CN208005130U - A kind of fully automatic bolt tightening machine people's system - Google Patents
A kind of fully automatic bolt tightening machine people's system Download PDFInfo
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- CN208005130U CN208005130U CN201820137069.2U CN201820137069U CN208005130U CN 208005130 U CN208005130 U CN 208005130U CN 201820137069 U CN201820137069 U CN 201820137069U CN 208005130 U CN208005130 U CN 208005130U
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Abstract
The utility model is related to a kind of fully automatic bolt tightening machine people's systems, the system includes industrial robot (1), hydraulic spanner (9), torque sensor (10), and the sleeve (11) for matching with bolt to be tightened, the hydraulic spanner (9) passes through torque sensor (10) branch sleeve (11), oscillating cylinder (3) is provided between the industrial robot (1) and hydraulic spanner (9), floating unit (5) and bounce cylinder (7), the oscillating cylinder (3) is connected on industrial robot (1), the floating unit (5) is connect with the hydraulic spanner (9), described bounce cylinder (7) one end connects the floating unit (5), the other end connection industrial robot (1).Compared with prior art, the utility model can effectively improve the degree of automation of production process, reduce the labor intensity of worker, and that improves bolt tightens quality and efficiency.
Description
Technical field
The utility model is related to machinery manufacturing technology fields, and in particular to a kind of fully automatic bolt tightening machine people's system.
Background technology
Bolt is tightened in mechanical equipment manufacture and is widely used general, the connection and assembly of parts in machine-building,
Mechanical whole assembly etc., it may be said that nearly all tightened from not bolt.
Large scale equipment, component assembling process in, between component with high-strength bolt connection be most commonly used connection
Mode has the characteristics that simple structure, convenient loading and unloading because of it and will not be loosened under dynamic load function, therefore in assembler
It is widely used in skill general.
Tightening for bolt is generally completed using pneumatic, electronic and hydraulic spanner.Since pneumatic impact wrench and pneumatic impact spanner exist
It is to tighten screw device by large impact power in rundown process, it is in addition pneumatic so screw-down torque value error range is bigger
It is unsuitable for working under large torque situation with electronic definite value torque wrench.And the hydraulic spanner of standard, it is hand-held as one kind
Formula tool uses, and not only labor intensity is big, but also low production efficiency, tightens unstable quality, is also not suitable for automation occasion
It needs.
With the high speed development of industry, manufacturing industry using tightening for bolt in Assembling Production to largely quality and tightening effect
Rate, it is proposed that increasingly higher demands.Realize that bolt tightens the trend of having become by robot.Pass through for this purpose, being badly in need of one kind
The intelligent bolt fastening system that PLC controls, touch screen, servo-drive system and sensor form, it can effectively improve production process
The degree of automation reduces the labor intensity of worker, and that improves bolt tightens quality and efficiency.
Utility model content
The purpose of this utility model is exactly to provide a kind of production efficiency to overcome the problems of the above-mentioned prior art
High, reliable in quality fully automatic bolt tightening machine people's system.
The purpose of this utility model can be achieved through the following technical solutions：A kind of fully automatic bolt tightening machine people system
System, the system include industrial robot, hydraulic spanner, torque sensor, and the sleeve for matching with bolt to be tightened,
The hydraulic spanner is provided with swing by torque sensor branch sleeve between the industrial robot and hydraulic spanner
Cylinder, floating unit and bounce cylinder, the oscillating cylinder are connected on industrial robot, the floating unit with it is described
Hydraulic spanner connection, described bounce cylinder one end connects the floating unit, the other end connection industrial robot.
