CN215469445U - Screwing device and excavator assembly production line - Google Patents
Screwing device and excavator assembly production line Download PDFInfo
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- CN215469445U CN215469445U CN202121917366.7U CN202121917366U CN215469445U CN 215469445 U CN215469445 U CN 215469445U CN 202121917366 U CN202121917366 U CN 202121917366U CN 215469445 U CN215469445 U CN 215469445U
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Abstract
The utility model provides a tightening device and an excavator assembly production line, wherein the tightening device comprises a tightening mechanism and an operation driving mechanism, and the tightening mechanism is used for tightening a bolt on a workpiece; the operation driving mechanism is used for driving the tightening mechanism to move to the position of the bolt and comprises an X operation assembly, a Y operation assembly and a Z operation assembly; the X operation assembly comprises an X guide rail, the Y operation assembly comprises a Y guide rail, the Y guide rail is arranged on the X guide rail in a sliding mode, and the Z guide rail is arranged on the Y guide rail in a sliding mode and can move in the Z direction. The utility model adopts an intelligent truss robot, and has the advantages of visual positioning, high intellectualization, high precision and high stability; unmanned assembly is achieved, and the working efficiency of tightening the thrust wheel is improved.
Description
Technical Field
The utility model belongs to the technical field of assembly lines, and particularly relates to a screwing device and an excavator assembly production line.
Background
At present, a common assembly line, such as a thrust wheel on an excavator assembly line, adopts manual screwing or simple truss robot screwing, is inconvenient to walk, insufficient in force, slow in speed, inaccurate in positioning and high in failure rate. And manual tightening is insufficient in force, slow in speed and poor in consistency, cannot meet the requirements of automation equipment, and workers are easy to be knocked to cause safety accidents. Along with more and more applications of automatic equipment in an excavator assembly line, the requirements on the yield and the quality of products are gradually improved, the requirements on the equipment are difficult to meet by manual tightening and a simple truss robot, the conventional automatic tightening mechanism only adopts a truss servo positioning mode, and if the position deviation occurs, a sleeve cannot be sleeved with a bolt, so that a workpiece or equipment is easily damaged.
SUMMERY OF THE UTILITY MODEL
Aiming at the defects or shortcomings in the prior art, the utility model provides a screwing device and an excavator assembly production line, and aims to solve the technical problem that the bolt screwing efficiency of the existing thrust wheel is low.
In order to achieve the above object, the present invention provides a tightening device including:
the tightening mechanism is used for tightening a bolt on the workpiece;
the operation driving mechanism comprises an X operation component, a Y operation component and a Z operation component in a three-dimensional space dimension; the X operation assembly comprises an X guide rail, the Y operation assembly comprises a Y guide rail, the Y guide rail can move along the X guide rail, the tightening mechanism is installed on the Z guide rail, and the Z guide rail can move along the Y guide rail and can move along the Z direction.
In an embodiment of the present invention, the X-running assembly further includes a first driving member for driving the Y-rail to move along the X-rail, the Y-running assembly further includes a second driving member for driving the Z-rail to slide along the Y-rail, and the Z-running assembly further includes a third driving member for driving the Z-rail to move along the Z-direction.
In an embodiment of the utility model, a tightening mechanism is arranged below the Z-rail, the tightening mechanism comprising a tightening sleeve for tightening the bolt and a fourth driver for driving the tightening sleeve to move in the Z-direction.
In an embodiment of the utility model, the tightening device further comprises a socket replacement mechanism comprising a plurality of different types of tightening sockets and a fifth drive for driving replacement of the tightening sockets.
In an embodiment of the present invention, the fourth driving member and the fifth driving member are both servo motors.
In an embodiment of the utility model, the tightening device comprises a frame, the tightening mechanism and the operation driving mechanism are arranged on the frame, and the workpiece is positioned below the tightening mechanism.
