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CN-122007869-A - Automatic nut tightening device

CN122007869ACN 122007869 ACN122007869 ACN 122007869ACN-122007869-A

Abstract

The invention discloses automatic nut screwing equipment, which relates to the technical field of manufacturing of high-end intelligent equipment, and comprises a protection cabinet and a rough adjustment assembly, wherein an industrial personal computer, a power supply and a controller are installed in the protection cabinet, an emergency operation table is installed on the left side of the protection cabinet, an AGV trolley is installed on the lower side of the protection cabinet, flexible movement positioning can be achieved through the AGV trolley, three-dimensional rough positioning is achieved through cooperation of an X-axis moving unit, a Y-axis moving unit, a Z-axis moving unit and an R-axis rotating sliding table in the rough adjustment assembly, a first horizontal camera is used for identifying the space pose of a graphite boat, precise positioning in the range of +/-0.1 mm is achieved through combination of a laser range finder, meanwhile, nut damage integration is effectively avoided through design of a batch head spring sheet in a batch head assembly, and a torque sensor monitors screwing process in real time to form closed-loop control.

Inventors

  • ZHU DALI
  • LI NING
  • BI YU
  • CUI KEMING
  • WANG RUIQIANG
  • WANG CHANG
  • ZHANG RU

Assignees

  • 陕西鼎泰光宇科技有限公司

Dates

Publication Date
20260512
Application Date
20251024

Claims (10)

