CN215146559U

CN215146559U - Tightening device and tightening system

Info

Publication number: CN215146559U
Application number: CN202121274803.8U
Authority: CN
Inventors: 赵志强; 陈兆芃; 王争; 黎田
Original assignee: Beijing Siling Robot Technology Co ltd
Current assignee: Beijing Siling Robot Technology Co ltd
Priority date: 2021-06-08
Filing date: 2021-06-08
Publication date: 2021-12-14
Anticipated expiration: 2031-06-08

Abstract

The present disclosure provides a tightening device, which includes: a fixed part; a floating part provided to the fixing part through a guide structure so that the floating part can approach or be distant from the fixing part; a holding portion provided to the floating portion for holding an object to be screwed thereto; and the tightening gun is fixed on the fixing part, one end of the tightening gun is fixed with a screwdriver head, one end of the screwdriver head penetrates through the fixing part and the floating part and is positioned in the retaining part, and the force of the object to be tightened is applied to the object to be tightened. The present disclosure also provides a tightening system.

Description

Tightening device and tightening system

Technical Field

The present disclosure relates to a device for screw suction and fixation, and more particularly, to a tightening device and a tightening system.

Background

With the increasing level of automation of production lines, a large number of cooperating robots are used in each process step of the automated production line, for example, to fix screws by means of the cooperating robots.

The Chinese patent application 202011262809.3 discloses a man-machine cooperation floating screwing device and a working method thereof, so that screws can be screwed through a cooperation robot. However, the invention is mainly suitable for large-torque screws, and meanwhile, the screws need to be placed in advance, full automation cannot be realized, only tightening operation can be completed, application scenes have certain limitation, and meanwhile, due to the fact that the screws are large in torque, although a floating mechanism is arranged, impact force still exists on the cooperative robot, and the service life of the cooperative robot is shortened.

SUMMERY OF THE UTILITY MODEL

In order to solve one of the above technical problems, the present disclosure provides a tightening device and a tightening system.

According to an aspect of the present disclosure, there is provided a tightening device including:

a fixed part;

a floating part provided to the fixing part through a guide structure so that the floating part can approach or be distant from the fixing part;

a holding portion provided to the floating portion for holding an object to be screwed thereto; and

the tightening gun is fixed on the fixing portion, a screwdriver head is fixed at one end of the tightening gun, one end of the screwdriver head penetrates through the fixing portion and the floating portion and is located in the retaining portion, and force for tightening the object to be tightened is applied to the object to be tightened.

According to the tightening device of at least one embodiment of the present disclosure, the guide structure includes:

a guide shaft, one end of which is provided to the floating part and which is guided by the fixing part.

According to the tightening device of at least one embodiment of the present disclosure, the fixing portion is opened with a guide hole, and the guide shaft is slidably disposed in the guide hole and guided by the guide hole.

According to the tightening device of at least one embodiment of the present disclosure, a guide is provided in the guide hole, and the guide shaft passes through the guide and is guided by the guide.

According to the tightening device of at least one embodiment of the present disclosure, the guide is a linear bearing or a copper bush.

According to the tightening device of at least one embodiment of the present disclosure, the guide structure further includes:

the holding clamp is fixed on the guide shaft, and the holding clamp and the floating part are respectively positioned on two sides of the fixed part.

The tightening device according to at least one embodiment of the present disclosure, further comprising:

an elastic part disposed between the fixed part and the floating part to move the floating part to a position away from the fixed part by thrust applied to the floating part by the elastic part when the floating part is located at a position close to the fixed part.

a magnetic part provided to the holding part so that the holding part adsorbs the object to be screwed by magnetic force and holds the object to be screwed at the holding part.

