CN104828559A - R-axis suction nozzle mechanism mountable on manipulator - Google Patents

R-axis suction nozzle mechanism mountable on manipulator Download PDF

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Publication number
CN104828559A
CN104828559A CN201510195530.0A CN201510195530A CN104828559A CN 104828559 A CN104828559 A CN 104828559A CN 201510195530 A CN201510195530 A CN 201510195530A CN 104828559 A CN104828559 A CN 104828559A
Authority
CN
China
Prior art keywords
axle
suction nozzle
axis
shaft
rod
Prior art date
Application number
CN201510195530.0A
Other languages
Chinese (zh)
Inventor
吕绍林
汪炉生
李忠
夏俊明
占枝武
Original Assignee
苏州博众精工科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 苏州博众精工科技有限公司 filed Critical 苏州博众精工科技有限公司
Priority to CN201510195530.0A priority Critical patent/CN104828559A/en
Publication of CN104828559A publication Critical patent/CN104828559A/en

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Abstract

The invention relates to an R-axis suction nozzle mechanism mountable on a manipulator. The lower end of an R-axis stepping motor is connected with an R-axis screw rod by means of an R-axis coupler. The lower end of an R-axis stepping motor installing plate is connected with an R-axis guide sleeve seat via R-axis support columns. The lower end of the R-axis guide sleeve seat is provided with an upper clamping block. The R-axis screw rod is connected with an R-axis connecting rod via an R-axis screw rod nut. Upper and lower ends of an R-axis fixing shaft are provided with an R-axis upper clamping block and an R-axis lower clamping block. The lower end of the R-axis lower clamping block is fixedly connected with an R-axis connecting sleeve. The R-axis connecting rod sequentially penetrates through the R-axis fixing shaft and the R-axis connecting sleeve. The lower end of the R-axis connecting rod is connected with an R-axis movable rod. The right lower end of the R-axis connecting sleeve is movably connected with an R-axis suction nozzle seat. The left end of the R-axis suction nozzle seat is movably connected with the R-axis movable rod. The lower end of the R-axis suction nozzle seat is provided with an R-axis suction nozzle. The R-axis stepping motor drives the R-axis screw rod and further drives the R-axis connecting rod to descend. The R-axis suction nozzle rotates at the position for standard operation in such a manner that the R-axis movable rod drives the R-axis suction nozzle to upwardly bend at certain degree.

Description

A kind of R axle suction nozzle body installed on a robotic arm

Technical field:

The present invention relates to R axle suction nozzle apparatus field, relate to the mechanism that a kind of made R axle suction nozzle installed on a robotic arm turns to standard operation position in particular.

Background technology:

In Electronic products manufacturing process, such as mobile phone, needs assembling button on electronic product.In the factory that some are small, the assembling of electronic product key is all to be picked up by button with pincet by workman to be placed in corresponding casing mounting hole, then the small washer of button is picked up the center being placed into button by workman with pincet, finally with screw, key support is locked on product, button is fixed to product from the back side.Such assembling button has following shortcoming:

(1) pick up with fitting operation inconvenient with pincet, speed is slow, and button and pad easily come off, and workman is easily tired, inefficiency.

(2) with pincet pick up button put into mounting hole time, easily cause button and mounting hole misalignment.

(3) spacer thickness of filling between button and key support is selected to be not suitable for, and affects the effect of button.

And in some integrated mills, although have key assembling to the machine on electronic product, but button to be attached on packing ring and to be assembled on electronic product and to select appropriate spacers and the process fitted on support separate by pad, be that the different individual machine of employing is to complete whole work.When button is attached on packing ring, suction nozzle is needed to draw button, adjustment key position, suction nozzle is made to swing an angle, again button winding displacement is inserted in packing ring, adjust the angle of button again until level, be then attached on packing ring by button, the mechanism of the rotatable certain angle of a kind of suction nozzle of this process need has come.

Summary of the invention:

The object of the invention is for the deficiencies in the prior art part, a kind of R axle suction nozzle body installed on a robotic arm is provided, R shaft step motor drives, R axial filament bar rotates, R axle connecting rod is driven to decline, drive R axle suction nozzle seat upwards to bend up certain angle by R axle portable bar, make R axle suction nozzle turn to standard operation position.

