CN112571417B - Interim fastener and automatic assembly manipulator thereof - Google Patents
Interim fastener and automatic assembly manipulator thereof Download PDFInfo
- Publication number
- CN112571417B CN112571417B CN202011461314.3A CN202011461314A CN112571417B CN 112571417 B CN112571417 B CN 112571417B CN 202011461314 A CN202011461314 A CN 202011461314A CN 112571417 B CN112571417 B CN 112571417B
- Authority
- CN
- China
- Prior art keywords
- wrench
- arm
- supporting
- shaft
- adjusting arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 67
- 230000033001 locomotion Effects 0.000 claims abstract description 53
- 238000001514 detection method Methods 0.000 claims abstract description 10
- 230000006835 compression Effects 0.000 claims description 38
- 238000007906 compression Methods 0.000 claims description 38
- 230000002457 bidirectional effect Effects 0.000 claims description 20
- 229910000831 Steel Inorganic materials 0.000 claims description 17
- 210000000078 claw Anatomy 0.000 claims description 17
- 239000010959 steel Substances 0.000 claims description 17
- 238000005096 rolling process Methods 0.000 claims description 14
- 239000003638 chemical reducing agent Substances 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 5
- 239000004677 Nylon Substances 0.000 claims description 4
- 229920001778 nylon Polymers 0.000 claims description 4
- 230000008901 benefit Effects 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 8
- 230000008569 process Effects 0.000 abstract description 6
- 230000008878 coupling Effects 0.000 description 7
- 238000010168 coupling process Methods 0.000 description 7
- 238000005859 coupling reaction Methods 0.000 description 7
- 230000009471 action Effects 0.000 description 5
- 238000010276 construction Methods 0.000 description 5
- 230000000007 visual effect Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 101100010147 Oryza sativa subsp. japonica DOF1 gene Proteins 0.000 description 3
- 101100224344 Oryza sativa subsp. japonica DOF2 gene Proteins 0.000 description 3
- 101100224351 Oryza sativa subsp. japonica DOF3 gene Proteins 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000000977 initiatory effect Effects 0.000 description 3
- 241000446313 Lamella Species 0.000 description 2
- 101100224359 Oryza sativa subsp. japonica DOF4 gene Proteins 0.000 description 2
- 238000013459 approach Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 101100224346 Arabidopsis thaliana DOF3.2 gene Proteins 0.000 description 1
- 101100499790 Oryza sativa subsp. japonica DOF5 gene Proteins 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 239000011796 hollow space material Substances 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 230000036316 preload Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 125000003003 spiro group Chemical group 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Automatic Assembly (AREA)
Abstract
The invention relates to a temporary fastener and an automatic assembly manipulator thereof, wherein a shaft shoulder is arranged inside a shell of the temporary fastener, and an elastic element is arranged between the shaft shoulder and a screw head of a refined socket head cap screw; the manipulator comprises a position adjusting mechanism, a posture adjusting arm, a tool conveying mechanism, a screwing mechanism and a clamping paw, wherein the posture adjusting arm is rotatably connected with the free end of the position adjusting mechanism; the clamping paw is arranged at the lower end of the posture adjusting arm; the feeding mechanism comprises a wrench supporting component, an inner hexagonal wrench, a camera shooting unit and a double-crank mechanism, the wrench supporting component is connected with the posture adjusting arm through the double-crank mechanism, and a detection unit for detecting the axial movement of the inner hexagonal wrench is arranged in the wrench supporting component; the tightening mechanism is used for driving the inner hexagonal wrench to rotate. The invention can automatically complete the grabbing, mounting and dismounting of the temporary fastening piece and the pretightening force control in the mounting process, and can effectively improve the automation degree of the assembly by using the temporary fastening piece and the assembly quality.
Description
The technical field is as follows:
the invention relates to a temporary fastener and an automatic assembly manipulator thereof.
The background art comprises the following steps:
temporary fasteners are an automated assembly component, as distinguished from rivets and bolts. The rivet cannot be disassembled and reused; the bolts need to be operated on both sides of the connected member, and when the connected member is large in size, the bolts need to be operated cooperatively on both sides, which undoubtedly increases the difficulty and cost of work. The existing temporary fasteners (such as patent publication numbers CN102197231A, CN105934592, CN106224341A and CN 107524679A) are only required to be installed on one side, so that the automatic assembly of large mechanical products such as airplanes, automobiles, ships and the like is facilitated.
However, the pretightening force of the conventional temporary fastening piece is not easy to measure during installation, and the subsequent assembly quality is influenced. Furthermore, chinese patent publication nos. CN106392603A and CN110666493A disclose automated assembly of temporary fasteners, but the former requires manual disassembly, while the latter requires temporary fasteners to be supplied by an external device, which has the disadvantages of low automation and insufficient assembly quality.
The invention content is as follows:
the invention aims at solving the problems in the prior art, namely, the invention aims to provide a temporary fastener and an automatic assembly manipulator thereof, wherein the temporary fastener has reasonable structural design, and the pretightening force is convenient to measure; this interim fastener's automatic assembly manipulator reasonable in design effectively improves the degree of automation of using interim fastener assembly, and improves the assembly quality.
In order to achieve the purpose, the invention adopts the technical scheme that: the utility model provides a temporary fastening spare, includes the casing, sets up at the inside refined socket head cap screw of casing, through the tight jack catch of internal thread hole and the looks spiro union of refined socket head cap screw clamp, the inside of casing is equipped with the shaft shoulder, be equipped with elastic element between the screwhead of shaft shoulder and refined socket head cap screw.
The invention adopts another technical scheme that: an automatic assembling manipulator for temporary fasteners comprises a position adjusting mechanism and an attitude adjusting mechanism, wherein the attitude adjusting mechanism comprises an attitude adjusting arm, a tool conveying mechanism, a tightening mechanism and a clamping paw, and the attitude adjusting arm is rotatably connected with the free end of the position adjusting mechanism around a horizontal axis; the clamping paw is rotatably arranged at the lower end of the attitude adjusting arm and is used for clamping the shell of the temporary fastener; the feeding mechanism comprises a wrench supporting component, an inner hexagon wrench movably arranged in the wrench supporting component, a camera shooting unit fixedly arranged on the wrench supporting component and a double-crank mechanism, the wrench supporting component is connected with the posture adjusting arm through the double-crank mechanism, and a detection unit used for detecting the axial movement amount of the inner hexagon wrench is arranged in the wrench supporting component; the tightening mechanism is used for driving the inner hexagonal wrench to rotate.
Further, the position adjusting mechanism comprises a base, an arm shoulder, a first arm and a second arm, wherein the arm shoulder is arranged on the upper side of the base and can rotate around a plumb line relative to the base; one end of the first arm is rotatably connected with the arm shoulder around a horizontal axis, the other end of the first arm is rotatably connected with one end of the second arm around the horizontal axis, the other end of the second arm is rotatably connected with the posture adjusting arm around the horizontal axis, and a rotating shaft of the arm shoulder, a rotating shaft of the first arm and the second arm, and a rotating shaft of the posture adjusting arm are parallel to each other; and a first linear driver is fixedly mounted on the second arm, and the movable end of the first linear driver is hinged with the attitude adjusting arm so as to drive the attitude adjusting arm to rotate around the horizontal axis.
