CN110091160B - Assembly line for large threaded cover of steel drum - Google Patents

Assembly line for large threaded cover of steel drum Download PDF

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Publication number
CN110091160B
CN110091160B CN201910450774.7A CN201910450774A CN110091160B CN 110091160 B CN110091160 B CN 110091160B CN 201910450774 A CN201910450774 A CN 201910450774A CN 110091160 B CN110091160 B CN 110091160B
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assembly
rocker arm
steel drum
unit
motor
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CN110091160A (en
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王大浩
平雪良
徐超
李楠
蒋毅
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Jiangnan University
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Jiangnan University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/001—Article feeders for assembling machines
    • B23P19/007—Picking-up and placing mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/008—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes the parts being continuously transported through the machine during assembling or disassembling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Sealing Of Jars (AREA)

Abstract

The invention discloses a steel drum large threaded cap assembly line which comprises a conveying unit, a first conveying unit, a second conveying unit and a control unit, wherein the second conveying unit comprises a first conveyor and a second conveyor, and the second conveyor is embedded into the bottom end of the first conveyor; the regulation and control unit is arranged on one side of the conveying unit; the acquisition unit is arranged on the mechanical arm of the regulation and control unit; the control unit is connected with the conveying unit, the regulating unit and the regulating unit; the control unit further comprises a power assembly, a bearing assembly and an execution component, and the mechanical arm is mounted on the bearing assembly; according to the invention, through the matching among the conveying unit, the regulating unit, the collecting unit and the control unit, the accuracy of accurately grabbing and setting the steel drum large threaded cap is ensured, the screwing degree of the threaded cap is ensured, the problems of partial cover and too tight cover of the threaded cap are solved, and the assembly efficiency of the steel drum large threaded cap is greatly improved.

Description

Assembly line for large threaded cover of steel drum
Technical Field
The invention relates to the technical field of assembly of large threaded covers of steel drums, in particular to an assembly line for the large threaded covers of the steel drums.
Background
The assembly of the large threaded cap of the steel drum is an important process on a steel drum production line, the traditional manual operation or mechanical semi-automatic processing mode wastes time and labor, the efficiency is low, and the product quality is difficult to guarantee.
Disclosure of Invention
This section is for the purpose of summarizing some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. In this section, as well as in the abstract and the title of the invention of this application, simplifications or omissions may be made to avoid obscuring the purpose of the section, the abstract and the title, and such simplifications or omissions are not intended to limit the scope of the invention.
The invention provides the assembly line for the large threaded cap of the steel drum, which solves the problem that the assembly of the threaded cap is influenced due to the fact that the cap of the threaded cap is inclined and too tight in the conventional assembly line for the large threaded cap of the steel drum.
Therefore, the invention aims to provide an assembly line for a large threaded cover of a steel drum.
In order to solve the technical problems, the invention provides the following technical scheme: the assembly line for the large threaded caps of the steel drums comprises a conveying unit, a first conveying unit and a second conveying unit, wherein the second conveying unit comprises a first conveying machine and a second conveying machine, and the second conveying machine is embedded into the bottom end of the first conveying machine; the regulation and control unit is arranged on one side of the conveying unit; the acquisition unit is arranged on the mechanical arm of the regulation and control unit; the control unit is connected with the conveying unit, the regulating unit and the collecting unit; the control unit comprises a power assembly, a bearing assembly and an execution component, the mechanical arm is mounted on the bearing assembly, the power assembly is arranged on the mechanical arm, and the execution component is connected with the mechanical arm.
As a preferred scheme of the assembly line of the large threaded cover of the steel drum, the assembly line comprises the following steps: the arm is divided into first rocking arm, second rocking arm, third rocking arm and fourth rocking arm, the both ends of second rocking arm respectively with first rocking arm and third rocking arm are connected, the other end of first rocking arm with bearing component connects, the both ends of fourth rocking arm respectively with the other end of third rocking arm with executive component's protection component connects.
As a preferred scheme of the assembly line of the large threaded cover of the steel drum, the assembly line comprises the following steps: the bearing assembly comprises a base, a fixed gear and a rotary table, the fixed gear is arranged in a groove of the base, and the rotary table is arranged on the base;
wherein the fixed gear is matched with the rotating gear of the power assembly.
As a preferred scheme of the assembly line of the large threaded cover of the steel drum, the assembly line comprises the following steps: the power assembly further comprises a first motor, a second motor, a third motor and a fourth motor, wherein the first motor is arranged at one end of the first rocker arm and a rotating shaft of the first rocker arm is connected with the rotating gear, the second motor is arranged on the first rocker arm and embedded in the first rocker arm, the first mounting shaft of the second rocker arm is connected with the third motor, the third motor is arranged on the third rocker arm and embedded in the third rocker arm, the second mounting shaft of the second rocker arm is connected with the fourth motor, and the fourth motor is arranged in the third rocker arm and a rotating shaft of the third motor is connected with the fourth rocker arm.
As a preferred scheme of the assembly line of the large threaded cover of the steel drum, the assembly line comprises the following steps: a bracket and a mounting seat are arranged on the fourth rocker arm, a base of the acquisition unit is connected with the mounting seat, and a mounting frame of the protection component is connected;
the protective assembly further comprises a sleeve piece, and the mounting frame is arranged on the sleeve piece;
the acquisition unit further comprises a camera, and the camera is arranged on the base.
As a preferred scheme of the assembly line of the large threaded cover of the steel drum, the assembly line comprises the following steps: the actuating part further comprises a driving assembly, a push rod assembly and a clamping assembly, the driving assembly is embedded in the sleeve part, the push rod assembly is matched with a pushing part of the driving assembly, and the clamping assembly is arranged on the periphery of a pushing block of the push rod assembly and connected with the pushing part.
As a preferred scheme of the assembly line of the large threaded cover of the steel drum, the assembly line comprises the following steps: the drive assembly still includes driving motor, prevents around measuring and driving medium, driving motor's pivot is passed the perforation of mounting bracket with prevent around the sensor of measuring and connect, the driving medium set up in the bottom of sensor.
As a preferred scheme of the assembly line of the large threaded cover of the steel drum, the assembly line comprises the following steps: one end of a top rod of the winding prevention measuring piece is connected with the mounting frame, and the other end of the top rod of the winding prevention measuring piece is connected with a conductive slip ring of the winding prevention measuring piece;
the conductive slip ring is sleeved on the outer side of the rod part of the sensor.
As a preferred scheme of the assembly line of the large threaded cover of the steel drum, the assembly line comprises the following steps: the transmission part comprises a top cap, an internal key cover and an internal spline shaft sleeve, and the internal key cover is arranged between the top cap and the internal spline shaft sleeve;
wherein the top cap is embedded in the sensor.
