CN114633102A - Slewing bearing assembly system based on industrial robot - Google Patents
Slewing bearing assembly system based on industrial robot Download PDFInfo
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- CN114633102A CN114633102A CN202210452471.0A CN202210452471A CN114633102A CN 114633102 A CN114633102 A CN 114633102A CN 202210452471 A CN202210452471 A CN 202210452471A CN 114633102 A CN114633102 A CN 114633102A
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- 230000007246 mechanism Effects 0.000 claims abstract description 19
- 230000000007 visual effect Effects 0.000 claims description 16
- 238000000034 method Methods 0.000 claims description 8
- 230000008569 process Effects 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 4
- 230000001681 protective effect Effects 0.000 claims description 4
- 230000003044 adaptive effect Effects 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 3
- 238000003825 pressing Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
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- 239000000725 suspension Substances 0.000 description 1
- 238000011179 visual inspection Methods 0.000 description 1
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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
- B23P19/04—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
- B23P19/06—Screw or nut setting or loosening machines
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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
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Abstract
The application discloses a slewing bearing assembly system based on an industrial robot, which relates to the technical field of intelligent assembly and comprises a sleeve replacing part and a robot screwing part which are matched with each other; the sleeve replacing part is used for replacing the sleeve by the robot tightening part; the robot tightening part consists of a robot base, a robot body fixed at the upper end of the robot base and a tightening mechanism driven by the robot body to move; the tightening mechanism is used for determining the center and the reference point position of the slewing bearing, acquiring the center position of a bolt to be tightened and driving the sleeve to tighten the head of the bolt to a set torque. This application is through the scanning of measuring part to the bolt head to when measuring definite bolt central point and putting, screw up the full-automatic tightening of the bolt on the rifle realization slewing bearing through the electronic high accuracy of robot drive, thereby show to improve and screw up efficiency and assembly quality, effectively reduce manual operation's intensity of labour.
Description
Technical Field
The application relates to the technical field of intelligent assembly, in particular to a slewing bearing assembly system based on an industrial robot.
Background
Intelligent assembly is the development direction of large-scale machinery industry. Compared with other industries, the large-scale mechanical industry has the characteristics of intelligent assembly, large size and weight of parts to be assembled, relatively low manufacturing precision, and great difficulty in realizing the intelligent assembly equipment. Therefore, the industry continues to use the traditional backward assembly mode for a long time, mainly adopts manual assembly and manual assembly assisted by a power-assisted machine, restricts the improvement of productivity and assembly quality, and cannot realize digital assembly and management to a higher degree.
In order to meet the development requirement of intellectualization and high efficiency, the investment in the field of intelligent assembly equipment is increased in the field of assembly of large mechanical products in recent years, and the adoption of the intelligent assembly equipment to change the assembly of the large mechanical products and mainly assemble the large mechanical products by hand is hoped to achieve the advantages of low speed and low efficiency which are similar to the original assembly mode. The problems that the number of bolts needs to be screwed, observation is inconvenient, and time consumption is long are encountered during typical assembly of the slewing bearing.
In the prior art, the slewing bearing assembly mainly adopts a manual mode to operate, an operator uses a suspension type tightening gun in the operation process, and the alignment of the tightening gun head and a bolt is realized through stooping visual inspection and hand groping.
However, the position of the bolt head is located below, so that the bolt is inconvenient to observe, the bolt needs to be aligned only by moving the tightening gun for many times, more bolts need to be tightened in the operation of the slewing bearing, time is consumed for tightening all the bolts, the assembly efficiency of the slewing bearing is seriously affected, and improvement needs to be achieved.
Disclosure of Invention
In view of the above, the present application aims to provide an industrial robot-based slewing bearing assembling system, so as to achieve the purpose of significantly improving the assembling efficiency and quality. The specific scheme is as follows:
a slewing bearing assembly system based on an industrial robot comprises a sleeve replacing part and a robot tightening part which are matched with each other;
the sleeve replacing part is used for replacing the sleeve by the robot tightening part;
the robot tightening part consists of a robot base, a robot body fixed at the upper end of the robot base and a tightening mechanism driven by the robot body to move;
the tightening mechanism is used for determining the center and the reference point position of the slewing bearing, acquiring the center position of a bolt to be tightened and driving the sleeve to tighten the head of the bolt to a set torque.