Furthermore, the inner hexagonal wrench comprises a working section and a supporting section which are coaxially arranged, the working section is hexagonal in shape, and the supporting section is in a stepped shaft shape; six sides of working segment all are equipped with along the axial extension of allen key and in order to do benefit to the index mark that the camera unit shot, index mark's length is greater than the degree of depth of temporary tightening spare hexagonal groove.
Furthermore, the tightening mechanism comprises a tightening motor with a speed reducer, a flexible steel wire shaft, a middle supporting piece and a supporting spring, the tightening motor and the speed reducer thereof are fixedly arranged at the free end of the position adjusting mechanism, an output shaft of the speed reducer of the tightening motor is connected with one end of the flexible steel wire shaft, and the other end of the flexible steel wire shaft is connected with the supporting section of the inner hexagonal wrench through a transmission piece; the middle supporting piece is positioned on the upper side of the posture adjusting arm, the flexible steel wire shaft penetrates through the middle supporting piece in a sliding mode, and a supporting spring is connected between the bottom face of the middle supporting piece and the top face of the posture adjusting arm.
Furthermore, the wrench supporting component comprises a wrench supporting frame, a sleeve, a compression spring and a sleeve coupling, an inner shaft collar is arranged on the inner wall of the wrench supporting frame, a supporting section of the inner hexagonal wrench is arranged inside the wrench supporting frame through rolling bearings arranged on the left side and the right side of the inner shaft collar, a first shaft collar is arranged at one end, close to the working section, of the supporting section, a right side shaft shoulder of the first shaft collar is close to the rolling bearing on the left side, and the right end of the supporting section is connected with the output end of the flexible steel wire shaft through the sleeve coupling; the detection unit is a tension and pressure sensor which is abutted against a left side shaft shoulder of the inner shaft collar, and a compression spring is abutted between the tension and pressure sensor and a rolling bearing positioned on the left side of the wrench supporting frame; the sleeve is arranged on the inner side of the compression spring and sleeved outside the supporting section of the inner hexagonal wrench, and the length of the sleeve is smaller than the free length of the compression spring and is larger than or equal to the length of the compression spring when the compression spring is completely compressed.
Further, the camera shooting unit is a camera fixedly installed on the outer surface of the wrench supporting frame, the main axis of the camera is parallel to the main axis of the hexagon socket wrench, and the ratio of the distance between the camera shooting unit and the main axis of the hexagon socket wrench to the distance between the camera shooting unit and the end faces of the working ends of the hexagon socket wrench along the axial direction is smaller than tan75 degrees.
Furthermore, the double-crank mechanism comprises a second linear driver, a driving crank, a connecting rod and a driven crank which are distributed from top to bottom, the driving crank is in a semi-elliptical shape, one end of the driving crank is hinged with the posture adjusting arm, and the other end of the driving crank is hinged with the upper end of the connecting rod; the driven crank is L-shaped, the short edge of the driven crank is connected with the wrench supporting component through a nylon pin, the long edge of the driven crank is hinged with the posture adjusting arm at one end far away from the inner hexagonal wrench, and the lower end of the connecting rod is hinged with the long edge of the driven crank; the fixed end of the second linear driver is hinged with the posture adjusting arm, and the movable end of the second linear driver is hinged with the driving crank.
Furthermore, the posture adjusting arm comprises an adjusting arm body, a rotating motor, a mandrel, a support ring, an annular connecting piece, a first annular support frame and a second annular support frame, the rotating motor is arranged at the top of the swing arm body, an output shaft of the rotating motor is connected with the mandrel penetrating through the adjusting arm body, the lower end of the mandrel is fixedly connected with the clamping paw, the annular connecting piece is fixedly sleeved on the outer side of the adjusting arm body in a fixing way, the movable end of the first linear driver is hinged with the annular connecting piece, the support ring is rotatably sleeved at the upper end of the adjusting arm body and positioned on the upper side of the annular connecting piece, and the support ring is hinged with the fixed end of the second linear driver; first annular support frame and second annular support frame from last down fix the cover in proper order and establish the one end that stretches out the adjustment arm body at the dabber, first annular support frame is articulated mutually with the initiative crank, and second annular support frame is articulated mutually with the driven crank.
Furthermore, the clamping paw comprises a paw support, a left paw, a right paw, a spring coil, a bidirectional screw and a clamping motor, wherein the left paw and the right paw are arranged on the paw support; the spring coil is positioned between the left hand claw and the right hand claw, the spring coil can be electrified and sleeved on the outer side of the polished rod part of the bidirectional screw rod, and the length of the polished rod part of the bidirectional screw rod is the same as that of the spring coil when the spring coil is completely compressed.
Compared with the prior art, the invention has the following effects: the invention has reasonable structural design, can automatically complete the grabbing, mounting and dismounting of the temporary fastening piece and the pretightening force control in the mounting process without an external auxiliary tool, and can effectively improve the automation degree of the assembly by using the temporary fastening piece and the assembly quality.
Description of the drawings:
FIG. 1 is a schematic view of a construction of a temporary fastener in an embodiment of the invention;
FIG. 2 is a schematic view of the construction of an automated assembly robot in an embodiment of the present invention;
FIG. 3 is a schematic configuration diagram of an attitude adjusting mechanism in the embodiment of the invention;
FIG. 4 is a schematic view of the construction of a slave crank in an embodiment of the present invention;
FIG. 5 is a schematic view of the construction of a wrench support assembly in an embodiment of the present invention;
FIG. 6 is a schematic view showing the configuration of a gripping finger in the embodiment of the present invention;
FIG. 7 is a schematic diagram of the construction of the right hand gripper in an embodiment of the present invention;
fig. 8 is a schematic configuration diagram of an attitude adjustment arm in the embodiment of the present invention.
In the figure:
a-a temporary fastener; a1-refined socket head cap screw; a 2-elastic element; a3-shell; a4-protective sleeve; a 5-clamping jaws; 1-a position adjustment mechanism; 101-a base; 102-arm shoulder; 103-a first arm; 104-a second arm; 105-a first linear driver; 2-a tightening mechanism; 201-screwing down the motor and the reducer thereof; 202-flexible wire shaft; 203-support springs; 204-an intermediate support; 3-a wrench support assembly; 301-internal hexagonal wrench; 3011-a working section; 3012-a support section; 3013-a first collar; 3021 — rolling bearing on the left side; 3022-right rolling bearing; 303-a sleeve; 304-a compression spring; 305-wrench support frame; 3051-a first hole site; 3052-an inner collar; 306-a pull pressure sensor; 307-camera; 308-a first locking nut; 309-sleeve coupling; 310-a second locking nut; 311-output end of flexible steel wire shaft; 312-a bearing; 313-a third lock nut; 314-a second key; 315-first key; 4-attitude adjusting arm; 401-a rotating electrical machine; 402-a mandrel; 4021-external threads; 403-support ring; 404-a ring connector; 405-adjusting the arm body; 406-a first annular support shelf; 407-a separation sleeve; 408-a second toroidal support; 5-clamping the paw; 501-paw support; 502-left hand claw; 503-bidirectional screw; 504-spring coil; 505-right hand claw; 506-driven herringbone teeth; 507-a clamping motor; 508-driving herringbone teeth; 509-motor mount; 5091-well; 510-a stepped bore; 5101-a threaded bore portion; 5102-a relief hole portion; 5103-a semicircular hole; 6-double crank mechanism; 601-a driven crank; 6011-a first hole site; 6012-spiral slit; 602-a connecting rod; 603-driving crank; 604-second linear drive.