The operation principle of this system is as follows：
Whole system is moved near bolt to be tightened by industrial robot, sleeve central axis is made by floating unit
Line is overlapped with bolt-center axis to be tightened, in addition, since bolt to be tightened and sleeve lining are hexagon, so swinging gas
Cylinder can make sleeve slightly rotate an angle, and with the shape of bolt head to be tightened to just, then being incited somebody to action by bounce cylinder
Sleeve wraps bolt head to be tightened toward being pushed forward, and hydraulic spanner rotates entire sleeve, makes bolt rotational fastener, pass through torque
Sensor monitoring hydraulic spanner exports screw-down torque, by feedback data to control system, enables hydraulic spanner by setting torque
Work, whole process are all operated completion by setup program by robot, and production efficiency is high.
For the sleeve connection on torque sensor, torque sensor center keeps concentric with bushing core.Torque passes
Sensor monitors hydraulic spanner and exports screw-down torque, by feedback data to control system, enables hydraulic spanner by setting torsional toughness
Make.
The hydraulic spanner rotates under hydraulic action, by torque sensor and sleeve rotating, drives spiral shell to be tightened
Bolt is tightened.
The hydraulic spanner is equipped with and is connected thereto the reaction arm of force being integrated, which supports at work
It is connected on the workpiece on bolt periphery to be tightened, during hydraulic spanner tightens bolt, the screw-down torque of generation passes through reaction
The arm of force is transmitted to other bolt heads.
The floating unit adjusts hydraulic spanner band moving sleeve and floats in bolt rundown process, and floating unit makes
Obtaining hydraulic spanner can be rotated around the center of its rear end, to drive torque sensor and sleeve to move, floating unit
The commercially available all devices for completing all-directional rotation, such as multi-directional ball can be selected.Hydraulic spanner, can be with during tightening bolt
Appropriate adjustment of floating, compensates the misaligned error of hydraulic spanner axis and bolt centerline, keeps bolt rundown process more smooth.
The system further includes laser range sensor and camera, and the laser range sensor and camera are by connecting branch
Frame is connect with industrial robot, and laser range sensor is for detecting the benchmark origin of bolt mounting surface to be tightened and spiral shell to be tightened
The spacing of bolt mounting surface and hydraulic spanner；Camera, which is mainly used for treating fastening bolt end face, takes pictures, and is calculated by vision software
Method calculates the center location for determining bolt end face in addition, the system is equipped with PLC controller, PLC controller laser range sensor
It is connected with camera, for controlling floating unit, oscillating cylinder, bounce cylinder and the movement of hydraulic spanner so that whole process is certainly
Dynamicization degree higher.
The system further includes two supporting rods, and two supporting rods are arranged on industrial robot, are used to support floating
The components own wt such as unit and hydraulic spanner.
The bounce cylinder is arranged among two supporting rods, for being moved forward or rearward hydraulic spanner and sleeve group
At component.
The oscillating cylinder is connected to by robot connection flange on industrial robot, flexible by oscillating cylinder,
Hydraulic spanner and sleeve rotation are driven, and fully mated with bolt head to be tightened.
The industrial robot is arranged on robot ambulation axis.After a certain fixed station fulfils assignment, on workpiece,
In blanking process, whole system can be moved to another station along robot ambulation axis, carry out operation to next workpiece, can improve
System availability.
This system uses industrial robot, end to carry and take the hydraulic spanner, sleeve and floating unit specially designed, and hydraulic pressure is pulled
Torque sensor is configured between hand and Hexagonal jacket, can be by PLC controller setting and adjustment bolt tightening torque value, and lead to
The torque that torque sensor measures reality output is crossed, industrial computer system is fed back to, data is received, is automatically saved from the background as Excel
Format facilitates later data to analyze and trace.
Floating unit operation principle：Floating unit is mounted on six axis of robot, mobile robot drives the list that floats
Member moves to bolt corresponding position to be tightened, because of reasons such as measurement and structure foozles, may make to be tightened at bolt axis
With the reasons such as hydraulic spanner axis " bias ", " axis is misaligned ", so that bolt rundown process is had some setbacks, seriously lead to grip portion
The reasons such as key components and parts bending, deformation, sealing part abrasion reduce the reliability that hand is grabbed, and shorten the service life that hand is grabbed.It floats
Unit can solve the problems, such as that " bias ", " axis is misaligned ", bolt keep stable action, hydraulic spanner during fastening
It can be worked normally in the extent of the error of permission.Make the 6th axis center of robot and floating unit center that need not do minor adjustment,
Eliminate the 6th axis center of robot and floating unit errors of centration.
