CN104589045A - Automatic workpiece taking and placing module for fastening robot - Google Patents
Automatic workpiece taking and placing module for fastening robot Download PDFInfo
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- CN104589045A CN104589045A CN201410855523.4A CN201410855523A CN104589045A CN 104589045 A CN104589045 A CN 104589045A CN 201410855523 A CN201410855523 A CN 201410855523A CN 104589045 A CN104589045 A CN 104589045A
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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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Abstract
The invention discloses an automatic workpiece taking and placing module for a fastening robot. A workpiece taking and placing module (3) is arranged on the lower part of a lower connecting plate (7) of an output shaft of the tail end of a scara mechanical arm; the whole module is arranged on a material taking sliding platform (18) with a spring; a pneumatic claw unit (16) is arranged on the material taking sliding platform and comprises a pneumatic claw air cylinder (17) and a clamping block (18); a positioning pin (19) is arranged on the inner side of the clamping block; when a workpiece is taken, a Z axis servo unit (8) is moved to the upper part of the workpiece (20); the positioning pin (19) contacts with the workpiece (20) and positions the workpiece (20); the pneumatic claw unit opens the clamping block (18) to grab the workpiece, and moves the workpiece to a workpiece nailing position (22). The invention is a further innovation on the basis of the existing screw machine, the scara mechanical arm and the workpiece taking and placing module are added, the unmanned workpiece taking and placing functions are realized, and the automatic workpiece taking and placing module for the fastening robot has the advantages that the functions are complete, the degree of automation is high, and the efficiency is high.
Description
Technical field
The present invention relates to a kind of intelligent fastening-assembling machine device people, particularly relate to the automatic clamping and placing workpiece module of this type of tightening machine people.
Background technology
In recent years, along with the fast development of economy, the change of industrial pattern, the improving constantly of social per capita income, labor-intensive Assembling Production pattern faces enormous challenge in the past, and it is particularly outstanding to be wherein fastenedly connected assembling link problem with many bodies that automaticity is lower:
1) efficiency of assembling is in urgent need to be improved: equipment manufacture industry is because product is totally different, multi-size, full automatic assembling line is difficult to carry out in industry, especially be fastenedly connected in location, loading and unloading, all too many levels such as fastening, still handwork state is in, work discontinuous, accurate knot overlong time, efficiency is very low, has become the bottleneck of a lot of enterprises efficiency of assembling.
2) human resources fluctuation is larger: due to the handwork feature of current fastening assembling, and strong to operator's dependence, personnel's influence of change is larger.But along with the development of domestic economy, labor cost and labour employment chance constantly increase, labourer's human resources wastage is serious, and assembling process cannot effective guarantee.
3) assembly cost improves constantly: along with improving constantly of labor cost, and the labor-intensive mode of operation of original equipment industry causes entreprise cost constantly to increase, and the market competitiveness constantly declines.
For the problems referred to above, the automation of fastening assembling will become the inexorable trend of next step development of equipment manufacture industry, enterprise could be helped effectively to enhance productivity, reduce production cost, reduce labour intensity, improve the quality of products, further enterprise competitive strength.
Applicant Dalian Yun Ming Automation Technology Co., Ltd. is absorbed in research and development and the industrialization of automatic fastening device in recent years, has multinomial patented technology.Multi-shaft blowing distribution type high-speed intelligent automatic bolt-fastening assembly machine (patent No. 201110138253.1), the high-speed intelligent fastening mounting plate system (patent No. 201110227446.4) of application all obtain invention patent mandate, also have many applications to review in addition.But these technology all do not relate to the automatic clamping and placing technology of workpiece to be tightened.Therefore, need for actual market, we research and develop this.
Summary of the invention
The present invention, in order to solve the above-mentioned series of problems occurred in the existing fastening mode of production, provides the automatic clamping and placing workpiece module of a kind of tightening machine people.
The technical solution adopted for the present invention to solve the technical problems is:
This OK a karaoke club arm end output shaft lower connecting plate bottom arranges and picks and places workpiece module, whole module installation is on the feeding slide unit of band spring, feeding slide unit is arranged gas pawl unit, gas pawl unit comprises gas pawl cylinder and grip block, arranges alignment pin in grip block inboard; When getting workpiece, Z axis servo unit moves to workpiece top, and alignment pin touches Workpiece fixing, and gas pawl unit opens grip block grabbing workpiece, and by workpiece movable to workpiece nailing position, tightening and loosening module performs nailing tightening action.