The specific implementation mode is as follows:
the invention is described in further detail below with reference to the drawings and the detailed description.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, are merely for convenience of description of the present invention, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
As shown in fig. 1, the temporary fastening piece of the present invention is structurally improved on the basis of the structure described in chinese patent CN106224341A, and mainly includes a housing A3, a refined socket head cap screw a1 disposed inside the housing A3, and a clamping jaw a5 screwed with the refined socket head cap screw a1 through an internal thread hole, wherein a shaft shoulder is disposed inside the housing A3, and an elastic element a2 is disposed between the shaft shoulder and a screw head of the refined socket head cap screw a 1. By adding the elastic element A2 between the screw head of the refined socket head cap screw A1 and the shell A3, when the refined socket head cap screw A1 is screwed, the pretightening force generated by clamping the connected piece is transferred by the elastic element A2. At the same time, the deformation of the elastic element a2 causes the refined socket head cap screw a1 to move toward the clamping jaw a5, and the moving amount of the refined socket head cap screw a1 will be approximately equal to the deformation amount of the elastic element a2, which will be detected by the subsequent mechanism for the measurement and control of the pretension force.
It should also be noted that one end of the clamping jaw a5 is an outer square, and is matched with an inner square inside the casing A3 through the outer square, and the other end is an inner contracting four-petal jaw or six-four-petal jaw structure with a taper barb shape; a retainer ring is arranged in the shell A3 to prevent the refined socket head cap screw A1 from falling off; one end of the shell A3 is an external hexagon, and the other end is provided with a protective sleeve A4; the temporary fastener specification is convenient to visually distinguish by changing the painting color of the protective sleeve; the barb that contracts in the clamping jaw and the terminal tapering has four lamella claws or six four lamella claw structures to and have elastic deformation expansion and shrink and enter drill way direction function.
As shown in fig. 2 to 8, the present invention is a temporary fastener and an automatic assembly robot for assembling the temporary fastener a, and the robot includes a position adjustment mechanism 1 and an attitude adjustment mechanism, and the attitude adjustment mechanism includes an attitude adjustment arm 4, a tool feeding mechanism, a tightening mechanism 2, and a gripper jaw 5.
In this embodiment, the position adjustment mechanism 1 includes a base 101, an arm shoulder 102, a first arm 103, and a second arm 104, the base 101 is fixed or mounted on a mobile cart, the arm shoulder 102 is disposed on the upper side of the base 101 and can rotate around a vertical line with respect to the base 101, which is the first degree of freedom DOF1 of the robot arm; one end of the first arm 103 is pivotally connected to the arm shoulder 102 about a horizontal axis, which is the second degree of freedom DOF2 of the robot; the other end of the first arm 103 is pivotally connected to one end of the second arm 104 about a horizontal axis, which is the third degree of freedom DOF3 of the robot arm, and the pivot axis of the second degree of freedom DOF2 and the pivot axis of the third degree of freedom DOF3 are parallel to each other. The first, second, and third degree of freedom DOF1, 2, 3 are used to adjust the position of the attitude adjustment mechanism.
In this embodiment, the posture adjustment arm 4 is rotatably connected to the other end of the second arm 104 (the free end of the position adjustment mechanism 1) about a horizontal axis, which is the fourth degree of freedom DOF4 of the robot arm, and the rotation axis of the fourth degree of freedom is parallel to the rotation axes of the second and third degrees of freedom. The clamping paw 5 is rotatably arranged at the lower end of the posture adjusting arm 4 and is used for clamping a shell A3 of the temporary fastening piece A; the feeding mechanism comprises a wrench supporting component 3, an inner hexagonal wrench 301 movably arranged in the wrench supporting component 3, a camera shooting unit fixedly arranged on the wrench supporting component 3 and a double-crank mechanism 6, the wrench supporting component 3 is connected with the posture adjusting arm 1 through the double-crank mechanism 6, the double-crank mechanism 6 drives the wrench supporting component 3 to do pitching motion, and the camera shooting unit is used for monitoring the inner hexagonal wrench 304 in real time; a detection unit for detecting the axial movement amount of the inner hexagon wrench is arranged in the wrench supporting component 3; the tightening mechanism 2 is used for driving the inner hexagonal wrench 301 to rotate.
In this embodiment, the second arm 104 is fixedly provided with a first linear actuator 105, and a movable end of the first linear actuator 105 is hinged to the attitude adjustment arm 4 to drive the attitude adjustment arm 4 to rotate around a horizontal axis.
In this embodiment, the allen wrench 301 includes a working segment 3011 and a supporting segment 3012 that are coaxially arranged, the working segment 3011 is hexagonal in shape, the supporting segment 3012 is stepped shaft shaped, the supporting segment 3012 is provided with a first collar 3013 adjacent to the working segment 3011, and the first collar 3013 and the right shaft segment form a first collar toward the right.
In this embodiment, the tightening mechanism 2 includes a tightening motor 201 with a speed reducer, a flexible wire shaft 202, an intermediate support 204, and a support spring 203, the tightening motor and its speed reducer 201 are fixedly mounted at a free end (an end of the second arm 104 away from the attitude adjustment arm 4) of the position adjustment mechanism 1, an output shaft of the tightening motor and its speed reducer 201 is connected with one end of the flexible wire shaft 202, the other end of the flexible wire shaft 202 is connected with a support section of the allen wrench 301 through a transmission member, and the tightening motor 201 drives the allen wrench 301 to rotate through the flexible wire shaft 202; the intermediate support 204 is located on the upper side of the attitude adjusting arm 4, the flexible wire shaft 202 penetrates through the intermediate support 204 in a sliding manner, a support spring 203 is connected between the bottom surface of the intermediate support 204 and the top surface of the attitude adjusting arm 4, and the support of the support spring 203 can move up and down to adapt to the change of the position of the flexible wire shaft 202.
In this embodiment, the wrench supporting assembly 3 includes a wrench supporting frame 305, a sleeve 303, a compression spring 304 and a sleeve coupler 309, an inner collar 3052 is disposed on an inner wall of the wrench supporting frame 305, the supporting section 3012 of the allen wrench 301 is disposed inside the wrench supporting frame 305 through rolling bearings disposed on left and right sides of the inner collar 3052, a right side shoulder of the first collar 3013 of the supporting section 3012 is disposed next to the rolling bearing 3021 on the left side, and a right end of the supporting section is connected to the output end 311 of the flexible wire shaft through the sleeve coupler 309; the detection unit is a pull pressure sensor 306, the pull pressure sensor 306 abuts against a left side shaft shoulder of the inner shaft ring 3052, and a compression spring 304 abuts between the pull pressure sensor 306 and a rolling bearing 3021 positioned on the left side of the wrench supporting frame 305; the sleeve 303 is arranged on the inner side of the compression spring 304 and sleeved on the outer side of the inner hexagonal wrench 301, the length of the sleeve 303 is smaller than the free length of the compression spring 304, and meanwhile, the length of the sleeve 303 is larger than or equal to the length of the compression spring 304 when the compression spring 304 is completely compressed; the tension and pressure sensor 306 is used to detect the magnitude of the compression spring force and calculate the amount of compression of the compression spring from the magnitude of the force.
