CN105252263B - A kind of articulated robot of automatic lock screw - Google Patents
A kind of articulated robot of automatic lock screw Download PDFInfo
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- CN105252263B CN105252263B CN201510819128.5A CN201510819128A CN105252263B CN 105252263 B CN105252263 B CN 105252263B CN 201510819128 A CN201510819128 A CN 201510819128A CN 105252263 B CN105252263 B CN 105252263B
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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 kind of articulated robot of automatic lock screw, including fixed supporting seat, horicontal motion mechanism, rotating mechanism, vertical lifting mechanism, the turn of the screw mechanism and feed mechanism, the rotating mechanism is arranged on fixed supporting seat by horicontal motion mechanism, rotating mechanism is connected with horicontal motion mechanism, vertical lifting mechanism is arranged on rotating mechanism, the turn of the screw mechanism is arranged on vertical lifting mechanism, the feed mechanism is arranged on the lower end of the turn of the screw mechanism, also include a screw recovering mechanism, the screw recovering mechanism is arranged on the lower section of the turn of the screw mechanism.The present invention by set a screw recovering mechanism, by screw recovering mechanism preferably serve screw lock pay during inhale it is askew, screw extremely product is caused to damage during tightening, reduce the fraction defective of product, while improve the quality of product；Structure of the present invention is novel, reasonable in design, easy to operate, efficiency high, and the fraction defective of product is low.
Description
Technical field
The present invention relates to assembly equipment technical field, more particularly to a kind of automatic lock screw device of vibration feeding.
Background technology
Currently in manufacturings such as numerous electronics, motor, mechanical five metals, toy and computer peripheral products, for workpiece
Combination and fixation, often completed by lock screw, thus screw play the part of in daily life and in industry it is indispensable
Role, and it is widely used in every field.
The lock screw fashion of conventional workpiece, often staff hold electric screwdriver or gas batch, and by manually screw is put into
Locking operation is carried out after screw hole position again.Obviously, the more cumbersome and efficiency of such operation is low.When using single shaft screw fixing machine
When, screw sub-material is slow, and electric screwdriver needs in multiple screw hole interdigits to move repeatedly operation, this for the more product of screw and
Speech, especially cumbersome, such as computor-keyboard etc..
Therefore, in the market releases a kind of manipulator that can lock screw, mostly using four axles or six axle construction, but these machineries
Although hand can substantially meet requirement, and filature on the market is all XXZ rectangular co-ordinate patterns at present, and control is simple
Precision is low, and often occurring bolt in use does not have to put in place and the accident of damage is caused to product or equipment,
And screw lock pay during often inhale it is askew, screw extremely easy product is caused to damage during tightening, reduce
The qualification rate of product, thus it is difficult to expanded application.
The content of the invention
In view of the above-mentioned deficiencies in the prior art, it is an object of the present invention to a kind of articulated robot of automatic lock screw is provided,
Using integral type feeding system, have feeding accurate and the advantages of production efficiency is high.
The technical solution adopted by the present invention is as follows：A kind of articulated robot of automatic lock screw, including fixed supporting seat,
Horicontal motion mechanism, rotating mechanism, vertical lifting mechanism, the turn of the screw mechanism and feed mechanism, the horicontal motion mechanism installation
On fixed supporting seat, rotating mechanism is connected with horicontal motion mechanism, and the vertical lifting mechanism is arranged on rotating mechanism, institute
State the turn of the screw mechanism to be arranged on vertical lifting mechanism, the feed mechanism is arranged on the lower end of the turn of the screw mechanism, and its feature exists
In：Also include a screw recovering mechanism, the screw recovering mechanism is arranged on the lower section of the turn of the screw mechanism, screw recycling machine
Structure includes vacuum pressure switch, fixed sliding sleeve, connects nail sliding block, screw recycling box, slide, recovery cylinder, connecting rod, stretching bullet
Spring, described connect are provided with neck inside nail sliding block, slide is arranged on by extension spring in the neck for connecing nail sliding block, connects nail sliding block
It is connected by connecting rod with recovery cylinder, is fixing fore-aft motion in sliding sleeve under cylinder action by reclaiming, connecing and opened on nail sliding block
There is circular hole, screw recycling box is arranged on below fixed sliding sleeve.
Further, the horicontal motion mechanism includes Y-axis servo motor, toothed belt transmission component, Y-axis fixed seat, straight
Line slide track component, Y-axis screw component, Y-axis sliding panel and motor mounts, the Y-axis fixed seat are arranged on fixed supporting seat,
Line slide rail component is fixed in Y-axis fixed seat, and Y-axis sliding panel is arranged on line slide rail component, and Y-axis servo motor passes through one
Motor mounts are fixed on the top of Y-axis sliding panel, and the Y-axis screw component is fixed in Y-axis fixed seat by nut, Y-axis
Screw component one end is fixed on Y-axis sliding panel by a bearing block assembly, and the other end is watched by toothed belt transmission component with Y-axis
Take motor connection.