Preferably: still including surrounding the safety fence of the portion of screwing up of sleeve change portion and robot and the railcar that is used for carrying slewing bearing and part, the opening part of safety fence is provided with the laser light curtain, the laser light curtain is used for personnel or foreign matter entering send out the police dispatch newspaper when in the safety fence.
Preferably: the sleeve replacing part comprises a sleeve support, a sleeve movable fork fixed on the sleeve support, a sleeve detecting part and a sleeve positioning part; the sleeve positioning part is used for being vertically matched with the tightening mechanism so as to recover and replace sleeves of different specifications and models; the sleeve detection part is used for detecting the positioning matching of the screwing mechanism and the sleeve positioning part; the sleeve movable fork is driven by the cylinder to operate and is used for being inserted into the O-shaped groove in the center of the sleeve to be connected and fixed.
Preferably: the tightening part comprises a mounting seat, a tightening part, a measuring part and a visual positioning part; the tightening part and the measuring part are respectively fixed at two ends of the mounting seat, the tightening part is used for tightening a bolt, and the measuring part is used for measuring the bolt; the visual positioning part is positioned at the bottom of the mounting seat and used for determining the center of the slewing bearing and the position of a datum point.
Preferably: the mounting base comprises a mounting support and a counter-force support, the mounting base is used for providing a mounting platform and is connected with the robot body, and the counter-force support is used for unloading torsion during tightening operation.
Preferably: the tightening part comprises a sliding guide A column, a sliding guide B column, a tightening gun and a gun head matching sleeve; the tightening gun is an electric high-precision tightening gun and is used for fixing the sleeve and driving the sleeve to tighten the bolt; the sliding guide B column is sleeved with a spring and used for pressing a sleeve on the tightening gun on the bolt head when the bolt is tightened so as to compensate the movement of the bolt head in the tightening process.
Preferably: the measuring part comprises a protective cover and a high-precision measuring instrument, and the measuring instrument is used for scanning the outer edge of a washer of the head of the bolt preliminarily fixed on the slewing bearing and acquiring the central position of the bolt.
Preferably: the vision positioning part is composed of an industrial camera and a vision controller, the industrial camera is used for photographing the slewing bearing and the reference point to obtain a position picture and transmitting the picture to the vision controller, and the vision controller is used for calculating and obtaining accurate coordinates and transmitting the accurate coordinates to the measuring part.
Preferably: the sleeve replacing part and the robot screwing part are both provided with two parts which are symmetrically distributed at two sides of the advancing direction of the slewing bearing.
Preferably: the operation of the robot tightening part includes the steps of:
and 5, moving the robot body driving tightening part to the sleeve replacing part to replace the adaptive sleeve, and continuing to the step 2.
According to the above scheme, the application provides an industrial robot-based slewing bearing assembly system, and the industrial robot-based slewing bearing assembly system has the following beneficial effects:
1. the sleeve replacing part, the robot screwing part and the rail car are surrounded by the safety fence, a laser light curtain is arranged at an opening of the safety fence, and accidents caused by the fact that personnel or foreign matters enter the safety fence when the slewing bearing assembly system based on the industrial robot works are prevented in an alarm mode;
2. the robot body drives the tightening part to move to a position which is a certain distance below the tightening gun and the sleeve positioning part and is coaxial with the tightening gun and the sleeve positioning part, then the tightening part vertically moves upwards until the sleeve enters the sleeve positioning part, the sleeve movable fork is driven by the air cylinder to extend forwards, the sleeve movable fork is inserted into an O-shaped groove of the sleeve, and then the tightening part vertically moves downwards, so that the sleeve is transferred from the tightening gun to the sleeve replacing part, the robot body is further moved to the position below the sleeve positioning part to vertically move upwards, the tightening gun is inserted into another sleeve, at the moment, the sleeve movable fork is driven by the air cylinder to retract, and the robot body continuously tightens the residual bolt on the slewing bearing, so that the effect of improving the sleeve replacing efficiency is achieved;
3. through the scanning of measuring part to the bolt head to when measuring and confirm bolt central point and put, screw up the full-automatic of the bolt on the rifle and realize slewing bearing through the electronic high accuracy of robot drive, thereby show and improve and screw up efficiency and assembly quality, effectively reduce manual operation's intensity of labour.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural view of an industrial robot-based slewing bearing assembly system disclosed in the present application;
FIG. 2 is a schematic view of a sleeve exchange section disclosed herein;
FIG. 3 is another angular configuration of the sleeve exchange portion disclosed herein;
FIG. 4 is a schematic view of a robot tightening unit according to the present disclosure;
fig. 5 is a schematic structural view of the tightening mechanism disclosed in the present application.