In this embodiment, the right movement of the allen key 301 is limited by the left rolling bearing 3021, the right side of the left rolling bearing 3021 abuts against the compression spring 304, the right side of the compression spring 304 abuts against the pull pressure sensor 306, and the pull pressure sensor 306 is limited by the inner collar 3052 on the inner wall of the key support frame 305; the left movement of the allen key 301 is transmitted to the right rolling bearing 3022 through the first lock nut 308, and is finally limited by the inner collar 3052 on the inner wall of the key support bracket 305, so the left movement of the allen key 301 is completely limited, but the right movement of the allen key 301 can be moved for a certain distance due to the existence of the compression spring 304 and the connection effect of the sleeve coupling 309, and the right movement of the allen key 301 is completely limited when the compression spring 304 is compressed to the length corresponding to the length of the sleeve 303.
In this embodiment, the right end of the supporting section of the allen wrench 301 is connected to one end of the socket coupling 309 through a first key 315, and the output end 311 of the flexible steel wire shaft is connected to the other end of the socket coupling 309 through a second key 314. The output end 311 of the flexible steel wire shaft is installed in the following mode: the output end 311 of the flexible steel wire shaft is sleeved with a third locking nut 313, a bearing 312 and a second locking nut 310 in sequence, after the second locking nut 310 is screwed down, the output end 311 of the flexible steel wire shaft is inserted into the sleeve coupler 309, and finally the third locking nut 313 is screwed down. Thus, axial movement of the output end 311 of the flexible wire shaft is limited to eliminate the effect of movement of the allen wrench 301 along its axis.
In this embodiment, the camera unit is a camera 307 fixedly installed on the outer surface of the wrench supporting frame 305, the main axis of the camera 307 is parallel to the main axis of the allen wrench 301, and the ratio of the distance between the two and the distance between the two working end faces along the axial direction is less than tan75 °.
In this embodiment, six side surfaces of the working section of the allen key 301 are provided with indication marks which extend along the axial direction of the allen key 301 and are beneficial to the shooting of the camera unit 307, and the length of the indication marks is greater than the depth of the hexagon groove of the temporary fastening member a, or the indication marks can be made on six surfaces only outside the hexagon groove. The rotational speed of the allen key a is estimated by the indication marks of the six faces of the allen key a photographed by the photographing unit 307, and when the rotational speed thereof significantly decreases and the amount of displacement of the allen key a1 in the provisional fastening member a starts, it is considered that the provisional fastening member a enters the tightened state, and thereafter, the amount of change in the length of the compression spring 304 is calculated from the measurement value of the detection unit 306, and the amount of change is considered as the amount of compression of the elastic element a2 in the provisional fastening member, and finally, the magnitude of the preload is calculated.
The calculation formula of the pre-tightening force is as follows:
Pretension = stiffness coefficient of elastic element a2 × compression of elastic element a2
The stiffness coefficient of the elastic element A2 is multiplied by (the measured value of the pull pressure sensor 306 is divided by the stiffness coefficient of the compression spring 304), or the relation between the compression amount of the elastic element A2 and the magnitude of the applied axial force is measured in advance, and the pretightening force is obtained by looking up a table of the compression amount of the elastic element A2.
In this embodiment, the double-crank mechanism 6 includes a second linear driver 604, a driving crank 603, a connecting rod 602, and a driven crank 601 distributed from top to bottom; the driving crank 603 is in a semi-elliptical shape, one end of the driving crank 603 is hinged with the posture adjusting arm 4, and the other end of the driving crank 603 is hinged with the upper end of the connecting rod 602; the driven crank 601 is L-shaped, the short side of the driven crank 601 is connected with the wrench supporting frame 305 through a nylon pin, the long side of the driven crank 601 is hinged with the posture adjusting arm 4 at one end far away from the wrench supporting frame 305, and the lower end of the connecting rod 602 is hinged with the long side of the driven crank 601; the fixed end of the second linear actuator 604 is hinged to the attitude adjustment arm 4, and the movable end of the second linear actuator 604 is hinged to the driving crank 603. The extension or contraction of the second linear actuator 604 drives the driving crank 603 to rotate, and then the motion is transmitted to the allen wrench 301 and the wrench supporting member (including the camera 307) 3 through the double crank mechanism, so that the driving crank rotates around the rotation axis thereof, thereby achieving the purpose of approaching or departing from the clamping paw 5.
Preferably, the axis of the allen wrench 301 is perpendicular to the rotation axis of the driven crank 601 in a staggered manner, and the shortest distance between the two, i.e. the rotation radius of the allen wrench 301 when it is close to the gripping gripper 5, is equal to the shortest distance between the axis of the temporary fastener a when it is close to the gripper bracket 501 and the rotation axis of the driven crank 601.
Preferably, the driving crank 603 is in a semi-ellipse shape, hinge points at two ends of the driving crank are respectively two end points of the long axis of the ellipse, and the length ratio of the long axis to the short axis of the ellipse is between 1 and 1.5; the middle of the two sides of the driving crank 603 is hollow, and the gap width is exactly the same as the dimension width of the structure in the same direction at the front end of the second linear driver 604. The driven crank 601 is L-shaped as a whole, the vertex of the L-shaped driven crank 601 is the rotation center point of the L-shaped driven crank, and the short side of the L-shaped driven crank points to the outer side of the double-crank mechanism. A spiral gap 6012 is cut on the side of the hinge point of the long side of the L-shaped driven crank and the connecting rod, which is close to the short side, and the gap spirally surrounds 1-3 circles, and the spiral gap 6012 helps to reduce the rigidity thereof and is used for helping to eliminate the radial error between the hexagon socket wrench 301 and the hexagon socket hole on the refined hexagon socket screw a 1.
In this embodiment, the two first hole locations 3051 at the lower part of the wrench supporting frame 305 are connected to the two second hole locations 6011 corresponding to the L-shaped driven crank 601 by nylon pins, so as to further help eliminate the radial error between the allen wrench 301 and the hexagon socket hole on the allen screw a 1.
In this embodiment, the attitude adjustment arm 4 includes an adjustment arm body 405, a rotating electrical machine 401, a mandrel 402, a support ring 403, an annular connector 404, a first annular support frame 406, and a second annular support frame 407, where the rotating electrical machine 401 is installed at the top of the swing arm body 405, an output shaft of the rotating electrical machine 401 is connected with the mandrel 402 penetrating through the adjustment arm body 405 through interference fit, a lower end of the mandrel 402 is fixedly connected with the clamping gripper 5, and the rotating electrical machine 401 drives the clamping gripper 5 to rotate through the mandrel 402; the annular connecting piece 404 is connected to the outer side of the adjusting arm body 405 in an interference fit connection sleeve, the movable end of the first linear driver 105 is hinged to the annular connecting piece 404, and the first linear driver 105 controls the posture of the posture adjusting arm 4; the supporting ring 403 is rotatably sleeved at the upper end of the adjusting arm body 405 and is located at the upper side of the annular connecting piece 404, the supporting ring 403 is hinged to the fixed end of the second linear driver 604, that is, the second linear driver 604 can rotate relative to the adjusting arm body 405; the first annular support frame 406 and the second annular support frame 408 are sequentially fixedly sleeved at one end of the mandrel 402 extending out of the adjusting arm body 405 from top to bottom, the first annular support frame 406 and the second annular support frame 408 are both in molded connection with the mandrel 402 to realize circumferential fixation, the first annular support frame 406 and the second annular support frame 408 are separated by an isolation sleeve 407, the first annular support frame 406 is hinged with the driving crank 603, and the second annular support frame 408 is hinged with the driven crank 601.