As a preferred scheme of the assembly line of the large threaded cover of the steel drum, the assembly line comprises the following steps: the wrench spline shaft of the pushing piece sequentially penetrates through the inner spline shaft sleeve and the inner spline cover to be embedded in the top cap;
the wrench spline shaft comprises a first shaft body, a second shaft body, a third shaft body and a limiting block, wherein two ends of the second shaft body are respectively connected with the first shaft body and the third shaft body, and one end, close to the second shaft body, of the limiting block is arranged on the periphery of the first shaft body.
The invention has the beneficial effects that: the steel drum large threaded cover assembly is reasonable in design and compact in structure, the accuracy of accurately grabbing and positioning the steel drum large threaded cover is ensured through the matching among the arranged conveying unit, the regulating unit, the collecting unit and the control unit, the screwing degree of the threaded cover is ensured, the problems of partial cover and over-tight cover of the threaded cover are solved, the assembly efficiency of the steel drum large threaded cover is greatly improved, and the use requirement is met.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise. Wherein:
FIG. 1 is a schematic view of the overall structure of the assembly line of the large screw cap for steel drum according to the present invention.
FIG. 2 is a schematic structural diagram of an assembly line control system of the assembly line of the large screw cap of the steel drum.
FIG. 3 is a schematic view of a mounting structure of a regulating unit and a collecting unit in the assembly line of the large screw cap of the steel drum.
FIG. 4 is a schematic structural diagram of the collecting unit of the assembly line for the large screw cap of the steel drum.
FIG. 5 is a schematic diagram of an explosion structure of a regulation and control unit of the assembly line for the large threaded cover of the steel drum.
FIG. 6 is a schematic structural view of a bearing assembly of the assembly line for the large screw cap of the steel drum.
FIG. 7 is a schematic view of a first rocker arm and a partial enlarged structure thereof in the assembly line of the large screw cap of the steel drum.
FIG. 8 is a schematic view of a partial structure of a regulating unit of the assembly line for the large screw cap of the steel drum.
FIG. 9 is a schematic structural diagram of an execution component of the assembly line for the large screw cap of the steel drum.
FIG. 10 is a schematic cross-sectional view of an actuator of the assembly line for a large screw cap of a steel drum according to the present invention.
FIG. 11 is a schematic structural view of a large screw cap of a steel drum in an assembly line of the large screw cap of the steel drum according to the present invention.
FIG. 12 is a schematic structural view of a driving assembly of the assembly line for large screw caps of steel drums of the present invention.
Fig. 13 is a schematic view of the installation section structure of the sleeve member and the driving assembly in the assembly line of the large screw cap of the steel drum.
FIG. 14 is an exploded view of the transmission member of the assembly line for the large screw cap of the steel drum of the present invention.
FIG. 15 is a schematic structural view of a pushing member of the assembly line for the large screw cap of the steel drum of the present invention.
FIG. 16 is a schematic structural view of the clamping assembly of the assembly line for assembling the large screw cap of the steel drum.
Fig. 17 is a schematic structural view of the first contracting member in the assembly line of the large screw cap for steel drums of the present invention.
FIG. 18 is a schematic structural view of the push rod assembly in the assembly line of the steel drum large screw cap of the present invention.
FIG. 19 is a schematic view of a slider structure of the assembly line for the large screw cap of the steel drum of the present invention.
FIG. 20 is a schematic view of the linkage structure of the push rod assembly in the assembly line of the steel drum large screw cap according to the present invention.
FIG. 21 is a schematic view of a linkage structure of the clamping assembly in the assembly line of the large screw cap for steel drums of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
Furthermore, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one implementation of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
Furthermore, the present invention is described in detail with reference to the drawings, and in the detailed description of the embodiments of the present invention, the cross-sectional view illustrating the structure of the device is not enlarged partially according to the general scale for convenience of illustration, and the drawings are only exemplary and should not be construed as limiting the scope of the present invention. In addition, the three-dimensional dimensions of length, width and depth should be included in the actual fabrication.
Example 1
Referring to fig. 1, an overall structure schematic diagram of a steel drum large threaded cap assembly line is provided, and as shown in fig. 1, the steel drum large threaded cap assembly line comprises a conveying unit 100, which comprises a first conveyor 101 and a second conveyor 102, wherein the second conveyor 102 is embedded in the bottom end of the first conveyor 101; the regulation and control unit 200 is arranged at one side of the conveying unit 100; the acquisition unit 300 is arranged on the mechanical arm 201 of the regulation and control unit 200; and a manipulation unit 400 connected with the delivery unit 100, the regulation unit 200 and the collection unit 300.
Specifically, the main structure of the invention comprises a conveying unit 100, a regulating unit 200, a collecting unit 300 and a control unit 400, and the precision of accurately grabbing and positioning the steel barrel large threaded cap can be ensured and the screwing degree of the threaded cap can be ensured through the mutual matching among the arranged conveying unit 100, the regulating unit 200, the collecting unit 300 and the control unit 400, so that the problems of time and labor waste and low efficiency of a manual or mechanical semi-automatic assembly mode are solved, and the assembly efficiency of the steel barrel large threaded cap is greatly improved, wherein the conveying unit 100 plays a role in conveying the steel barrel large threaded cap and the steel barrel and comprises a first conveyor 101 and a second conveyor 102, the first conveyor 101 is used for conveying the steel barrel large threaded cap, the second conveyor 102 plays a role in conveying the steel barrel to be assembled, and the second conveyor 102 is embedded in the bottom end of the first conveyor 101, it should be noted that the first conveyor 101 and the second conveyor 102 are both belt conveyors or mesh conveyors; the regulating unit 200 is a driving mechanism for accurately grabbing, placing and screwing, is arranged on one side of the conveying unit 100, and the collecting unit 300 plays a role in photographing positions of a large threaded cover of the steel barrel to be clamped and a threaded hole of the steel barrel to be assembled and is arranged on a mechanical arm 201 of the regulating unit 200; the control unit 400 is a console for controlling, processing and storing, and is connected to the delivery unit 100, the control unit 200 and the collection unit 300.
Further, the conveying unit 100 further includes a clamping body (not shown in the figure), the clamping body is used for clamping and fixing the steel barrel provided with the threaded cover, so as to ensure the stability of the installation, for example, only one regulating unit 200 is provided, here, the clamping body is provided with two clamping bodies, the two clamping bodies are symmetrically arranged on two sides of the steel barrel to be assembled, it should be noted that the clamping body is composed of an air cylinder and an arc-shaped clamping plate, the air cylinder is arranged on the supporting frame 102a of the second conveyor 102, the arc-shaped clamping plate is fixed on the piston of the air cylinder, it should be emphasized that the number of the clamping bodies of the conveying unit 100 is 2 times of the number of the regulating unit 200.