Description of reference numerals: 1. a security fence; 2. a sleeve replacement section; 21. a sleeve holder; 22. a sleeve movable fork; 23. a sleeve detection unit; 24. a sleeve positioning portion; 3. a robot tightening part; 31. a robot base; 32. a robot body; 33. a tightening mechanism; 4. a rail car; 8. a mounting seat; 81. mounting a bracket; 82. a counter-force bracket; 9. a tightening part; 91. a sliding guide A column; 92. screwing down the gun; 93. a sleeve matched with the gun head; 94. a sliding guide B column; 10. a measuring section; 101. a protective cover; 102. a high-precision measuring instrument; 11. a visual positioning part.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Example one
As shown in fig. 1, a slewing bearing assembling system based on an industrial robot includes a socket exchanging part 2 and a robot tightening part 3 which are matched with each other. As shown in fig. 1 and 4, the socket replacement unit 2 is used to replace a socket with the robot tightening unit 3. The robot tightening part 3 is composed of a robot base 31, a robot body 32 fixed to the upper end of the robot base 31, and a tightening mechanism 33 driven by the robot body 32. The tightening mechanism 33 is used for determining the center and the reference point position of the slewing bearing, acquiring the center position of the bolt to be tightened and driving the sleeve to tighten the head of the bolt to the set torque. Therefore, the robot main body 32 and the tightening mechanism 33 cooperate to drive the tightening mechanism 33 to move, and the operation of tightening the bolt by the slewing bearing is completed by the operation of the tightening mechanism 33. At the same time, the robot base 31 supports the robot body 32, and by raising the height of the robot body 32, the robot body 32 is used for tightening a tall workpiece.
As shown in fig. 1, the industrial robot-based slewing bearing assembling system further includes a safety fence 1 surrounding the sleeve replacing part 2 and the robot tightening part 3, and a rail car 4 for carrying the slewing bearing and the parts. Wherein, be provided with the laser light curtain at the opening part of security fence 1, and the laser light curtain is used for giving the police dispatch newspaper when personnel or foreign matter get into security fence 1 to through the mode of warning with prevent that personnel or foreign matter from getting into security fence 1 and accident when this industrial robot based slewing bearing assembly system operation.
Meanwhile, the sleeve exchanging portion 2 and the robot tightening portion 3 are provided in two and symmetrically distributed on both sides in the traveling direction of the slewing bearing, and the bolt tightening work is performed in cooperation with each other.
As shown in fig. 2 and 3, the sleeve replacing portion 2 includes a sleeve holder 21, and a sleeve movable fork 22, a sleeve detecting portion 23, and a sleeve positioning portion 24 fixed to the sleeve holder 21. Wherein the sleeve positioning portion 24 is adapted to vertically mate with the tightening mechanism 33 to retrieve and replace sleeves of different sizes and models. The sleeve detection part 23 is used for detecting the positioning matching of the screwing mechanism 33 and the sleeve positioning part 24, and the sleeve movable fork 22 is driven by an air cylinder to operate and is used for being inserted into a sleeve center O-shaped groove to be connected and fixed.