The tightening and loosening robot of a kind of automatic clamping and placing workpiece that the present invention is applied to mainly comprises fastener arrays device, automatic feed mechanism; Described fastener arrays device comprises rolling barrel, rolling barrel is driven by the micromachine arranging its underpart, rolling barrel discharging opening connects guide rail, securing member rolls in storing rolling barrel, directed sorting structure and the removal of impurity groove of guide rail head end is entered by Action of Gravity Field, rail direct line segment is provided with piezoelectric type straight-line oscillation unit, photoelectric sensor, and guide rail end arranges separator; Realize the compact sequence of securing member and feeding by the dither of piezoelectric type straight-line oscillation unit, starting sequence from guide rail end is a fastener arrays, waits for the pickup of separator; Photoelectric sensor is used for setting the length of fastener arrays; Described automatic feed mechanism is provided with the proximity transducer whether securing member after for detection arrays sequence arrives position to be separated, and separator is connected to feeding sleeve pipe, and feeding sleeve pipe is connected to material receiving device, and annular inductance type transducer installed outward by feeding sleeve pipe;
Also comprise tightening and loosening module, get nail storage module; This OK a karaoke club manipulator is arranged on fastener arrays device side, and the upper and lower output shaft of its end arranges upper junction plate, lower connecting plate respectively, and arrange the slide unit of Z axis servo unit between two connecting plates, the slide block on slide unit arranges tightening and loosening module;
Tightening and loosening module comprises rotating servomotor, rotating servomotor connects cutter head by output shaft, nail pipe inhaled by output shaft overcoat, cutter head is other to be arranged by nail device, and nail mouth is other arranges screw with or without sensor, detects and has during nail and could perform spiking action, by nail device is other, anti-dropping nail unit is set, anti-dropping nail unit comprises cylinder and block, and when cutter head performs screw fastening or dismounting action, block is opened, during all the other actions, block closes nail mouth, prevents coming off of screw; During knockout screw, Z axis servo unit moves to above workpiece, the rotating servomotor of tightening and loosening module reversely rotates, after taking down first screw, Z axis servo unit moves to gets nail storage module, get nail storage module and comprise staple cartridge, staple cartridge is arranged and connects nail gas pawl unit, comprise be arranged on connect nail cylinder on connect nail grip block, after screw is sent into and is connect nail grip block by tightening and loosening module, opening after connecing nail grip block pinching screw makes screw fall into staple cartridge again, prevents screw from not coming off from cutter head, and Z axis servo unit moves and drives row next dismounting action into.When getting last screw, pick and place the grip block holding workpiece simultaneously of workpiece module gas pawl unit, Z axis servo unit moves to Workpiece storage place, unclamps workpiece, performs screw afterwards again and deposits action.
The invention has the beneficial effects as follows: innovate further on screw machine basis in the past, increase Si Kala manipulator, pick and place workpiece module, realize workpiece and be taken into and deposit unmanned function, make the present invention have complete function, automaticity is high, efficiency is high advantage.
Accompanying drawing explanation
Below in conjunction with accompanying drawing and concrete embodiment, the present invention will be further described.
Fig. 1 is the structure principle chart that the present invention is applied in system.
Fig. 2 is the tightening and loosening module principle figure that the present invention is applied in system.
In figure, 1. fastener arrays device, 2. this OK a karaoke club manipulator, 3. pick and place workpiece module, 4. tightening and loosening module, 6. upper junction plate, 7. lower connecting plate, 8.Z axle servo unit, 9. rotating servomotor, 10. inhale nail pipe, 11. by nail device, and 12. screws are with or without sensor, 13. cylinders, 14. blocks, 15. feeding slide units, 16. gas pawl unit, 17. gas pawl cylinders, 18. grip blocks, 19. alignment pins, 20. workpiece, 21. get nail storage module, 22. workpiece nailing positions, 23. staple cartridges, 24. connect nail cylinder, and 25. connect nail grip block, 26. vacuum generator interfaces, 27. nailing cylinders.