  1. 1. The automatic nut tightening equipment is characterized by comprising a protection cabinet (1) and a rough adjusting component (2); The protection cabinet (1) is internally provided with an industrial personal computer (9), a power supply (10) and a controller (11), the left side of the protection cabinet (1) is provided with an emergency operation table (12), and the lower side of the protection cabinet (1) is provided with an AGV trolley (16); The coarse adjustment assembly (2) comprises a triaxial mechanism load support (21), an X-axis moving unit (22), a Y-axis moving unit (23), a support square tube (24), a Z-axis moving unit (25) and an R-axis rotating sliding table (26), wherein the triaxial mechanism load support (21) is fixed in the protection cabinet (1), the Y-axis moving unit (23) is installed on the upper side of the triaxial mechanism load support (21), the R-axis rotating sliding table (26) is installed on the sliding table of the Y-axis moving unit (23), the X-axis moving unit (22) is installed on the upper side of the R-axis rotating sliding table (26), the support square tube (24) is fixed on the sliding table of the X-axis moving unit (22), the Z-axis moving unit (25) is installed on the front side of the support square tube (24), the connecting assembly (3) is installed on the sliding table of the Z-axis moving unit (25), the rotating assembly (4) is installed on the lower side of the connecting assembly (3), two corresponding fine adjustment assemblies (5) are installed on the lower side of the rotating assembly (4), and the left screw assembly (7) is installed on the left side of the spindle head assembly (21); the automatic control system is characterized in that the input end of the controller (11) is electrically connected with the output end of the power supply (10), the controller (11) is respectively and bidirectionally electrically connected with the industrial personal computer (9) and the emergency operation table (12), and the input ends of the X-axis moving unit (22), the Y-axis moving unit (23), the Z-axis moving unit (25), the R-axis rotating sliding table (26) and the AGV trolley (16) are electrically connected with the output end of the controller (11).
  2. 2. The automatic nut tightening device according to claim 1, wherein the connecting assembly (3) comprises a movable square tube (31), a mounting frame (32), a first horizontal camera (33) and a laser range finder (34), the movable square tube (31) and the mounting frame (32) are fixed on a sliding table of the Z-axis movable unit (25), the first horizontal camera (33) is mounted in the mounting frame (32), the laser range finder (34) is mounted on the front side of the movable square tube (31), and the first horizontal camera (33) and the laser range finder (34) are electrically connected with the controller (11) in a bidirectional mode.
  3. 3. The automatic nut tightening device according to claim 2, wherein the rotating assembly (4) comprises a servo motor (41), a mounting square tube (42), a first horizontal camera (43), a mounting bracket (44) and a second horizontal camera (45), the servo motor (41) is mounted at the lower end of the moving square tube (31), the mounting square tube (42) is fixed on an output shaft of the servo motor (41), the first horizontal camera (43) is mounted at the left end and the right end of the lower side of the mounting square tube (42), the mounting bracket (44) is fixed on a lead screw of the first electric cylinder (43), the second horizontal camera (45) is mounted on the corresponding inner side surfaces of the two mounting brackets (44), the two second horizontal cameras (45) are mutually corresponding, the second horizontal camera (45) is in bidirectional electric connection with an external controller (11), and the input ends of the first electric cylinder (43) and the servo motor (41) are electrically connected with the output end of the controller (11).
  4. 4. The automatic nut tightening device according to claim 3, wherein the fine adjustment assembly (5) comprises a second electric cylinder (51), a first sliding block (52), a support frame (53), a third electric cylinder (54) and a second sliding block (55), the second electric cylinder (51) is installed at the lower ends of the corresponding inner sides of the two mounting brackets (44), the first sliding block (52) is fixed on a lead screw of the second electric cylinder (51), the support frame (53) is fixed at the lower side of the first sliding block (52), the third electric cylinder (54) is installed at the front side of the support frame (53), the second sliding block (55) is fixed on a lead screw of the third electric cylinder (54), the second sliding block (55) is located inside the support frame (53), and the input ends of the second electric cylinder (51) and the third electric cylinder (54) are electrically connected with the output end of the controller (11).
  5. 5. The automatic nut tightening device according to claim 4, wherein the head assembly (6) comprises a connecting seat (61), a horizontal laser range finder (62), a hollow motor (63), a spring seat (64), a spring sleeve seat (65), a head rod (66), a spring (67), a head (68) and a head elastic piece (69), the connecting seat (61) is fixed on the lower side of the second sliding block (55), the horizontal laser range finder (62) is mounted on one side of the connecting seat (61), the hollow motor (63) is mounted on one side of the connecting seat (61) far away from the horizontal laser range finder (62), a spring seat (64) is fixed inside the hollow motor (63), a spring sleeve seat (65) is fixed on the surface of the spring seat (64), a head rod (66) is connected in a sliding manner inside the spring sleeve seat (65), a spring (67) is fixed inside the spring (67), the other end of the spring (67) is connected with the head rod (66), a head (68) is fixed on the end face of the head rod (66), the head (68) is connected with the head rod (66) in a two-way, the head (69) is connected with the head rod (62) in a two-way, the head rod (69) is connected with the head rod (11), the torque sensor is arranged in the groove and is electrically connected with the controller (11) in a bidirectional mode, and the input end of the hollow motor (63) is electrically connected with the output end of the controller (11).
  6. 6. The automatic nut tightening device according to claim 1, wherein the screw feeding component (7) comprises a fixing strip (71), a screw feeding seat (72), a material storage bin (73), M8 screws (74), M6 screws (75), electromagnetic locks (76), screw elastic pieces (77) and a pre-storing frame (78), two corresponding fixing strips (71) are fixed on the left side inside the triaxial mechanism load bracket (21), the screw feeding seat (72) is fixed on the right side of the fixing strip (71), two corresponding material storage bins (73) are arranged inside the screw feeding seat (72), M8 screws (74) which are uniformly distributed are arranged inside the right material storage bin (73), M6 screws (75) which are uniformly distributed are arranged inside the left material storage bin (73), two corresponding openings are arranged at the lower end of the rear side of the screw feeding seat (72), two corresponding locks (76) are arranged inside the openings, two corresponding elastic pieces (77) are arranged at the lower end of the front side of the screw feeding seat (72), two corresponding screw elastic pieces (77) are arranged inside the electromagnetic locks (78), the input end of the electromagnetic lock (76) is electrically connected with the output end of the controller (11).
  7. 7. The automatic nut tightening device according to claim 1, wherein a hazard warning lamp (14) is installed at the left end of the upper side of the protection cabinet (1), and the input end of the hazard warning lamp (14) is electrically connected with the output end of the controller (11).
  8. 8. The automatic nut tightening device according to claim 1, wherein the left side and the right side of the protection cabinet (1) are provided with emergency stop buttons (13), and the input ends of the emergency stop buttons (13) are electrically connected with the output ends of the controller (11).
  9. 9. The automatic nut tightening device according to claim 1, wherein a monitoring camera (15) is installed at the upper end inside the protection cabinet (1), and the monitoring camera (15) is electrically connected with the controller (11) in a bidirectional manner.
  10. 10. The automatic nut tightening device according to claim 1, wherein the left side and the right side of the protection cabinet (1) are provided with maintenance ports, and a maintenance bin door (8) is installed in the maintenance ports.

