CN209407870U - A kind of dual robot bolt automatic tightening system being arranged symmetrically - Google Patents
A kind of dual robot bolt automatic tightening system being arranged symmetrically Download PDFInfo
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- CN209407870U CN209407870U CN201822225050.6U CN201822225050U CN209407870U CN 209407870 U CN209407870 U CN 209407870U CN 201822225050 U CN201822225050 U CN 201822225050U CN 209407870 U CN209407870 U CN 209407870U
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Abstract
The utility model discloses a kind of dual robot bolt automatic tightening systems being arranged symmetrically, including two multi-axis robots, two walking tracks, vision positioning system, servo tightening tool, automatic tool change station, turn-key system；Two multi-axis robots are in be arranged symmetrically on two walking tracks up and down, vision positioning system and servo tightening tool are fixed in the end of robot, automatic tool change station is arranged in walking rail end, including Working gantry, servo turntable, receiver, the bolt collar of different size can be placed on receiver respectively, detection sensor of having vacant position is laid on receiver, servo turntable is fixed on Working gantry, the bolt collar of corresponding specification can be rotated to robot and pick up station, turn-key system controls the operation at robot and automatic tool change station.The utility model is arranged symmetrically using Liang Tai robot, can be tightened to diagonal position bolt, prevents discontinuity, quality is tightened in raising, while improving assembly efficiency.
Description
Technical field
The utility model relates to large scale equipments to assemble field, and in particular to a kind of dual robot bolt being arranged symmetrically is automatic
Tightening system.
Background technique
Bolt-connection is simple due to assembling, and couples the advantages that reliable, detachable, is widely used in all kinds of mechanical equipments zero
In component connection and assembly.Be related to many large torque bolts in large scale equipment assembly tightens work, relies on mostly at present
It is manually tightened by tightening tool, large labor intensity, low efficiency tightens unstable quality.There are also enterprises to devise
Special bolt tightening device, or drive tightening tool to tighten bolt using single machine people, to a certain extent
Automation is realized, but still needs to the bolt collar for manually replacing different size.
In addition, large scale equipment components are designed as symmetrical structure more, need to tighten the bolt of diagonal position simultaneously, to prevent
Discontinuity, either artificial at present, automation equipment, or single robot are all tentatively to tighten bolt at one using first,
Tightening tool to diagonal bolt location is moved again to be tightened, and will certainly be taken a significant amount of time during moving back and forth in this way,
Extend operation beat.
Carry out today of intelligence manufacture energetically in the world, manufacturing industry is faced with from low side to what middle and high end made the transition and chooses
War, tightens assembly efficiency to the bolt of large scale equipment and quality also has higher requirement.Therefore, it is highly desirable to design a set of
Control simple, full-automatic, flexibility robot nut runner system.
Summary of the invention
In order to solve the above-mentioned technical problem, the utility model provides a kind of dual robot bolt automatic tightening being arranged symmetrically
System is not only able to achieve diagonal bolt while tightening, moreover it is possible to which automatic replacement different size bolt collar improves working efficiency and dress
While with quality, realizes flexibility fully automatic bolt and tighten assembly.
The technical solution adopted in the utility model is as follows: a kind of dual robot bolt automatic tightening system being arranged symmetrically,
Including two multi-axis robots, two walking tracks, vision positioning system, servo tightening tool, automatic tool change station, master control
System；
For two multi-axis robots in being arranged symmetrically on two walking tracks setting up and down up and down, robot can edge
Track of walking is mobile, has been fixed by the bracket vision positioning system and servo tightening tool, the vision in the end of robot
Positioning system includes 3D camera；The servo tightening tool includes servomotor, gear reducer, shaft coupling and torque sensor, is watched
It takes motor output shaft to be connected with speed reducer input shaft, shaft coupling is connected with speed reducer output shaft, and shaft coupling is for picking up and driving
Bolt collar, torque sensor are arranged between shaft coupling and speed reducer；
The automatic tool change station is arranged in walking rail end, including Working gantry, servo turntable, receiver,
Multiple receivers are evenly arranged on the circumference of servo turntable end face, can place the bolt sleeve of different size on receiver respectively
Cylinder lays detection sensor of having vacant position on receiver, and servo turntable is fixed on Working gantry, can be by the spiral shell of corresponding specification
Bolt sleeve rotating to robot picks up station；
The operation at the turn-key system control robot and automatic tool change station.