Detailed description of the invention
The embodiment of the present invention is as follows: the automatic clamping and placing workpiece module of a kind of tightening machine people, is below the embodiment of the tightening and loosening robot of a kind of automatic clamping and placing workpiece that it is specifically applied to,
This robot comprises fastener arrays device 1, automatic feed mechanism;
Described fastener arrays device 1 comprises rolling barrel, rolling barrel is driven by the micromachine arranging its underpart, rolling barrel discharging opening connects guide rail, securing member rolls in storing rolling barrel, directed sorting structure and the removal of impurity groove of guide rail head end is entered by Action of Gravity Field, rail direct line segment is provided with piezoelectric type straight-line oscillation unit, photoelectric sensor, and guide rail end arranges separator; Realize the compact sequence of securing member and feeding by the dither of piezoelectric type straight-line oscillation unit, starting sequence from guide rail end is a fastener arrays, waits for the pickup of separator; Photoelectric sensor is used for setting the length of fastener arrays; Described automatic feed mechanism is provided with the proximity transducer whether securing member after for detection arrays sequence arrives position to be separated, and separator is connected to feeding sleeve pipe, and feeding sleeve pipe is connected to material receiving device, and annular inductance type transducer installed outward by feeding sleeve pipe;
Also comprise Si Kala manipulator 2, pick and place workpiece module 3, tightening and loosening module 4, get nail storage module 21; This OK a karaoke club manipulator is arranged on fastener arrays device 1 side, and the upper and lower output shaft of its end arranges the slide unit arranging Z axis servo unit 8 between upper junction plate 6, lower connecting plate 7, two connecting plates respectively, and the slide block on slide unit arranges tightening and loosening module 4;
Tightening and loosening module 4 comprises rotating servomotor 9, rotating servomotor 9 connects cutter head by output shaft, nail pipe 10 inhaled by output shaft overcoat, cutter head is other to be arranged by nail device 11, feeding sleeve pipe is connected by nail device, nail mouth by nail device 11 bottom is other arranges screw with or without sensor 12, detection has during nail could perform spiking action, by nail device is other, anti-dropping nail unit is set, anti-dropping nail unit comprises cylinder 13 and block 14, when cutter head performs screw fastening or dismounting action, block 14 is opened, and during all the other actions, block 14 closes nail mouth, prevents coming off of screw;
Described suction nail pipe 10 is connected with vacuum generator interface 26, and adopt vacuum to inhale nail, rotating servomotor 9 bottom arranges nailing cylinder 27.
Lower connecting plate 7 bottom arranges and picks and places workpiece module 3, and whole module installation is on the feeding slide unit 15 of band spring, and feeding slide unit is arranged gas pawl unit 16, gas pawl unit comprises gas pawl cylinder 17 and grip block 18, arranges alignment pin 19 in grip block inboard; When getting workpiece, Z axis servo unit 8 moves to workpiece 20 top, and alignment pin 19 touches workpiece 20 and locates, and gas pawl unit opens grip block 18 grabbing workpiece, and by workpiece movable to workpiece nailing position 22, tightening and loosening module 4 performs nailing tightening action.
During knockout screw, Z axis servo unit 8 moves to above workpiece 20, the rotating servomotor 9 of tightening and loosening module 4 reversely rotates, after taking down first screw, Z axis servo unit 8 moves to gets nail storage module 21, get nail storage module 21 and comprise staple cartridge 23, staple cartridge is arranged and connects nail gas pawl unit, comprise be arranged on connect nail cylinder 24 on connecing nail grip block 25, after screw is sent into and is connect nail grip block 25 by tightening and loosening module 4, opening after connecing nail grip block pinching screw makes screw fall into staple cartridge 23 again, prevent screw from not coming off from cutter head, Z axis servo unit 8 moves and drives row next dismounting action into.When getting last screw, pick and place grip block 18 holding workpiece simultaneously of workpiece module 5 gas pawl unit, Z axis servo unit 8 moves to workpiece 20 storeroom, unclamps workpiece, performs screw afterwards again and deposits action.
Protection of the present invention is not limited to this embodiment, and the technical scheme similar to the principle of the invention is all within this protection domain.