In this embodiment, the clamping paw 5 includes a paw bracket 501, a left paw 502, a right paw 505, a spring coil 504, a bidirectional screw 503 and a clamping motor 507, which are disposed on the paw bracket 501, the bidirectional screw 503 is disposed horizontally, an output shaft of the clamping motor 507 is connected to one end of the bidirectional screw 503 through a gear transmission mechanism to drive the bidirectional screw to rotate, and two sections of threads with opposite rotation directions of the bidirectional screw 503 are respectively screwed to the left paw 502 and the right paw 505; the spring coil 504 is electrified and coaxially sleeved on the outer side of the polished rod part of the bidirectional screw 503, the spring coil 504 is positioned between the left and right claws, the length of the polished rod part of the bidirectional screw 503 is the same as that of the spring coil 504 when the bidirectional screw is completely compressed, and the diameter of the polished rod part of the bidirectional screw 503 is equivalent to the inner diameter of the spring coil 504 and is larger than that of the threaded part. In operation, the clamping motor 507 drives the bi-directional screw 503 to rotate via the gear train, and the bi-directional screw 503 drives the left gripper 502 and the right gripper 505 to move toward or away from each other for clamping the housing a3 of the temporary fastener a. Before the target temporary fastener a is not yet fully clamped, the spring coil 504 is energized to attract the clamped temporary fastener a against the gripper bracket 501 in the clamping space between the left-hand gripper 502 and the right-hand gripper 505 to ensure that the centerline of the allen wrench 301 fed by the feeder mechanism coincides with the centerline of the prepared allen screw a 1.
Preferably, as shown in fig. 6, the gripper motor 507 is mounted on the gripper bracket 501 through a motor bracket 509, and the motor bracket 509 connects the whole gripper 5 with the posture adjustment arm 4 through a hole 5091 on the motor bracket 509, and the connection mode is as follows: the lower end of the mandrel 402 is provided with external connection threads 4021, and the external connection threads 4021 are used for screwing a nut to fix the gripper jaw 5 inserted from the hole 5091.
Preferably, as shown in fig. 7, the gear transmission mechanism comprises a driving herringbone gear 508 and a driven herringbone gear 506, the driving herringbone gear 508 is connected with an output shaft of the clamping motor 507, and the driven herringbone gear 506 is connected with one end of the bidirectional screw 503; the left paw 502 and the right paw 505 are both provided with a stepped hole 510 at their lower ends, the middle of the stepped hole 510 is a threaded hole portion 5101 for screwing with a bidirectional screw, the inner section of the stepped hole 510 is a relief hole portion 5102, the diameter of the relief hole portion 5102 is greater than that of the threaded hole portion 5101, the length of the relief hole portion 5102 is slightly greater than half of the length of the spring coil 504 when fully compressed, so as to ensure that there is enough space for accommodating the fully compressed spring 504 when the paw 502 and the paw 505 are fully engaged. The outer end of the stepped hole 510 is a semicircular hole 5103 with a lower half cut away, and the semicircular hole 5103 is used for accommodating the driven herringbone gear 506 mounted on the screw 503.
In this embodiment, the method for realizing nine degrees of freedom of the manipulator is as follows:
(1) first degree of freedom DOF 1: the arm shoulder 102 and the base 101 rotate around the plumb line;
(2) second degree of freedom DOF 2: the first arm 103 and the arm shoulder 102 rotate around a horizontal axis;
(3) the third degree of freedom DOF 3: the second arm 104 and the first arm 103 rotate around a horizontal axis;
(4) fourth degree of freedom DOF4 (pitch motion of the attitude adjustment arm 4): the first linear driver 105 drives the movement of the attitude adjusting arm 4 through the connection with the annular link 404;
(5) fifth degree of freedom DOF5 (swivel movement of the attitude adjustment arm 4): the linkage of the two mechanisms is separately explained as follows:
fifth degree of freedom DOF5-1 (swivel degree of freedom of gripper 5): the rotary motor 401 drives the mandrel 402 to rotate, and the mandrel 402 drives the clamping paw 5 connected with the lower end of the mandrel 402 to rotate together;
the fifth degree of freedom DOF5-2 (slewing motion of the carriage mechanism): the posture adjustment of the feeder mechanism is linked with the posture adjustment of the gripper claw 5. The first and second annular support frames 406, 408 are positively coupled to the mandrel 402 for rotation with the mandrel 402. The first circular support frame 406 drives the driving crank 603, the second circular support frame 408 drives the driven crank 601, and since the movable end of the second linear actuator 604 is just clamped in the hollow space in the middle of the semi-elliptical driving crank 603 and the support ring 403 hinged to the fixed end of the second linear actuator 604 is movable, the second linear actuator 604 and the support ring 403 thereof rotate together with the driving crank 601. Thus, once the mandrel 402 rotates, the entire feeder mechanism rotates together;
(6) The sixth degree of freedom DOF6 (clamping or unclamping action of gripper 5): the clamping motor 507 operates to drive the driving herringbone gear 508 and the driven herringbone gear 506 to rotate, the driven herringbone gear 506 drives the bidirectional screw 503 to rotate, and finally the bidirectional screw 503 drives the left hand claw 502 and the right hand claw 505 to move oppositely or oppositely so as to clamp or release the temporary fastener A;
(7) the seventh degree of freedom DOF7 (pitch motion of allen key 301, key support assembly 3, and camera unit): the second linear driver 604 acts to sequentially push the driving crank 603, the connecting rod 602 and the driven crank 601 to move, so that the hexagon socket wrench 301 and the wrench supporting component 3 (including the camera) on the driven crank 601 do pitching motion;
(8) the eighth degree of freedom DOF8 (swiveling motion of the allen wrench 301): the rotation of the screwing motor 201 drives the flexible steel wire shaft 202 to rotate, and the output end 311 of the flexible steel wire shaft drives the hexagonal wrench 301 to rotate through the sleeve coupling 309;
(9) ninth degree of freedom DOF9 (magnetically attracted alignment of temporary fastener a): before the target temporary fastener a is not yet completely clamped, the spring coil 504 is energized to attract the clamped temporary fastener a against the gripper bracket 501 in the clamping space between the left-hand gripper 502 and the right-hand gripper 505 to ensure that the center line of the allen wrench 301 fed by the feeder mechanism coincides with the center line of the fine socket head cap screw a 1.
