CN105252263A - Multi-joint robot capable of automatically locking screws - Google Patents
Multi-joint robot capable of automatically locking screws Download PDFInfo
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- CN105252263A CN105252263A CN201510819128.5A CN201510819128A CN105252263A CN 105252263 A CN105252263 A CN 105252263A CN 201510819128 A CN201510819128 A CN 201510819128A CN 105252263 A CN105252263 A CN 105252263A
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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
Abstract
The invention provides a multi-joint robot capable of automatically locking screws. The multi-joint robot comprises a fixing supporting seat, a horizontal moving mechanism, a rotary mechanism, a vertical lifting mechanism, a screw screwing mechanism and a feeding mechanism, wherein the rotary mechanism is installed on the fixing supporting seat through the horizontal moving mechanism; the rotary mechanism is connected with the horizontal moving mechanism; the vertical lifting mechanism is arranged on the rotary mechanism; the screw screwing mechanism is arranged on the vertical lifting mechanism; the feeding mechanism is arranged at the lower end of the screw screwing mechanism. The multi-joint robot further comprises a screw recycling mechanism. The screw recycling mechanism is arranged under the screw screwing mechanism. The screw recycling mechanism is arranged, so that the problems that screws are sucked inclined in the locking process, the screws are abnormal in the screwing process, and then damage to products are caused are better solved through the screw recycling mechanism, the reject rate of the products is reduced, and meanwhile the quality of the products is improved. The multi-joint robot capable of automatically locking the screws is novel in structure, reasonable in design, convenient to operate, high in efficiency and low in reject rate of the products.
Description
Technical field
The present invention relates to assembly equipment technical field, particularly relate to a kind of automatic lock screw device of vibration feeding.
Background technology
Current in manufacturings such as numerous electronics, motor, mechanical five metals, toy and computer peripheral products, for the combination of workpiece and fixing, often come by lock screw, therefore screw in daily life and industry is played the part of indispensable role, and be widely used in every field.
The lock screw fashion of conventional workpiece, is usually that the hand-held electric screwdriver of staff or gas are criticized, and carries out locking operation again after manually screw being put into screw hole position.Obviously, the comparatively cumbersome and inefficiency of such operation.When adopting single shaft screw fixing machine, screw sub-material is slow, and electric screwdriver needs at multiple screw hole interdigits mobile operating repeatedly, and this is for the more product of screw, especially loaded down with trivial details, such as computor-keyboard etc.
For this reason, market is released a kind of manipulator locking screw, mostly be employing four axle or six axle construction, but although these manipulators roughly can meet instructions for use, but and current filature is on the market all XXZ rectangular co-ordinate pattern, control simple precision low, in use often occur that bolt is not put put in place and cause the accident of damage to occur to product or equipment, and often inhale askew in lock pair process at screw, screw exception commute product in the process of tightening causes damage, reduce the qualification rate of product, be thus difficult to be applied.
Summary of the invention
The object of the invention is to for the deficiencies in the prior art, a kind of articulated robot of automatic locking screw is provided, adopt integral type feeding system, there is the advantage that feeding is accurate and production efficiency is high.
The technical solution used in the present invention is as follows: a kind of articulated robot of automatic locking screw, comprises fixed supporting seat, horicontal motion mechanism, rotating mechanism, vertical lifting mechanism, the turn of the screw mechanism and feed mechanism, described horicontal motion mechanism is arranged on fixed supporting seat, rotating mechanism is connected with horicontal motion mechanism, described vertical lifting mechanism is arranged on rotating mechanism, described the turn of the screw mechanism is arranged on vertical lifting mechanism, and described feed mechanism is arranged on the lower end of the turn of the screw mechanism, it is characterized in that: also comprise a screw recovering mechanism, described screw recovering mechanism is arranged on the below of described the turn of the screw mechanism, and screw recovering mechanism comprises vacuum pressure switch, fixing sliding sleeve, connect nail slide block, screw recycling box, slide, reclaim cylinder, connecting rod, extension spring, the described nail slide block inside that connects is provided with draw-in groove, slide by extension spring be arranged on connect nail slide block draw-in groove in, connect nail slide block to be connected with recovery cylinder by connecting rod, by front and back action in fixing sliding sleeve under recovery cylinder action, connect on nail slide block and have circular hole, screw recycling box is arranged on below fixing sliding sleeve.
Further, described horicontal motion mechanism comprises Y-axis servo motor, toothed belt transmission assembly, Y-axis holder, line slide rail assembly, Y-axis screw component, Y-axis sliding panel and motor mounts, described Y-axis holder is arranged on fixed supporting seat, line slide rail assembly is fixed on Y-axis holder, Y-axis sliding panel is arranged on line slide rail assembly, Y-axis servo motor is fixed on the top of Y-axis sliding panel by a motor mounts, described Y-axis screw component is fixed on Y-axis holder by nut, Y-axis screw component one end is fixed on Y-axis sliding panel by a bearing block assembly, the other end is connected with Y-axis servo motor by toothed belt transmission assembly.
Further, described rotating mechanism comprises X-axis servo motor, harmonic speed reducer, decelerator fixed block, X-axis turning arm, described decelerator fixed block is arranged on the front end of Y-axis sliding panel, harmonic speed reducer is fixed on decelerator fixed block, the output shaft of X-axis servo motor is connected with the input of harmonic speed reducer, and X-axis turning arm is fixed on the output of harmonic speed reducer.
Further, described vertical lifting mechanism comprises Z axis servo motor, Z axis pedestal, Z axis slide block, Z axis screw mandrel and Z axis slide track component, described Z axis servo motor is arranged on the top of Z axis pedestal, described Z axis pedestal is connected with turning arm, described Z axis slide block is movably arranged on Z axis pedestal by Z axis slide track component, described Z axis screw mandrel is movably arranged on Z axis pedestal, and the output of Z axis servo motor is connected with Z axis screw mandrel, and the feed screw nut of Z axis slide track component is fixed on Z axis slide block.
Further, described the turn of the screw mechanism comprises z axis module, electric screwdriver tightening mechanism, described z axis module comprises substrate, Z axis slide rail, the upper end of described substrate is slidably mounted on Z axis pedestal, the lower end of substrate is fixed on Z axis slide block, Z axis slide rail is arranged on substrate, described electric screwdriver tightening mechanism is arranged on z axis module, described electric screwdriver tightening mechanism comprises electric screwdriver sliding sleeve, Compress Spring, electric screw driver, electric screwdriver head, vaccum suction pipe, described electric screwdriver sliding sleeve is slidably mounted on substrate, electric screw driver is arranged on electric screwdriver sliding sleeve, and be connected with Compress Spring by an electric screwdriver guide post, vaccum suction pipe is arranged on the below of electric screw driver, described electric screwdriver head is connected with electric screw and passes vaccum suction pipe.
Further, described electric screwdriver tightening mechanism also comprises an anticollision testing agency, anticollision testing agency comprises soup stick slide block, L-type sensing chip, guide rod, sensor and guide rod fixed block, described soup stick slide block is located at the lower end of electric screwdriver head and is slidably arranged on Z axis slide rail, soup stick slide block is provided with a hole clipping, vaccum suction pipe is arranged in the hole clipping of soup stick slide block, L-type sensing chip is connected with soup stick slide block, guide rod fixed block is arranged on the middle part of substrate and Z axis slide rail passes guide rod fixed block, guide rod is arranged on guide rod fixed block and lower end and is connected with L-type sensing chip, guide rod is arranged with Compress Spring, sensor is connected with L-type sensing chip.
Further, described electric screwdriver tightening mechanism also comprises tightens Fu Suo testing agency, the described Fu Suo of tightening testing agency comprises fixed block, detection slide block, adjusting screw(rod), sensor and induction post, described fixed block is arranged on electric screwdriver sliding sleeve, detecting slide block is arranged on fixed block, described sensor is arranged on by adjusting screw(rod) and detects on slide block, and described induction post is fixed on electric screw driver tail end and is connected with sensor.
Further, described feed mechanism comprises described rotary feeding mechanism, vibrations feed mechanism, feeding distribution mechanism and fixed frame, described rotary feeding mechanism is arranged on vibrations feed mechanism, feeding distribution mechanism is connected with vibrations feed mechanism end, described rotary feeding mechanism comprises rotation motor, power transmission shaft, screw puts feed roller and pinch roller, fixed frame is arranged on the bottom of the turn of the screw mechanism, described rotation motor is arranged on described rotation motor on fixed frame and is arranged on fixed frame, rotation motor is connected with power transmission shaft by universal joint, described screw is put feed roller and is arranged in the screens of power transmission shaft, the upper end of feed roller put by pinch roller housing pin.
Further, described vibrations feed mechanism comprises electromagnetic shaker, feeding track, screw screening tank and material waiting section, and described electromagnetic shaker is arranged on bottom fixed frame, and screw screening tank is connected to feeding track one end, and be inserted into screw and put in feed roller, material waiting section is positioned at the other end of feeding track.
Further, described feeding distribution mechanism comprises sub-material cylinder, fixed block, sub-material slide block, divide nail block, active block stop, extension spring, described sub-material slider tail is connected with sub-material cylinder output and is arranged in fixed block, action before and after sub-material slide block drives under sub-material cylinder action, nail block is divided to be arranged on the front end of sub-material slide block, described active blade is connected with extension spring and is fixed on by a steady pin point to be followed closely on block, divide on nail block and have a bail groove, point nail block of described feeding distribution mechanism and the material waiting section of feeding track form horizontal sextant angle α, α is 30-60 °, wherein be preferably 45 °, and there is certain gap junction.
Compared with prior art, the present invention is by installing an anticollision testing agency additional, can pay in process at screwed lock and occur to lock the product component of paying and do not put and put in place, rigid impact can not be caused to product or equipment, thus serve fine protective effect, adopt the mode of vibrations feeding simultaneously, make screw by after the screening arrangement of screening tank, under the effect of vibrator, by orderly direction by vibrations track, and realize self-feeding, the present invention is also by arranging a screw recovering mechanism in addition, better serve screw by screw recovering mechanism inhales askew in lock pair process, screw is abnormal causes damage to product in the process of tightening, decrease the fraction defective of product, improve the quality of product simultaneously, novel structure of the present invention, reasonable in design, easy to operate, the turn of the screw speed is fast, efficiency is high, and the fraction defective of product is low.
Accompanying drawing explanation
Accompanying drawing 1 is the structural representation of the articulated robot of automatic locking screw of the present invention;
Accompanying drawing 2 is structural representations of horicontal motion mechanism shown in accompanying drawing 1;
Accompanying drawing 3 is front views of the articulated robot of automatic locking screw of the present invention;
Accompanying drawing 4 is structural representations of the turn of the screw mechanism shown in accompanying drawing 1 of the present invention;
Accompanying drawing 5 is structure for amplifying schematic diagrames of anticollision testing agency shown in accompanying drawing 3 of the present invention;
Accompanying drawing 6 is the structure for amplifying schematic diagrames tightening Fu Suo testing agency shown in Fig. 3 of the present invention;
Accompanying drawing 7 is structural representations of the feed mechanism of vibrations shown in Fig. 3 of the present invention;
Accompanying drawing 8 is structural representations of feeding distribution mechanism shown in Fig. 3 of the present invention;
Accompanying drawing 9 is structural representations of screw recovering mechanism shown in Fig. 4 of the present invention;
Accompanying drawing 10 is profiles of screw recovering mechanism shown in Fig. 9 of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments, when not conflicting, the embodiment in the application and the feature in embodiment can combine mutually, below with reference to the accompanying drawings and describe the present invention in detail in conjunction with the embodiments.
As shown in Figure 1, a kind of articulated robot of automatic locking screw, comprise fixed supporting seat 1, horicontal motion mechanism 2, rotating mechanism 3, vertical lifting mechanism 4, the turn of the screw mechanism 5 and feed mechanism 6, described horicontal motion mechanism 2 is arranged on fixed supporting seat 1, horicontal motion mechanism 2 drives the front-rear reciprocation movement in Y direction, rotating mechanism 3 is connected with horicontal motion mechanism 2, and drive in X-direction reciprocating by this horicontal motion mechanism 2, described vertical lifting mechanism 4 is arranged on described rotating mechanism 3, described the turn of the screw mechanism 5 is arranged on vertical lifting mechanism 4, and drive in Z-direction reciprocating by this vertical lifting mechanism 4, described feed mechanism 6 is arranged on the lower end of the turn of the screw mechanism 5, described horicontal motion mechanism 2, rotating mechanism 3, vertical lifting mechanism 4, the turn of the screw mechanism 5 and feed mechanism 6 all link with a manipulator control and connect, and control by it.
As shown in Figure 2, described horicontal motion mechanism 2 comprises Y-axis servo motor 21, toothed belt transmission assembly 22, Y-axis holder 23, line slide rail assembly 24, Y-axis screw component 25, Y-axis sliding panel 26 and motor mounts 27, described Y-axis holder 23 is arranged on fixed supporting seat 1, line slide rail assembly 24 is fixed on Y-axis holder 23, Y-axis sliding panel 26 is arranged on line slide rail assembly 24, Y-axis servo motor 21 is fixed on the top of Y-axis sliding panel 26 by a motor mounts 27, described Y-axis screw component 25 is fixed on Y-axis holder 23 by nut, Y-axis screw component 25 one end is fixed on Y-axis sliding panel 26 by a bearing block assembly (scheming not shown), the other end is connected with Y-axis servo motor 21 by toothed belt transmission assembly 22, Y-axis screw component 25 is driven by Y-axis servo motor 21, Y-axis sliding panel 26 is driven to move by Y-axis screw component 25 again, thus the horizontal extension Y-axis reciprocating of the motion 2 that is up to the standard.
Described rotating mechanism 3 comprises X-axis servo motor 31, harmonic speed reducer 32, decelerator fixed block 33, X-axis turning arm 34, described decelerator fixed block 33 is arranged on the front end of Y-axis sliding panel 26, harmonic speed reducer 32 is fixed on decelerator fixed block 33, the output shaft of X-axis servo motor 31 is connected with the input of harmonic speed reducer 32, and X-axis turning arm 34 is fixed on the output of harmonic speed reducer 32.
Refer to Fig. 3, Fig. 4, described vertical lifting mechanism 4 comprises Z axis servo motor 41, Z axis pedestal 42, Z axis slide block 43, Z axis screw mandrel 44 and Z axis slide track component 45, described Z axis servo motor 41 is arranged on the upper end of Z axis pedestal 42, described Z axis pedestal 42 is connected with turning arm 32, described Z axis slide block 43 is movably arranged on Z axis pedestal 42 by Z axis slide track component 45, described Z axis screw mandrel 44 is movably arranged on Z axis pedestal 42, the output of Z axis servo motor 41 is connected with Z axis screw mandrel 44, and the feed screw nut of Z axis screw mandrel 44 (scheming not shown) is fixed on Z axis slide block 43, thus drive Z axis slide block 43 to pump by Z axis servo motor 41.
Refer to Fig. 3, Fig. 4, described the turn of the screw mechanism 5 comprises z axis module 51, electric screwdriver tightening mechanism 52, described z axis module 51 comprises substrate 511, Z axis slide rail 512, the upper end of described substrate 511 is slidably mounted on Z axis pedestal 42, the lower end of substrate 511 is fixed on Z axis slide block 43, Z axis slide rail 512 is arranged on substrate 511, described electric screwdriver tightening mechanism 52 is arranged on z axis module 51, described electric screwdriver tightening mechanism 52 comprises electric screwdriver sliding sleeve 521, Compress Spring 522, electric screw driver 523, electric screwdriver head 524, vaccum suction pipe 525, described electric screwdriver sliding sleeve 521 is slidably mounted on substrate 511, electric screw driver 523 is arranged on electric screwdriver sliding sleeve 521, and be connected with Compress Spring 522 by an electric screwdriver guide post (scheming not shown), thus serve good sliding compression effect, vaccum suction pipe 525 is arranged on the below of electric screw driver 523, described electric screwdriver head 524 is connected with electric screw 523 and passes vaccum suction pipe 525.
As Fig. 3, shown in Fig. 4 and Fig. 5, described electric screwdriver tightening mechanism 52 also comprises an anticollision testing agency 527, anticollision testing agency 527 comprises soup stick slide block 5271, L-type sensing chip 5272, guide rod 5273, sensor 5274 and guide rod fixed block 5275, described soup stick slide block 5271 is positioned at the lower end of electric screwdriver head 524 and is slidably arranged on Z axis slide rail 512, soup stick slide block 5271 is provided with a hole clipping (scheming not shown), vaccum suction pipe 525 is arranged in the hole clipping of soup stick slide block 5271, L-type sensing chip 5272 is connected with soup stick slide block 5271, guide rod fixed block 5275 is arranged on the middle part of substrate 511 and Z axis slide rail 512 passes guide rod fixed block 5275, guide rod 5273 is arranged on guide rod fixed block 5275 and lower end and is connected with L-type sensing chip 5272, guide rod 5273 is arranged with Compress Spring 5276, sensor 5274 is connected with L-type sensing chip 5272, thus in screwed lock process, vaccum suction pipe 525 moves down in process and collides barrier, will Compress Spring 5276, the sensor 5274 be fixed on section bar is triggered by L-type sensing chip 5272, send fault-signal or alarm, this device screwed lock pay in process occur need lock pay product component do not put put in place time, rigid impact can not be caused to product or equipment, thus serve fine protective effect.
As shown in Fig. 3 figure, 6, described electric screwdriver tightening mechanism 52 also comprises tightens Fu Suo testing agency 528, the described Fu Suo of tightening testing agency 528 comprises fixed block 5281, detection slide block 5282, adjusting screw(rod) 5283, sensor 5284 and induction post 5285, described fixed block 5281 is arranged on electric screwdriver sliding sleeve 521, detecting slide block 5282 is arranged on fixed block 5281, described sensor 5284 is arranged on by adjusting screw(rod) 5283 and detects on slide block 5282, and described induction post 5285 is fixed on electric screw driver 523 tail end and is connected with sensor 5284.
Refer to Fig. 3, Fig. 4, described feed mechanism 6 comprises described rotary feeding mechanism 61, vibrations feed mechanism 62, feeding distribution mechanism 63 and fixed frame 64, described rotary feeding mechanism 61 is arranged on vibrations feed mechanism 62, feeding distribution mechanism 63 is connected with vibrations feed mechanism 62 end, described rotary feeding mechanism 61 comprises rotation motor 611, power transmission shaft 612, screw puts feed roller 613 and pinch roller 614, fixed frame 64 is arranged on the bottom of the turn of the screw mechanism 5, described rotation motor 611 is arranged on fixed frame 64, rotation motor 611 is connected with power transmission shaft 612 by universal joint, described screw is put feed roller 613 and is arranged in the screens of power transmission shaft 612, the upper end of feed roller 613 put by pinch roller 614 housing pin, the equipment screw of preventing is put feed roller 613 and is rocked in motion process, when rotary feeding mechanism 61 operates, rotation motor 611 drives power transmission shaft 612 to rotate, thus the screw of device on power transmission shaft 612 is put feed roller 613 reverse rotation is occurred, when putting feed roller 613 and rotating, the segment screw left in cylinder drops on vibrations feed mechanism 62.
Refer to Fig. 7, described vibrations feed mechanism 62 comprises electromagnetic shaker 621, feeding track 622, screw screening tank 623 and material waiting section 624, described electromagnetic shaker 621 is arranged on bottom fixed frame 64, screw screening tank 623 is connected to feeding track 622 one end, and be inserted into screw and put in feed roller 613, material waiting section 624 is positioned at the other end of feeding track 622, when screw put feed roller 613 rotate time, the segment screw left in cylinder drops on screw screening tank 623, screw is arranged by the screening of screw screening tank 623, under the effect of electromagnetic shaker 621, by orderly direction by feeding track 622, absorption is waited in the material waiting section 624 being sent to feeding track 622 end, thus realize self-feeding.
Refer to Fig. 7, Fig. 8, described feeding distribution mechanism 63 comprises sub-material cylinder 631, fixed block 632, sub-material slide block 633, divide nail block 634, active block stop 635, extension spring 636, described sub-material slide block 633 afterbody is connected with sub-material cylinder 631 output and is arranged in fixed block 632, action before and after sub-material slide block 633 drives under sub-material cylinder 631 acts on, nail block 634 is divided to be arranged on the front end of sub-material slide block 633, described active blade 635 is connected with extension spring 636 and is fixed on by a steady pin point to be followed closely on block 634, divide on nail block 634 and have a bail groove 637, bail groove 637 is for importing screw, a point nail block 634 for described feeding distribution mechanism 63 forms horizontal sextant angle α with the material waiting section 624 of feeding track 622, α is 30-60 °, wherein be preferably 45 °, and there is certain gap junction, prevent both from rubbing in the process of motion, when sub-material cylinder 631 moves horizontally along angle [alpha] when driving a point nail block 634 to move, this structure effectively can prevent bail, make sub-material more stable.
As Fig. 1, shown in Fig. 9 and Figure 10, a screw recovering mechanism 7 is also comprised in described articulated robot, described screw recovering mechanism 7 is arranged on the below of described the turn of the screw mechanism 5, screw recovering mechanism 7 comprises vacuum pressure switch 71, fixing sliding sleeve 72, connect nail slide block 73, screw recycling box 74, slide 75, reclaim cylinder 76, connecting rod 77, extension spring 78, described nail slide block 73 inside that connects is provided with draw-in groove (scheming not shown), slide 75 by extension spring 78 be arranged on connect nail slide block 73 draw-in groove in thus can slidably reciprocate, connect nail slide block 73 to be connected with recovery cylinder 76 by connecting rod 77, front and back action in fixing sliding sleeve 72 under being acted on by recovery cylinder 76, connect on nail slide block 73 and have circular hole 79, screw recycling box 74 is arranged on below fixing sliding sleeve 72, pay in process at screwed lock, vaccum suction pipe 525 is when drawing screw, not in place if any screw absorption, inhale askew, or screw is abnormal, when the normal pressure numerical value set in advance by vacuum pressure switch 71 detects this screw whether in the pressure value arranged, when force value is lower than setting value, vacuum pressure switch 71 triggering signal will give control system, the recovery cylinder 76 on screw recovering mechanism 7 is driven to promote to connect the below that nail slide block 73 moves to vaccum suction pipe 525 by control system, to be broken its vacuum by magnetic valve, suction nozzle head is bonded in for preventing the magnetic force of screw, installed additional simultaneously air blowing magnetic valve under the effect of the pressure screw fall into accurately and connect in the circular hole 79 of screw that nail slide block 73 front end has, after screw falls into circular hole 79, the driving of recovery cylinder 76 connects nail slide block 73 and gets back to origin position, in Aligning control process, slide 75 also moves simultaneously, when slide 75 and slip cap 72 collide, slide 75 stop motion, slip 75 has and connects the screw hole following closely circular hole 79 consistent size on slide block 73, thus screw is fallen into by this hole and connects in staple cartridge 74, this mechanism better serves screw and inhales askew in lock pair process, screw is abnormal causes damage to product in the process of tightening, decrease the fraction defective of product, improve the quality of product simultaneously.
During use, rotation motor 611 drives power transmission shaft 612 to rotate, thus the screw of device on power transmission shaft 612 is put feed roller 613 reverse rotation is occurred, when putting feed roller 613 and rotating, the segment screw left in cylinder drops on vibrations feed mechanism 5, screw is arranged by the screening of screening tank 623, under the effect of vibrator 621, by orderly direction by vibrations track 622, absorption is waited in the material waiting section 624 being sent to feeding track 622 end, then, electric screwdriver tightening mechanism 52 is driven to move down by Z axis servo motor 41, vaccum suction pipe 525 is also moved downward to above the bail groove 67 of feeding distribution mechanism 6 simultaneously, screw sucks in the suction nozzle of vaccum suction pipe 525 head by vaccum suction pipe 525, under the location of suction nozzle, make screw mate accurately with the electric screwdriver head 524 of electric screw driver 523, under the driving effect of z axis module 51, be moved downward to the screwed lock that product specifies and pay seat, electric screwdriver sliding sleeve 521 is promoted again by the cylinder in screw tightening mechanism 5, cause the Compress Spring 522 on electric screw driver 523 to compress electric screw driver 523 with electric screwdriver head 522 screw is locked accurately to pay on product.In screwed lock process, vaccum suction pipe 525 moves down in process and collides barrier, will Compress Spring 5273, is triggered the sensor 5274 be fixed on section bar, send fault-signal or alarm by L-type sensing chip 5272, vaccum suction pipe 525 is when drawing screw, not in place if any screw absorption, inhale askew, or screw is abnormal, the recovery cylinder 76 on screw recovering mechanism 7 is driven to promote to connect the below that nail slide block 73 moves to vaccum suction pipe 525 by control system, screw falls into accurately and connects in the circular hole 79 of screw that nail slide block 73 front end has, after screw falls into circular hole 79, the driving of recovery cylinder 76 connects nail slide block 73 and gets back to origin position, in meeting initial point process, slide 75 also moves simultaneously, when slide 75 and slip cap 72 collide, slide 75 stop motion, slide 75 has and connects the screw hole following closely circular hole 79 consistent size on slide block 73, thus screw is fallen into by this hole and connects in staple cartridge 74, realize the recovery of screw.
The present invention is by installing an anticollision testing agency additional, can pay in process at screwed lock and occur to lock the product component of paying and do not put and put in place, rigid impact can not be caused to product or equipment, thus serve fine protective effect, adopt the mode of vibrations feeding simultaneously, make screw by after the screening arrangement of screening tank, under the effect of vibrator, by orderly direction by vibrations track, and realize self-feeding, the present invention is also by arranging a screw recovering mechanism in addition, better serve screw by screw recovering mechanism inhales askew in lock pair process, screw is abnormal causes damage to product in the process of tightening, decrease the fraction defective of product, improve the quality of product simultaneously, novel structure of the present invention, reasonable in design, easy to operate, the turn of the screw speed is fast, efficiency is high, and the fraction defective of product is low.
The foregoing is only embodiments of the invention; not thereby the scope of the claims of the present invention is limited; every utilize description of the present invention to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.
Claims (10)
1. the articulated robot of an automatic locking screw, comprise fixed supporting seat (1), horicontal motion mechanism (2), rotating mechanism (3), vertical lifting mechanism (4), the turn of the screw mechanism (5) and feed mechanism (6), described horicontal motion mechanism (2) is arranged on fixed supporting seat (1), rotating mechanism (3) is connected with horicontal motion mechanism (2), described vertical lifting mechanism (4) is arranged on rotating mechanism (3), described the turn of the screw mechanism (5) is arranged on vertical lifting mechanism (4), described feed mechanism (6) is arranged on the lower end of the turn of the screw mechanism (5), it is characterized in that: also comprise a screw recovering mechanism (7), described screw recovering mechanism (7) is arranged on the below of described the turn of the screw mechanism (5), screw recovering mechanism (7) comprises vacuum pressure switch (71), fixing sliding sleeve (72), connect nail slide block (73), screw recycling box (74), slide (75), reclaim cylinder (76), connecting rod (77), extension spring (78), described nail slide block (73) inside that connects is provided with draw-in groove, slide (75) by extension spring (78) be arranged on connect nail slide block (73) draw-in groove in, connect nail slide block (73) to be connected with recovery cylinder (76) by connecting rod (77), by front and back action in fixing sliding sleeve (72) under recovery cylinder (76) effect, connect on nail slide block (73) and have circular hole (79), screw recycling box (74) is arranged on fixing sliding sleeve (72) below.
2. the articulated robot of automatic locking screw according to claim 1, it is characterized in that: described horicontal motion mechanism (2) comprises Y-axis servo motor (21), toothed belt transmission assembly (22), Y-axis holder (23), line slide rail assembly (24), Y-axis screw component (25), Y-axis sliding panel (26) and motor mounts (27), described Y-axis holder (23) is arranged on fixed supporting seat (1), line slide rail assembly (24) is fixed on Y-axis holder (23), Y-axis sliding panel (26) is arranged on line slide rail assembly (24), Y-axis servo motor (21) is fixed on the top of Y-axis sliding panel (26) by a motor mounts (27), described Y-axis screw component (25) is fixed on Y-axis holder (23) by nut, Y-axis screw component (25) one end is fixed on Y-axis sliding panel (26) by a bearing block assembly, the other end is connected with Y-axis servo motor (21) by toothed belt transmission assembly (22).
3. the articulated robot of automatic locking screw according to claim 1, it is characterized in that: described rotating mechanism (3) comprises X-axis servo motor (31), harmonic speed reducer (32), decelerator fixed block (33), X-axis turning arm (34), described decelerator fixed block (33) is arranged on the front end of Y-axis sliding panel (26), harmonic speed reducer (32) is fixed on decelerator fixed block (33), the output shaft of X-axis servo motor (31) is connected with the input of harmonic speed reducer (32), X-axis turning arm (34) is fixed on the output of harmonic speed reducer (32).
4. the articulated robot of automatic locking screw according to claim 1, it is characterized in that: described vertical lifting mechanism (4) comprises Z axis servo motor (41), Z axis pedestal (42), Z axis slide block (43), Z axis screw mandrel (44) and Z axis slide track component (45), described Z axis servo motor (41) is arranged on the top of Z axis pedestal (42), described Z axis pedestal (42) is connected with turning arm (32), described Z axis slide block (43) is movably arranged on Z axis pedestal (42) by Z axis slide track component (45), described Z axis screw mandrel (44) is movably arranged on Z axis pedestal (42), the output of Z axis servo motor (41) is connected with Z axis screw mandrel (44), and the feed screw nut of Z axis slide track component (45) is fixed on Z axis slide block (43).
5. the articulated robot of automatic locking screw according to claim 1, it is characterized in that: described the turn of the screw mechanism (5) comprises z axis module (51), electric screwdriver tightening mechanism (52), described z axis module (51) comprises substrate (511), Z axis slide rail (512), the upper end of described substrate (511) is slidably mounted on Z axis pedestal (42), the lower end of substrate (511) is fixed on Z axis slide block (43), Z axis slide rail (512) is arranged on substrate (511), described electric screwdriver tightening mechanism (52) is arranged on z axis module (51), described electric screwdriver tightening mechanism (52) comprises electric screwdriver sliding sleeve (521), Compress Spring (522), electric screw driver (523), electric screwdriver head (524), vaccum suction pipe (525), described electric screwdriver sliding sleeve (521) is slidably mounted on substrate (511), electric screw driver (523) is arranged on electric screwdriver sliding sleeve (521), and be connected with Compress Spring (522) by an electric screwdriver guide post, vaccum suction pipe (525) is arranged on the below of electric screw driver (523), described electric screwdriver head (524) is connected with electric screw (523) and passes vaccum suction pipe (525).
6. the articulated robot of automatic locking screw according to claim 5, it is characterized in that: described electric screwdriver tightening mechanism (52) also comprises an anticollision testing agency (527), anticollision testing agency (527) comprises soup stick slide block (5271), L-type sensing chip (5272), guide rod (5273), sensor (5274) and guide rod fixed block (5275), described soup stick slide block (5271) is located at the lower end of electric screwdriver head (524) and is slidably arranged on Z axis slide rail (512), soup stick slide block (5271) is provided with a hole clipping, vaccum suction pipe (525) is arranged in the hole clipping of soup stick slide block (5271), L-type sensing chip (5272) is connected with soup stick slide block (5271), guide rod fixed block (5275) be arranged on the middle part of substrate (511) and Z axis slide rail (512) through guide rod fixed block (5275), guide rod (5273) is arranged on guide rod fixed block (5275) and lower end and is connected with L-type sensing chip (5272), guide rod (5273) is arranged with Compress Spring (5276), sensor (5274) is connected with L-type sensing chip (5272).
7. the articulated robot of automatic locking screw according to claim 5, it is characterized in that: described electric screwdriver tightening mechanism (52) also comprises tightens Fu Suo testing agency (528), the described Fu Suo of tightening testing agency (528) comprises fixed block (5281), detect slide block (5282), adjusting screw(rod) (5283), sensor (5284) and induction post (5285), described fixed block (5281) is arranged on electric screwdriver sliding sleeve (521), detecting slide block (5282) is arranged on fixed block (5281), described sensor (5284) is arranged on by adjusting screw(rod) (5283) and detects on slide block (5282), described induction post (5285) is fixed on electric screw driver (523) tail end and is connected with sensor (5284).
8. the articulated robot of automatic locking screw according to claim 1, it is characterized in that: described feed mechanism (6) comprises described rotary feeding mechanism (61), vibrations feed mechanism (62), feeding distribution mechanism (63) and fixed frame (64), described rotary feeding mechanism (61) is arranged in vibrations feed mechanism (62), feeding distribution mechanism (63) is connected with vibrations feed mechanism (62) end, described rotary feeding mechanism (61) comprises rotation motor (611), power transmission shaft (612), screw puts feed roller (613) and pinch roller (614), fixed frame (64) is arranged on the bottom of the turn of the screw mechanism (5), described rotation motor (611) is arranged on the upper described rotation motor (611) of fixed frame (64) and is arranged on fixed frame (64), rotation motor (611) is connected with power transmission shaft (612) by universal joint, described screw is put feed roller (613) and is arranged in the screens of power transmission shaft (612), the upper end of feed roller (613) put by pinch roller (614) housing pin.
9. the articulated robot of automatic locking screw according to claim 8, it is characterized in that: described vibrations feed mechanism (62) comprises electromagnetic shaker (621), feeding track (622), screw screening tank (623) and material waiting section (624), described electromagnetic shaker (621) is arranged on fixed frame (64) bottom, screw screening tank (623) is connected to feeding track (622) one end, and be inserted into screw and put in feed roller (613), material waiting section (624) are positioned at the other end of feeding track (622).
10. the articulated robot of automatic locking screw according to claim 8, it is characterized in that: described feeding distribution mechanism (63) comprises sub-material cylinder (631), fixed block (632), sub-material slide block (633), divide nail block (634), active block stop (635), extension spring (636), described sub-material slide block (633) afterbody is connected with sub-material cylinder (631) output and is arranged in fixed block (632), action before and after sub-material slide block (633) drives under sub-material cylinder (631) effect, nail block (634) is divided to be arranged on the front end of sub-material slide block (633), described active blade (635) is connected with extension spring (636) and is fixed on by a steady pin point to be followed closely on block (634), divide on nail block (634) and have a bail groove (637), point nail block (634) for described feeding distribution mechanism (63) forms horizontal sextant angle α with the material waiting section (624) of feeding track (622), α is 30-60 °, wherein be preferably 45 °, and there is certain gap junction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510819128.5A CN105252263B (en) | 2015-11-20 | 2015-11-20 | A kind of articulated robot of automatic lock screw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510819128.5A CN105252263B (en) | 2015-11-20 | 2015-11-20 | A kind of articulated robot of automatic lock screw |
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| Publication Number | Publication Date |
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| CN105252263A true CN105252263A (en) | 2016-01-20 |
| CN105252263B CN105252263B (en) | 2017-12-05 |
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| CN201510819128.5A Expired - Fee Related CN105252263B (en) | 2015-11-20 | 2015-11-20 | A kind of articulated robot of automatic lock screw |
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| CN (1) | CN105252263B (en) |
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| CN105598956A (en) * | 2016-03-17 | 2016-05-25 | 苏州特瑞特机器人有限公司 | Three-shaft rectangular coordinate robot |
| CN105834744A (en) * | 2016-05-26 | 2016-08-10 | 广东金弘达自动化科技股份有限公司 | Automatic screw and nut assembly device |
| CN105935866A (en) * | 2016-06-02 | 2016-09-14 | 华中科技大学 | Intelligent end effector device for assembling screw |
| CN106002212A (en) * | 2016-05-26 | 2016-10-12 | 广东金弘达自动化科技股份有限公司 | Automatic assembling machine for threaded rods and nuts |
| CN107009115A (en) * | 2017-04-26 | 2017-08-04 | 浙江大学 | A kind of nailing system that there is automatic nail-sorting and nail function is sent |
| CN107030478A (en) * | 2017-06-26 | 2017-08-11 | 广东大唐永恒智能科技有限公司 | Trailing type suction screw induction system |
| CN108213903A (en) * | 2018-03-06 | 2018-06-29 | 天津市多思机械设备有限公司 | Three mouth suction types send nail end |
| CN109029822A (en) * | 2018-07-06 | 2018-12-18 | 东莞市旭高精密金属制品有限公司 | Automatic torsion test equipment and automatic torsion test method |
| CN110021806A (en) * | 2019-05-29 | 2019-07-16 | 无锡迈泽科技有限公司 | Self-locking tuning screw automatic assembly equipment |
| CN111360880A (en) * | 2018-12-26 | 2020-07-03 | 沈阳新松机器人自动化股份有限公司 | Manipulator anticollision protection device |
| CN111660277A (en) * | 2020-06-28 | 2020-09-15 | 中铁九局集团电务工程有限公司 | Bolt mounting arm |
| TWI715065B (en) * | 2019-06-14 | 2021-01-01 | 友創工業股份有限公司 | Screw system |
| CN113352086A (en) * | 2021-05-10 | 2021-09-07 | 苏州朗科智能制造有限公司 | Equipment for automatically loading and unloading spinning assembly |
| CN113799119A (en) * | 2020-06-11 | 2021-12-17 | 丰田自动车株式会社 | Robot control system, robot control method, and computer-readable medium |
| CN113857835A (en) * | 2021-10-14 | 2021-12-31 | 苏州华维乐自动化科技有限公司 | Screw nut screwing equipment |
| CN114515962A (en) * | 2022-01-26 | 2022-05-20 | 谢金梅 | Be applied to intelligent terminal's power module equipment |
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| CN107009115A (en) * | 2017-04-26 | 2017-08-04 | 浙江大学 | A kind of nailing system that there is automatic nail-sorting and nail function is sent |
| CN107009115B (en) * | 2017-04-26 | 2018-11-30 | 浙江大学 | It is a kind of with automatic nail-sorting and the nailing system for sending nail function |
| CN107030478A (en) * | 2017-06-26 | 2017-08-11 | 广东大唐永恒智能科技有限公司 | Trailing type suction screw induction system |
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| CN111360880A (en) * | 2018-12-26 | 2020-07-03 | 沈阳新松机器人自动化股份有限公司 | Manipulator anticollision protection device |
| CN110021806A (en) * | 2019-05-29 | 2019-07-16 | 无锡迈泽科技有限公司 | Self-locking tuning screw automatic assembly equipment |
| CN110021806B (en) * | 2019-05-29 | 2023-10-20 | 无锡迈泽科技有限公司 | Automatic assembly equipment for self-locking tuning screw |
| TWI715065B (en) * | 2019-06-14 | 2021-01-01 | 友創工業股份有限公司 | Screw system |
| CN113799119B (en) * | 2020-06-11 | 2024-02-27 | 丰田自动车株式会社 | Robot control system, robot control method, and computer-readable medium |
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| CN111660277A (en) * | 2020-06-28 | 2020-09-15 | 中铁九局集团电务工程有限公司 | Bolt mounting arm |
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| CN113352086B (en) * | 2021-05-10 | 2023-08-29 | 苏州朗科智能制造有限公司 | Automatic loading and unloading spinning assembly's equipment |
| CN113352086A (en) * | 2021-05-10 | 2021-09-07 | 苏州朗科智能制造有限公司 | Equipment for automatically loading and unloading spinning assembly |
| CN113857835A (en) * | 2021-10-14 | 2021-12-31 | 苏州华维乐自动化科技有限公司 | Screw nut screwing equipment |
| CN114515962B (en) * | 2022-01-26 | 2023-05-23 | 深圳市天磁科技有限公司 | Power module assembling equipment applied to intelligent terminal |
| CN114515962A (en) * | 2022-01-26 | 2022-05-20 | 谢金梅 | Be applied to intelligent terminal's power module equipment |
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