As shown in fig. 1 and 5, the tightening portion 9 includes a mounting seat 8, a tightening portion 9, a measuring portion 10, and a visual positioning portion 11. Wherein, the tightening part 9 and the measuring part 10 are respectively fixed at two ends of the mounting seat 8, the tightening part 9 is used for tightening the bolt, and the measuring part 10 is used for measuring the bolt. The visual positioning part 11 is located at the bottom of the mounting base 8 and is used for determining the center of the slewing bearing and the position of a reference point.
The mount 8 includes a mount bracket 81 and a reaction force bracket 82. Wherein, the mounting seat 8 is used for providing a mounting platform and is connected with the robot body 32. The reaction bracket 82 is used to unload torque during tightening, and in particular, to protect the robot body 32 during tightening by abutting the part surface to unload strong torque from the tightening gun 92 thereon during bolt tightening.
Meanwhile, the tightening part 9 includes a slide guide a column 91, a slide guide B column 94, a tightening gun 92, and a gun head fitting sleeve 93. The tightening gun 92 is an electric high-precision tightening gun, and is used for fixing the sleeve and driving the sleeve to tighten the bolt. The sliding guide B-pillar 94 is spring-loaded and is used to compress the sleeve on the tightening gun 92 against the head of the bolt as the bolt is tightened to compensate for movement during bolt head tightening. The measurement unit 10 includes a protective cover 101 and a high-precision measurement instrument 102. The high-precision measuring instrument 102 is used for scanning the outer edge of the washer of the head of the bolt preliminarily fixed on the slewing bearing and acquiring the central position of the bolt. And the visual positioning part 11 is composed of an industrial camera and a visual controller. Among them, the industrial camera is used for taking a picture of the slewing bearing and the reference point to obtain a position picture, and transmitting the picture to the vision controller. The vision controller is used for calculating and acquiring accurate coordinates and transmitting the accurate coordinates to the measuring part 10.
Specifically, the operation of the robot tightening unit 3 includes the steps of:
and 5, driving the tightening part 9 to move to the sleeve replacing part 2 by the robot body 32 to replace the adaptive sleeve, and continuing to the step 2.
Example two
The second embodiment is different from the first embodiment in that the two robot tightening parts 3 in the second embodiment are used for measuring and tightening bolts, respectively.
In summary, the present application provides an industrial robot based slewing bearing assembling system which surrounds a sleeve replacing part 2, a robot tightening part 3 and a rail car 4 through a safety fence 1, is provided with a laser light curtain at an opening of the safety fence 1, and prevents a person or foreign matter from entering the safety fence 1 to cause an accident in an alarm manner when the industrial robot based slewing bearing assembling system works; the head of the bolt is scanned by the measuring part 10, so that the center position of the bolt is measured and determined, and meanwhile, the robot body 32 drives the electric high-precision tightening gun to realize full-automatic tightening of the bolt on the slewing bearing, so that the tightening efficiency and the assembling quality are obviously improved, and the labor intensity of manual operation is effectively reduced.
Meanwhile, when the sleeve is replaced, the robot body 32 drives the tightening part 9 to move to a position where the tightening gun 92 and the sleeve positioning part 24 are coaxial and a certain distance below the tightening gun 92 and the sleeve positioning part 24, then the tightening gun 32 vertically moves upwards until the sleeve enters the sleeve positioning part 24, the sleeve movable fork 22 is driven by the air cylinder to extend forwards, the sleeve movable fork 22 is inserted into an O-shaped groove of the sleeve, then the tightening part 9 vertically moves downwards, the sleeve is transferred from the tightening gun 92 to the sleeve replacing part 2, the robot body 32 then moves to a position below the sleeve positioning part 24 to vertically move upwards, the tightening gun 92 is inserted into another sleeve, at the moment, the sleeve movable fork 22 is driven by the air cylinder to retract, the robot body 32 continues to tighten the residual bolts on the slewing bearing, and the effect of improving the sleeve replacing efficiency is achieved.
References in this application to "first," "second," "third," "fourth," etc., if any, are intended to distinguish between similar elements and not necessarily to describe a particular order or sequence. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises" and "comprising," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, or apparatus.
