CN104647016A - Automatic fastening disassembling module for fastening robot - Google Patents
Automatic fastening disassembling module for fastening robot Download PDFInfo
- Publication number
- CN104647016A CN104647016A CN201410849460.1A CN201410849460A CN104647016A CN 104647016 A CN104647016 A CN 104647016A CN 201410849460 A CN201410849460 A CN 201410849460A CN 104647016 A CN104647016 A CN 104647016A
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- China
- Prior art keywords
- screw
- nail
- fastening
- module
- workpiece
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Classifications
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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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Portable Nailing Machines And Staplers (AREA)
Abstract
The invention relates to an automatic fastening disassembling module for a fastening robot, which is characterized in that a forward and reverse rotation servo motor(9) is connected with a cutting head by an output shaft; the output shaft is sleeved with a screw suction pipe (10); a screw acceptor (11) is arranged beside the cutting head; a screw sensor (12) is arranged beside a screw outlet at the lower part of the screw acceptor (11); when the screw sensor (12) detects that a screw exists, the nailing action can be executed; a screw anti-falling unit is arranged beside the screw acceptor; the screw anti-falling unit comprises a cylinder (13) and a check block (14); when the cutting head executes the screw fastening or disassembling action, the check block (14) is opened; when the cutting head executes other actions, the check block (14) seals up the screw outlet to prevent the screw from falling off. The automatic fastening disassembling module is further innovated on the basis of a conventional screw machine and can utilize the forward and reverse rotation servo motor to execute a screw disassembling function, and thus, the automatic fastening disassembling module has the advantages of complete functions, high automation degree and high efficiency.
Description
Technical field
The present invention relates to a kind of intelligent fastening-assembling machine device people, particularly relate to the module of its automatic fastening
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 dismantling technology yet not relating to screw.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 fastening dismounting module of a kind of tightening machine people.The technical solution adopted for the present invention to solve the technical problems is:
Comprise 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;
The tightening and loosening robot of a kind of automatic clamping and placing workpiece that the present invention is applied to can comprise 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 Si Kala (SCARA) manipulator, pick and place workpiece 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;
Lower connecting plate bottom arranges and picks and places workpiece module, and whole module installation is on the feeding slide unit of band spring, and 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.
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, tightening and loosening module can utilize rotating servomotor to perform screw disassembling function, makes 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 automatic fastening of the present invention dismounting module section schematic diagram.
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:
A tightening machine people's automatic fastening dismounting module 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 (SCARA) 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 fastening dismounting module of a tightening machine people, it is characterized in that: comprise 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), 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, during all the other actions, block (14) closes nail mouth, prevent coming off of screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410849460.1A CN104647016A (en) | 2014-12-31 | 2014-12-31 | Automatic fastening disassembling module for fastening robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410849460.1A CN104647016A (en) | 2014-12-31 | 2014-12-31 | Automatic fastening disassembling module for fastening robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104647016A true CN104647016A (en) | 2015-05-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410849460.1A Pending CN104647016A (en) | 2014-12-31 | 2014-12-31 | Automatic fastening disassembling module for fastening robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104647016A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112571417A (en) * | 2020-12-14 | 2021-03-30 | 福建农林大学 | Interim fastener and automatic assembly manipulator thereof |
| CN114434134A (en) * | 2022-02-09 | 2022-05-06 | 苏州天准科技股份有限公司 | Tightening device and assembling device for motor vehicle parts |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07185961A (en) * | 1993-12-27 | 1995-07-25 | Nkk Corp | Screwing device and screwing method |
| US5579570A (en) * | 1995-02-06 | 1996-12-03 | Trio Tool Company | Apparatus for preloading pinion bearing |
| CN202985058U (en) * | 2012-11-23 | 2013-06-12 | 大连运明自动化技术有限公司 | Vacuum absorbing type high-speed intelligent automatic screw-fastening mechanism |
| CN202985061U (en) * | 2012-11-23 | 2013-06-12 | 大连运明自动化技术有限公司 | Automatic screw-supply universal type high-speed intelligent tightening machine |
-
2014
- 2014-12-31 CN CN201410849460.1A patent/CN104647016A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07185961A (en) * | 1993-12-27 | 1995-07-25 | Nkk Corp | Screwing device and screwing method |
| US5579570A (en) * | 1995-02-06 | 1996-12-03 | Trio Tool Company | Apparatus for preloading pinion bearing |
| CN202985058U (en) * | 2012-11-23 | 2013-06-12 | 大连运明自动化技术有限公司 | Vacuum absorbing type high-speed intelligent automatic screw-fastening mechanism |
| CN202985061U (en) * | 2012-11-23 | 2013-06-12 | 大连运明自动化技术有限公司 | Automatic screw-supply universal type high-speed intelligent tightening machine |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112571417A (en) * | 2020-12-14 | 2021-03-30 | 福建农林大学 | Interim fastener and automatic assembly manipulator thereof |
| CN112571417B (en) * | 2020-12-14 | 2022-05-24 | 福建农林大学 | Interim fastener and automatic assembly manipulator thereof |
| CN114434134A (en) * | 2022-02-09 | 2022-05-06 | 苏州天准科技股份有限公司 | Tightening device and assembling device for motor vehicle parts |
| CN114434134B (en) * | 2022-02-09 | 2022-11-22 | 苏州天准科技股份有限公司 | Tightening device for motor vehicle parts and assembling device |
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| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20150527 |
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| RJ01 | Rejection of invention patent application after publication |