Further, turn-key system control Liang Tai robot to be respectively at two bolts of diagonal position simultaneously into
Row tightening operation.
Compared with prior art, the beneficial effects of the utility model are embodied in following several respects:
1) robot replaces manual operation, reduces labor intensity of workers, reduces occupational hazards and industrial accident risk；
2) Liang Tai robot is arranged symmetrically, and can be treated equipment workpiece diagonal position bolt simultaneously and be tightened, be prevented
Discontinuity, quality is tightened in raising, while also reducing the time that single machine people diagonally moves back and forth, and greatly improves dress
With efficiency；
3) for full symmetric assembly workpiece, the Liang Tai robot being arranged symmetrically can be become by simple coordinate
It changes, is controlled using identical trajectory planning and motion control instruction, simplify dual robot work compound control system；
4) robot can be mobile by walking track, increases the job area of robot, robot is movable to row
Rail end is walked, different size bolt collar is replaced by automatic tool change station automatically, whole system flexibility is improved, can fit
Answer the product of different model；
5) whole system realizes full-automation and tightens bolt, reduces human cost.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the utility model.
Fig. 2 is robot architecture's schematic diagram of the utility model.
Fig. 3 is the automatic tool change station structure schematic diagram of the utility model.
Specific embodiment
For the ease of understanding the utility model, below in conjunction with Figure of description and preferred embodiment to the utility model
Work more comprehensively, meticulously describes, but the protection scope of the utility model is not limited to embodiment in detail below.
As shown in Fig. 1-Fig. 3, a kind of dual robot bolt automatic tightening system being arranged symmetrically of the present embodiment, including
It is two multi-axis robots, 1, two walking track 2, automatic tool change station 3, vision positioning system 4, servo tightening tool 5, total
Control system.For two multi-axis robots 1 in being arranged symmetrically on two walking tracks 2 setting up and down up and down, robot 1 can
It is moved along walking track 2, the automatic tool change station 3 is arranged in walking 2 end of track.
As shown in Fig. 2, it has been fixed by the bracket vision positioning system 4 and servo tightening tool 5 in the end of robot 1,
The vision positioning system 4 includes 3D camera；The servo tightening tool 5 includes servo motor 51, speed reducer 52, shaft coupling 54
With torque sensor 53,51 output shaft of servo motor is connected with 52 input shaft of speed reducer, shaft coupling 54 and 52 output shaft of speed reducer
Be connected, shaft coupling 54 for picking up and driving bolt collar, the setting of torque sensor 53 shaft coupling 54 and speed reducer 52 it
Between.
As shown in figure 3, the automatic tool change station 3 includes Working gantry 31, servo turntable 32, receiver 33, it is more
A receiver 33 is evenly arranged on the circumference of 32 end face of servo turntable, can place the spiral shell of different size on receiver 33 respectively
Bolt sleeve, laying is had vacant position detection sensor on receiver 33, and servo turntable 32 is fixed on Working gantry 31, can will be right
It answers the bolt collar of specification to rotate to robot and picks up station.
The operation at the turn-key system control robot and automatic tool change station.Turn-key system controls Liang Tai robot 1
To two bolts for being respectively at diagonal position while carrying out tightening operation.
The working principle of this system is as follows:
After system starts auto-programming, Liang Tai robot 1 is moved according to the assembly workpiece model of setting along walking track 2
It moves to automatic tool change station 3, meanwhile, 3 servo turntable 32 of automatic tool change station rotation, by the bolt collar of corresponding specification
It is threaded to setting position, robot 1 picks up corresponding specification bolt collar, then the mobile assembly station that is back to carries out tightening operation.Machine
Device people first drives end 3D camera to treat according to the track of setting and tightens bolt and be scanned, and after obtaining bolt image, passes through collection
Processing analysis is carried out to image at the image processor in 3D camera, determines bolt-center point coordinate and turret head angle phase
Position.After completing visual scanning, robot drives servo tightening tool to be directed at bolt, while servo further according to bolt-center point coordinate
Tightening tool is according to hexagonal in the turret head angular phase turnbarrel of visual feedback to matching.Bolt collar is correctly buckled
After bolt, servo tightening tool rotates again to be tightened, corresponding torque sensor real-time monitoring torque, when the preset torsion of arrival
When square, servo tightening tool stops, and completes bolt and tightens.The above tightening operation process Liang Tai robot carries out simultaneously, and same
Two bolts that time tightens are respectively at assembly workpiece diagonal position.When needing replacing another sized bolt sleeve,
Robot is first moved to automatic tool change station along walking track, and the existing bolt collar used is placed on empty set cylinder base and is stopped
It stays in top to wait, after corresponding receiver overhead level detection sensor detects that bolt collar is put back to, the rotation of servo turntable will
Bolt collar to be used is needed to be threaded to setting position, robot picks up sleeve, and movement is back to operation area operation.