According to the tightening device of at least one embodiment of the present disclosure, the holding portion may generate a magnetic field so that the holding portion attracts the object to be tightened by a magnetic force and the object to be tightened is held at the holding portion.

and the holding part is fixed on the hollow shaft, wherein one end of the batch head passes through the hollow shaft and extends into the holding part.

and the vacuum joint is arranged on the hollow shaft and is communicated with the inner cavity of the hollow shaft, so that when negative pressure is supplied to the vacuum joint, gas passes through the holding part and the hollow shaft and enters the vacuum joint, the holding part adsorbs the object to be screwed by means of negative pressure, and the object to be screwed is held in the holding part.

and the sealing part is arranged between the inner wall surface of the hollow shaft and the outer peripheral surface of the bit, and the joint of the vacuum joint and the hollow shaft is positioned between the sealing part and the holding part.

According to the tightening device of at least one embodiment of the present disclosure, an end of the holding portion, which is away from the floating portion, includes a first inner peripheral surface and a second inner peripheral surface between which a step surface is formed, wherein a distance between the first inner peripheral surface and the floating portion is larger than a distance between the second inner peripheral surface and the floating portion, and a size of the first inner peripheral surface is larger than a size of the second inner peripheral surface.

According to the tightening device of at least one embodiment of the present disclosure, the first inner peripheral surface is a first cylindrical surface; the second inner circumferential surface comprises a first cylindrical surface and an arc-shaped groove formed by sinking from the first cylindrical surface, wherein the arc-shaped groove extends along the axial direction of the first cylindrical surface.

According to another aspect of the present disclosure, there is provided a tightening system including the tightening device described above.

The tightening system according to at least one embodiment of the present disclosure, further comprising:

and the fixing part is fixed on a tail end joint of the mechanical arm so as to enable the holding part to be positioned at a preset pose through the action of the mechanical arm.

the vision camera is fixed on the fixing part and used for collecting images of the installation position of the object to be screwed down and controlling the mechanical arm to act according to the images collected by the vision camera.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the disclosure and together with the description serve to explain the principles of the disclosure.

Fig. 1 is a cross-sectional structural schematic view of a tightening apparatus according to one embodiment of the present disclosure.

Fig. 2 is a cross-sectional structural schematic view of another angle of a tightening apparatus according to an embodiment of the present disclosure.

Fig. 3 is an enlarged view of a portion a of fig. 2.

Fig. 4 is a perspective view of a tightening apparatus according to an embodiment of the present disclosure.

Fig. 5 is a perspective view of a holder according to an embodiment of the present disclosure.

Fig. 6 is a schematic structural view of a tightening system according to one embodiment of the present disclosure.

100 tightening device

110 fixed part

120 floating part

130 guide structure

131 guide shaft

132 guide

133 clamp

140 holding part

141 first inner peripheral surface

142 second inner peripheral surface

150 screw up rifle

160 elastic part

170 hollow shaft

180 vacuum joint

190 sealing part

200 tightening system

210 vision camera

220 criticizing head

230 a robotic arm.

Detailed Description

The present disclosure will be described in further detail with reference to the drawings and embodiments. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limitations of the present disclosure. It should be further noted that, for the convenience of description, only the portions relevant to the present disclosure are shown in the drawings.

It should be noted that the embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict. Technical solutions of the present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Unless otherwise indicated, the illustrated exemplary embodiments/examples are to be understood as providing exemplary features of various details of some ways in which the technical concepts of the present disclosure may be practiced. Accordingly, unless otherwise indicated, features of the various embodiments may be additionally combined, separated, interchanged, and/or rearranged without departing from the technical concept of the present disclosure.

The use of cross-hatching and/or shading in the drawings is generally used to clarify the boundaries between adjacent components. As such, unless otherwise noted, the presence or absence of cross-hatching or shading does not convey or indicate any preference or requirement for a particular material, material property, size, proportion, commonality between the illustrated components and/or any other characteristic, attribute, property, etc., of a component. Further, in the drawings, the size and relative sizes of components may be exaggerated for clarity and/or descriptive purposes. While example embodiments may be practiced differently, the specific process sequence may be performed in a different order than that described. For example, two processes described consecutively may be performed substantially simultaneously or in reverse order to that described. In addition, like reference numerals denote like parts.

