CN104259836B - A kind of small screw thread pair part automatically picks up and assembles device - Google Patents
A kind of small screw thread pair part automatically picks up and assembles device Download PDFInfo
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- CN104259836B CN104259836B CN201410357260.4A CN201410357260A CN104259836B CN 104259836 B CN104259836 B CN 104259836B CN 201410357260 A CN201410357260 A CN 201410357260A CN 104259836 B CN104259836 B CN 104259836B
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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
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
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- Details Of Spanners, Wrenches, And Screw Drivers And Accessories (AREA)
Abstract
The present invention discloses a kind of small screw thread pair part and automatically picks up and assemble device, belongs to Fine Boring technical field. It is characterized in that this covering device is referred to tighten unit by folder, torque sensor unit becomes with sets of drive units; Folder refers to tighten unit for realizing automatically picking up nut, completes screw thread pair assembly work; The torque reaction that torque sensor unit is born by torque transducer detection stepper-motor judges whether to reach screw thread pair tight condition; Unit is driven to be mainly used in as screw down clips refers to that unit provides Aligning control signal and complete assembly to provide power. Assembling device involved in the present invention, can select different nut picking up assembly for different nut part shapes, the cooperation of recycling micro photo electric sensor and sensor cam, it is possible to realize the automatic pickup of nut; The use being referred to tighten ball bushing guidance set in unit by folder can reduce the impact of screw thread pair web member coaxiality error while reducing guide rail Z motion error, it is to increase the class of precision of assembling.
Description
Technical field
The invention belongs to Fine Boring technical field, it relates to a kind of small screw thread pair part automatically picks up and assembles device.
Background technology
Along with the development of science and technology, the connection quality of component in engineering goods be it is also proposed more and more higher requirement. Being threaded as one of four kinds of the most conventional connecting modes, both can obtain very big coupling force, be convenient to again dismounting, cost is low, has the advantages such as interchangeability. For adapting to the high reliability of modern electronic product, the requirement of high security and the demand of automatic production, the exploitation of screw thread pair automatic setup system becomes particularly important.
" new development of intelligence Screw assembly system " discloses a kind of novel intelligent Screw assembly system, and this system mainly comprises high-speed single chip microcontroller, non-contact type torque sensor unit and actuator unit. The core cell of this system is high-speed single chip microcontroller, the AC servo motor being furnished with incremental encoder is in conjunction with high performance total digitalization software control driving mechanism, it is possible not only to improve its work-ing life, the most important thing is that the control mode making system is optimized, be convenient to upgrade. But this device needs to coordinate series of rows star-wheel retarding mechanism to use, and equipment de-sign and use are comparatively complicated.
Application number is the patent of CN103157986A, discloses a kind of automatic rigging equipment of screw thread pair. Its principal feature is that this device mainly comprises threaded male component automatic charging order module, the automatic load module of screw thread pair and internal thread line part automatic charging order module. Wherein the automatic load module of screw thread pair is as core module, it is possible to complete the guiding work of threaded male component, and screw thread pair screws assembly work and exports finished product work. This device realizes the automatic assembling of screw thread pair by automaticmachines, and the cost decreasing manual operation is applicable to different types of screw thread pair fitting work. But it is not suitable for the assembling for mini-screw thread pair.
Above-mentioned various screw thread pair assembling device for be all macroscopic view large-size threaded fastener, but be all restricted in the application of mini-screw thread pair. Existing device cannot realize the automatic assembling of mini-screw thread pair.
Summary of the invention
The present invention is directed to the problems referred to above and provide the automatic pickup of a kind of small screw thread pair part and assembling device.
The technical scheme of the present invention is as follows:
A kind of small screw thread pair part automatically picks up and assembles device, comprises and drives unit, torque sensor unit and folder to refer to tighten unit.
Drive unit to be mainly folder to refer to tighten unit and Aligning control signal is provided and is that whole device provides power. The torque reaction that torque sensor unit is born by torque transducer detection stepper-motor judges whether to reach screw thread pair tight condition. Folder refers to tighten unit for realizing the automatic pickup of nut part, completes the assembly work of screw thread pair.
