the clamping and positioning device of the joint actuator, the threaded hole at any angle on the cylindrical joint actuator can be precisely adjusted to the vertical direction, which solves the technical problem of difficult positioning of cylindrical curved surfaces and provides the necessary conditions for automated screw tightening. (2) Improve assembly efficiency and automation: The screw feeding device and the screw tightening device controlled by the robotic arm realize the full process automation from feeding, picking up screws to tightening, significantly reduce manual intervention, are suitable for mass production, and improve the assembly efficiency and consistency of the joint actuator. (3) Compact structure and strong adaptability: The modular design is adopted, and the clamping, positioning and tightening devices are fixed on the worktable, with a reasonable layout; the robotic arm is equipped with a screw tightening component, which can flexibly adjust the position and posture to adapt to the assembly needs of joint actuators of different specifications and multi-angle screws. (4) Ensure assembly quality and reliability: The servo drive system ensures accurate rotation angle and avoids misalignment of threaded holes; the robotic arm works in conjunction with a special tightening module to ensure the accuracy of screw tightening torque and depth, effectively reducing the risk of product damage and improving the overall assembly quality of the joint actuator.

[0016] In summary, the automatic screw tightening device for assembling the joint actuator of this utility model effectively solves the positioning and automation problems of cylindrical screw assembly of the joint actuator, and has the characteristics of high efficiency, precision and reliability, and has high industrial application value. Attached Figure Description

[0017] To make the objectives, technical solutions, and beneficial effects of this utility model clearer, the following drawings are provided for illustration: Figure 1 A schematic diagram of the structure of a joint actuator Figure 2 for Figure 1 Axonometric drawing; Figure 3 A schematic diagram of an embodiment of the automatic screw tightening device for assembling the joint actuator of this utility model; Figure 4 A schematic diagram of the joint actuator clamping and positioning device; Figure 5 for Figure 4 AA section view; Figure 6 This is an isometric view of the joint actuator clamping and positioning device in this embodiment; Figure 7 This is a schematic diagram of the screw tightening assembly. Figure 8 An isometric view of the screw tightening assembly.

[0018] Explanation of reference numerals in the attached figures: 10-Joint actuator; 11-Housing; 12-End cap; 13-Drive motor; 14-Reduction mechanism; 15-Screw; 20-Worktable; 30-Joint actuator clamping and positioning device; 31-Mounting base; 32-Horizontal rotating shaft; 33-Clamping mechanism; 34-Servo motor; 35-Driving synchronous pulley; 36-Driven synchronous pulley; 37-Synchronous belt; 38-Motor mounting plate; 39-Tensioning mechanism; 391-Fixed base; 392-Sliding base; 393-Adjusting screw; 394-Tensioning shaft; 395-Tensioning wheel; 40-Screw feeding device; 50-Automatic screw tightening device; 51-Robotic arm; 511-Module mounting plate; 52-Back plate; 53-Sliding rail; 54-First slider; 55-Second slider; 56-First sliding seat; 561-First through hole; 562-Second through hole; 57-Gun head; 58-Second sliding seat; 59-Screw tightening module; 60-Screw suction tube bit; 61-First cylinder; 611-Piston rod; 62-Second cylinder; 621-Piston rod; 63-Linear bearing. Detailed Implementation

[0019] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments are not intended to limit the present invention.

[0020] like Figure 3As shown, the articulated actuator of this embodiment is equipped with an automatic screw-tightening device, including a worktable 20. The worktable 20 is equipped with an articulated actuator clamping and positioning device 30, a screw feeding device 40, and an automatic screw-tightening device 50. Specifically, the articulated actuator clamping and positioning device 30 is used to clamp the articulated actuator 10 and drive the articulated actuator 10 to rotate so that the threaded hole of the screw 15 to be tightened is in the vertically upward direction; the screw feeding device 40 is used for automatic screw feeding; and the automatic screw-tightening device 50 is used to pick up the screw 15 from the screw feeding device 40 and tighten the screw 15 into the corresponding threaded hole.

[0021] like Figure 4-6 As shown, in this embodiment, the joint actuator clamping and positioning device 30 includes a mounting base 31 fixedly mounted on the worktable 20. The mounting base 31 has a horizontal rotating shaft 32 that rotatably engages with it. A clamping mechanism 33 for clamping the joint actuator 10 is mounted at the front end of the horizontal rotating shaft 32. A servo drive mechanism for driving the horizontal rotating shaft 32 to rotate at a set angle is provided inside the mounting base 31. Specifically, in this embodiment, the clamping mechanism 33 can be a tripod gripper, which can meet the requirements for clamping and fixing the outer cylindrical surface of the joint actuator 10.