Bounce cylinder and oscillating cylinder collaborative work principle：Bounce cylinder pushes hydraulic spanner forward under gas pressure
Or move backward, bounce cylinder is not subject to radial load, and floating unit, hydraulic spanner own wt are carried by supporting rod, supporting rod
It is moved with the thrust of bounce cylinder；Hydraulic spanner, sleeve are in the case where laser range sensor and camera assist in identifying effect, axial line
With bolt-center to just, bounce cylinder pushes forward hydraulic spanner, sleeve；It is fully mated with hexagon bolt head for sleeve, it needs
The appropriate swing angle of oscillating cylinder is wanted, can enter sleeve corresponding position convenient for hexagon bolt head.
Compared with prior art, the beneficial effects of the utility model are embodied in following several respects：
1) it uses industrial robot to carry hydraulic spanner, reduces hand labor intensity, avoid industrial accident；
2) be directed to large scale equipment, component assembling link bolt fastening quantity it is more, torque is big, noise is big, operation of ascending a height accounts for
Than it is more situations such as, hydraulic pressure tightening tool can be manipulated using robot automatically and carry out bolt fastening, it is artificial simple from needing to carry out
Lifting etc. assist work, substantially reduce the labor intensity of worker, reduce employment injuries.
3) production efficiency is improved, the output of unit area workshop is improved；
4) management cost is reduced, product competitiveness is provided；
5) robot floating unit is integrated, realizes big sized bolt automatic fastening；
6) it uses torque sensor to feed back screw-down torque signal, forms close loop maneuver system with hydraulic spanner, improve bolt
The torque precision of fastening.
7) floating unit is mounted on robot end, and mobile robot drives floating unit, hydraulic spanner to bolt to correspond to
Position may cause bolt axis and hydraulic spanner axis " bias ", " axis be not because of reasons such as measurement and structure foozles
The reasons such as coincidence ", make bolt rundown process have some setbacks, floating unit can solve the problems, such as " bias ", " axis is misaligned ", spiral shell
Bolt keeps stable action, hydraulic spanner that can be worked normally in the extent of the error of permission during fastening；
8) industrial robot carries hydraulic spanner and is moved along walking axle, can take into account multiple station manipulations；
9) linking MES manages system, carries out overall process data traceability, improves the whole assembling quality of product；
10) adaptable, while being convenient for product and industrial upgrading.
Description of the drawings
Fig. 1 is the main structure diagram of the utility model；
Fig. 2 is the dimensional structure diagram of the utility model.
Wherein, 1 is industrial robot, and 2 be robot connection flange, and 3 be oscillating cylinder, and 4 be supporting rod, and 5 is single to float
Member, 6 be the reaction arm of force, and 7 be bounce cylinder, and 8 be laser range sensor and camera, and 9 be hydraulic spanner, and 10 be torque sensing
Device, 11 be sleeve, and 12 be robot ambulation axis.
Specific implementation mode
It elaborates below to the embodiments of the present invention, the present embodiment before being with technical solutions of the utility model
It puts and is implemented, give detailed embodiment and specific operating process, but the scope of protection of the utility model is unlimited
In following embodiments.
Embodiment 1
A kind of fully automatic bolt tightening machine people's system, structure is as shown in Figure 1 and Figure 2, including industrial robot 1, hydraulic pressure
Spanner 9, torque sensor 10, and the sleeve 11 for matching with bolt to be tightened, hydraulic spanner 9 pass through torque sensor
10 branch sleeves 11 are provided with oscillating cylinder 3, floating unit 5 and bounce cylinder between industrial robot 1 and hydraulic spanner 9
7, oscillating cylinder 3 is connected on industrial robot 1, and floating unit 5 is connect with hydraulic spanner 9, and the connection of 7 one end of bounce cylinder is floated
Unit 5, the other end connect industrial robot 1.