When an element is referred to as being "on" or "on," "connected to" or "coupled to" another element, it can be directly on, connected or coupled to the other element or intervening elements may be present. However, when an element is referred to as being "directly on," "directly connected to" or "directly coupled to" another element, there are no intervening elements present. For purposes of this disclosure, the term "connected" may refer to physically, electrically, etc., and may or may not have intermediate components.

For descriptive purposes, the present disclosure may use spatially relative terms such as "below … …," below … …, "" below … …, "" below, "" above … …, "" above, "" … …, "" higher, "and" side (e.g., as in "side wall") to describe one component's relationship to another (other) component as illustrated in the figures. Spatially relative terms are intended to encompass different orientations of the device in use, operation, and/or manufacture in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "below … …" can encompass both an orientation of "above" and "below". Further, the devices may be otherwise positioned (e.g., rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

The terminology used herein is for the purpose of describing particular embodiments and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Furthermore, when the terms "comprises" and/or "comprising" and variations thereof are used in this specification, the presence of stated features, integers, steps, operations, elements, components and/or groups thereof are stated but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and/or groups thereof. It is also noted that, as used herein, the terms "substantially," "about," and other similar terms are used as approximate terms and not as degree terms, and as such, are used to interpret inherent deviations in measured values, calculated values, and/or provided values that would be recognized by one of ordinary skill in the art.

Fig. 1 is a cross-sectional structural schematic view of a tightening apparatus according to one embodiment of the present disclosure. Fig. 2 is a cross-sectional structural schematic view of another angle of a tightening apparatus according to an embodiment of the present disclosure.

As shown in fig. 1 to 2, the present disclosure provides a tightening device 100 including:

a fixed part 110;

a floating part 120, the floating part 120 being disposed at the fixing part 110 through a guide structure 130 such that the floating part 120 can approach or be distant from the fixing part 110;

a holding portion 140, the holding portion 140 being provided to the floating portion 120, for holding an object to be tightened to the holding portion 140; and

and a tightening gun 150, wherein the tightening gun 150 is fixed to the fixing portion 110, and a bit 220 is fixed to one end of the tightening gun 150, and one end of the bit 220 penetrates through the fixing portion 110 and the floating portion 120, is located in the holding portion 140, and applies a force for tightening the object to be tightened to the object to be tightened.

In the present disclosure, the fixing portion 110 and the floating portion 120 may be plate-shaped members, and the object to be tightened may be a screw or the like, wherein the screw may be a socket head, a cross screw, or the like.

In the present disclosure, preferably, the guide structure 130 includes:

and a guide shaft 131, one end of the guide shaft 131 being disposed at the floating part 120, and the guide shaft 131 being guided by the fixing part 110.

According to an embodiment of the present disclosure, the fixing portion 110 is opened with a guide hole, and the guide shaft 131 is slidably disposed in the guide hole and guided by the guide hole.

More preferably, a guide 132 is disposed in the guide hole, and the guide shaft 131 passes through the guide 132 and is guided by the guide 132.

In one implementation, the guide 132 is a linear bearing or a copper sleeve, wherein the copper sleeve may be an oil-free copper sleeve.

In the present disclosure, the guide structure 130 further includes:

and the clasping clamp 133 is fixed on the guide shaft 131, and the clasping clamp 133 and the floating part 120 are respectively positioned at two sides of the fixed part 110 so as to limit the axial position of the guide shaft 131 through the clasping clamp 133.

In the present disclosure, the tightening device 100 further includes:

an elastic part 160, the elastic part 160 being disposed between the fixed part 110 and the floating part 120, so that when the floating part 120 is located at a position close to the fixed part 110, the floating part 120 moves to a position far from the fixed part 110 by a thrust applied to the floating part 120 by the elastic part 160.