With the help of the introduction present in aforementioned specification and relevant drawings, the technology people of the utility model fields
Member will be appreciated that many modifications and other embodiments of the utility model.It will consequently be understood that the utility model is not limited to
Disclosed specific embodiment, modification and other embodiments are to be considered as included in scope of the appended claims.Although this
Specific term is used in text, they are only used with generic and descriptive sense, rather than limitation.
Claims (2)
1. a kind of dual robot bolt automatic tightening system being arranged symmetrically, it is characterised in that: including two multi-axis robots, two
Item walking track, vision positioning system, servo tightening tool, automatic tool change station, turn-key system；
For two multi-axis robots in being arranged symmetrically on two walking tracks setting up and down up and down, robot can be along walking
Track is mobile, has been fixed by the bracket vision positioning system and servo tightening tool, the vision positioning in the end of robot
System includes 3D camera；The servo tightening tool includes servomotor, gear reducer, shaft coupling and torque sensor, servo electricity
Machine output shaft is connected with speed reducer input shaft, and shaft coupling is connected with speed reducer output shaft, and shaft coupling is for picking up and driving bolt
Sleeve, torque sensor are arranged between shaft coupling and speed reducer；
The automatic tool change station is arranged in walking rail end, including Working gantry, servo turntable, receiver, multiple
Receiver is evenly arranged on the circumference of servo turntable end face, can place the bolt collar of different size on receiver respectively,
Detection sensor of having vacant position is laid on receiver, servo turntable is fixed on Working gantry, can be by the bolt of corresponding specification
Sleeve rotating to robot picks up station；
The operation at the turn-key system control robot and automatic tool change station.
2. a kind of dual robot bolt automatic tightening system being arranged symmetrically as described in claim 1, it is characterised in that: described
Turn-key system control Liang Tai robot to two bolts for being respectively at diagonal position while carrying out tightening operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822225050.6U CN209407870U (en) | 2018-12-28 | 2018-12-28 | A kind of dual robot bolt automatic tightening system being arranged symmetrically |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822225050.6U CN209407870U (en) | 2018-12-28 | 2018-12-28 | A kind of dual robot bolt automatic tightening system being arranged symmetrically |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209407870U true CN209407870U (en) | 2019-09-20 |
Family
ID=67941007
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822225050.6U Expired - Fee Related CN209407870U (en) | 2018-12-28 | 2018-12-28 | A kind of dual robot bolt automatic tightening system being arranged symmetrically |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209407870U (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111015197A (en) * | 2019-12-31 | 2020-04-17 | 龙铁纵横（北京）轨道交通科技股份有限公司 | Six robot automatic intelligent assembly system are repaiied to EMUs senior level |
| CN111376038A (en) * | 2020-03-19 | 2020-07-07 | 杭州翊通行机电有限公司 | Visual assembly workstation |
| CN112548549A (en) * | 2019-09-26 | 2021-03-26 | 天津新松机器人自动化有限公司 | Intelligent screw twisting mechanism |
| CN113020959A (en) * | 2021-03-11 | 2021-06-25 | 中国科学院自动化研究所 | Binocular vision-based automatic joint tightening angle prediction device and system |
| CN113042996A (en) * | 2021-04-25 | 2021-06-29 | 江苏金陵智造研究院有限公司 | Assembling tool and assembling process for intelligent assembling and tightening workstation |
| CN113118746A (en) * | 2019-12-31 | 2021-07-16 | 中国航天标准化研究所 | Workstation is screwed up in ultrasonic monitoring |
| CN113601158A (en) * | 2021-08-23 | 2021-11-05 | 深圳职业技术学院 | Bolt feeding pre-tightening system and control method based on visual positioning |
| CN114633102A (en) * | 2022-04-27 | 2022-06-17 | 浙江希尔机器人股份有限公司 | A slewing bearing assembly system based on industrial robots |
| CN115026555A (en) * | 2021-06-21 | 2022-09-09 | 国网安徽省电力有限公司 | Climbing operation platform with automatic sleeve replacement function and operation method |
| CN115255896A (en) * | 2022-06-30 | 2022-11-01 | 武汉武铁机辆装备有限公司 | Wheel-mounted brake disc robot bolt tightening platform |
| CN115319446A (en) * | 2022-08-15 | 2022-11-11 | 中交第一航务工程局有限公司 | Large-scale wind-powered electricity generation blade assembly fastening robot system |
| CN115647797A (en) * | 2022-10-27 | 2023-01-31 | 一汽解放汽车有限公司 | Engine connecting disc dismounting system |
-
2018
- 2018-12-28 CN CN201822225050.6U patent/CN209407870U/en not_active Expired - Fee Related
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112548549A (en) * | 2019-09-26 | 2021-03-26 | 天津新松机器人自动化有限公司 | Intelligent screw twisting mechanism |
| CN113118746A (en) * | 2019-12-31 | 2021-07-16 | 中国航天标准化研究所 | Workstation is screwed up in ultrasonic monitoring |
| CN111015197B (en) * | 2019-12-31 | 2022-01-25 | 龙铁纵横（北京）轨道交通科技股份有限公司 | Six robot automatic intelligent assembly system are repaiied to EMUs senior level |
| CN111015197A (en) * | 2019-12-31 | 2020-04-17 | 龙铁纵横（北京）轨道交通科技股份有限公司 | Six robot automatic intelligent assembly system are repaiied to EMUs senior level |
| CN111376038A (en) * | 2020-03-19 | 2020-07-07 | 杭州翊通行机电有限公司 | Visual assembly workstation |
| CN113020959A (en) * | 2021-03-11 | 2021-06-25 | 中国科学院自动化研究所 | Binocular vision-based automatic joint tightening angle prediction device and system |
| CN113042996A (en) * | 2021-04-25 | 2021-06-29 | 江苏金陵智造研究院有限公司 | Assembling tool and assembling process for intelligent assembling and tightening workstation |
| CN115026555A (en) * | 2021-06-21 | 2022-09-09 | 国网安徽省电力有限公司 | Climbing operation platform with automatic sleeve replacement function and operation method |
| CN115026555B (en) * | 2021-06-21 | 2024-05-10 | 国网安徽省电力有限公司 | Climbing operation platform with sleeve automatic replacement function and operation method |
| CN113601158B (en) * | 2021-08-23 | 2023-06-02 | 深圳职业技术学院 | Bolt feeding pre-tightening system based on visual positioning and control method |
| CN113601158A (en) * | 2021-08-23 | 2021-11-05 | 深圳职业技术学院 | Bolt feeding pre-tightening system and control method based on visual positioning |
| CN114633102A (en) * | 2022-04-27 | 2022-06-17 | 浙江希尔机器人股份有限公司 | A slewing bearing assembly system based on industrial robots |
| CN115255896B (en) * | 2022-06-30 | 2024-02-27 | 武汉武铁机辆装备有限公司 | Wheel dress brake disc robot bolt tightening platform |
| CN115255896A (en) * | 2022-06-30 | 2022-11-01 | 武汉武铁机辆装备有限公司 | Wheel-mounted brake disc robot bolt tightening platform |
| CN115319446A (en) * | 2022-08-15 | 2022-11-11 | 中交第一航务工程局有限公司 | Large-scale wind-powered electricity generation blade assembly fastening robot system |
| CN115647797A (en) * | 2022-10-27 | 2023-01-31 | 一汽解放汽车有限公司 | Engine connecting disc dismounting system |
| CN115647797B (en) * | 2022-10-27 | 2024-05-14 | 一汽解放汽车有限公司 | Dismounting system for engine connecting disc |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190920 Termination date: 20211228 |
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| CF01 | Termination of patent right due to non-payment of annual fee |