Description

Automatic nut tightening device Technical Field The invention relates to the technical field of manufacturing of high-end intelligent equipment, in particular to automatic nut tightening equipment. Background In the field of automatic nut tightening equipment, the prior art is mainly focused on the task of completing nut locking of a graphite boat by relying on manual operation or a basic automation system. The operator manually adjusts the distance between the graphite boat sheets by visual inspection and tightens the nuts one by one, which is simple but inefficient and has insufficient accuracy. Some automated equipment has attempted to incorporate high precision electronic control systems of fixed construction that direct the robotic arm to perform screw locking, loosening and replenishment functions, which are typically mounted on an AGV cart to provide mobility flexibility for 24 hour continuous operation. However, most of the core control algorithms of these devices are in an open loop mode, and cannot be dynamically adjusted according to real-time working conditions, and the overall design lacks intelligent adaptability. For example, in the graphite boat positioning link, the prior art mainly relies on mechanical guide rails or simple visual assistance, but is limited by hardware configuration and algorithm limitations, and high-precision spatial calibration is difficult to realize. Although the equipment has certain automation capability, when the equipment faces to diversified boat and nut specifications, manual parameter setting and structure adjustment are still needed, so that the whole process is fragmented, and a closed-loop production system cannot be formed. The deficiencies of the prior art are mainly manifested in a number of key aspects. The control algorithm is too simplified, and the tightening process cannot be dynamically optimized based on torque feedback, so that torque output is inconsistent under the condition of different nut materials or screw surface roughness, and the tightening quality stability is seriously affected. Electronic components are easy to be interfered by workshop electromagnetic interference, and cause misoperation or abnormal shutdown, thereby damaging production continuity and reliability. The feeding and discharging links are seriously dependent on manual intervention, for example, accurate positioning of the graphite boat is required to be completed manually, so that the efficiency is low, and human error risks are introduced. The equipment lacks automatic detection mechanism, can't discern in real time that the screw up is not in place, the nut lacks or not hard up problem, need follow-up manual investigation and reworking, increase the quality hidden danger. The design flexibility is not enough, and the diversified graphite boat specification of difficult quick adaptation needs time consuming adjustment mechanical structure and parameter when switching production. Under severe environments such as high temperature, high humidity, the sensor performance drift and mechanical part lubrication failure problems are outstanding, and the equipment environmental adaptability is reduced. The data acquisition is only limited by a few parameters (such as torque values), key information such as tightening time, sequence and the like cannot be comprehensively recorded, a data analysis function is lacked, a historical data mining trend or feedback optimization control system cannot be used, the fine management and quality traceability of the production process are hindered, and therefore automatic tightening nut equipment is provided. Disclosure of Invention The technical problem to be solved by the invention is to overcome the existing defects, provide automatic nut tightening equipment, realize flexible movement positioning through an AGV trolley, complete three-dimensional coarse positioning by matching an X-axis moving unit, a Y-axis moving unit, a Z-axis moving unit and an R-axis rotating sliding table in a coarse adjustment assembly, recognize the space pose of a graphite boat by using a first horizontal camera, realize + -0.1 mm-level accurate positioning by combining a laser range finder, and form closed-loop control by monitoring the tightening process in real time through a torque sensor integrated in a batch head assembly, so that the problems in the background art can be effectively solved. In order to achieve the above purpose, the invention provides the following technical scheme that the automatic nut tightening device comprises a protection cabinet and a rough adjusting component; the protection cabinet is internally provided with an industrial personal computer, a power supply and a controller, the left side of the protection cabinet is provided with an emergency operation table, and the lower side of the protection cabinet is provided with an AGV trolley; The coarse adjustment assembly comprises a three-axis mechanism load support, an X-axis moving uni