Preferably, the first conveyor 101 and the second conveyor 102 are arranged in a crisscross manner, and the number of the regulating units 200 is four (the number is only used as reference in the figure), and the four regulating units 200 are respectively arranged in four corner regions where the first conveyor 101 and the second conveyor 102 are arranged in the crisscross manner.
Further, as shown in fig. 4, the collecting unit 300 comprises a base 301 and a camera 302, the camera 302 provides a basis for the visual positioning of accurately grabbing the large threaded cover of the steel drum and accurately placing the threaded cover on the threaded hole of the steel drum, the base 301 plays a role of bearing, and the camera 302 is installed on the base 301.
Further, as shown in fig. 2, the control unit 400 includes a processor 401, a controller 402, a memory 403, and a control panel 404, the controller 402, the memory 403, the control panel 404, and the collecting unit 300 are all connected to the processor 401, an output end of the controller 402 is connected to the conveying unit 100 and the control unit 200, respectively, it should be noted that the control panel 404 is provided with a switch, a setting button, an alarm, and a display screen, the processor 401 is of Pentium II Xeon type, and the controller 402 is of SPC-STW-1810 type.
The use process comprises the following steps:
firstly, an operator starts a switch on the control panel 404 and sets the screwing torque of the regulating unit 200 through a set button on the control panel 404;
secondly, the start is confirmed by setting a button, the first conveyor 101 and the second conveyor 102 respectively convey the large threaded cover of the steel drum and the steel drum, and meanwhile, the regulation and control unit 200 drives the camera 302 of the acquisition unit 300 to photograph the large threaded cover of the steel drum conveyed on the first conveyor 101 and transmits the photographed image to the processor 401 of the control unit 400;
thirdly, the processor 401 processes and calculates the acquired picture and transmits a processing signal (relative coordinate position) to the controller 402;
fourthly, the controller 402 regulates and controls the regulation and control unit 200 to grab the large screw cap of the steel drum according to the conveyed processing signal, and moves the grabbed large screw cap of the steel drum to the position above the steel drum conveyed by the second conveyor 102;
fifthly, the camera 302 of the acquisition unit 300 photographs the steel barrel conveyed by the second conveyor 102 and transmits the photographed steel barrel to the processor 401 of the control unit 400 for processing, and the processed information is sent to the controller 402;
sixthly, the controller 402 regulates and controls the regulating and controlling unit 200 again according to the processing information, so that the grabbed large threaded cover of the steel drum is positioned right above the threaded hole of the steel drum and is placed on the threaded hole of the steel drum, the visual angle positioning process is realized, and the symmetrical precision of grabbing, placing and screwing of the threaded cover is greatly improved;
seventhly, the regulating and controlling unit 200 screws the steel barrel large threaded cap placed on the steel barrel threaded hole, monitors the screwing torque of the steel barrel large threaded cap, stops operating when the monitoring torque is the same as the set torque, namely the steel barrel is assembled, the regulating and controlling unit 200 can automatically repeat the previous step to continue assembling, and the storage 403 of the regulating and controlling unit records the assembling completion number.
Example 2
Referring to fig. 3 and 5, this embodiment is different from the first embodiment in that: the regulating unit 200 further comprises a power assembly 202, a bearing assembly 203 and an executing component M, and the mutual matching among the arranged mechanical arm 201, the power assembly 202, the bearing assembly 203 and the executing component M can be used for precisely and flexibly moving to grab, place and screw a steel barrel large threaded cap through a controller 402 according to the processing of a processor 401, so that the assembly efficiency of the steel barrel large threaded cap is greatly improved, and the problem of the inclined cap and the too tight cap of the threaded cap is solved, specifically, the mechanical arm 201 is used for remotely controlling the executing component M, is arranged on the bearing assembly 203, the power assembly 202 is a power source, the power assembly 202 is arranged on the mechanical arm 201, the executing component M plays a role in clamping and screwing the threaded cap and monitoring the torque, and the executing component M is arranged on the mechanical arm 201, wherein the mechanical arm 201 is divided into a first rocker arm 201a, a second rocker arm 201b, a third rocker arm 201c and a fourth rocker arm 201d, two ends of the second rocker arm 201b are respectively connected with the first rocker arm 201a and the third rocker arm 201c, the other end of the first rocker arm 201a is connected with the bearing assembly 203, and two ends of the fourth rocker arm 201d are respectively connected with the other end of the third rocker arm 201c and the protection assembly 500 of the actuating component M, it should be noted that the first rocker arm 201a of the mechanical arm 201 can rotate relative to the bearing assembly 203.
Further, as shown in fig. 6 and 7, the bearing assembly 203 includes a base 203a, a fixed gear 203b and a rotating disc 203c, the fixed gear 203b is disposed in a groove 203a-1 of the base 203a, and the fixed gear 203b is fixedly connected with the groove 203a-1, the base 203a and the fixed gear 203b do not rotate relatively, but the rotating disc 203c is engaged with the base 203a, it should be noted that the rotating disc 203c can rotate relative to the base 203a, wherein the fixed gear 203b is engaged with the rotating gear 202a of the power assembly 202, specifically, the fixed gear 203b is engaged with the rotating gear 201a, and under the action of the rotating gear 201a and the fixed gear 203b, the rotating disc 203c rotates, and the rotating disc 203c drives the power assembly 202, the mechanical arm 201 and the executing component M to rotate in a horizontal plane.
Further, the power assembly 202 further includes a first motor 202b, a second motor 202c, a third motor 202d and a fourth motor 202e, the first motor 202b is disposed at one end of the first rocker arm 201a, and a rotating shaft thereof is connected with the rotating gear 202a through a reduction gearbox, a housing of the second motor 202c is disposed on the first rocker arm 201a through a bolt, and a rotating shaft thereof is connected with a first mounting shaft 201b-1 of the second rocker arm 201b embedded in the first rocker arm 201a through a coupling, a housing of the third motor 202d is disposed on the third rocker arm 201c through a bolt, and a rotating shaft thereof is connected with a second mounting shaft 201b-2 of the second rocker arm 201b embedded in the third rocker arm 201c through a coupling, and the fourth motor 202e is fixedly disposed in the third rocker arm 201c, and a rotating shaft thereof is connected with the fourth rocker arm 201d through a coupling.