It should be noted that the descriptions in this application referring to "first", "second", etc. are 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 addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present application.
The principle and the embodiment of the present application are explained by applying specific examples, and the above description of the embodiments is only used to help understand the method and the core idea of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
Claims (10)
1. A slewing bearing assembly system based on industrial robot, its characterized in that: comprises a sleeve replacing part (2) and a robot screwing part (3) which are matched with each other;
the sleeve replacing part (2) is used for replacing a sleeve by the robot screwing part (3);
the robot tightening part (3) consists of a robot base (31), a robot body (32) fixed at the upper end of the robot base (31) and a tightening mechanism (33) driven by the robot body (32) to move;
the tightening mechanism (33) is used for determining the center and the datum point position of the slewing bearing, acquiring the center position of a bolt to be tightened and driving the sleeve to tighten the head of the bolt to a set torque.
2. An industrial robot based slewing bearing assembling system as defined in claim 1, wherein: still including surrounding security fence (1) of sleeve change portion (2) and robot tightening portion (3) and railcar (4) that are used for carrying slewing bearing and part, the opening part of security fence (1) is provided with the laser light curtain, the laser light curtain is used for personnel or foreign matter entering when security fence (1) is interior the alarm of sending out.
3. An industrial robot based slewing bearing assembling system as defined in claim 1, wherein: the sleeve replacing part (2) comprises a sleeve support (21), a sleeve movable fork (22) fixed on the sleeve support (21), a sleeve detecting part (23) and a sleeve positioning part (24); the sleeve positioning part (24) is used for vertically matching with the screwing mechanism (33) so as to recover and replace sleeves of different specifications and models; the sleeve detection part (23) is used for detecting the positioning matching of the screwing mechanism (33) and the sleeve positioning part (24); the sleeve movable fork (22) is driven by the cylinder to operate and is used for being inserted into the O-shaped groove in the center of the sleeve to be connected and fixed.
4. An industrial robot based slewing bearing assembling system as defined in claim 1, wherein: the tightening part (9) comprises a mounting seat (8), a tightening part (9), a measuring part (10) and a visual positioning part (11); the tightening part (9) and the measuring part (10) are respectively fixed at two ends of the mounting seat (8), the tightening part (9) is used for tightening a bolt, and the measuring part (10) is used for measuring the bolt; the visual positioning part (11) is positioned at the bottom of the mounting seat (8) and is used for determining the center of the slewing bearing and the position of a datum point.
5. An industrial robot based slewing bearing assembling system according to claim 4, wherein: the mounting seat (8) comprises a mounting support (81) and a counterforce support (82), the mounting seat (8) is used for providing a mounting platform and is connected with the robot body (32), and the counterforce support (82) is used for unloading torsion during screwing operation.
6. An industrial robot based slewing bearing assembling system according to claim 4, wherein: the tightening part (9) comprises a sliding guide A column (91), a sliding guide B column (94), a tightening gun (92) and a gun head matching sleeve (93); the tightening gun (92) is an electric high-precision tightening gun and is used for tightening the bolt by the fixing sleeve and the driving sleeve; the sliding guide B column (94) is sleeved with a spring and is used for pressing a sleeve on the tightening gun (92) on the head of the bolt when the bolt is tightened so as to compensate the movement of the head of the bolt in the tightening process.
7. An industrial robot based slewing bearing assembling system according to claim 4, wherein: the measuring part (10) comprises a protective cover (101) and a high-precision measuring instrument (102), and the measuring instrument is used for scanning the outer edge of a washer of a bolt head which is preliminarily fixed on the slewing bearing and acquiring the center position of the bolt.
8. An industrial robot based slewing bearing assembling system according to claim 7, wherein: the visual positioning part (11) is composed of an industrial camera and a visual controller, the industrial camera is used for photographing the slewing bearing and the reference point to obtain a position picture and transmitting the picture to the visual controller, and the visual controller is used for calculating and acquiring accurate coordinates and transmitting the accurate coordinates to the measuring part (10).