Method T for measuring the pretension of temporary fasteners: the socket wrench 301 is inserted into the socket of the prepared socket head cap screw a1, and the socket wrench 301 is rotated to drive the prepared socket head cap screw a1 to perform a tightening operation. In this process, the elastic member a2 is deformed, so that the allen screw a1 also moves toward the clamping jaw a 5. Assuming that the housing A3 of the temporary fastener is held by the robot and then fixed, the amount of movement of the allen screw a1 will be approximately equal to the amount of deformation of the elastic element a2, based on the housing A3. This amount of deformation will be transmitted by the inner angle wrench 301 to the pull pressure sensor 306 through the compression spring 304. The compression spring 304 functions to enable the allen wrench 301 to abut the socket head of the allen screw a1, on the one hand, and the compression spring 304 to replicate the displacement change of the allen screw a1, which can be quantified by the pull pressure sensor 306 abutting the compression spring 304. Therefore, the pretightening force on the temporary fastening piece can be obtained by looking up a table through measuring the relation between the compression amount of the elastic element and the magnitude of the axial force borne in advance.
In this embodiment, the work flow of the automatic assembling manipulator for assembling and disassembling the temporary fastening piece is as follows:
The coordinated movement of the DOF1, DOF2 and DOF3 to achieve the purpose of adjusting the position of the posture adjustment arm is the combined movement Z1;
step S1, mounting a temporary fastener:
step S11, performing coordinated movements of the position adjustment movement Z1 of the attitude adjustment arm 4, the swiveling movement (the fifth degree of freedom DOF 5) of the attitude adjustment arm 4, the allen wrench 301, and the pitching movement (the seventh degree of freedom DOF 7) of the wrench support assembly (including the camera) 3 to help the camera 307 adjust the position and attitude to find the temporary fastener a;
step S12, executing the position adjustment movement Z1 of the attitude adjustment arm 4 to bring the gripping claw 5 close to the target temporary fastener a, and simultaneously starting the swiveling movement (the fifth degree of freedom DOF 5) of the attitude adjustment arm 4 so that the allen key 301 and the key support assembly (including the camera) 3 are located on the same side of the gripping claw 5 as the hexagon socket head of the fine allen screw a 1;
step S13, initiating a clamping action (sixth degree of freedom DOF 6) of the gripping gripper 5, performing a magnetic attraction alignment action (ninth degree of freedom DOF 9) of the temporary fastener a before the left and right grippers 502, 505 are to clamp the target temporary fastener a; for different models of temporary fasteners, different models of wrench support assemblies 3 need to be used to ensure that the centerlines of the two can be aligned. When the model matching of the temporary fastener A and the wrench supporting component 3 is correct, but the center lines of the temporary fastener A and the wrench supporting component 3 have slight deviation, an adjusting gasket can be added at the connecting thread 4021 at the lower ends of the motor support 509 and the mandrel 402 for fine adjustment;
Step S14, the clamping movement of the gripper jaw 5 is continued (sixth degree of freedom 0DOF 6), after which the spring coil 504 is de-energized;
step S15, performing coordination of the position adjustment movement Z1 of the attitude adjustment arm 4, the rotation movement D (the fifth degree of freedom DOF 5) of the attitude adjustment arm 4, the socket wrench 301, and the pitching movement (the seventh degree of freedom DOF 7) of the wrench supporting assembly (including the camera) 3 to find a target mounting hole on the connected component in cooperation with the camera 307;
step S16, after the target mounting hole location is determined, the position adjustment movement Z1 of the attitude adjustment arm 4 and the pitching movement (fourth degree of freedom DOF 4) of the starting attitude adjustment arm 4 are continuously executed, so that the clamping paw 5 and the temporary fastener a are brought close to the target hole location on the one hand; on the other hand, by means of visual feedback of the camera 307, the axis of the attitude adjusting arm 4 is made parallel to the mounting surface where the target mounting hole site is located;
step S17, executing the pitch motion (seventh degree of freedom DOF 7) of the allen wrench 301 and the wrench supporting assembly (including the camera) 3, so that the allen wrench 301 approaches the temporary fastening piece a clamped by the clamping paw 5;
step S18, under the visual guidance of the camera 307, the rotation motion of the socket wrench 301 is started (the eighth degree of freedom DOF 8) so that the socket wrench 301 is aligned with the socket hole of the allen key a 1; after the alignment, the pitch movement (the seventh degree of freedom DOF 7) of the allen key 301 and the key support assembly (including the camera) 3 is continued, so that the allen key 301 is inserted into the socket head of the fine allen screw a 1;
Step S19, the eighth degree of freedom DOF 8) of the rotation motion of the allen key 301 and the pretension detection method T are continuously executed until a preset pretension force is reached;
thus, the automatic assembly of a temporary fastener A is completed; the installation process is repeated to install more temporary fasteners A.
Step S2, detaching the temporary fastener:
step S21, performing coordinated motions of the position adjustment motion Z1 of the attitude adjustment arm 4, the swiveling motion (the fifth degree of freedom DOF 5) of the attitude adjustment arm 4, the allen key 301, and the pitching motion (the seventh degree of freedom DOF 7) of the key support assembly (including the camera) 3 to help the camera 307 to find the temporary fastener a;
step S22, executing the position adjustment movement Z1 of the attitude adjustment arm 4 to bring the gripper jaw 5 close to the target temporary fastener a; meanwhile, with the visual feedback of the camera 307, the position adjustment movement Z1 of the attitude adjustment arm 4 and the pitching movement (the fourth degree of freedom DOF 4) of the starting attitude adjustment arm 4 are continuously executed, so that the axis of the attitude adjustment arm 4 is parallel to the mounting surface where the target mounting hole site is located; initiating a swiveling motion (the fifth degree of freedom DOF 5) of the attitude adjustment arm 4 such that the allen key and key support assembly (including the camera) 3 is located on the same side of the clamping gripper 5 as the allen key a1 of the temporary fastener a;
Step S23, initiating the clamping action of the clamping gripper 5 (sixth degree of freedom DOF 6), noting that the clamping gripper 5 clamps the target temporary fastener a against the gripper root;
step S24, the pitch motion (the seventh degree of freedom DOF 7) of the allen wrench 301 and the wrench supporting member (including the camera) 3 makes the allen wrench 301 approach the temporary fastening piece a clamped by the clamping claw 5;
step S25, under the visual guidance of the camera 307, the rotation motion of the socket wrench 301 is started (the eighth degree of freedom DOF 8) so that the socket wrench 301 is aligned with the socket hole of the allen key a 1; after the alignment, the pitch movement (the seventh degree of freedom DOF 7) of the allen wrench 301 and the wrench supporting assembly (including the camera) 3 is continued, so that the allen wrench 301 is inserted into the socket hole of the allen screw a 1;
step S26, continuing to perform the rotation motion of the allen key 301 (the eighth degree of freedom DOF 8) to unscrew the temporary fastener a until the axial movement of the refined allen screw a1 is not detected by the pretension detection method T;
step S27, executing the position adjustment movement Z1 of the attitude adjustment arm 4 to make the temporary fastener a leave the target installation hole site, and moving the temporary fastener a to a specified position under the visual guidance of the camera 307, and executing the unclamping action (sixth degree of freedom DOF 6) of the gripper claw 5 to drop the temporary fastener a;
Thus, the automatic disassembly of a temporary fastener A is completed; repeating the above-mentioned disassembling process to disassemble more temporary fasteners A.