In the embodiment of the utility model, the number of the tightening mechanisms and the number of the operation driving mechanisms are two, wherein the X guide rail in one operation driving mechanism and the X guide rail in the other operation driving mechanism are respectively arranged at two sides of the frame, and two ends of the Y guide rail in the two operation driving mechanisms are respectively arranged on the two X guide rails in a sliding manner.
In the embodiment of the utility model, the Y guide rails in the two groups of running driving mechanisms are arranged side by side and can simultaneously slide on the X guide rails in opposite directions respectively.
In an embodiment of the utility model, the tightening device further comprises a visual positioning system arranged above the corresponding workpiece, and the visual positioning system is used for acquiring the position information of the X operation assembly and the Y operation assembly and calculating the deviation.
In an embodiment of the utility model, the tightening device further comprises a control unit electrically connected to both the tightening mechanism and the running drive mechanism.
In an embodiment of the present invention, an excavator assembly line is further provided, which includes an upper frame assembly line and a lower frame assembly line, wherein the lower frame assembly line includes an assembly of the thrust wheels screwed by the screwing device as described above.
Through the technical scheme, the tightening device provided by the embodiment of the utility model has the following beneficial effects:
the tightening mechanism is arranged on a Z guide rail of the operation driving mechanism, and when bolts on a workpiece below the tightening mechanism need to be tightened, the Y guide rail slides along the X direction along the X guide rail, so that the Z guide rail is driven to move along the X direction; then the Z guide rail slides along the Y direction on the Y guide rail, so that the screwing mechanism is driven to move right above the bolt, and when the bolt needs to be screwed, the Z guide rail moves up and down along the Z direction, so that the screwing mechanism can be driven to move towards the bolt, and the aim of screwing the bolt is fulfilled. According to the utility model, the intelligent operation driving mechanism of the truss robot is adopted to realize automatic bolt tightening, the efficiency is doubled, the operation distance of the equipment is shortened, and the service life of each part is prolonged.
Additional features and advantages of the utility model will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide an understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the utility model without limiting the utility model. In the drawings:
FIG. 1 is a schematic structural view of a tightening apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic front view of a tightening device according to an embodiment of the present invention;
fig. 3 is a schematic top view of a tightening apparatus according to an embodiment of the present invention.
Description of the reference numerals
1 tightening mechanism 41Z guide rail
21X guide rail 43Z drag chain
Detailed Description
The following detailed description of specific embodiments of the utility model refers to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative and explanatory of the utility model and are not restrictive thereof.
The tightening device according to the present invention is described below with reference to the accompanying drawings.
Referring to fig. 1 and 2, in an embodiment of the present invention, there is provided a tightening apparatus including a tightening mechanism 1 and an operation driving mechanism, the tightening mechanism 1 being for tightening a bolt on a workpiece; the operation driving mechanism is used for driving the tightening mechanism 1 to move to the position of the bolt and comprises an X operation assembly 2, a Y operation assembly 3 and a Z operation assembly 4; the X running component 2 comprises an X guide rail 21, the Y running component 3 comprises a Y guide rail 31, the Y guide rail 31 is arranged on the X guide rail 21 in a sliding mode, and the Z guide rail 41 is arranged on the Y guide rail 31 in a sliding mode and can move along the Z direction. The following description will be given taking as an example the use of the tightening device for tightening bolts on the crawler wheels of an excavator.
In the embodiment of the utility model, the tightening mechanism 1 is arranged on the Z guide rail 41 of the operation driving mechanism, and when bolts of the lower thrust wheel 7 need to be tightened, the Y guide rail 31 slides along the X guide rail 21 along the X direction, so as to drive the position of the Z guide rail 41 to move along the X direction; then Z guide rail 41 slides along the Y direction on Y guide rail 31 to drive tightening mechanism 1 to move to directly over the bolt, when needing to tighten the bolt, Z guide rail 41 moves up and down along the Z direction so as to drive tightening mechanism 1 to move towards the bolt to realize the purpose of tightening the bolt. The Z guide rail 41 and the Y guide rail 31 are slidably engaged with each other by using the connection frame 42, that is, the outer side wall of the connection frame 42 is slidably connected to the Y guide rail 31, the connection frame 42 can move along the extending direction of the Y guide rail, and the Z guide rail 41 penetrates through the hollow connection frame 42 and can slide up and down along the inner side wall of the connection frame 42, so that the Z guide rail 41 can move in the Z direction. According to the utility model, the intelligent operation driving mechanism of the truss robot is adopted to realize automatic bolt tightening, the efficiency is doubled, the operation distance of the equipment is shortened, and the service life of each part is prolonged.