Further, as shown in fig. 8, a bracket 202d-1 and a mounting seat 202d-2 are disposed on the fourth swing arm 201d, and the mounting seat 202d-2 is fixed on the bracket 202d-1, wherein the base 301 of the acquisition unit 300 is connected with the mounting seat 202d-2 through a bolt, and the mounting frame 502 of the protection assembly 500 is connected with the bracket 202d-1 through a bolt.
The other structure is the same as embodiment 1.
In this embodiment, the use process is the same except that the steps four, six, and seven are different, and in this embodiment: fourthly, the controller 402 regulates and controls the mechanical arm 201 and the power assembly 202 of the regulating unit 200 according to the conveyed processing signal, so that the executing component M can accurately grab the large threaded cover of the steel drum and move the grabbed large threaded cover of the steel drum to the position above the steel drum conveyed by the second conveyor 102;
sixthly, the controller 402 regulates and controls the execution part M again according to the processing information through mutual matching among the mechanical arm 201, the power assembly 202 and the bearing assembly 203 of the regulation and control unit 200, so that the large threaded cover of the steel drum grabbed by the execution part M is positioned right above the threaded hole of the steel drum and is placed on the threaded hole of the steel drum, the visual angle positioning process is realized, and the symmetrical precision of grabbing, placing and screwing of the threaded cover is greatly improved;
seventhly, the execution component M of the regulation and control unit 200 screws the large steel barrel threaded cover placed on the steel barrel threaded hole tightly, the screwing torque of the large steel barrel threaded cover is monitored, when the monitoring torque is the same as the set torque, the execution component M of the regulation and control unit 200 stops operating, namely the steel barrel is assembled, the regulation and control unit 200 can automatically repeat the previous step to continue assembling, and the storage 403 records the number of the assembled parts.
Example 3
Referring to fig. 9 to 11, this embodiment is different from the above embodiment in that: the execution part M further comprises a driving assembly 600, a push rod assembly 700 and a clamping assembly 800, and the protection assembly 500, the driving assembly 600, the push rod assembly 700 and the clamping assembly 800 are matched with each other, so that the grabbing, setting and screwing stability of the steel barrel large threaded cover is improved, and the assembly efficiency of the steel barrel large threaded cover is greatly improved. Specifically, the actuating component M includes a protective assembly 500, a driving assembly 600, a push rod assembly 700 and a clamping assembly 800, wherein the protective assembly 500 is used for protecting and carrying the driving assembly 600 and the push rod assembly 700, and provides a foundation for assembling with a robot, and includes a sleeve member 501 and a mounting frame 502, and the mounting frame 502 plays a role in carrying the driving assembly 600 and assembling with the fourth rocker arm 201d, and covers an opening of the sleeve member 501 and is fixed on the sleeve member 501 through a bolt; the driving assembly 600 provides a power source for screwing the steel drum large threaded cover, can monitor torque, is convenient for realizing the assembly requirement that the steel drum large threaded cover is screwed to a specified torque value, is embedded in the sleeve part 501, and provides power for clamping and screwing the threaded cover by the clamping assembly 800 by the push rod assembly 700 which is matched with the pushing part 601 of the driving assembly 600; the clamping assembly 800 is used for clamping the screw cap and providing a torque force for assembling the screw cap, and is disposed at the periphery of the push block 701 of the push rod assembly 700 and connected to the push member 601.
Further, as shown in fig. 13, the sleeve member 501a includes a first cylinder 501a, a second cylinder 501b and a support seat 501c, the support seat 501c is disposed on a support seat 501b-1 at the inner side of the second cylinder 501b, the second cylinder 501b is disposed at the bottom end of the first cylinder 501a, and the first cylinder 501a and the second cylinder 501b are fixed by bolts, specifically, two ends of the first cylinder 501a are respectively connected with the mounting bracket 502 and the second cylinder 501b, it should be noted that the outer diameter of the first cylinder 501a is greater than the outer diameter of the second cylinder 501b, and the first cylinder 501a, the second cylinder 501b and the mounting bracket 502 are all made of aluminum alloy or stainless steel.
The other structure is the same as embodiment 2.
In this embodiment, the use process is the same except that the steps four, six, and seven are different, and in this embodiment: fourthly, the controller 402 regulates and controls the mechanical arm 201 and the power assembly 202 of the regulating unit 200 according to the transmitted processing signal, so that the executing part M can accurately grab the large screw cap of the steel barrel, and the gripped large screw cap of the steel drum is moved to a position above the steel drum conveyed by the second conveyor 102, specifically, the fourth swing arm 201d fixedly connected with the mounting bracket 502 through a bolt moves the actuating member M to a position right above the large screw cap of the steel drum, the adjusting and controlling unit 200 adjusts the actuating component M, so that the clamping assembly 800 can be engaged with the steel drum large threaded cover, then vertically moves downwards, the clamping component 800 continues to move downwards after contacting the large threaded cover of the steel drum, under the action of the push block 701 of the push rod assembly 700, the clamping assembly 800 can clamp the large steel barrel threaded cover, and the mechanical arm 201, the bearing assembly 203 and the power assembly 202 of the regulating and controlling unit 200 move the grabbed large steel barrel threaded cover to the position above the steel barrel conveyed by the second conveyor 102;
sixthly, the controller 402 regulates and controls the execution component M again according to the processing information through the mutual matching among the mechanical arm 201, the power component 202 and the bearing component 203 of the regulation and control unit 200, so that the large threaded cover of the steel drum grabbed by the execution component M is positioned right above the threaded hole of the steel drum, at the moment, the execution component M moves vertically downwards under the action of the mechanical arm 201 and the power component 202, the large threaded cover of the steel drum still moves vertically downwards after contacting with the threaded hole of the cover of the steel drum, at the moment, under the action of the push block 701 of the push rod component 700, the clamping component 800 does not clamp the large threaded cover of the steel drum any more but is embedded into the large threaded hole of the steel drum, the placing process of the large threaded cover of the steel drum is realized, the visual angle positioning process is realized, and the symmetrical precision of grabbing, placing and;
seventhly, under the driving of the driving component 600 of the executing component M, the clamping component 800 drives the large screw cap of the steel drum to screw tightly relative to the screw mouth of the drum cover of the steel drum, and monitors the screwing torque of the large screw cap of the steel drum, when the monitoring torque is the same as the set torque, the executing component M of the regulating and controlling unit 200 stops operating, that is, the steel drum is assembled, the regulating and controlling unit 200 automatically repeats the previous step to continue assembling, and the memory 403 records the number of the assembled parts.