Wherein, sleeve 11 is connected on torque sensor 10, and 10 center of torque sensor keeps concentric with 11 center of sleeve.
Torque sensor 10 monitors the output screw-down torque of hydraulic spanner 9 enables hydraulic spanner 9 by setting by feedback data to system
Torque works.Hydraulic spanner 9 rotates under hydraulic action, is rotated by torque sensor 10 and sleeve 11, drives spiral shell to be tightened
Bolt is tightened.Hydraulic spanner 9 is equipped with and is connected thereto the reaction arm of force 6 being integrated, which is connected at work
On the bolt head on bolt periphery to be tightened.Floating unit 5 adjust hydraulic spanner 9 with moving sleeve 11 in bolt rundown process into
Row floats, and floating unit 5 allows hydraulic spanner 9 to be rotated around the center of its rear end, to drive torque sensor
10 and sleeve 11 move, floating unit 5 can select it is commercially available complete all-directional rotation all devices, such as multi-directional ball.
System further includes two supporting rods 4, and two supporting rods 4 are arranged on industrial robot 1, are used to support floating unit
5 and hydraulic spanner 9.Bounce cylinder 7 is arranged among two supporting rods 4, for being moved forward or rearward hydraulic spanner 9 and sleeve
The component of 11 compositions.Oscillating cylinder 3 is connected to by robot connection flange 2 on industrial robot 1, is stretched by oscillating cylinder 3
Contracting drives hydraulic spanner 9 and sleeve 11 to rotate, and fully mated with bolt head to be tightened.
System further includes laser range sensor and camera 8, the laser range sensor and camera 8 by connecting bracket with
Industrial robot 1 connects, and laser range sensor is for detecting the benchmark origin of bolt mounting surface to be tightened and bolt to be tightened
The spacing of mounting surface and hydraulic spanner 9；Camera, which is mainly used for treating fastening bolt end face, takes pictures, and passes through vision software algorithm
The center location for determining bolt end face is calculated in addition, the system is equipped with PLC controller, PLC controller laser range sensor and
Camera 8 connects, the movement for controlling floating unit 5, oscillating cylinder 3, bounce cylinder 7 and hydraulic spanner 9 so that whole process
The degree of automation higher.
Industrial robot 1 is arranged on robot ambulation axis 12.After a certain fixed station fulfils assignment, workpiece is upper and lower
During material, whole system can be moved to another station along robot ambulation axis 12, carry out operation to next workpiece, can improve
System availability.
The operation principle of this system is as follows：
When some station needs fastening bolt, robot ambulation axis 12 moves whole system, and industrial robot 1 carries
Hydraulic spanner 9 and vision measurement system, i.e., above-mentioned laser range sensor and camera 8 are monitored and are set in vision measurement system
Program under, carry hydraulic spanner 9 reach each bolt corresponding position to be tightened.Before tightening, robot can be by setting journey
Sequence, benchmark and the bolt initial position of workpiece are determined by vision system, and signal is passed to PLC controller, PLC controller
The control movement of floating unit 5 makes 11 central axes of sleeve be overlapped with bolt central axes to be tightened, in addition, due to bolt to be tightened and set
11 inner walls of cylinder are hexagon, so PLC controller control oscillating cylinder 3 is flexible, can make slightly one angle of rotation of sleeve 11
Degree, and with the form fit of bolt head to be tightened, then PLC controller is by controlling bounce cylinder 7 by sleeve 11 toward being pushed forward
Bolt to be tightened is wrapped, hydraulic spanner 9 rotates entire sleeve 11, and torque sensor 10 monitors hydraulic spanner 9 and exports screwing force
Signal is passed to PLC controller by square, and after torque reaches setting torque value, PLC controller controls hydraulic spanner 9 and stops, so
Sleeve 11 is detached with bolt to be tightened afterwards, completes fastening.
