CN102350631B - Robot - Google Patents
Robot Download PDFInfo
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- CN102350631B CN102350631B CN201110272510.0A CN201110272510A CN102350631B CN 102350631 B CN102350631 B CN 102350631B CN 201110272510 A CN201110272510 A CN 201110272510A CN 102350631 B CN102350631 B CN 102350631B
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- screw
- spindle machining
- control device
- bus
- machining hand
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Abstract
The invention discloses a robot, particularly a bolt-beating robot capable of automatically adjusting position offset of a bolt. The robot comprises a control device, a multi-shaft manipulator, an electric screw driver and a bolt position detection device, wherein the control device is in communication connection with the multi-shaft manipulator, the electric screw driver and the bolt position detection device through serial ports or buses, and the electric screw driver is mechanically and fixedly connected with the multi-shaft manipulator. The control device comprises an information processing module, an offset correction control module and an information output module. The robot has the advantages that: the robot is simple in use, effectively solves the problem of damaging workpieces during bolt beating, greatly reduces the production cost, and has a wide application range.
Description
Technical field
The present invention relates to a kind of robot, especially a kind of bolting machine device people that can automatically adjust to the screw position skew.
Background technology
Playing screw is in electron trade, each parts of product, mechanism to be assembled into to the important step of final products, by screw, parts are held together, therefore, the scope of playing the screw equipment application is very extensive, but beating screw equipment in actual application often relates to because damaging workpiece in screw position skew normal position, perhaps desired location be can not normally tighten and squeeze into, work quality and operating efficiency affected.For addressing the above problem, a lot of occasions have occurred being with Universal-head so that workpiece is regulated in the malposition self adaptation in the situation that electric screw is pulled on, if but in practical application the larger dependence Universal-head of side-play amount still can't resolve corresponding problem.
Summary of the invention
For above problem, the present invention proposes a kind of technical scheme, be specially: a kind of robot, comprise control device, multi-spindle machining hand, electric screwdriver, screw position checkout gear, described control device is connected by serial ports or bus mode communication with multi-spindle machining hand, electric screwdriver, screw position checkout gear, and described electric screwdriver is fixedly connected with multi-spindle machining mobile phone tool.
Further described control device comprises message processing module, correction control module and message output module.
Further described control device is connected by serial ports or bus mode communication with multi-spindle machining hand, electric screwdriver, screw position checkout gear, described serial communication is RS232 or RS485 or RS422 interface communication mode, and described bus communication mode is CAN bus or Ethernet bus or Profibus bus or Powerlink bus communication mode.
Further described multi-spindle machining hand is by driven by servomotor.
Further described screwdriver comprises spiral shell cutter and the spiral shell cutter head be complementary with screw.
Beneficial effect:
It is simple that the utility model possesses use, effectively solves and beat defective work piece in the screw process, and then reduced to a great extent production cost, advantage applied widely.
The accompanying drawing explanation
Fig. 1 is head of screw self adaptation bolting machine device people theory diagram;
Fig. 2 is screw checkout gear theory diagram.
The specific embodiment
A kind of robot, comprise control device, multi-spindle machining hand, electric screwdriver, screw position checkout gear, with multi-spindle machining hand, electric screwdriver, screw position checkout gear serial ports, with bus mode, communication is connected described control device, described serial communication is RS232 or RS485 or RS422 interface communication mode, and described bus communication mode is CAN bus or Ethernet bus or Profibus bus or Powerlink bus communication mode.Described screwdriver is fixedly connected with multi-spindle machining mobile phone tool.Described control device comprises message processing module, correction control module and message output module.Described multi-spindle machining hand is by driven by servomotor.Described screwdriver comprises spiral shell cutter and the spiral shell cutter head be complementary with screw.
As Fig. 1, described control device 22 sends instruction to the multi-spindle machining hand by message output module, multi-spindle machining hand-motion electric screwdriver is played screw to the position of appointment, whether the screw position of screw position checkout gear detection simultaneously is offset, if skew normal amount, photos and sending messages is to the message processing module in control device, whether message processing module is offset by the position that calculates screw, and relevant information is sent to the correction control module, the correction control module is controlled multi-spindle machining hand-motion screwdriver by message output module by information and is carried out the position adjustment, the screw position checkout gear constantly feeds back to message processing module simultaneously, thereby repeatedly adjusted until screw in normal position.
As Fig. 2, the screw position checkout gear principle of described robot is: set in advance multi-spindle machining hand 11 and normally be subject to force parameter before playing screw, in beating the screw process as because of after screw position just do not producing and depart from normal parameter scope stressed, each joint servo motor of multi-spindle machining hand produces moment variations, and then each moment variations information is sent to message processing module.