Unit is driven to comprise stepper-motor, fixing aluminum corner brace, micro photo electric sensor, sensor cam and precise guide rail. Micro photo electric sensor is positioned at the lower section of stepper-motor, the two by fixing aluminum corner brace fix. This fixing aluminum corner brace connects the base plate in torque sensor unit simultaneously, is connected with precise guide rail by whole device by base plate. Sensor cam is installed on the output shaft of stepper-motor, sensor cam provides the initial point signal of stepper-motor together with micro photo electric sensor, by gather initial point signal make stepper-motor stop at initial point place thus folder is referred to the folder tightening in unit refers to that the direction of opening of spring piece is fixed, and then realize the automatic pickup of nut part. By the routing motion of precise guide rail and stepper-motor, namely precise guide rail often declines a pitch, and stepper-motor rotates a circle, and forms the assembly work that spiral motion completes screw thread pair.
Torque sensor unit comprises shaft coupling, torque transducer and base plate. Torque transducer is fixed on base plate. By shaft coupling, the stepper-motor in unit is connected torque transducer input terminus with driving, with folder, torque transducer output terminal refers to that the ball bushing guidance set tightening in unit is connected by shaft coupling.
Folder refers to that tightening unit comprises guide shaft support, bearing pad, ball bushing guidance set and nut picking up assembly. Nut picking up assembly comprises folder and refers to that spring piece and nut clamp refer to, folder refers to the flexible two higher fingers in spring piece front end, when clamping the part of small screw thread pair, folder refers to that spring piece receives downward pressure, folder refers to folder to be referred to the chamfering of spring piece front end, and spring piece front end two finger opens and clamps small screw thread pair part, and folder refers to that the square structure of spring piece is for closing with nut clamp assignment; Nut clamp refers to that the bottom of front end trench structure is for referring to the square structure shrink-fit of spring piece with folder, its threaded hole is used for referring to that the square structure lower center hole of spring piece coordinates location with folder, ensureing the position of small screw thread pair part in nut picking up assembly by front end channel-shaped structure, nut clamp refers to that rear end structure connects for the bush assembly that leads with ball; Small screw thread pair part for different shapes adopts different nut picking up assembly to realize the automatic pickup of multiple small screw thread pair part. Ball bushing guidance set is fixed on the base plate in torque sensor unit by guide shaft support, adjusts ball bushing guidance set and torque transducer output terminal right alignment by changing bearing spacer thickness. The shaft coupling that one end of ball bushing guidance set passes device unit output terminal with moment of torsion is connected, and the other end refers to be connected with nut clamp. It can realize straight reciprocating motion, is used for reducing in screw thread pair tightening operation due to error when precise guide rail moves downward; Turning motion can be realized again, right alignment when ensureing that screw thread pair assembles with this.
The invention has the beneficial effects as follows the nut part for different shapes, adopt different nut picking up assembly. Wherein, nut clamp refers to the part of end for set screw nut, and its shape is determined by nut shape. By sensor cam and micro photo electric sensor with the use of, the folder in nut picking up assembly is referred to, and the folder of spring piece refers to that opening direction fixes, it is achieved that the automatic pickup work of small screw thread pair part. Adopt ball bushing guidance set in a device, while reduction moves downward, by precise guide rail, the error caused, also ensure that the relative pose deviation of screw thread pair web member is little as far as possible.
Figure explanation
Fig. 1 part automatically picks up and assembles device schematic diagram.
Fig. 2 photoelectricity switch and cam sensor schematic diagram.
The small screw thread pair part schematic diagram of Fig. 3 a.
Fig. 3 b folder refers to tighten cell schematics.
Fig. 3 c picks up nut schematic diagram.
Fig. 3 d nut clamp instruction intention.
Fig. 3 e folder refers to spring piece schematic diagram.
In figure: 1 stepper-motor; 2 sensor cams; 3 shaft couplings; 4 torque transducers;
5 guide shaft support; 6 nut clamp refer to; 7 base plates; 8 micro photo electric sensors;
9 fixing aluminum corner braces; 10 precise guide rail; 11 small screw thread pair parts; 12 folders refer to spring piece;
13 bearing pads; 14 ball bushing guidance sets.
Embodiment
Below in conjunction with technical scheme and accompanying drawing, the specific embodiment of the present invention is described further.
The first step: determine by the shape of small screw thread pair part 11 to adopt folder to refer to that spring piece 12 and nut clamp refer to 6.