Example 4
Referring to fig. 12, this embodiment is different from the above embodiment in that: the driving assembly 600 further comprises a driving motor 602, a winding prevention measuring piece 603 and a transmission piece 604, and through mutual matching among the arranged pushing piece 601, the driving motor 602, the winding prevention measuring piece 603 and the transmission piece 604, a power source for screwing the threaded cover is provided, a transmission force is provided for the clamping assembly 800, and meanwhile, the problem of winding of the static torque sensor along with the rotation of the motor can be solved. Specifically, the driving assembly 600 further comprises a driving motor 602, an anti-winding measuring member 603 and a transmission member 604, the driving motor 602 is a power source for screwing the threaded cap to the threaded opening of the steel, the anti-winding measuring member 603 is used for solving the winding problem of the static torque sensor rotating along with the motor, and simultaneously plays a role of monitoring the torque, and is used for preventing the large threaded cap of the steel barrel from being mounted too tightly, so that the assembly efficiency of the threaded cap is improved, a rotating shaft 602a of the driving motor 602 penetrates through a through hole 502a of the mounting frame 502 to be connected with a sensor 603a of the anti-winding measuring member 603, the sensor 603a can realize the assembly requirement of assembling to a specified torque value, wherein the rotating shaft 602a is connected with the sensor 603a through a coupler, the transmission member 604 is used for driving the clamping assembly 800 to be transmitted to the push rod assembly 700, the clamping assembly 700 drives the clamping assembly 800 to clamp the large threaded cap of the steel barrel, and further, the transmission member 604 is disposed at the bottom end of the sensor 603a, preferably, the driving motor 602 is a dc speed-reducing motor, and the sensor 603a is a torque sensor.
Furthermore, one end of a top rod 603b of the anti-winding measuring part 603 is fixedly connected with the mounting frame 502 through a bolt, and the other end of the top rod is fixedly connected with a clamping groove arranged on a conductive slip ring 603c of the anti-winding measuring part 603, so that the rotation of the outer ring of the conductive slip ring 603c is limited, it should be emphasized that the conductive slip ring 603c is sleeved on the outer side of a rod part 603a-1 of the sensor 603a, the conductive slip ring 603c can realize a precise power transmission device for power transmission of two relative rotating mechanisms, preferably, the sensor 603a is a static torque sensor, the problem of wire winding of the static torque sensor along with the rotation of the driving motor 602 is solved through the conductive slip ring 603c, a dynamic torque sensor is replaced, the production cost is saved, in the specific installation process, a lead of the static torque sensor is connected with an inner ring of the conductive slip ring 603c, so that the, the wires are led out to an external control console.
Further, as shown in fig. 14, the transmission member 604 includes a top cap 604a, an inner key cover 604b and an inner spline shaft sleeve 604c, the inner key cover 604b is disposed between the top cap 604a and the inner spline shaft sleeve 604c, and the three are connected by a bolt, it should be noted that the top cap 604a is embedded in the sensor 603a, the inner spline shaft sleeve 604c is a circular ring structure with an equal distance, and an outer wall of a middle step of the inner spline shaft sleeve 604c contacts the supporting seat 501 c.
Further, as shown in fig. 15, a wrench spline shaft 601a of the pushing member 601 sequentially passes through an inner spline housing 604c and an inner key cover 604b to be embedded in the top cap 604a, wherein the wrench spline shaft 601a includes a first shaft body 601a-1, a second shaft body 601a-2, a third shaft body 601a-3 and a limiting block 601a-4, two ends of the second shaft body 601a-2 are respectively connected with the first shaft body 601a-1 and the third shaft body 601a-3, and one end of the limiting block 601a-4 close to the second shaft body 601a-2 is disposed at the periphery of the first shaft body 601 a-1; it should be noted that the outer diameters of the third shaft body 601a-3, the second shaft body 601a-2, the first shaft body 601a-1 and the limiting block 601a-4 are sequentially increased, and the four shaft bodies are all hollow cylindrical structures, preferably, the first shaft body 601a-1, the second shaft body 601a-2, the third shaft body 601a-3 and the limiting block 601a-4 are all integrated structures.
Further, as shown in fig. 15, the pushing member 601 further includes a first spring 601b and a connecting sleeve 601c, the first spring 601b is disposed around the periphery of the first protrusion 601a-11 of the first shaft 601a-1, and one end of the first spring is in contact with the limiting block 601a-4, the connecting sleeve 601c is sleeved on the periphery of the third shaft 601a-3, the second protrusion 601a-31 of the third shaft 601a-3 is matched with the second groove 601c-1 of the connecting sleeve 601c, and the other end of the third shaft 601a-3 is fixed to the other end of the connecting sleeve 601c by a bolt; the bottom end of the connection sleeve 601c is fixedly connected with the clamping housing 801 of the clamping assembly 800, specifically, the connection sleeve 601c is fixed with the third shaft 601a-3 by bolts, in this embodiment, eight, but not limited to eight, first protrusions 601a-11 are provided along the length direction of the first shaft 601a-1 and are equidistantly arranged around the periphery of the first shaft 601a-1, wherein the first protrusions 601a-11 are matched with the first grooves 604b-1 of the inner key cover 604b, it should be noted that one side of the connection sleeve 601c corresponding to the second grooves 601c-1 is provided with through holes, one symmetrical end of the third shaft 601a-3 and the second protrusions 601a-31 is provided with threaded holes, the through holes correspond to the threaded holes, and the bolts pass through the through holes and are screwed with the threaded holes, that is, the stability of the connection sleeve 601c mounted on the third shaft body 601a-3 is ensured.
The other structure is the same as embodiment 3.