Technology solution of the present invention is as follows:

A kind of R axle suction nozzle body installed on a robotic arm, it comprises R shaft step motor, described R shaft step motor is arranged on R spindle motor adapter plate, the lower end of described R shaft step motor is linked together by R axle coupler and R axial filament bar, described R spindle motor adapter plate lower end is connected with R spindle guide block set by R axle pillar stiffener, and R spindle guide block set lower end is provided with R axle upper clamping block; Described R axial filament bar is linked together by R axial filament stem nut and R axle connecting rod; The lower end of described R axle upper clamping block is connected with R axle anchor shaft, and the lower end of R axle anchor shaft is connected with clamp under R axle, and under R axle, the lower end of clamp is fixedly connected with R axle adapter sleeve; Described R axle connecting rod is successively through R axle anchor shaft and R axle adapter sleeve, and lower end and the R axle portable bar of R axle connecting rod link together; The bottom righthand side of described R axle adapter sleeve is flexibly connected R axle suction nozzle seat, and the left end of R axle suction nozzle seat and R axle portable bar are movably connected; Described R axle suction nozzle seat lower end is provided with R axle suction nozzle.

Described R shaft step motor drives R axial filament bar to rotate, and drives R axle connecting rod to decline a segment distance, drives R axle suction nozzle seat upwards to bend up certain angle, make R axle suction nozzle turn to standard operation position by R axle portable bar.

As preferably, described R axle pillar stiffener is by four, and symmetry is arranged on the top of R spindle guide block set.

As preferably, described R axle suction nozzle seat passes on left rotating shaft and is connected with R axle portable bar lower end, is connected on the right side of R axle suction nozzle seat by rotating shaft with R axle adapter sleeve.

As preferably, on the right side of described R spindle motor adapter plate, R axis photoelectric sensor erecting frame is installed, R axis photoelectric sensor erecting frame is provided with R axis photoelectric sensor.

As preferably, the S. A. top of described R shaft step motor is provided with R axle sensing chip mounting blocks, R axle sensing chip mounting blocks is provided with the R axle sensing chip matched with R axis photoelectric sensor.

As preferably, the sidepiece of described R spindle guide block set is provided with R axle sensor permanent seat, R axle sensor permanent seat is fixedly connected with R axle proximity transducer.

As preferably, described R axle anchor shaft is hollow sleeve structure, and R axle connecting rod can pass in hollow sleeve.

As preferably, the two ends up and down of described R axle anchor shaft are respectively equipped with clamp under R axle upper clamping block and R axle, and R axle upper clamping block is spirally connected and is fixed on R spindle guide block set bottom, and under R axle, clamp is spirally connected and is fixed on the top of R axle adapter sleeve.

Beneficial effect of the present invention is:

R shaft step motor of the present invention drives, R axial filament bar drives R axle connecting rod to decline, R axle suction nozzle seat is driven upwards to bend up certain angle by R axle portable bar, R axle suction nozzle is turned an angle to standard operation position, adsorption production under R axle suction nozzle, product can be made like this to turn an angle, be convenient to the carrying out of next step operation, the present invention's cooperation is installed on manipulator and uses, its manipulator drives R axle suction nozzle to be transported on required position by the product below R axle suction nozzle, it is simple to operate, practical, easy to use.

Accompanying drawing illustrates:

Below in conjunction with accompanying drawing, the present invention is described further:

Fig. 1 is structural representation of the present invention;

Fig. 2 is another structural representation of the present invention;

Fig. 3 is the structural representation that the present invention is installed on manipulator.

Detailed description of the invention:

Embodiment, see accompanying drawing 1 ~ 3, a kind of R axle suction nozzle body installed on a robotic arm, it comprises R shaft step motor 1, and described R shaft step motor to be arranged on R spindle motor adapter plate 2, and the lower end of described R shaft step motor is linked together by R axle coupler 3 and R axial filament bar 4, described R spindle motor adapter plate lower end is connected with R spindle guide block set 6 by R axle pillar stiffener 5, R spindle guide block set lower end is provided with R axle upper clamping block 7, R axle pillar stiffener by four, and symmetry is arranged on the top of R spindle guide block set.