The invention has the advantages that: (1) the improved temporary fastener is internally provided with an elastic element so as to generate larger deformation when being screwed down and facilitate the sensing of a sensor; (2) the system can sense the deformation or displacement of the improved temporary fastening piece through the compression spring so as to measure and control the pretightening force, and meanwhile, the mechanical arm can independently find and disassemble the temporary fastening piece by virtue of a camera of the mechanical arm, so that the automation degree is improved; (3) the functions of independently taking materials, aiming at pre-tightening force control in hole site installation and installation, disassembling, discharging and the like can be realized, the automation degree of temporary fastener assembly can be effectively improved, and the assembly quality is improved.
If the invention discloses or relates to parts or structures which are fixedly connected to each other, the fixedly connected parts can be understood as follows, unless otherwise stated: a detachable fixed connection (for example using bolts or screws) is also understood as: non-detachable fixed connections (e.g. riveting, welding), but of course, fixed connections to each other may also be replaced by one-piece structures (e.g. manufactured integrally using a casting process) (unless it is obviously impossible to use an integral forming process).
In addition, terms used in any technical aspect of the present disclosure for indicating positional relationship or shape include, unless otherwise stated, states or shapes similar, analogous or approximate thereto.
Any part provided by the invention can be assembled by a plurality of independent components, or can be manufactured by an integral forming process.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention and not to limit it; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art will understand that: modifications to the specific embodiments of the invention or equivalent substitutions for parts of the technical features may be made; without departing from the spirit of the present invention, it is intended to cover all aspects of the invention as defined by the appended claims.
Claims (9)
1. The utility model provides an automatic assembly manipulator of interim fastener which characterized in that: the temporary fastening piece comprises a shell, a refined socket head cap screw arranged in the shell and a clamping claw in threaded connection with the refined socket head cap screw through an internal threaded hole, wherein a shaft shoulder is arranged in the shell, and an elastic element is arranged between the shaft shoulder and a screw head of the refined socket head cap screw; the automatic assembly manipulator comprises a position adjusting mechanism and an attitude adjusting mechanism, wherein the attitude adjusting mechanism comprises an attitude adjusting arm, a tool conveying mechanism, a screwing mechanism and a clamping paw, and the attitude adjusting arm is rotationally connected with the free end of the position adjusting mechanism around a horizontal axis; the clamping paw is rotatably arranged at the lower end of the attitude adjusting arm and is used for clamping the shell of the temporary fastener; the feeding mechanism comprises a wrench supporting component, an inner hexagon wrench movably arranged in the wrench supporting component, a camera shooting unit fixedly arranged on the wrench supporting component and a double-crank mechanism, the wrench supporting component is connected with the posture adjusting arm through the double-crank mechanism, and a detection unit used for detecting the axial movement amount of the inner hexagon wrench is arranged in the wrench supporting component; the tightening mechanism is used for driving the inner hexagonal wrench to rotate.
2. An automated assembly robot for temporary fasteners as recited in claim 1, further comprising: the position adjusting mechanism comprises a base, an arm shoulder, a first arm and a second arm, wherein the arm shoulder is arranged on the upper side of the base and can rotate around a plumb line relative to the base; one end of the first arm is rotatably connected with the arm shoulder around a horizontal axis, the other end of the first arm is rotatably connected with one end of the second arm around the horizontal axis, the other end of the second arm is rotatably connected with the posture adjusting arm around the horizontal axis, and a rotating shaft of the arm shoulder, a rotating shaft of the first arm and the second arm, and a rotating shaft of the posture adjusting arm are parallel to each other; and a first linear driver is fixedly mounted on the second arm, and the movable end of the first linear driver is hinged with the attitude adjusting arm so as to drive the attitude adjusting arm to rotate around the horizontal axis.
3. An automated assembly robot for temporary fasteners as recited in claim 1, further comprising: the inner hexagonal wrench comprises a working section and a supporting section which are coaxially arranged, the working section is hexagonal in shape, and the supporting section is in a stepped shaft shape; six sides of working segment all are equipped with along the axial extension of allen key and in order to do benefit to the index mark that the camera unit shot, index mark's length is greater than the degree of depth of temporary tightening spare hexagonal groove.
4. An automated assembly robot for temporary fasteners as recited in claim 3, further comprising: the tightening mechanism comprises a tightening motor with a speed reducer, a flexible steel wire shaft, a middle supporting piece and a supporting spring, the tightening motor and the speed reducer thereof are fixedly arranged at the free end of the position adjusting mechanism, the output shaft of the speed reducer of the tightening motor is connected with one end of the flexible steel wire shaft, and the other end of the flexible steel wire shaft is connected with the supporting section of the inner hexagonal wrench through a transmission piece; the middle supporting piece is positioned on the upper side of the posture adjusting arm, the flexible steel wire shaft penetrates through the middle supporting piece in a sliding mode, and a supporting spring is connected between the bottom face of the middle supporting piece and the top face of the posture adjusting arm.
5. An automated assembly robot for temporary fasteners as recited in claim 4, further comprising: the wrench supporting assembly comprises a wrench supporting frame, a sleeve, a compression spring and a sleeve coupler, an inner shaft collar is arranged on the inner wall of the wrench supporting frame, a supporting section of the inner hexagonal wrench is arranged inside the wrench supporting frame through rolling bearings arranged on the left side and the right side of the inner shaft collar, a first shaft collar is arranged at one end, close to the working section, of the supporting section, a right side shaft shoulder of the first shaft collar is close to the rolling bearing on the left side, and the right end of the supporting section is connected with the output end of the flexible steel wire shaft through the sleeve coupler; the detection unit is a tension pressure sensor, the tension pressure sensor abuts against a left side shaft shoulder of the inner shaft ring, and a compression spring abuts between the tension pressure sensor and a rolling bearing on the left side of the wrench supporting frame; the sleeve is arranged on the inner side of the compression spring and sleeved outside the supporting section of the inner hexagonal wrench, and the length of the sleeve is smaller than the free length of the compression spring and is larger than or equal to the length of the compression spring when the compression spring is completely compressed.
6. An automated assembly robot for temporary fasteners as recited in claim 5, further comprising: the camera shooting unit is a camera fixedly installed on the outer surface of the wrench supporting frame, the main axis of the camera is parallel to the main axis of the inner hexagonal wrench, and the ratio of the distance between the camera shooting unit and the main axis of the inner hexagonal wrench to the distance between the camera shooting unit and the working end faces of the inner hexagonal wrench along the axial direction is smaller than tan75 degrees.
7. An automated assembly robot for temporary fasteners as recited in claim 2, further comprising: the double-crank mechanism comprises a second linear driver, a driving crank, a connecting rod and a driven crank, wherein the second linear driver, the driving crank, the connecting rod and the driven crank are distributed from top to bottom; the driven crank is L-shaped, the short edge of the driven crank is connected with the wrench supporting component through a nylon pin, the long edge of the driven crank is hinged with the posture adjusting arm at one end far away from the inner hexagonal wrench, and the lower end of the connecting rod is hinged with the long edge of the driven crank; the fixed end of the second linear driver is hinged with the posture adjusting arm, and the movable end of the second linear driver is hinged with the driving crank.