The elastic part 160 may be sleeved outside the guide shaft 131; more preferably, the initial force of the elastic part 160 may be adjusted by adjusting the position of the clasping means 133 on the guide shaft 131.

In the present disclosure, the elastic portion 160 is a spring; also, the guide shafts 131 may be provided in two, in which case, the guide shafts 131 may be cylindrical.

According to one implementation form of the present disclosure, the tightening device 100 further includes:

a magnetic part (not shown in the drawings) provided to the holding part 140 so that the holding part 140 attracts an object to be tightened by a magnetic force and the object to be tightened is held at the holding part 140.

On the other hand, the holding part 140 can generate a magnetic field so that the holding part 140 attracts the object to be tightened by a magnetic force and the object to be tightened is held at the holding part 140.

According to an embodiment of the present disclosure, the tightening device 100 further includes:

a hollow shaft 170, the holding part 140 being fixed to the hollow shaft 170, wherein one end of the batch head 220 passes through the hollow shaft 170 and protrudes into the holding part 140.

Fig. 2 is a cross-sectional structural schematic view of another angle of a tightening apparatus according to an embodiment of the present disclosure. Fig. 3 is an enlarged view of a portion a of fig. 2. Fig. 4 is a perspective view of a tightening apparatus according to an embodiment of the present disclosure.

In the present disclosure, as shown in fig. 2 to 4, the tightening device 100 further includes:

and a vacuum joint 180, wherein the vacuum joint 180 is arranged on the hollow shaft 170 and is communicated with the inner cavity of the hollow shaft 170, so that when negative pressure is provided to the vacuum joint 180, gas passes through the holding part 140 and the hollow shaft 170 and enters the vacuum joint 180, so that the holding part 140 adsorbs an object to be screwed by means of negative pressure and holds the object to be screwed in the holding part 140.

and a sealing part 190, wherein the sealing part 190 is arranged between the inner wall surface of the hollow shaft 170 and the outer peripheral surface of the batch head 220, and the connection position of the vacuum joint 180 and the hollow shaft 170 is positioned between the sealing part 190 and the holding part 140.

The sealing portion 190 may be a rubber sealing member, so that the rubber sealing ring can allow the bit 220 to rotate due to its specific elasticity and wear resistance while performing a sealing function.

In the present disclosure, as shown in fig. 5, one end of the holding portion 140 away from the floating portion 120 includes a first inner circumferential surface 141 and a second inner circumferential surface 142, and a step surface is formed between the first inner circumferential surface 141 and the second inner circumferential surface 142, wherein a distance between the first inner circumferential surface 141 and the floating portion 120 is greater than a distance between the second inner circumferential surface 142 and the floating portion 120, and a size of the first inner circumferential surface 141 is greater than a size of the second inner circumferential surface 142.

Preferably, the first inner circumferential surface 141 is a first cylindrical surface; the second inner circumferential surface 142 includes a first cylindrical surface and an arc-shaped groove formed by recessing from the first cylindrical surface, wherein the arc-shaped groove extends along the axial direction of the first cylindrical surface.

Fig. 6 is a schematic structural view of a tightening system 200 according to one embodiment of the present disclosure.

According to another aspect of the present disclosure, as shown in fig. 6, the present disclosure provides a tightening system 200 including the tightening device 100 described above.

In the present disclosure, the tightening system 200 further includes:

a robot arm 230 to which the fixing part 110 is fixed to a distal end joint of the robot arm 230 so that the holding part 140 is positioned in a preset attitude by the action of the robot arm 230, i.e., the robot arm 230 can have a plurality of degrees of freedom and can complete a complicated movement path.

According to an embodiment of the present disclosure, the tightening system 200 further comprises:

the vision camera 210 is fixed to the fixing portion 110, and is configured to capture an image of an installation position of an object to be screwed, and control the mechanical arm 230 to move according to the image captured by the vision camera 210.

The floating part 120 of the tightening device can offset the impact force generated in the process of screwing the nail, reduce the impact on the cooperative mechanical arm and prolong the service life of the tightening device.