2nd step: the center of circle going out small screw thread pair part 11 upper surface with vision-based detection systems axiol-ogy, the i.e. axis of small screw thread pair part 11, the Z axle of the axis and camera system of coordinates that adjust small screw thread pair part 11 overlaps.
3rd step: mobile specific range, nut clamp is referred to, and the axis of 6 overlaps with the axis of small screw thread pair part 11.
4th step: stepper-motor 1 moves, drives sensor cam 2 by shaft coupling 3, nut clamp refer to 6 and folder refer to that spring piece 12 rotates. When micro photo electric sensor 8 detects the aperture position of sensor cam 2, stepper-motor 1 stops rotating. Now, folder refer to spring piece 12 to open direction consistent with the side directions of small screw thread pair part 11.
5th step: precise guide rail 10 moves down, when folder refers to that spring piece 12 touches small screw thread pair part 11, utilizes folder to refer to that the compliant elastic power of spring piece 12 clamps small screw thread pair part 11.
6th step: the image gathering part to be connected by vision-based detection system from top, position and the attitude for the treatment of union piece identify, adjustment bolt axis overlaps with the Z axle of camera system of coordinates.
7th step: mobile specific range, makes the bolt axis of part to be connected overlap with the axis of small screw thread pair part 11.
8th step: precise guide rail 10 driving device moves downward, after arriving desired location, stepper-motor 1 starts motion, and small screw thread pair part 11 starts to screw in the bolt of part to be connected. Now, precise guide rail 10 speed and stepper-motor 1 synchronization, electric machine rotation one week, guide rail moves down a pitch. When small screw thread pair part 11 does not contact upper surface of washer, the reading of torque transducer 4 should be zero, illustrates that stuck phenomenon occurs in screw thread pair assembling process if there is fluctuation.
9th step: when the reading change of torque transducer 4 reaches threshold value, small screw thread pair part 11 contacts packing ring to start to be adjacent to, and now starts timing. Read the reading of torque transducer 4, collect torque time variation diagram, and compared with default rigidity function value, when after Kt and Cs ratio substantially constant, read T/t (Kt) now and Cs value, seek the corresponding torque value needed for preliminary tension. When reaching this torque value, stepper-motor 1 stops rotating, and completes the fitting work of screw thread pair.
Tenth step: precise guide rail 10 is upwards moved, spring pinchcock is referred to, and sheet 12 unclamps small screw thread pair part 11, and makes device return to original state. Prepare the assembly work of screw thread pair next time.
Claims (1)
1. a small screw thread pair part automatically picks up and assembles device, it is characterised in that, comprise and drive unit, torque sensor unit and folder to refer to tighten unit;
Unit is driven to comprise stepper-motor, fixing aluminum corner brace, micro photo electric sensor, sensor cam and precise guide rail; Micro photo electric sensor is positioned at the lower section of stepper-motor, the two by fixing aluminum corner brace fix; This fixing aluminum corner brace connects the base plate in torque sensor unit simultaneously, is connected with precise guide rail by whole device by base plate; Sensor cam is installed on the output shaft of stepper-motor, sensor cam provides the initial point signal of stepper-motor together with micro photo electric sensor, by gathering initial point signal, stepper-motor is stopped at initial point place, thus folder is referred to, and the folder tightening in unit refers to that the direction of opening of spring piece is fixed, and then realize the automatic pickup of small screw thread pair part; By the routing motion of precise guide rail and stepper-motor, namely precise guide rail often declines a pitch, and stepper-motor rotates a circle, and forms the assembly work that spiral motion completes small screw thread pair part;
Torque sensor unit comprises shaft coupling, torque transducer and base plate; Torque transducer is fixed on base plate; By shaft coupling, the stepper-motor in unit is connected torque transducer input terminus with driving, with folder, torque transducer output terminal refers to that the ball bushing guidance set tightening in unit is connected by shaft coupling;
Folder refers to that tightening unit comprises guide shaft support, bearing pad, ball bushing guidance set and nut picking up assembly; Nut picking up assembly comprises folder and refers to that spring piece and nut clamp refer to, folder refers to the flexible two higher fingers in spring piece front end, when clamping small screw thread pair part, folder refers to that spring piece is subject to downward pressure, folder refers to folder to be referred to the chamfering of spring piece front end, and spring piece front end two finger opens and clamps small screw thread pair part, and folder refers to that the square structure of spring piece is for closing with nut clamp assignment; Nut clamp refers to that the bottom of front end trench structure is for referring to the square structure shrink-fit of spring piece with folder, its threaded hole is used for referring to that the square structure lower center hole of spring piece coordinates location with folder, ensureing the position of small screw thread pair part in nut picking up assembly by front end channel-shaped structure, nut clamp refers to that rear end structure is for connecting with ball bushing guidance set; Small screw thread pair part for different shapes adopts different nut picking up assembly to realize the automatic pickup of multiple small screw thread pair part; Ball bushing guidance set is fixed on the base plate in torque sensor unit by guide shaft support, adjusts ball bushing guidance set and torque transducer output terminal right alignment by changing bearing spacer thickness; One end of ball bushing guidance set is connected with the shaft coupling of torque sensor unit output terminal, and the other end refers to be connected with nut clamp.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410357260.4A CN104259836B (en) | 2014-07-24 | 2014-07-24 | A kind of small screw thread pair part automatically picks up and assembles device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410357260.4A CN104259836B (en) | 2014-07-24 | 2014-07-24 | A kind of small screw thread pair part automatically picks up and assembles device |
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| Publication Number | Publication Date |
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| CN104259836A CN104259836A (en) | 2015-01-07 |
| CN104259836B true CN104259836B (en) | 2016-06-01 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106141655B (en) * | 2015-03-28 | 2018-10-12 | 长城汽车股份有限公司 | Workpiece press-loading apparatus |
| CN107538209B (en) * | 2016-06-27 | 2024-05-03 | 广州市韦德电气机械有限公司 | Bolt locking device and control method thereof |
| CN107443058A (en) * | 2017-07-25 | 2017-12-08 | 青岛万祥如光机械技术研究有限公司 | A kind of magnetic conduction thing mechanism for picking and pick-up method |
| CN210173454U (en) * | 2018-10-31 | 2020-03-24 | 长春东睦富奥新材料有限公司 | Clamping tool for press-fitting pins of planetary gear carrier products |
| CN110039293B (en) * | 2019-05-28 | 2021-03-16 | 江南大学 | Special end effector for steel drum large threaded cap assembling robot |
| CN110303482B (en) * | 2019-07-12 | 2022-03-29 | 大连理工大学 | Centering and clamping device for micro porous parts |
| CN110369986B (en) * | 2019-07-12 | 2020-11-13 | 大连理工大学 | Automatic assembling device for micro thread pair |
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| US4221363A (en) * | 1978-10-06 | 1980-09-09 | National Mine Service Company | Adjustable jack |
| WO2010030410A1 (en) * | 2008-09-11 | 2010-03-18 | Wenger Manufacturing, Inc. | Method and apparatus for producing fully cooked extrudates with significantly reduced specific mechanical energy inputs |
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| CN102729038A (en) * | 2012-07-06 | 2012-10-17 | 闻金普 | Full-automatic combination assembly machine for adjusting screws and nuts |
| CN103157986A (en) * | 2013-04-03 | 2013-06-19 | 杭州盘古自动化系统有限公司 | Thread pair automatic assembling machine |
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| US4221363A (en) * | 1978-10-06 | 1980-09-09 | National Mine Service Company | Adjustable jack |
| WO2010030410A1 (en) * | 2008-09-11 | 2010-03-18 | Wenger Manufacturing, Inc. | Method and apparatus for producing fully cooked extrudates with significantly reduced specific mechanical energy inputs |
| CN202372093U (en) * | 2011-12-21 | 2012-08-08 | 佛山市南海中南机械有限公司 | Hexagon nut internal thread detection device |
| CN102729038A (en) * | 2012-07-06 | 2012-10-17 | 闻金普 | Full-automatic combination assembly machine for adjusting screws and nuts |
| CN103157986A (en) * | 2013-04-03 | 2013-06-19 | 杭州盘古自动化系统有限公司 | Thread pair automatic assembling machine |
Non-Patent Citations (1)
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| 微小型零件精密装配中的螺纹副联接技术研究;宋莎;《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》;20100715(第7期);C029-8 * |
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