In this embodiment, the use process is the same except that the steps four, six, and seven are different, and in this embodiment: fourthly, the controller 402 regulates and controls the mechanical arm 201 and the power assembly 202 of the regulating and controlling unit 200 according to the transmitted processing signal, so that the executing component M precisely grabs the large screw cap of the steel drum and moves the grabbed large screw cap of the steel drum to the upper side of the steel drum conveyed by the second conveyor 102, specifically, the executing component M is moved to the right above the large screw cap of the steel drum by the fourth rocker arm 201d fixedly connected with the mounting frame 502 through a bolt, the executing component M is regulated by the regulating and controlling unit 200, so that the clamping component 800 can be engaged with the large screw cap of the steel drum and then vertically moves downwards, after the clamping component 800 contacts the large screw cap of the steel drum, the downward telemechanical motion is continued, at this time, the connecting sleeve 601c drives the spline shaft wrench 601a to telemove upwards, the first spring 601b thereof is compressed, the wrench spline shaft 601a drives the push rod assembly 700 to move upwards relative to the inner spline shaft sleeve 604c, and after the push rod assembly 700 contacts the top cap 604a, under the action of the push block 701 of the push rod assembly 700, the clamping assembly 800 can clamp the large steel barrel threaded cover, and the mechanical arm 201, the bearing assembly 203 and the power assembly 202 of the regulating and controlling unit 200 move the grabbed large steel barrel threaded cover to the position above the steel barrel conveyed by the second conveyor 102;
sixthly, the controller 402 regulates and controls the execution component M again according to the processing information through the mutual matching among the mechanical arm 201, the power component 202 and the bearing component 203 of the regulation and control unit 200, so that the large threaded cover of the steel drum grabbed by the execution component M is positioned right above the threaded hole of the steel drum, at the moment, the execution component M moves vertically downwards under the action of the mechanical arm 201 and the power component 202, the large threaded cover of the steel drum still moves vertically downwards after contacting with the threaded hole of the cover of the steel drum, at the moment, under the action of the push block 701 of the push rod component 700, the clamping component 800 does not clamp the large threaded cover of the steel drum any more but is embedded into the large threaded hole of the steel drum, the placing process of the large threaded cover of the steel drum is realized, the visual angle positioning process is realized, and the symmetrical precision of grabbing, placing and;
seventhly, under the driving of the driving component 600 of the executing component M, the clamping component 800 drives the large screw cap of the steel drum to screw tightly relative to the screw mouth of the steel drum cover, and monitors the screwing torque of the large screw cap of the steel drum, the sensor 603a of the winding-prevention measuring component 603 can output the assembling torque, when the torque monitored by the sensor 603a is the same as the set torque, the executing component M of the regulating and controlling unit 200 stops operating, that is, the steel drum is assembled completely, the regulating and controlling unit 200 can automatically repeat the previous step to continue assembling, and the memory 403 records the assembling completion number.
Example 5
Referring to fig. 16, this embodiment is different from the above embodiment in that: the clamping assembly 800 further comprises a first contraction member 802 and a second contraction member 803, and the stability of clamping the steel drum large thread cover and the installation effect can be guaranteed through the mutual matching of the clamping shell 801, the first contraction member 802 and the second contraction member 803. Specifically, the clamping assembly 800 further includes a first contracting member 802 and a second contracting member 803, the first contracting member 802 and the second contracting member 803 are used for clamping a large screw cap of a steel drum and can contract according to use requirements, the first contracting member 802 and the second contracting member 803 are symmetrically arranged in the third groove 801a of the clamping housing 801, and it should be emphasized that the first contracting member 802 and the second contracting member 803 have the same structure.
Further, as shown in fig. 17, the first contracting member 802 includes a pushing body 802a, a clip 802b and a second spring 802c, the second spring 802c is wound around the periphery of the clip 802b, and two ends of the second spring 802c are respectively contacted with the inner walls of the clip 802b and the guide rail 801a-1 of the third groove 801a, one end of the clip 802b is fixedly connected with the pushing body 802a, and the other end of the clip 802b corresponds to the second through hole 801b of the clamping housing 801, preferably, the pushing body 802a and the clip 802b are of an integral structure, and the pushing body 802a moves along the guide rail a-1 of the third groove 801 a; it should be noted that the first chamfered surface 802a-1 of the pushing body 802a and the second chamfered surface 701a of the pushing block 701; it should be emphasized that the outer two ends of the clamping shell 801 are symmetrically provided with fourth grooves 801c, and the fourth grooves 801c are engaged with the inside of the large screw cap of the steel drum.
The other structure is the same as in example 4.
The using process of this embodiment is the same as that of the above embodiment except that the steps four and six are different, and in this embodiment: fourthly, the controller 402 regulates and controls the mechanical arm 201 and the power assembly 202 of the regulating and controlling unit 200 according to the transmitted processing signal, so that the executing component M precisely grabs the large screw cap of the steel drum and moves the grabbed large screw cap of the steel drum to the upper side of the steel drum conveyed by the second conveyor 102, specifically, the executing component M is moved to the right above the large screw cap of the steel drum by the fourth rocker arm 201d fixedly connected with the mounting frame 502 through a bolt, the executing component M is regulated by the regulating and controlling unit 200, so that the clamping component 800 can be engaged with the large screw cap of the steel drum and then vertically moves downwards, after the clamping component 800 contacts the large screw cap of the steel drum, the downward telemechanical motion is continued, at this time, the connecting sleeve 601c drives the spline shaft wrench 601a to telemove upwards, the first spring 601b thereof is compressed, the wrench spline shaft 601a drives the push rod assembly 700 to move upwards relative to the inner spline shaft sleeve 604c, and after the push rod assembly 700 contacts the top cap 604a, the push block 701 of the push rod assembly 700 moves downwards, under the action of the push block 701, the first contraction piece 802 and the clamp 802b arranged on the second contraction piece 803 symmetrically arranged on the clamping assembly 800 extend out of the second through hole 801b to be embedded into the inner roll of the steel drum large threaded cover, at the moment, the second spring 802c is compressed, the steel drum large threaded cover can be clamped, and then the mechanical arm 201, the bearing assembly 203 and the power assembly 202 of the regulating and controlling unit 200 move the grabbed steel drum large threaded cover to the position above the steel drum conveyed by the second conveyor 102;
sixthly, the controller 402 regulates and controls the executing component M again according to the processing information through the mutual matching among the mechanical arm 201, the power assembly 202 and the bearing assembly 203 of the regulating and controlling unit 200, so that the large threaded cover of the steel drum grabbed by the executing component M is positioned right above the threaded hole of the steel drum, at the moment, the mechanical arm 201 and the power assembly 202 act, the executing component M moves vertically downwards, the large threaded cover of the steel drum still moves vertically downwards after contacting the threaded hole of the cover of the steel drum, at the moment, under the action of the restoring force of the push block 701 and the second spring 802c of the push rod assembly 700, the clips 802b of the first shrinking piece 802 and the second shrinking piece 803 of the clamping assembly 800 restore, the large threaded cover of the steel drum is not clamped in the retracting guide rail 801a-1 any more but is embedded in the large threaded cover of the steel drum, and the friction force generated by the clips 802b and the inner wall of the large threaded cover of the steel drum, consequently realize picking up of big screw cap of steel drum, so realize the process of placing of big screw cap of steel drum, at this moment, the fourth recess 801c of centre gripping casing 801 cooperates with the arch of big screw cap of steel drum, so realized the process of visual angle location, provided the precision that the screw cap snatched, placed and screwed the symmetry greatly.