[0022] In this embodiment, the servo drive mechanism includes a servo motor 34. The output shaft of the servo motor 34 is parallel to the horizontal rotating shaft 32 and is equipped with an active synchronous pulley 35. A driven synchronous pulley 36 is provided on the horizontal rotating shaft 32, and a synchronous belt 37 is provided between the active synchronous pulley 35 and the driven synchronous pulley 36. Thus, by using the servo motor 34 and the synchronous belt mechanism, the rotation angle of the horizontal rotating shaft 32 can be controlled, thereby controlling the rotation angle of the joint actuator 10, so that the threaded hole of the screw to be tightened is in the vertically upward direction, so that the automatic screw tightening device 50 can tighten the screw 15 into the threaded hole.

[0023] In a preferred embodiment of this example, the mounting base 31 contains a motor mounting plate 38 located in the vertical direction. The servo motor 34 is fixedly mounted on the motor mounting plate 38, and the motor mounting plate 38 is provided with a tensioning mechanism 39 for tensioning the synchronous belt. In this embodiment, the tensioning mechanism 39 includes a fixed seat 391 mounted on the motor mounting plate 38, a sliding seat 392 corresponding to the fixed seat 391, and an adjusting screw 393 for adjusting the distance between the fixed seat 391 and the sliding seat 392. The sliding seat 392 is slidably engaged with the motor mounting plate 38 and can move relative to the motor mounting plate 38 in a direction perpendicular to the horizontal rotating shaft 32. The sliding seat 392 is provided with a tensioning shaft 394 parallel to the horizontal rotating shaft 32, and a tensioning wheel 395 that cooperates with the synchronous belt 37 is mounted on the tensioning shaft 394. Thus, by adjusting the screw 393, the distance between the fixed seat 391 and the sliding seat 392 can be adjusted, and the synchronous belt 37 can be tensioned by the tensioning wheel 395, making the transmission of the synchronous belt mechanism more precise.

[0024] In this embodiment, the automatic screw-tightening device 50 includes a robotic arm 51 fixedly mounted on the worktable 20 and a screw-tightening assembly mounted on the robotic arm 51. Figure 7-8 As shown, in this embodiment, the screw tightening assembly includes a back plate 52, a sliding rail 53 on the back plate 52, and a first slider 54 and a second slider 55 on the sliding rail 53. Specifically, a first sliding seat 56 is mounted on the first slider 54, and a gun head 57 is mounted on the first sliding seat 56, with a central through hole inside the gun head 57. A second sliding seat 58 is mounted on the second slider 55, and a screw tightening module 59 is mounted on the second sliding seat 58. The screw tightening module 59 includes a nail-collecting tube bit 60 coaxial with the central through hole; the first sliding seat 56 has a first through hole 561 for extending the nail-collecting tube bit 60 into the central through hole.

[0025] The screw tightening assembly of this embodiment also includes a first drive mechanism and a second drive mechanism for respectively driving the first sliding seat 56 and the second sliding seat 58 to move along the sliding track 53. Specifically, the first drive mechanism of this embodiment includes a first cylinder 61 mounted on the second sliding seat 58 and parallel to the nail-catching bit 60. The first sliding seat 56 is provided with a second through hole 562 through which the piston rod 611 of the first cylinder 61 passes. After passing through the second through hole 562, the piston rod of the first cylinder 61 is fixedly connected to the back plate 52. The second drive mechanism of this embodiment includes a second cylinder 62 mounted on the second sliding seat 58 and parallel to the nail-catching bit 60. The piston rod 621 of the second cylinder 62 is connected to the first sliding seat 56. In this way, the first drive mechanism can be used to adjust the synchronous movement of the first sliding seat 56 and the second sliding seat 58 along the sliding track 53, that is, the first drive mechanism is used to adjust the height of the nail-catching bit 60. The second drive mechanism can be used to drive the relative movement between the first sliding seat 56 and the second sliding seat 58. Specifically, when the screw-picking bit 60 needs to perform a screw-tightening operation, the second drive mechanism controls the distance between the first sliding seat 56 and the second sliding seat 58 to decrease, and the lower end of the screw-picking bit 60 extends out from the central through hole of the gun head 57. In this way, the screw can be picked up from the screw feeding device 40 by the screw-picking bit 60, and the screw-picking bit 60 is aligned with the threaded hole located in the vertical upward direction by the robotic arm 51, and the screw 15 is tightened in the threaded hole. After the screw-tightening operation is completed, the second drive mechanism can control the distance between the first sliding seat 56 and the second sliding seat 58 to increase, so that the lower end of the screw-picking bit 60 returns to the central through hole of the gun head 57, thus protecting the screw-picking bit 60.

[0026] In a preferred embodiment of this example, a linear bearing 63 for guiding the nail-collecting tube bit 60 is provided in the first through hole 561, which makes the linear movement of the nail-collecting tube bit 60 more stable and precise.