In the embodiment of the present invention, the X running assembly 2 further includes a first driving member for driving the Y rail 31 to move along the X rail 21, the Y running assembly 3 further includes a second driving member configured to drive the Z rail 41 to slide along the Y rail 31, and the Z running assembly 4 further includes a third driving member for driving the Z rail 41 to move along the Z direction. The first driving piece, the second driving piece and the third driving piece are all in power transmission by adopting a drag chain, namely the driving power of the first driving piece, the second driving piece and the third driving piece drives the guide rail to move through the drag chain; wherein the X drag chain 22 of the first driving element is tiled along the X guide rail 21, the Y drag chain 32 of the second driving element is tiled along the Y guide rail 31, and the Z drag chain 43 of the third driving element is tiled along the Z guide rail 41, and the X running assembly 2 and the Y running assembly 3 in this embodiment both drive the guide rails to move by unfolding or rolling the drag chain on the driving elements. Specifically, the free end of the X drag chain 22 is connected to the Y guide rail 31, when the electric power of the driving elements such as the driving cylinder is transmitted to the drag chain, the drag chain is unfolded or folded to drive the Y guide rail 31 to move back and forth along the direction of the X guide rail 21, and the moving principle of the Z guide rail 41 on the Y guide rail 31 is similar to that of the Y guide rail 31 on the X guide rail 21, and details are not repeated. In addition, a Z-drag chain 43 for driving the Z-guide rail 41 to move up and down in the connection frame 42 is further provided on the Z-guide rail 41, and the Z-drag chain 43 can move the Z-guide rail 41 in the Z-direction by extension and contraction.
In the embodiment of the present invention, the tightening mechanism 1 is disposed below the Z rail 41, and the tightening mechanism 1 includes a tightening sleeve for tightening the bolt and a fourth driver for driving the tightening sleeve to move in the Z direction. After the tightening sleeve is aligned with the bolt, the telescopic shaft extends out, the alignment bolt is tightened, and the fourth driving part is provided with two tightening sleeve working positions. In addition, the tightening mechanism 1 can set different torque values according to each bolt, and is suitable for different types of thrust wheel 7 products.
In the embodiment of the present invention, the number of the tightening mechanisms 1 and the operation driving mechanisms is two, wherein the X-rail 21 of one operation driving mechanism and the X-rail 21 of the other operation driving mechanism are respectively disposed on two sides of the frame 6, and two ends of the Y-rail 31 of the two operation driving mechanisms are respectively slidably disposed on the two X-rails 21. The two sets of running driving mechanisms and the tightening mechanism 1 are independently controlled to independently tighten the thrust wheel 7 on one side of the excavator. If one set of the operation driving mechanism and the tightening mechanism 1 has problems, the other set of the operation driving mechanism and the tightening mechanism 1 can finish the tightening work of the left side and the right side.
In the embodiment of the present invention, the Y rails 31 of the two sets of travel drive mechanisms are arranged side by side and can simultaneously slide on the X rails 21 in opposite directions, respectively. The X-rail 21, the Y-rail 31, and the Z-rail 41 may all adopt other mechanical structures for power transmission, such as a multi-link mechanism.