Example 6
Referring to fig. 18 and 19, this embodiment is different from the above embodiment in that: the push rod assembly 700 further comprises a transfer piece 702, a sliding body 703, a transmission body 704 and a third spring 705, and the push rod assembly can realize the effect of pushing and clamping the steel drum large threaded cover according to pushing through the matching among the push block 701, the transfer piece 702, the sliding body 703, the transmission body 704 and the third spring 705. Specifically, the push rod assembly 700 further includes a transfer member 702, a sliding body 703, a transmission body 704 and a third spring 705, the push block 701 is fixed on a push rod 702a of the transfer member 702, the third spring 705 is wound around the push rod 702a and both ends of the third spring are respectively contacted with a rotary plate 702b of the transfer member 702 and a bottom plate of the first shaft 601a-1, a first guide tooth 702b-1 provided on the rotary plate 702b is embedded in a guide groove 703a of the sliding body 703, one end of the transmission body 704 is embedded in the sliding body 703 and a second guide tooth 704a thereof is matched with the guide groove 703a, wherein a third protrusion 704b is provided on the transmission body 704 corresponding to the second guide tooth 703a, and a third protrusion 704b is embedded in the guide groove 703a, in this embodiment, the first guide teeth 702b-1 are provided with four, four first guide teeth 702b-1 are equidistantly provided on the rotary plate 702b, and the inclined tooth surfaces of the four first guide teeth 702b-1 are all provided in the same direction, preferably, the push block 701, the push post 702a and the rotary plate 702b are of an integrated structure.
Further, as shown in FIG. 19, the guiding slot 703a is divided into a through slot 703a-1 and an internal slot 703a-2, the through slot 703a-1 and the internal slot 703a-2 are alternatively distributed on the sliding body 703, in this embodiment, four through slots 703a-1 and four inner slots 703a-2 are respectively provided, but not limited to, four through slots 703a-1 and four internal slots 703a-2 are alternatively arranged, it should be noted that the through slots 703a-1 penetrate the inner and outer walls of the slider 703, the internal slots 703a-2 are internal slots, the depth of the groove is half of the wall thickness of the groove, the width of the through groove 703a-1 and the width of the inner groove 703a-2 are the same as the width of the tooth-shaped structure of the first guide tooth 702b-1, and the first guide tooth 702b-1 is engaged with the through slot 703a-1 so that it can be moved distally along the through slot 703 a-1.
Further, the bottom of the sliding body 703 is provided with third guide teeth 703b, the third guide teeth 703b are embedded in fifth grooves 702b-2 formed between adjacent first guide teeth 702b-1, it should be noted that in this embodiment, the third guide teeth 703b are provided with four, the four third guide teeth 703b are arranged on the sliding body 703 at equal intervals, and the flash type oblique tooth surfaces of the third guide teeth 703b are all arranged in the same direction.
The other structure is the same as in example 5.
The use process comprises the following steps: the actuating member M is moved to the position right above the steel drum large threaded cover by the fourth rocker arm 201d fixedly connected with the mounting frame 502 through a bolt, the actuating member M is adjusted by the power assembly 202, the bearing assembly 203 and the mechanical arm 201 of the adjusting and controlling unit 200, so that the clamping housing 801 of the clamping assembly 800 of the actuating member M can be engaged with the inside of the steel drum large threaded cover, and then vertically and downwardly moved, after the clamping housing 801 of the clamping assembly 800 contacts the steel drum large threaded cover, the downward telemotion is continued, at this time, the connecting sleeve 601c drives the spline shaft 601a to telemove upwards, the first spring 601b thereof is compressed, the wrench 601a drives the push rod assembly 700 to move upwards relative to the inner spline housing 604c, when the push rod assembly 700 contacts the top cap 604a, the third spring 705 compresses, the transmission body 704 pushes the transfer member 702 out of the through groove 703a-1, and at this time, the first guide tooth 702b-1 of the transfer member 702 is disengaged from the guide groove 703a, because the first guide tooth 702b-1 is not completely engaged with the second guide tooth 704a arranged at the bottom of the transmission body 704 under the action of the guide groove 703a, the transfer member 702 rotates by a certain angle under the action of a tangential force, so that the transfer member is completely engaged with the second guide tooth 704a arranged at the bottom of the transmission body 704, because the inner groove 703a-2 of the guide groove 703a has a guiding effect, the transmission body 704 will not rotate, when the execution member M is lifted, the spline shaft 601a drives the push rod assembly 700 to move downwards under the action of the first spring 601b, the transfer member 702 moves upwards under the action of the third spring 705, contacts with the third guide tooth 703b arranged at the bottom of the guide groove 703a, and rotates by a certain angle under the action of the tangential force, so as to be engaged with the bottom tooth of the guide groove 703 a; at this time, compared with the initial state, the transfer member 702 moves downward for a certain distance, and the action process is as shown in fig. 20 and fig. 21, the push block 701 of the push rod assembly 700 moves far downward, under the action of the push block 701, the first contracting member 802 and the second contracting member 803 symmetrically arranged on the clamping assembly 800 extend out of the second through hole 801b to be embedded into the inner roll body of the steel drum large threaded cap, at this time, the second spring 802c is compressed, so that the steel drum large threaded cap can be clamped, then the actuating member M clamping the steel drum large threaded cap is moved to the position right above the corresponding position of the steel drum cover threaded opening by the robot, at this time, the steel drum large threaded cap moves vertically downward, after contacting the steel drum cover threaded opening, the push rod mechanism moves vertically downward, at this time, the push rod mechanism moves again, after the rotary disc 702b of the transfer member 702 rotates for a certain angle, the first guide tooth 702b-1 of the rotary disc 702b enters the guide groove 703a of the sliding body 703 again, at this time, the position of the transfer member 702 is restored to the initial state, the push block 701 is driven by the transfer member 702 to move upwards and return to the original height, at this time, under the action of the restoring force of the push block 701 and the second spring 802c of the push rod assembly 700, the clips 802b of the first contraction member 802 and the second contraction member 803 of the clamping assembly 800 are restored, the steel drum large thread cover is no longer clamped in the retraction guide rail 801a-1 but is embedded in the steel drum large thread, the friction force generated by the clips 802b and the inner wall of the steel drum large thread cover is greater than the self gravity of the steel drum large thread cover, so that the steel drum large thread cover is picked up, the placing process of the steel drum large thread cover is realized, at this time, the fourth groove 801c of the clamping housing 801 is matched with the bulge of the steel drum large thread cover, and then under the driving of the driving assembly 600, the clamping housing 801 drives the steel drum large thread cover to rotate relative to the steel drum cover thread opening, the sensor 603a of the winding-proof measuring piece 603 can output assembly torque, and when the specified torque set by the external console is reached, the driving motor 602 is controlled to stop acting, namely, the processes of grabbing, setting and screwing the steel drum large threaded cover are realized.
It should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort might be complex and time consuming, but would nevertheless be a routine undertaking of design, fabrication, and manufacture for those of ordinary skill having the benefit of this disclosure, without undue experimentation.
It should be noted that the above-mentioned embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.

Claims (4)

1. The utility model provides a big thread cover assembly line of steel drum which characterized in that: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
the conveying unit (100) comprises a first conveyor (101) and a second conveyor (102), wherein the second conveyor (102) is embedded at the bottom end of the first conveyor (101);
a regulating unit (200) arranged on one side of the conveying unit (100);
the acquisition unit (300) is arranged on the mechanical arm (201) of the regulation and control unit (200); and the number of the first and second groups,
the control unit (400) is connected with the conveying unit (100), the regulating unit (200) and the collecting unit (300);
the regulating unit (200) further comprises a power assembly (202), a bearing assembly (203) and an execution part (M), the mechanical arm (201) is mounted on the bearing assembly (203), the power assembly (202) is arranged on the mechanical arm (201), and the execution part (M) is connected with the mechanical arm (201);
the mechanical arm (201) is divided into a first rocker arm (201a), a second rocker arm (201b), a third rocker arm (201c) and a fourth rocker arm (201d), two ends of the second rocker arm (201b) are respectively connected with the first rocker arm (201a) and the third rocker arm (201c), the other end of the first rocker arm (201a) is connected with the bearing component (203), and two ends of the fourth rocker arm (201d) are respectively connected with the other end of the third rocker arm (201c) and the protective component (500) of the actuating component (M);
wherein the power assembly (202) further comprises a first motor (202b), a second motor (202c), a third motor (202d), and a fourth motor (202e), the first motor (202b) is arranged at one end of the first rocker arm (201a) and the rotating shaft of the first motor is connected with the rotating gear (202a), the second motor (202c) is arranged on the first rocker arm (201a) and is connected with a first mounting shaft (201b-1) of the second rocker arm (201b) embedded in the first rocker arm (201a), the third motor (202d) is arranged on the third rocker arm (201c) and is connected with a second mounting shaft (201b-2) of the second rocker arm (201b) embedded in the third rocker arm (201c), the fourth motor (202e) is arranged in the third rocker arm (201c) and the rotating shaft of the fourth motor is connected with the fourth rocker arm (201 d);
a bracket (202d-1) and a mounting seat (202d-2) are arranged on the fourth rocker arm (201d), a base (301) of the acquisition unit (300) is connected with the mounting seat (202d-2), and a mounting frame (502) of the protection assembly (500) is connected; the guard assembly (500) further comprises a sleeve member (501), the mounting bracket (502) being disposed on the sleeve member (501); the acquisition unit (300) further comprises a camera (302), wherein the camera (302) is arranged on the base (301);
the actuating part (M) further comprises a driving assembly (600), a push rod assembly (700) and a clamping assembly (800), the driving assembly (600) is embedded in the sleeve part (501), the push rod assembly (700) is matched with a pushing part (601) of the driving assembly (600), and the clamping assembly (800) is arranged on the periphery of a pushing block (701) of the push rod assembly (700) and is connected with the pushing part (601);
wherein the driving assembly (600) further comprises a driving motor (602), a winding-proof measuring piece (603) and a transmission piece (604), a rotating shaft (602a) of the driving motor (602) passes through a through hole (502a) of the mounting frame (502) to be connected with a sensor (603a) of the winding-proof measuring piece (603), and the transmission piece (604) is arranged at the bottom end of the sensor (603 a);
one end of a top rod (603b) of the winding prevention measuring piece (603) is connected with the mounting frame (502), and the other end of the top rod is connected with a conductive slip ring (603c) of the winding prevention measuring piece (603); the conductive slip ring (603c) is sleeved on the outer side of the rod part (603a-1) of the sensor (603 a).
2. The assembly line of the large threaded cover of the steel drum as claimed in claim 1, wherein: the bearing component (203) comprises a base (203a), a fixed gear (203b) and a rotary disc (203c), wherein the fixed gear (203b) is arranged in a groove (203a-1) of the base (203a), and the rotary disc (203c) is arranged on the base (203 a);
wherein the fixed gear (203b) is engaged with a rotating gear (202a) of the power assembly (202).
3. The steel drum large thread cover assembly line of claim 1 or 2, wherein: the transmission piece (604) comprises a top cap (604a), an internal key cover (604b) and an internal spline shaft sleeve (604c), wherein the internal key cover (604b) is arranged between the top cap (604a) and the internal spline shaft sleeve (604 c);
wherein the top cap (604a) is disposed embedded within the sensor (603 a).
4. The assembly line of the steel drum big thread cover of claim 3, wherein: the wrench spline shaft (601a) of the pushing piece (601) penetrates through the inner spline shaft sleeve (604c) and the inner spline cover (604b) in sequence to be embedded in the top cap (604 a);
the wrench spline shaft (601a) comprises a first shaft body (601a-1), a second shaft body (601a-2), a third shaft body (601a-3) and a limiting block (601a-4), two ends of the second shaft body (601a-2) are respectively connected with the first shaft body (601a-1) and the third shaft body (601a-3), and one end, close to the second shaft body (601a-2), of the limiting block (601a-4) is arranged on the periphery of the first shaft body (601 a-1).
CN201910450774.7A 2019-05-28 2019-05-28 Assembly line for large threaded cover of steel drum Active CN110091160B (en)

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CN110426626B (en) * 2019-08-14 2020-10-20 国网江苏省电力有限公司宿迁供电分公司 Primary and secondary fusion intelligent terminal detection assembly line
CN110436184B (en) * 2019-08-14 2020-09-22 国网江苏省电力有限公司宿迁供电分公司 Mechanical arm for detecting power distribution terminal
CN112720473B (en) * 2020-12-22 2022-04-19 河南科技大学 Nine-degree-of-freedom robot screwing control method for assembling thin-wall large threaded part

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JPS5834265B2 (en) * 1980-03-05 1983-07-26 瓜生製作株式会社 Air driver clutch type torque control device
CN104816300A (en) * 2015-02-16 2015-08-05 泰华宏业（天津）机器人技术研究院有限责任公司 Swing arm type track explosive-handling robot and walking method thereof
CN204711504U (en) * 2015-04-15 2015-10-21 无锡威孚施密特动力***零部件有限公司 One is press-fitted manipulator
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