On the right side of described R spindle motor adapter plate, R axis photoelectric sensor erecting frame 8 is installed, R axis photoelectric sensor erecting frame is provided with R axis photoelectric sensor 9, the S. A. top of described R shaft step motor is provided with R axle sensing chip mounting blocks 10, R axle sensing chip mounting blocks is provided with the R axle sensing chip 11 matched with R axis photoelectric sensor, R shaft step motor rotates, and its angle rotated is determined by R axis photoelectric sensor.

The sidepiece of described R spindle guide block set is provided with R axle sensor permanent seat 12, R axle sensor permanent seat is fixedly connected with R axle proximity transducer 13, R axle proximity transducer carries out without the need to contact detection object the sensor being detected as object, can detected object mobile message and there is information and be converted to electric signal.

Described R axial filament bar is linked together by R axial filament stem nut 14 and R axle connecting rod 15; The lower end of described R axle upper clamping block is connected with R axle anchor shaft 16, and the lower end of R axle anchor shaft is connected with clamp 17 under R axle, R axle anchor shaft is hollow sleeve structure, and R axle connecting rod can pass in hollow sleeve, and under R axle, the lower end of clamp is fixedly connected with R axle adapter sleeve 18; Described R axle connecting rod is successively through R axle anchor shaft and R axle adapter sleeve, and lower end and the R axle portable bar 19 of R axle connecting rod link together; The bottom righthand side of described R axle adapter sleeve is connected to R axle suction nozzle seat 20 by rotating shaft, and the left end of R axle suction nozzle seat and R axle portable bar are movably connected by rotating shaft; Described R axle suction nozzle seat lower end is provided with R axle suction nozzle 21.

The two ends up and down of described R axle anchor shaft are respectively equipped with clamp under R axle upper clamping block and R axle, and R axle upper clamping block is spirally connected and is fixed on R spindle guide block set bottom, and under R axle, clamp is spirally connected and is fixed on the top of R axle adapter sleeve.

Principle of work of the present invention: the present invention is installed to after on manipulator 22, robot movement, R axle suction nozzle is moved to button place and draw button, first insert in packing ring by button winding displacement, then R shaft step motor drives R axial filament bar to rotate, R axle connecting rod is driven to decline a segment distance, drive R axle suction nozzle seat upwards to bend up certain angle by R axle portable bar, button, until level, is then attached on packing ring by the angle of adjustment button, then R axle suction nozzle vacuum breaker, and pressurize is carried out to button.

Above-described embodiment is the specific descriptions of carrying out the present invention; just the present invention is further described; can not be interpreted as limiting the scope of the present invention, those skilled in the art makes some nonessential improvement according to the content of foregoing invention and adjustment all falls within protection scope of the present invention.

Claims (8)

1. one kind R axle suction nozzle body on a robotic arm can be installed, it comprises R shaft step motor, described R shaft step motor is arranged on R spindle motor adapter plate, the lower end of described R shaft step motor is linked together by R axle coupler and R axial filament bar, it is characterized in that: described R spindle motor adapter plate lower end is connected with R spindle guide block set by R axle pillar stiffener, and R spindle guide block set lower end is provided with R axle upper clamping block; Described R axial filament bar is linked together by R axial filament stem nut and R axle connecting rod; The lower end of described R axle upper clamping block is connected with R axle anchor shaft, and the lower end of R axle anchor shaft is connected with clamp under R axle, and under R axle, the lower end of clamp is fixedly connected with R axle adapter sleeve; Described R axle connecting rod is successively through R axle anchor shaft and R axle adapter sleeve, and lower end and the R axle portable bar of R axle connecting rod link together; The bottom righthand side of described R axle adapter sleeve is flexibly connected R axle suction nozzle seat, and the left end of R axle suction nozzle seat and R axle portable bar are movably connected; Described R axle suction nozzle seat lower end is provided with R axle suction nozzle;
Described R shaft step motor drives R axial filament bar to rotate, and drives R axle connecting rod to decline a segment distance, drives R axle suction nozzle seat upwards to bend up certain angle, make R axle suction nozzle turn to standard operation position by R axle portable bar.
2. a kind of R axle suction nozzle body installed on a robotic arm according to claim 1, is characterized in that: described R axle pillar stiffener is by four, and symmetry is arranged on the top of R spindle guide block set.
3. a kind of R axle suction nozzle body installed on a robotic arm according to claim 1 and 2, is characterized in that: described R axle suction nozzle seat passes on left rotating shaft and is connected with R axle portable bar lower end, is connected on the right side of R axle suction nozzle seat by rotating shaft with R axle adapter sleeve.
4. a kind of R axle suction nozzle body installed on a robotic arm according to claim 1, is characterized in that: be provided with R axis photoelectric sensor erecting frame on the right side of described R spindle motor adapter plate, R axis photoelectric sensor erecting frame is provided with R axis photoelectric sensor.
5. a kind of R axle suction nozzle body installed on a robotic arm according to claim 4, it is characterized in that: the S. A. top of described R shaft step motor is provided with R axle sensing chip mounting blocks, R axle sensing chip mounting blocks is provided with the R axle sensing chip matched with R axis photoelectric sensor.
6. a kind of R axle suction nozzle body installed on a robotic arm according to claim 1, is characterized in that: the sidepiece of described R spindle guide block set is provided with R axle sensor permanent seat, R axle sensor permanent seat is fixedly connected with R axle proximity transducer.
7. a kind of R axle suction nozzle body installed on a robotic arm according to claim 1, is characterized in that: described R axle anchor shaft is hollow sleeve structure, and R axle connecting rod can pass in hollow sleeve.
8. a kind of R axle suction nozzle body installed on a robotic arm according to claim 1, it is characterized in that: the two ends up and down of described R axle anchor shaft are respectively equipped with clamp under R axle upper clamping block and R axle, and R axle upper clamping block is spirally connected and is fixed on R spindle guide block set bottom, under R axle, clamp is spirally connected and is fixed on the top of R axle adapter sleeve.
CN201510195530.0A 2015-04-23 2015-04-23 R-axis suction nozzle mechanism mountable on manipulator CN104828559A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510195530.0A CN104828559A (en) 2015-04-23 2015-04-23 R-axis suction nozzle mechanism mountable on manipulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201510195530.0A CN104828559A (en) 2015-04-23 2015-04-23 R-axis suction nozzle mechanism mountable on manipulator

Publications (1)

Publication Number Publication Date
CN104828559A true CN104828559A (en) 2015-08-12

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201510195530.0A CN104828559A (en) 2015-04-23 2015-04-23 R-axis suction nozzle mechanism mountable on manipulator

Country Status (1)

Country Link
CN (1) CN104828559A (en)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07116984A (en) * 1993-08-30 1995-05-09 Sanyo Electric Co Ltd Robot hand and part supplier using this robot hand
CN104117847A (en) * 2014-07-15 2014-10-29 苏州博众精工科技有限公司 Screw locking device
CN104368952A (en) * 2014-11-19 2015-02-25 苏州博众精工科技有限公司 Sucker device with automatic angle adjustment function
CN204235066U (en) * 2014-11-19 2015-04-01 苏州博众精工科技有限公司 A kind of can the suction head apparatus of adjusting angle automatically
CN204643146U (en) * 2015-04-23 2015-09-16 苏州博众精工科技有限公司 A kind of R axle suction nozzle body installed on a robotic arm

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07116984A (en) * 1993-08-30 1995-05-09 Sanyo Electric Co Ltd Robot hand and part supplier using this robot hand
CN104117847A (en) * 2014-07-15 2014-10-29 苏州博众精工科技有限公司 Screw locking device
CN104368952A (en) * 2014-11-19 2015-02-25 苏州博众精工科技有限公司 Sucker device with automatic angle adjustment function
CN204235066U (en) * 2014-11-19 2015-04-01 苏州博众精工科技有限公司 A kind of can the suction head apparatus of adjusting angle automatically
CN204643146U (en) * 2015-04-23 2015-09-16 苏州博众精工科技有限公司 A kind of R axle suction nozzle body installed on a robotic arm

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Application publication date: 20150812

RJ01 Rejection of invention patent application after publication