9. An industrial robot based slewing bearing assembling system according to claim 4, wherein: the sleeve replacing part (2) and the robot screwing part (3) are both provided with two parts and symmetrically distributed on two sides of the traveling direction of the slewing bearing.
10. An industrial robot based slewing bearing mounting system according to claim 9, characterized in that the operation of the robot tightening part (3) comprises the steps of:
step 1, a visual positioning part (11) photographs the slewing bearing and determines the center and the reference point position of the slewing bearing;
step 2, the measuring part (10) scans the bolt and determines the central position of the bolt, if the sleeve is matched with the bolt, the step 3 is continued, otherwise, the step 4 is continued;
step 3, the robot body (32) drives the robot screwing part (3), the robot screwing part (3) drives a sleeve to be sleeved into the head of the bolt on the slewing bearing, the bolt is screwed to a set torque, and then a half turn is screwed;
step 4, the measuring part (10) scans and confirms the bolt tightening state on the slewing bearing, if all the bolt tightening operations are completed, the operation is stopped, and if not, the step 2 is continued;
and 5, driving the tightening part (9) to move to the sleeve replacing part (2) by the robot body (32) to replace the adaptive sleeve, and continuing to the step 2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210452471.0A CN114633102A (en) | 2022-04-27 | 2022-04-27 | Slewing bearing assembly system based on industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210452471.0A CN114633102A (en) | 2022-04-27 | 2022-04-27 | Slewing bearing assembly system based on industrial robot |
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| Publication Number | Publication Date |
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| CN114633102A true CN114633102A (en) | 2022-06-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210452471.0A Pending CN114633102A (en) | 2022-04-27 | 2022-04-27 | Slewing bearing assembly system based on industrial robot |
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| CN (1) | CN114633102A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115255896A (en) * | 2022-06-30 | 2022-11-01 | 武汉武铁机辆装备有限公司 | Wheel-mounted brake disc robot bolt tightening platform |
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| JPH10138057A (en) * | 1996-11-08 | 1998-05-26 | Nachi Fujikoshi Corp | Automatic fastening and loosening device for form fastening bolt |
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| CN209407870U (en) * | 2018-12-28 | 2019-09-20 | 新松机器人联合研究院(湘潭)有限公司 | A kind of dual robot bolt automatic tightening system being arranged symmetrically |
| CN111805224A (en) * | 2020-08-07 | 2020-10-23 | 上汽通用五菱汽车股份有限公司 | Automatic sleeve replacing system for bolt tightening station |
| CN217045357U (en) * | 2022-04-27 | 2022-07-26 | 浙江希尔机器人股份有限公司 | Slewing bearing assembly system |
-
2022
- 2022-04-27 CN CN202210452471.0A patent/CN114633102A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10138057A (en) * | 1996-11-08 | 1998-05-26 | Nachi Fujikoshi Corp | Automatic fastening and loosening device for form fastening bolt |
| CN108213937A (en) * | 2018-02-28 | 2018-06-29 | 中船重工鹏力（南京）智能装备系统有限公司 | A kind of large-sized bolt Full-automatic reverse torsion twists bolt device |
| CN209407870U (en) * | 2018-12-28 | 2019-09-20 | 新松机器人联合研究院(湘潭)有限公司 | A kind of dual robot bolt automatic tightening system being arranged symmetrically |
| CN111805224A (en) * | 2020-08-07 | 2020-10-23 | 上汽通用五菱汽车股份有限公司 | Automatic sleeve replacing system for bolt tightening station |
| CN217045357U (en) * | 2022-04-27 | 2022-07-26 | 浙江希尔机器人股份有限公司 | Slewing bearing assembly system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115255896A (en) * | 2022-06-30 | 2022-11-01 | 武汉武铁机辆装备有限公司 | Wheel-mounted brake disc robot bolt tightening platform |
| CN115255896B (en) * | 2022-06-30 | 2024-02-27 | 武汉武铁机辆装备有限公司 | Wheel dress brake disc robot bolt tightening platform |
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