[0027] In this embodiment, a module mounting plate 511 is installed at the end of the robotic arm 51, and a back plate 52 is fixedly connected to the module mounting plate 511. Specifically, the automatic screw-tightening device 50 includes two screw-tightening assemblies arranged side by side. The screw-collecting tube bits 60 of the two screw-tightening assemblies are parallel to each other, and the back plates 52 of both screw-tightening assemblies are fixedly mounted on the module mounting plate 511. In this way, by using the two screw-tightening assemblies, the screw-collecting tube bits 60 of the two screw-tightening assemblies can respectively pick up screws from the screw feeding device 40 and tighten the screws into the two threaded holes of the joint actuator 10, which can effectively improve efficiency.

[0028] The above-described embodiments are merely preferred embodiments provided to fully illustrate the present invention, and the scope of protection of the present invention is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on the present invention are all within the scope of protection of the present invention. The scope of protection of the present invention is defined by the claims.

Claims

1. An automatic screw-tightening device for assembling a joint actuator, characterized in that: Includes a workbench, on which are mounted: A joint actuator clamping and positioning device is used to clamp the joint actuator and drive the joint actuator to rotate so that the threaded hole of the screw to be tightened is in the vertical direction; Screw feeding device for automatic screw feeding; An automatic screw-tightening device is used to pick up screws from the screw feeding device and tighten the screws into the corresponding threaded holes; The joint actuator clamping and positioning device includes a mounting base fixedly installed on the worktable. The mounting base is provided with a horizontal rotating shaft that rotates with it. A clamping mechanism for clamping the joint actuator is installed at the front end of the horizontal rotating shaft. The mounting base is provided with a servo drive mechanism for driving the horizontal rotating shaft to rotate at a set angle. The automatic screw-tightening device includes a robotic arm fixedly mounted on the workbench and a screw-tightening assembly mounted on the robotic arm.

2. The automatic screw-tightening device for assembling the joint actuator according to claim 1, characterized in that: The servo drive mechanism includes a servo motor, the output shaft of which is parallel to the horizontal rotating shaft and is provided with an active synchronous pulley, a driven synchronous pulley is provided on the horizontal rotating shaft, and a synchronous belt is provided between the active and driven synchronous pulleys.

3. The automatic screw-tightening device for assembling the joint actuator according to claim 2, characterized in that: The mounting base is provided with a motor mounting plate located in the vertical direction. The servo motor is fixedly mounted on the motor mounting plate, and the motor mounting plate is provided with a tensioning mechanism for tensioning the synchronous belt.

4. The automatic screw-tightening device for assembling the joint actuator according to claim 3, characterized in that: The tensioning mechanism includes a fixed seat mounted on the motor mounting plate, a sliding seat corresponding to the fixed seat, and an adjusting screw for adjusting the distance between the fixed seat and the sliding seat; the sliding seat is provided with a tensioning shaft parallel to the horizontal rotating shaft, and a tensioning wheel that cooperates with the synchronous belt is mounted on the tensioning shaft.

5. The automatic screw-tightening device for assembling the joint actuator according to claim 1, characterized in that: The screw tightening assembly includes a back plate, a sliding rail on the back plate, a first slider and a second slider on the sliding rail, a first sliding seat on the first slider and a second sliding seat on the second slider; The first sliding seat is equipped with a gun head, and the gun head has a central through hole; the second sliding seat is equipped with a screw tightening module, and the screw tightening module includes a nail suction tube bit coaxial with the central through hole; the first sliding seat has a first through hole for the nail suction tube bit to extend into the central through hole. It also includes a first drive mechanism and a second drive mechanism for driving the first sliding seat and the second sliding seat to move along the sliding track, respectively.

6. The automatic screw-tightening device for assembling the joint actuator according to claim 5, characterized in that: The first driving mechanism includes a first cylinder mounted on the second sliding seat and parallel to the nail suction tube bit. The first sliding seat is provided with a second through hole for the piston rod of the first cylinder to pass through. After the piston rod of the first cylinder passes through the second through hole, it is fixedly connected to the back plate.

7. The automatic screw-tightening device for assembling the joint actuator according to claim 5, characterized in that: The second drive mechanism includes a second cylinder mounted on the second sliding seat and parallel to the nail suction tube bit, the piston rod of the second cylinder being connected to the first sliding seat.

8. The automatic screw-tightening device for assembling the joint actuator according to claim 5, characterized in that: The first through hole is provided with a linear bearing for guiding the nail suction tube bit.

9. The automatic screw-tightening device for assembling a joint actuator according to claim 5, characterized in that: The end of the robotic arm is equipped with a module mounting plate, and the back plate is fixedly connected to the module mounting plate.

10. The automatic screw-tightening device for assembling a joint actuator according to claim 9, characterized in that: The automatic screw tightening device includes two screw tightening assemblies arranged side by side, with the screw suction tubes of the two screw tightening assemblies parallel to each other, and the back plates of the two screw tightening assemblies are fixedly mounted on the module mounting plate.

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