In an embodiment of the present invention, as shown in fig. 3, the track roller tightening device further includes a socket replacing mechanism 5, and the socket replacing mechanism 5 includes a plurality of tightening sockets of different models and a fifth driving member for driving replacement of the tightening sockets. Specifically, different types of bolt tightening sleeves are selected according to the different types of the thrust wheels 7, and the tightening sleeves are replaced by adopting air cylinder matching fastening control. If the thrust wheels 7 of different models need to be screwed down, the control unit 8 needs to control the operation driving mechanism to operate the sleeve replacing mechanism 5 to perform the sleeve replacing operation. The telescopic cylinder of the sleeve replacing mechanism 5 can be replaced by a motor, and when the sleeve is replaced by the screwing mechanism 1, the motor operates to fix the screwing sleeve, and the effect of the motor is the same as that of the telescopic cylinder.
In an embodiment of the present invention, the first driving element, the second driving element, the third driving element and the fourth driving element are all servo motors. The ball screw is arranged in the servo motor, so that the servo motor can play a role in telescopic driving. In other embodiments, the servo motor may be replaced with an air cylinder.
In an embodiment of the present invention, the tightening apparatus further includes a vision positioning system 9 disposed on the frame 6 and above the workpiece, and the vision positioning system 9 is configured to acquire position information of the X running assembly 2 and the Y running assembly 3 and calculate the deviation. The visual positioning system 9 takes a picture by adopting an industrial camera, calculates the position of the bolt, converts the position into X/Y axis coordinates and angles, and the control unit 8 controls the servo movement position and the rotation angle according to detected result data.
The overall operation of the tightening device is described as follows: the following left-right direction is the X direction in fig. 1.
When the tightening mechanisms 1 are in a waiting state, the two sets of tightening mechanisms 1 return to the initial state, and the RGV conveys the thrust wheels 7 to a preset position; the left X operation assembly 2, the left Y operation assembly 3, the right X operation assembly 2 and the right Y operation assembly 3 operate to initial parameter positions of the fastening bolt touch screen; guiding the vision positioning system 9 to take a picture, processing and analyzing the picture, and calculating the numerical values of the X operation assembly 2 and the Y operation assembly 3 which need to be corrected according to the comparison of the original stored reference, including the parameters of the front position, the rear position, the angle deviation and the like; the values of the X running component 2 and the Y running component 3 which need to be corrected are transmitted to the control unit 8 through Profinet communication; the control unit 8 controls the left X operation assembly 2 and the left Y operation assembly 3, and the right X operation assembly 2 and the right Y operation assembly 3 accurately operate to the positions of bolts; the control unit 8 controls the left Z operation assembly 4, and the right Z operation assembly 4 operates to a set position right above the bolt; the control unit 8 controls the left tightening mechanism 1 and the right tightening mechanism 1 to simultaneously tighten the bolts left and right; after the initial position bolt is screwed, the control unit 8 controls the left X operation assembly 2 and the left Y operation assembly 3, and controls the right X operation assembly 2 and the right Y operation assembly 3 to operate to the next bolt screwing station; the above cycle is repeated until all the bolts are fully tightened.
In an embodiment of the utility model, the tightening device further comprises a control unit 8, the control unit 8 being electrically connected to the tightening mechanism 1, the running drive mechanism, the sleeve changing mechanism 5 and the visual positioning system 9. The control unit 8 may be controlled by a PLC or a motion controller.
In the embodiment of the utility model, the tightening device comprises a frame 6, the tightening mechanism 1 and the running driving mechanism are arranged on the frame 6, and the thrust wheel 7 is positioned below the tightening mechanism 1. The frame 6 plays a supporting role and is used for supporting the tightening mechanism 1 and the operation driving mechanism, and the thrust wheel 7 is arranged at the bottom of the frame 6 and corresponds to the upper tightening mechanism 1 so that the tightening mechanism 1 can tighten the thrust wheel 7 more conveniently.
In addition, the utility model also provides an excavator assembly production line which comprises an upper frame assembly line and a lower frame assembly line, wherein the lower frame assembly line comprises the assembly of the supporting wheels screwed by the screwing device.