Claims (10)
1. a kind of fully automatic bolt tightening machine people's system, which includes industrial robot (1), and hydraulic spanner (9), torque pass
Sensor (10), and the sleeve (11) for matching with bolt to be tightened, the hydraulic spanner (9) pass through torque sensor
(10) branch sleeve (11), which is characterized in that be provided with swing gas between the industrial robot (1) and hydraulic spanner (9)
Cylinder (3), floating unit (5) and bounce cylinder (7), the oscillating cylinder (3) is connected on industrial robot (1), described
Floating unit (5) is connect with the hydraulic spanner (9), and the bounce cylinder (7) one end connects the floating unit (5),
The other end connection industrial robot (1).
2. a kind of fully automatic bolt tightening machine people's system according to claim 1, which is characterized in that the sleeve
(11) it is connected on torque sensor (10), torque sensor (10) center keeps concentric with sleeve (11) center.
3. a kind of fully automatic bolt tightening machine people's system according to claim 1 or 2, which is characterized in that the liquid
Pressure spanner (9) rotates under hydraulic action, is rotated by torque sensor (10) and sleeve (11), and bolt to be tightened is driven to twist
Tightly.
4. a kind of fully automatic bolt tightening machine people's system according to claim 3, which is characterized in that the hydraulic pressure is pulled
Hand (9) is equipped with and is connected thereto the reaction arm of force (6) being integrated, which rotates in oscillating cylinder (3) drives
Under be connected on the bolt head on bolt periphery to be tightened.
5. a kind of fully automatic bolt tightening machine people's system according to claim 1, which is characterized in that the floating list
First (5) adjust hydraulic spanner (9) band moving sleeve (11) and float in bolt rundown process.
6. a kind of fully automatic bolt tightening machine people's system according to claim 1, which is characterized in that the system is also
Including laser range sensor and camera (8), the laser range sensor and camera (8) pass through connecting bracket and industrial robot
(1) it connects.
7. a kind of fully automatic bolt tightening machine people's system according to claim 1, which is characterized in that the system is also
Including two supporting rods (4), two supporting rods (4) are arranged on industrial robot (1), are used to support floating unit (5) and liquid
Press spanner (9).
8. a kind of fully automatic bolt tightening machine people's system according to claim 7, which is characterized in that the buffering gas
Cylinder (7) setting is intermediate in two supporting rods (4), the group for being moved forward or rearward hydraulic spanner (9) and sleeve (11) composition
Part.
9. a kind of fully automatic bolt tightening machine people's system according to claim 1, which is characterized in that the swing gas
Cylinder (3) is connected to by robot connection flange (2) on industrial robot (1), is rotated by oscillating cylinder (3), band hydrodynamic pressure
Spanner (9) and sleeve (11) rotation, and it is fully mated with bolt head to be tightened.
10. a kind of fully automatic bolt tightening machine people's system according to claim 1, which is characterized in that the industry
Robot (1) is arranged on robot ambulation axis (12).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820137069.2U CN208005130U (en) | 2018-01-26 | 2018-01-26 | A kind of fully automatic bolt tightening machine people's system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820137069.2U CN208005130U (en) | 2018-01-26 | 2018-01-26 | A kind of fully automatic bolt tightening machine people's system |
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| CN208005130U true CN208005130U (en) | 2018-10-26 |
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| CN201820137069.2U Active CN208005130U (en) | 2018-01-26 | 2018-01-26 | A kind of fully automatic bolt tightening machine people's system |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109128792A (en) * | 2018-10-31 | 2019-01-04 | 航天智造（上海）科技有限责任公司 | A kind of bolt tension device based on robot |
| CN109773658A (en) * | 2019-01-25 | 2019-05-21 | 福建省国巨智能科技有限公司 | A kind of efficient sanding and polishing system and method for environment-friendly type outer surface of workpiece |
| CN109794763A (en) * | 2019-03-28 | 2019-05-24 | 北京工业大学 | A kind of bolt automatic screwing device of six-joint robot |
| CN110666493A (en) * | 2019-09-05 | 2020-01-10 | 上海交通大学 | Automatic installation device for temporary composite fasteners |
| CN110978006A (en) * | 2019-12-18 | 2020-04-10 | 山东大学 | Automatic maintenance intelligent robot and method for wind turbine generator |
| CN111300028A (en) * | 2019-12-09 | 2020-06-19 | 国网智能科技股份有限公司 | Flexible connector, tool and robot system for bolt fastening operation of transformer substation live equipment |
| CN112571417A (en) * | 2020-12-14 | 2021-03-30 | 福建农林大学 | Interim fastener and automatic assembly manipulator thereof |
| CN113478426A (en) * | 2021-07-12 | 2021-10-08 | 上海咏序科技有限公司 | Passive compliant pneumatic torque actuator at tail end of robot |
| WO2022072019A1 (en) | 2020-09-29 | 2022-04-07 | Transocean Sedco Forex Ventures Limited | Robotic system for making or breaking a riser |
| CN114952262A (en) * | 2022-06-06 | 2022-08-30 | 苏州协鑫新能源运营科技有限公司 | Visual photovoltaic module bolt binding |
| US12006779B2 (en) | 2020-09-29 | 2024-06-11 | Transocean Sedco Forex Ventures Limited | Robotic system for making or breaking a riser |
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- 2018-01-26 CN CN201820137069.2U patent/CN208005130U/en active Active
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109128792A (en) * | 2018-10-31 | 2019-01-04 | 航天智造（上海）科技有限责任公司 | A kind of bolt tension device based on robot |
| CN109773658A (en) * | 2019-01-25 | 2019-05-21 | 福建省国巨智能科技有限公司 | A kind of efficient sanding and polishing system and method for environment-friendly type outer surface of workpiece |
| CN109794763A (en) * | 2019-03-28 | 2019-05-24 | 北京工业大学 | A kind of bolt automatic screwing device of six-joint robot |
| CN110666493A (en) * | 2019-09-05 | 2020-01-10 | 上海交通大学 | Automatic installation device for temporary composite fasteners |
| CN111300028B (en) * | 2019-12-09 | 2021-03-16 | 国网智能科技股份有限公司 | Flexible connector, tool and robot system for bolt fastening operation of transformer substation live equipment |
| CN111300028A (en) * | 2019-12-09 | 2020-06-19 | 国网智能科技股份有限公司 | Flexible connector, tool and robot system for bolt fastening operation of transformer substation live equipment |
| CN110978006A (en) * | 2019-12-18 | 2020-04-10 | 山东大学 | Automatic maintenance intelligent robot and method for wind turbine generator |
| CN110978006B (en) * | 2019-12-18 | 2021-09-28 | 山东大学 | Automatic maintenance intelligent robot and method for wind turbine generator |
| WO2022072019A1 (en) | 2020-09-29 | 2022-04-07 | Transocean Sedco Forex Ventures Limited | Robotic system for making or breaking a riser |
| US12006779B2 (en) | 2020-09-29 | 2024-06-11 | Transocean Sedco Forex Ventures Limited | Robotic system for making or breaking a riser |
| CN112571417A (en) * | 2020-12-14 | 2021-03-30 | 福建农林大学 | Interim fastener and automatic assembly manipulator thereof |
| CN112571417B (en) * | 2020-12-14 | 2022-05-24 | 福建农林大学 | Interim fastener and automatic assembly manipulator thereof |
| CN113478426A (en) * | 2021-07-12 | 2021-10-08 | 上海咏序科技有限公司 | Passive compliant pneumatic torque actuator at tail end of robot |
| CN114952262A (en) * | 2022-06-06 | 2022-08-30 | 苏州协鑫新能源运营科技有限公司 | Visual photovoltaic module bolt binding |
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