Claims (1)
1. a robot, it is characterized in that: comprise control device, multi-spindle machining hand, electric screwdriver, screw position checkout gear, described control device is connected by serial ports or bus mode communication with multi-spindle machining hand, electric screwdriver, screw position checkout gear, and described electric screwdriver is fixedly connected with multi-spindle machining mobile phone tool;
Described control device comprises message processing module, correction control module and message output module;
Described control device is connected by serial ports or bus mode communication with multi-spindle machining hand, electric screwdriver, screw position checkout gear, described serial communication is RS232 or RS485 or RS422 interface communication mode, and described bus communication mode is CAN bus or Ethernet bus or Profibus bus or Powerlink bus communication mode;
Described multi-spindle machining hand is by driven by servomotor;
Described screwdriver comprises spiral shell cutter and the spiral shell cutter head be complementary with screw;
Described control device sends instruction to the multi-spindle machining hand by message output module, play screw for described multi-spindle machining hand-motion electric screwdriver to the position of appointment, whether the screw position of screw position checkout gear detection simultaneously is offset, if skew normal amount, photos and sending messages is to the message processing module in control device, whether message processing module is offset by the position stern that calculates screw, and relevant information is sent to the correction control module, the correction control module is controlled multi-spindle machining hand-motion screwdriver by message output module by information and is carried out the position adjustment, the screw position checkout gear constantly feeds back to message processing module simultaneously, thereby repeatedly adjusted until screw in normal position,
The screw position checkout gear of described robot, normally be subject to force parameter for set in advance the multi-spindle machining hand before playing screw, in beating the screw process as because of after screw position just do not producing and depart from normal parameter scope stressed, each joint servo motor of multi-spindle machining hand produces moment variations, and then each moment variations information is sent to message processing module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110272510.0A CN102350631B (en) | 2011-09-01 | 2011-09-01 | Robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110272510.0A CN102350631B (en) | 2011-09-01 | 2011-09-01 | Robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102350631A CN102350631A (en) | 2012-02-15 |
| CN102350631B true CN102350631B (en) | 2013-12-18 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110272510.0A Active CN102350631B (en) | 2011-09-01 | 2011-09-01 | Robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102350631B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107255537A (en) * | 2017-06-16 | 2017-10-17 | 重庆市灵龙自动化设备有限公司 | Screw fixing machine robot end's torque detecting apparatus |
| CN110640419B (en) * | 2019-09-04 | 2021-11-02 | 东莞市钜镕智能机械有限公司 | Automatic deviation-rectifying mounting machine |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1142519A (en) * | 1997-07-30 | 1999-02-16 | Mitsubishi Electric Corp | Screw removing device for waste home electric appliance |
| JP2001167550A (en) * | 1999-12-07 | 2001-06-22 | Fuji Photo Film Co Ltd | Torque monitoring device for screw fastening device |
| CN100464943C (en) * | 2007-01-09 | 2009-03-04 | 钱国钧 | Automatic screw assembling machine |
| US8479369B2 (en) * | 2008-02-12 | 2013-07-09 | Honda Motor Co., Ltd. | Device and method for mounting vehicle instrument panel |
| CN202207887U (en) * | 2011-09-01 | 2012-05-02 | 深圳众为兴技术股份有限公司 | Robot |
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2011
- 2011-09-01 CN CN201110272510.0A patent/CN102350631B/en active Active
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| Publication number | Publication date |
|---|---|
| CN102350631A (en) | 2012-02-15 |
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| C06 | Publication | ||
| PB01 | Publication | ||
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| C14 | Grant of patent or utility model | ||
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| TR01 | Transfer of patent right |
Effective date of registration: 20170920 Address after: 523000, Room 501, Songshan science and Technology Park, Songshan Lake, Guangdong, Dongguan Patentee after: Guangdong Adtech robot Co.,Ltd. Address before: 518052 Guangdong city of Shenzhen province Nanshan District Yi Yuan Lu Ma Liuzhou Tian Xia Industrial Park Building 5 Patentee before: ADTECH (SHENZHEN) TECHNOLOGY Co.,Ltd. |
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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220919 Address after: The whole building, No. 93-1, Xintang Road, Rentian Community, Fuhai Street, Baoan District, Shenzhen City, Guangdong Province, 518000 Patentee after: ADTECH (SHENZHEN) TECHNOLOGY Co.,Ltd. Address before: Room 501, Building 1, Songshan Lake Innovation and Technology Park, Dongguan City, Guangdong Province, 523000 Patentee before: Guangdong Adtech robot Co.,Ltd. |
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| TR01 | Transfer of patent right |