In the description of the present invention, it is to be understood that the terms "first", "second" and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any 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 invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (11)
1. A tightening device, characterized by comprising:
the tightening mechanism (1) is used for tightening a bolt on a workpiece;
operation actuating mechanism, including X operation subassembly (2), Y operation subassembly (3) and Z operation subassembly (4) on the three-dimensional dimension of space, X operation subassembly (2) are including X guide rail (21), Y operation subassembly (3) are including Y guide rail (31), Y guide rail (31) can be followed X guide rail (21) remove, screw up mechanism (1) and install in Z guide rail (41), Z guide rail (41) can be followed Y guide rail (31) remove and can be followed Z and move to.
2. The tightening device according to claim 1, wherein the X-running assembly (2) further includes a first driving member for driving the Y-rail (31) to move along the X-rail (21), the Y-running assembly (3) further includes a second driving member for driving the Z-rail (41) to slide along the Y-rail (31), and the Z-running assembly (4) further includes a third driving member for driving the Z-rail (41) to move in the Z-direction.
3. The tightening device according to claim 2, characterized in that the tightening mechanism (1) is located at a lower end of the Z-rail (41), and the tightening mechanism (1) includes a tightening sleeve for tightening the bolt and a fourth driver for driving the tightening sleeve to move in the Z-direction.
4. The tightening device according to claim 3, characterized in that the tightening device further comprises a socket replacement mechanism (5), and the socket replacement mechanism (5) comprises at least two different models of the tightening sockets and a fifth driving member for driving replacement of the tightening sockets.
5. The tightening apparatus of claim 4, wherein the fourth driver and the fifth driver are each servo motors.
6. The tightening device according to any one of claims 1 to 5, further comprising a frame (6), wherein the tightening mechanism (1) and the operation drive mechanism are both provided on the frame (6), and wherein the workpiece is located below the tightening mechanism (1).
7. The tightening device according to claim 6, characterized in that the tightening mechanisms (1) and the operation driving mechanisms are provided in two sets, wherein the X guide rail (21) of one operation driving mechanism and the X guide rail (21) of the other operation driving mechanism are respectively provided on both sides of the machine frame (6), and both ends of the Y guide rail (31) of the two sets of operation driving mechanisms are respectively slidably provided on the two X guide rails (21).
8. Screwing device according to claim 7, characterised in that said Y guides (31) of the two sets of running drives are arranged side by side and can slide simultaneously in opposite directions respectively on said X guides (21).
9. The tightening device according to any one of claims 1 to 5, characterized by further comprising a vision positioning system (9) corresponding to the upper side of the workpiece, for acquiring positional information of the X-run assembly (2) and the Y-run assembly (3) and calculating a deviation.
10. The tightening device according to any one of claims 1 to 5, characterized in that the tightening device further comprises a control unit (8), the control unit (8) being electrically connected to both the tightening mechanism (1) and the operating drive mechanism.
11. An excavator assembly line characterized by comprising an upper frame assembly line and a lower frame assembly line, the lower frame assembly line comprising an assembly of thrust wheels tightened with the tightening device according to any one of claims 1 to 10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121917366.7U CN215469445U (en) | 2021-08-16 | 2021-08-16 | Screwing device and excavator assembly production line |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121917366.7U CN215469445U (en) | 2021-08-16 | 2021-08-16 | Screwing device and excavator assembly production line |
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| Publication Number | Publication Date |
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| CN215469445U true CN215469445U (en) | 2022-01-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202121917366.7U Active CN215469445U (en) | 2021-08-16 | 2021-08-16 | Screwing device and excavator assembly production line |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115647797A (en) * | 2022-10-27 | 2023-01-31 | 一汽解放汽车有限公司 | Engine connecting disc dismounting system |
-
2021
- 2021-08-16 CN CN202121917366.7U patent/CN215469445U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115647797A (en) * | 2022-10-27 | 2023-01-31 | 一汽解放汽车有限公司 | Engine connecting disc dismounting system |
| CN115647797B (en) * | 2022-10-27 | 2024-05-14 | 一汽解放汽车有限公司 | Dismounting system for engine connecting disc |
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