Claims (1)
1. the automatic clamping and placing workpiece module of a tightening machine people, it is characterized in that: Si Kala arm end output shaft lower connecting plate (7) bottom arranges and picks and places workpiece module (3), whole module installation is on the feeding slide unit (15) of band spring, feeding slide unit is arranged gas pawl unit (16), gas pawl unit comprises gas pawl cylinder (17) and grip block (18), arranges alignment pin (19) in grip block inboard; When getting workpiece, Z axis servo unit (8) moves to workpiece (20) top, alignment pin (19) touches workpiece (20) location, gas pawl unit opens grip block (18) grabbing workpiece, and by workpiece movable to workpiece nailing position (22).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410855523.4A CN104589045A (en) | 2014-12-31 | 2014-12-31 | Automatic workpiece taking and placing module for fastening robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410855523.4A CN104589045A (en) | 2014-12-31 | 2014-12-31 | Automatic workpiece taking and placing module for fastening robot |
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| CN104589045A true CN104589045A (en) | 2015-05-06 |
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| CN201410855523.4A Pending CN104589045A (en) | 2014-12-31 | 2014-12-31 | Automatic workpiece taking and placing module for fastening robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107751024A (en) * | 2017-09-29 | 2018-03-06 | 必然科技有限公司 | Pet tractor automatic assembling and automatic assembling flow path |
| CN107932544A (en) * | 2017-12-23 | 2018-04-20 | 安徽航大智能科技有限公司 | A kind of manipulator for shifting and fixing for new energy battery modules |
| CN108857360A (en) * | 2018-07-27 | 2018-11-23 | 江苏云天高胜机器人科技有限公司 | Charging screw dismounting device for battery |
Citations (6)
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| JPH11285931A (en) * | 1998-03-31 | 1999-10-19 | Nitto Seiko Co Ltd | Screw holding unit of automatic screw driving machine |
| CN101537563A (en) * | 2008-03-20 | 2009-09-23 | 苏州铂电自动化科技有限公司 | Multi-shaft symmetric flexible assembly system for synchronous automatic-screwed screws |
| CN102581605A (en) * | 2012-03-01 | 2012-07-18 | 深圳市中科创安科技有限公司 | Multi-workstation nut clamping and conveying device |
| CN103722364A (en) * | 2013-12-05 | 2014-04-16 | 慈溪市海力丰塑料制品厂(普通合伙) | Machining method of automatic bolt screwing |
| CN103746249A (en) * | 2013-12-26 | 2014-04-23 | 昆山福易雅自动化科技有限公司 | Connector cover plate clamping conveying mounting mechanism |
| JP2014083677A (en) * | 2012-10-26 | 2014-05-12 | Industrial Technology Research Institute | Automatic screw fastening machine |
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2014
- 2014-12-31 CN CN201410855523.4A patent/CN104589045A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11285931A (en) * | 1998-03-31 | 1999-10-19 | Nitto Seiko Co Ltd | Screw holding unit of automatic screw driving machine |
| CN101537563A (en) * | 2008-03-20 | 2009-09-23 | 苏州铂电自动化科技有限公司 | Multi-shaft symmetric flexible assembly system for synchronous automatic-screwed screws |
| CN102581605A (en) * | 2012-03-01 | 2012-07-18 | 深圳市中科创安科技有限公司 | Multi-workstation nut clamping and conveying device |
| JP2014083677A (en) * | 2012-10-26 | 2014-05-12 | Industrial Technology Research Institute | Automatic screw fastening machine |
| CN103722364A (en) * | 2013-12-05 | 2014-04-16 | 慈溪市海力丰塑料制品厂(普通合伙) | Machining method of automatic bolt screwing |
| CN103746249A (en) * | 2013-12-26 | 2014-04-23 | 昆山福易雅自动化科技有限公司 | Connector cover plate clamping conveying mounting mechanism |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107751024A (en) * | 2017-09-29 | 2018-03-06 | 必然科技有限公司 | Pet tractor automatic assembling and automatic assembling flow path |
| CN107932544A (en) * | 2017-12-23 | 2018-04-20 | 安徽航大智能科技有限公司 | A kind of manipulator for shifting and fixing for new energy battery modules |
| CN108857360A (en) * | 2018-07-27 | 2018-11-23 | 江苏云天高胜机器人科技有限公司 | Charging screw dismounting device for battery |
| CN108857360B (en) * | 2018-07-27 | 2023-07-28 | 江苏云天高胜机器人科技有限公司 | Charging screw dismounting device for storage battery |
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Application publication date: 20150506 |
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