The holding part 140 may be fixed to the hollow shaft 170 by a set screw to facilitate the removal of the holding part 140; the holding part 140 can be replaced in real time according to the overall dimension and the type of the screw, and the operation can be completed by detaching the set screw, so that the operation is convenient and quick; the diameter of the first inner circumferential surface is critical dimension, and the matching design is needed according to the external dimension of the screw.

When the tightening device disclosed by the disclosure is used, the mechanical arm drives the holding part 140 to move to a fixed place to adsorb screws; the visual camera carries out positioning shooting on an application scene, confirms the position of the threaded hole and transmits position data information to the mechanical arm through signals; the mechanical arm drives the screw to move to the position of the threaded hole in an optimal path; and the screwing gun screws the screw to the corresponding threaded hole in the application scene.

Therefore, the tightening device is flexible to use and wide in application scene; due to the inherent characteristics of the mechanical arm, the mechanical arm can work in the same scene with people in a cooperative mode, and extra protective measures are not needed; the holding part 140 and the screw tightening bit 220 can be rapidly replaced according to the screw type; the visual camera is carried for accurate positioning, the requirement of the position accuracy of the product by the operation scene is not high, and the method is suitable for more scenes; the automation degree is high, and the manpower is saved to the maximum extent.

In the description herein, reference to the description of the terms "one embodiment/mode," "some embodiments/modes," "example," "specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment/mode or example is included in at least one embodiment/mode or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to be the same embodiment/mode or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments/modes or examples. Furthermore, the various embodiments/aspects or examples and features of the various embodiments/aspects or examples described in this specification can be combined and combined by one skilled in the art without conflicting therewith.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

It will be understood by those skilled in the art that the foregoing embodiments are merely for clarity of illustration of the disclosure and are not intended to limit the scope of the disclosure. Other variations or modifications may occur to those skilled in the art, based on the foregoing disclosure, and are still within the scope of the present disclosure.

Claims

1. A tightening device, characterized by comprising:

a fixed part;

2. The tightening apparatus according to claim 1, wherein the guide structure includes:

3. The tightening apparatus according to claim 2, wherein the fixing portion is provided with a guide hole, and the guide shaft is slidably disposed in the guide hole and guided by the guide hole.

4. The tightening apparatus according to claim 3, wherein a guide member is provided in the guide hole, and the guide shaft passes through the guide member and is guided by the guide member.

5. The tightening apparatus according to claim 4, wherein the guide member is a linear bearing or a copper bush.

6. The tightening apparatus according to claim 2, wherein the guide structure further comprises:

7. The tightening apparatus according to claim 1, further comprising:

8. The tightening apparatus according to claim 1, further comprising:

9. The tightening apparatus according to claim 1, wherein the holding portion is capable of generating a magnetic field so that the holding portion attracts the object to be tightened by a magnetic force and the object to be tightened is held at the holding portion.

10. The tightening apparatus according to claim 1, further comprising:

11. The tightening apparatus according to claim 10, further comprising:

12. The tightening apparatus according to claim 11, further comprising:

13. The tightening apparatus according to claim 1, wherein an end of the holding portion remote from the floating portion includes a first inner peripheral surface and a second inner peripheral surface with a step surface formed therebetween, wherein a distance between the first inner peripheral surface and the floating portion is larger than a distance between the second inner peripheral surface and the floating portion, and a size of the first inner peripheral surface is larger than a size of the second inner peripheral surface.

14. The tightening apparatus according to claim 13, wherein the first inner peripheral surface is a first cylindrical surface; the second inner circumferential surface comprises a first cylindrical surface and an arc-shaped groove formed by sinking from the first cylindrical surface, wherein the arc-shaped groove extends along the axial direction of the first cylindrical surface.

15. A tightening system comprising a tightening device according to any one of claims 1 to 14.

16. The tightening system of claim 15, further comprising:

17. The tightening system of claim 16, further comprising: