CN104647018A - Workpiece picking-placing and fastening module for fastening robot - Google Patents
Workpiece picking-placing and fastening module for fastening robot Download PDFInfo
- Publication number
- CN104647018A CN104647018A CN201410856003.5A CN201410856003A CN104647018A CN 104647018 A CN104647018 A CN 104647018A CN 201410856003 A CN201410856003 A CN 201410856003A CN 104647018 A CN104647018 A CN 104647018A
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- workpiece
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- fastening
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- 230000007246 mechanism Effects 0.000 claims abstract description 5
- 230000009471 action Effects 0.000 claims description 13
- 238000003491 array Methods 0.000 claims description 11
- 238000001514 detection method Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 238000012421 spiking Methods 0.000 claims description 3
- 230000008901 benefit Effects 0.000 abstract description 2
- 238000003860 storage Methods 0.000 abstract description 2
- ZLIBICFPKPWGIZ-UHFFFAOYSA-N pyrimethanil Chemical compound CC1=CC(C)=NC(NC=2C=CC=CC=2)=N1 ZLIBICFPKPWGIZ-UHFFFAOYSA-N 0.000 abstract 4
- 238000005516 engineering process Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 5
- 238000005096 rolling process Methods 0.000 description 4
- 238000011161 development Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000010355 oscillation Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 230000002860 competitive effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Abstract
The invention relates to a workpiece picking-placing and fastening module for a fastening robot, which is collaborative with a fastener array device (1), an automatic feeding mechanism and a Scala manipulator (2) to work. The Scala manipulator is arranged at one side of the fastener array device (1); an upper connection plate (6) and a lower connection plate (7) are respectively arranged on upper and lower output shafts at the tail end of the Scala manipulator; a sliding table of a Z-axis servo unit (8) is arranged between the two connection plates; a sliding block on the sliding table is provided with a fastening module (4). The workpiece picking-placing and fastening module is further innovated on the basis of a conventional screw machine; the Scala manipulator and a workpiece picking and placing module are added; a function of unmanned picking and storage of workpieces is implemented; the workpiece picking-placing and fastening 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 its workpiece automatic clamping and placing and fastened die block.
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, toner screw resist technology when yet not relating to screw fastening.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 that a kind of tightening machine people's pick and place workpiece and fastened die block.
The technical solution adopted for the present invention to solve the technical problems is:
With fastener arrays device, automatic feed mechanism, Si Kala machinery Handball Association with working; 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 fastened die block;
Fastened die block comprises fastening servomotor, fastening 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;
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, fastened die block performs nailing tightening 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; fastened die block is driven by servomotor and comparatively innovates; toner screw protection when simultaneously anti-dropping nail unit can carry out screw fastening, 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 fastened die block part-structure schematic diagram of the present invention.
In figure, 1. fastener arrays device, 2. this OK a karaoke club manipulator, 3. pick and place workpiece module, 4. fastened die block, 6. upper junction plate, 7. lower connecting plate, 8.Z axle servo unit, 9. fastening 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:
Tightening machine people picks and places workpiece and a fastened die block, is below the embodiment of the tightening machine people of a kind of automatic clamping and placing workpiece that it is specifically applied to,
A tightening machine people for automatic clamping and placing workpiece, 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, fastened die block 4; 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 fastened die block 4;
Fastened die block 4 comprises fastening servomotor 9, fastening 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, fastening 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, fastened die block 4 performs nailing tightening 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. tightening machine people pick and place workpiece and a fastened die block, with fastener arrays device (1), automatic feed mechanism, Si Kala manipulator (2) collaborative work; It is characterized in that: Si Kala manipulator is arranged on fastener arrays device (1) side, the upper and lower output shaft of its end arranges upper junction plate (6), lower connecting plate (7) respectively, arrange the slide unit of Z axis servo unit (8) between two connecting plates, the slide block on slide unit arranges fastened die block (4);
Fastened die block (4) comprises fastening servomotor (9), fastening 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,
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), fastened die block (4) performs nailing tightening action.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410856003.5A CN104647018B (en) | 2014-12-31 | 2014-12-31 | A kind of tightening machine people picks and places workpiece and fastening module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410856003.5A CN104647018B (en) | 2014-12-31 | 2014-12-31 | A kind of tightening machine people picks and places workpiece and fastening module |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104647018A true CN104647018A (en) | 2015-05-27 |
| CN104647018B CN104647018B (en) | 2017-01-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410856003.5A Active CN104647018B (en) | 2014-12-31 | 2014-12-31 | A kind of tightening machine people picks and places workpiece and fastening module |
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| Country | Link |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106003150A (en) * | 2016-06-30 | 2016-10-12 | 苏州塞默机械有限公司 | Mounting method of lightweight screw locking manipulator |
| CN110039274A (en) * | 2019-04-15 | 2019-07-23 | 邵阳学院 | A kind of radiating fan for computer assembly device |
| CN110091349A (en) * | 2019-06-05 | 2019-08-06 | 上海先惠自动化技术股份有限公司 | A kind of mechanism of automatic installation battery PACK high-tension terminal |
| CN114671243A (en) * | 2022-05-30 | 2022-06-28 | 福建（泉州）哈工大工程技术研究院 | Screw bullet pad combination charging equipment |
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| GB1153690A (en) * | 1966-05-12 | 1969-05-29 | Clyde Corp | Improvements in Nut-Running Apparatus |
| DE2549601A1 (en) * | 1975-11-05 | 1977-05-12 | Erich Klesatschke | Mechanical screw driver with head holding chuck - has tube form holder to hold screw head with some radial play to permit alignment |
| SU1440656A1 (en) * | 1986-06-23 | 1988-11-30 | Предприятие П/Я В-2620 | Screw driver loading mechanism |
| CN102139446A (en) * | 2011-02-14 | 2011-08-03 | 山东碧通通信技术有限公司 | Flexible bidirectional locked-wire mechanical arm |
| CN203171226U (en) * | 2013-01-14 | 2013-09-04 | 深圳富欣达自动化有限公司 | Feeding mechanism of full-automatic screw locking / unlocking machine |
| CN203566219U (en) * | 2013-11-29 | 2014-04-30 | 东莞市立迪电子科技有限公司 | Automatic screw locking equipment with manipulator |
| DE102012224045A1 (en) * | 2012-12-20 | 2014-06-26 | Weber Schraubautomaten Gmbh | Screw system for automatic feed-through of screw with screwing tool, has positioning head which is mounted slidably in direction of advance relative to blank holder and is supported at the blank holder |
| CN104043967A (en) * | 2013-03-14 | 2014-09-17 | 本田技研工业株式会社 | Super High Speed Bolt Delivery System |
| CN203853770U (en) * | 2014-04-25 | 2014-10-01 | 上海阿爱姆电器有限公司 | Turnplate type nut base installing and screw locking device for car door hinge |
| CN204019089U (en) * | 2014-08-27 | 2014-12-17 | 浙江巨力电机成套设备有限公司 | The drill chuck automatic assembly equipment of electric hand drill |
-
2014
- 2014-12-31 CN CN201410856003.5A patent/CN104647018B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1153690A (en) * | 1966-05-12 | 1969-05-29 | Clyde Corp | Improvements in Nut-Running Apparatus |
| DE2549601A1 (en) * | 1975-11-05 | 1977-05-12 | Erich Klesatschke | Mechanical screw driver with head holding chuck - has tube form holder to hold screw head with some radial play to permit alignment |
| SU1440656A1 (en) * | 1986-06-23 | 1988-11-30 | Предприятие П/Я В-2620 | Screw driver loading mechanism |
| CN102139446A (en) * | 2011-02-14 | 2011-08-03 | 山东碧通通信技术有限公司 | Flexible bidirectional locked-wire mechanical arm |
| DE102012224045A1 (en) * | 2012-12-20 | 2014-06-26 | Weber Schraubautomaten Gmbh | Screw system for automatic feed-through of screw with screwing tool, has positioning head which is mounted slidably in direction of advance relative to blank holder and is supported at the blank holder |
| CN203171226U (en) * | 2013-01-14 | 2013-09-04 | 深圳富欣达自动化有限公司 | Feeding mechanism of full-automatic screw locking / unlocking machine |
| CN104043967A (en) * | 2013-03-14 | 2014-09-17 | 本田技研工业株式会社 | Super High Speed Bolt Delivery System |
| CN203566219U (en) * | 2013-11-29 | 2014-04-30 | 东莞市立迪电子科技有限公司 | Automatic screw locking equipment with manipulator |
| CN203853770U (en) * | 2014-04-25 | 2014-10-01 | 上海阿爱姆电器有限公司 | Turnplate type nut base installing and screw locking device for car door hinge |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106003150A (en) * | 2016-06-30 | 2016-10-12 | 苏州塞默机械有限公司 | Mounting method of lightweight screw locking manipulator |
| CN110039274A (en) * | 2019-04-15 | 2019-07-23 | 邵阳学院 | A kind of radiating fan for computer assembly device |
| CN110039274B (en) * | 2019-04-15 | 2020-09-08 | 邵阳学院 | Computer radiator fan assembly quality |
| CN110091349A (en) * | 2019-06-05 | 2019-08-06 | 上海先惠自动化技术股份有限公司 | A kind of mechanism of automatic installation battery PACK high-tension terminal |
| CN114671243A (en) * | 2022-05-30 | 2022-06-28 | 福建（泉州）哈工大工程技术研究院 | Screw bullet pad combination charging equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104647018B (en) | 2017-01-04 |
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Effective date of registration: 20231013 Address after: No. 680 Hongcheng Road, Ganjingzi District, Dalian City, Liaoning Province, 116039 Patentee after: Dalian Youlian Intelligent Equipment Co.,Ltd. Address before: 116600 special mold workshop 5-2-8, No. 26, economic and Technological Development Zone, Dalian, Liaoning Province Patentee before: DALIAN YUN MING AUTOMATION TECHNOLOGY Co.,Ltd. |