8. An automated assembly robot for temporary fasteners as recited in claim 7, further comprising: the posture adjusting arm comprises an adjusting arm body, a rotating motor, a mandrel, a support ring, an annular connecting piece, a first annular support frame and a second annular support frame, wherein the rotating motor is arranged at the top of the swing arm body, an output shaft of the rotating motor is connected with the mandrel penetrating through the adjusting arm body, the lower end of the mandrel is fixedly connected with the clamping paw, the annular connecting piece is fixedly sleeved on the outer side of the adjusting arm body in a fixing way, the movable end of the first linear driver is hinged with the annular connecting piece, the support ring is rotatably sleeved at the upper end of the adjusting arm body and positioned on the upper side of the annular connecting piece, and the support ring is hinged with the fixed end of the second linear driver; first annular support frame and second annular support frame from last down fix the cover in proper order and establish the one end that stretches out the adjustment arm body at the dabber, first annular support frame is articulated mutually with the initiative crank, and second annular support frame is articulated mutually with the driven crank.
9. An automated assembly robot for temporary fasteners as recited in claim 1, further comprising: the clamping paw comprises a paw support, a left paw, a right paw, a spring coil, a bidirectional screw and a clamping motor, wherein the left paw, the right paw, the spring coil, the bidirectional screw and the clamping motor are arranged on the paw support; the spring coil is positioned between the left hand claw and the right hand claw, the spring coil can be electrified and sleeved on the outer side of the polished rod part of the bidirectional screw rod, and the length of the polished rod part of the bidirectional screw rod is the same as that of the spring coil when the spring coil is completely compressed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011461314.3A CN112571417B (en) | 2020-12-14 | 2020-12-14 | Interim fastener and automatic assembly manipulator thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011461314.3A CN112571417B (en) | 2020-12-14 | 2020-12-14 | Interim fastener and automatic assembly manipulator thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112571417A CN112571417A (en) | 2021-03-30 |
| CN112571417B true CN112571417B (en) | 2022-05-24 |
Family
ID=75131601
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011461314.3A Expired - Fee Related CN112571417B (en) | 2020-12-14 | 2020-12-14 | Interim fastener and automatic assembly manipulator thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112571417B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113370204B (en) * | 2021-04-29 | 2022-10-11 | 国网浙江省电力有限公司嘉兴供电公司 | Operating system and method based on vision and force control |
| CN113664508B (en) * | 2021-08-25 | 2023-03-24 | 岚图汽车科技有限公司 | Damper positioning and butt-knocking screwing integrated device |
| US12005537B1 (en) | 2023-04-11 | 2024-06-11 | Lockheed Martin Corporation | Fastener removal assembly for automated temporary fastener removal |
| CN118003358B (en) * | 2024-04-09 | 2024-06-21 | 季华实验室 | Manipulator for workpiece posture adjustment and positioning |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2647696A1 (en) * | 1989-06-06 | 1990-12-07 | Dassault Avions | TOOL ASSEMBLY FOR PARTS RIVETING |
| CN104647016A (en) * | 2014-12-31 | 2015-05-27 | 大连运明自动化技术有限公司 | Automatic fastening disassembling module for fastening robot |
| CN106392603A (en) * | 2016-12-13 | 2017-02-15 | 尚鳌自动化工程（上海）有限公司 | Device and method for mounting temporary fasteners automatically |
| CN106995063A (en) * | 2017-04-26 | 2017-08-01 | 浙江大学 | A kind of multi-functional end effector |
| CN107073661A (en) * | 2014-10-07 | 2017-08-18 | 阿尔温德·库马尔·特尔集拉波莉·帕拉马西万 | automatic fastener assembly |
| CN108296754A (en) * | 2018-01-24 | 2018-07-20 | 杭州师范大学钱江学院 | Closely locking nut Intelligent Installation system based on machine vision and its installation method |
| CN208005130U (en) * | 2018-01-26 | 2018-10-26 | 航天智造（上海）科技有限责任公司 | A kind of fully automatic bolt tightening machine people's system |
| CN111989499A (en) * | 2018-04-17 | 2020-11-24 | Lisi 航空 | Temporary fastener for structure |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9687946B2 (en) * | 2014-04-18 | 2017-06-27 | The Boeing Company | Automated apparatus for use in selectively installing temporary fasteners in an assembly |
-
2020
- 2020-12-14 CN CN202011461314.3A patent/CN112571417B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2647696A1 (en) * | 1989-06-06 | 1990-12-07 | Dassault Avions | TOOL ASSEMBLY FOR PARTS RIVETING |
| CN107073661A (en) * | 2014-10-07 | 2017-08-18 | 阿尔温德·库马尔·特尔集拉波莉·帕拉马西万 | automatic fastener assembly |
| CN104647016A (en) * | 2014-12-31 | 2015-05-27 | 大连运明自动化技术有限公司 | Automatic fastening disassembling module for fastening robot |
| CN106392603A (en) * | 2016-12-13 | 2017-02-15 | 尚鳌自动化工程（上海）有限公司 | Device and method for mounting temporary fasteners automatically |
| CN106995063A (en) * | 2017-04-26 | 2017-08-01 | 浙江大学 | A kind of multi-functional end effector |
| CN108296754A (en) * | 2018-01-24 | 2018-07-20 | 杭州师范大学钱江学院 | Closely locking nut Intelligent Installation system based on machine vision and its installation method |
| CN208005130U (en) * | 2018-01-26 | 2018-10-26 | 航天智造（上海）科技有限责任公司 | A kind of fully automatic bolt tightening machine people's system |
| CN111989499A (en) * | 2018-04-17 | 2020-11-24 | Lisi 航空 | Temporary fastener for structure |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112571417A (en) | 2021-03-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112571417B (en) | Interim fastener and automatic assembly manipulator thereof | |
| CN109454436B (en) | Apparatus and method for automatically installing/removing circular array threaded fasteners | |
| US8382177B2 (en) | Quick-change finger for robotic gripper | |
| CN110814716A (en) | Nut screwing device and nut screwing mechanism thereof | |
| JP4557146B2 (en) | Fastening device | |
| JP5565550B2 (en) | Automatic screw tightening device and control method thereof | |
| AU2012298285B2 (en) | Tightening system | |
| WO2019150726A1 (en) | Robot system and method for controlling robot | |
| US20160082557A1 (en) | Robotic apparatus and process for the installation of collars and nuts onto fasteners | |
| JP2009113167A (en) | Device and method of assembling gear shaft | |
| CN211361282U (en) | Nut screwing device | |
| CN110757140A (en) | Nut screwing device | |
| CN109048314B (en) | Self-adaptive hydraulic stretcher | |
| JP4809390B2 (en) | Origin calibration method in parallel mechanism and calibration jig for origin calibration | |
| JP6241539B2 (en) | Screw tightening system and screw tightening method | |
| CN112236267B (en) | Fastening device | |
| CN211361283U (en) | Nut screwing device and nut screwing mechanism thereof | |
| CN117961518B (en) | Fixing mechanism | |
| CN112318104A (en) | Nut mounting tool and robot | |
| CN114347076B (en) | Multifunctional end effector of continuous mechanical arm | |
| CN114178828B (en) | Automatic change pipeline and connect device soon | |
| CN214641631U (en) | Locking module for automatic assembly of steel wire thread insert | |
| CN219617775U (en) | Assembly robot convenient to change anchor clamps | |
| CN219189278U (en) | Revolving body assembling device and revolving body assembling equipment | |
| CN219189277U (en) | Tightening device and assembly equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20220524 |