Further, the rotating mechanism includes X-axis servo motor, harmonic speed reducer, decelerator fixed block, X-axis rotation
Arm, the decelerator fixed block are arranged on the front end of Y-axis sliding panel, and harmonic speed reducer is fixed on decelerator fixed block, and X-axis is watched
The input of the output shaft and harmonic speed reducer that take motor connects, and X-axis turning arm is fixed on the output end of harmonic speed reducer.
Further, the vertical lifting mechanism includes Z axis servo motor, Z axis pedestal, Z axis sliding block, Z axis screw mandrel and Z axis
Slide track component, the Z axis servo motor are arranged on the top of Z axis pedestal, and the Z axis pedestal is connected with X-axis turning arm, the Z
Axle sliding block is movably arranged on Z axis pedestal by Z axis slide rail component, and the Z axis screw mandrel is movably arranged on Z axis pedestal, and Z axis is watched
The output end for taking motor is connected with Z axis screw mandrel, and the feed screw nut of Z axis slide rail component is fixed on Z axis sliding block.
Further, the turn of the screw mechanism includes z axis module, electric screwdriver tightening mechanism, the z axis module bag
Substrate, Z axis slide rail are included, the upper end of the substrate is slidably mounted on Z axis pedestal, and the lower end of substrate is fixed on Z axis sliding block, Z
Axle slide rail is arranged on substrate, and the electric screwdriver tightening mechanism is arranged on z axis module, and the electric screwdriver tightening mechanism includes electricity
Sliding sleeve, compression spring, electric screw driver, electric screwdriver head, vaccum suction pipe are criticized, the electric screwdriver sliding sleeve is slidably mounted on substrate, electronic
Screwdriver is arranged on electric screwdriver sliding sleeve, and is connected by an electric screwdriver guide rod with compression spring, and vaccum suction pipe is arranged on electronic spiral shell
The lower section of silk knife, the electric screwdriver head are connected and through vaccum suction pipe with electric screw.
Further, the electric screwdriver tightening mechanism also includes an anticollision testing agency, and anticollision testing agency includes inhaling
Bar sliding block, L-type sensing chip, guide rod, sensor and guide rod fixed block, the soup stick sliding block are located in the lower end of electric screwdriver head and slip
It is arranged in Z axis slide rail, soup stick sliding block is provided with a hole clipping, and vaccum suction pipe is arranged in the hole clipping of soup stick sliding block, L-type sensing chip
It is connected with soup stick sliding block, guide rod fixed block is arranged on the middle part of substrate and Z axis slide rail passes through guide rod fixed block, and guide rod is arranged on
On guide rod fixed block and lower end is connected with L-type sensing chip, and compression spring is arranged with guide rod, and sensor connects with L-type sensing chip
Connect.
Further, the electric screwdriver tightening mechanism also tightens Fu Suo testing agencies including one, described to tighten floating lock detection machine
Structure includes fixed block, detection sliding block, adjusting screw rod, sensor and sensing post, the fixed block and is arranged on electric screwdriver sliding sleeve, detection
Sliding block is arranged on fixed block, and the sensor is arranged on detection sliding block by adjusting screw rod, and the sensing post is fixed on electricity
Move screwdriver tail end and be connected with sensor.
Further, the feed mechanism includes the rotary feeding mechanism, vibrations feed mechanism, feeding distribution mechanism and fixation
Framework, the rotary feeding mechanism are arranged on vibrations feed mechanism, and feeding distribution mechanism is connected with vibrations feed mechanism end, described
Rotary feeding mechanism includes rotation motor, power transmission shaft, screw and puts feed roller and pinch roller, and fixed frame is arranged on the turn of the screw mechanism
Bottom, the rotation motor are arranged on the rotation motor on fixed frame and are arranged on fixed frame, and rotation motor passes through ten thousand
Xiang Jieyu is driven axis connection, and the screw is put feed roller and is arranged in the screens of power transmission shaft, and pinch roller housing pin puts feed roller
Upper end.
Further, the vibrations feed mechanism includes electromagnetic shaker, feeding track, screw screening tank and material waiting section, described
Electromagnetic shaker is arranged on fixed frame bottom, and screw screening tank is connected to feeding track one end, and is inserted into screw and puts in feed roller,
Material waiting section is located at the other end of feeding track.
Further, the feeding distribution mechanism includes material splitting cylinder, fixed block, sub-material sliding block, point nail block, active block stop, drawing
Spring is stretched, the sub-material slider tail is connected and is arranged in fixed block with material splitting cylinder output end, and sub-material sliding block is in sub-material
Fore-aft motion is driven under cylinder action, point nail block is arranged on the front end of sub-material sliding block, and the active blade is connected with extension spring
And be fixed on by a steady pin on point nail block, a bail groove, point nail block and the feeding of the feeding distribution mechanism are provided with point nail block
It is 30-60 ° that the material waiting section of track, which forms horizontal sextant angle α, α, wherein preferably 45 °, and there is certain gap junction.
Compared with prior art, the present invention can be sent out by installing an anticollision testing agency additional during the screwed lock
Life need to lock the product component paid and not put the impact that hardness in place, will not be caused to product or equipment, so as to serve very well
Protective effect, while by the way of feeding is shaken so that after screw is arranged by the screening of screening tank, in the effect of vibrator
Under, by orderly direction by shaking track, and self-feeding is realized, the present invention is also by setting a screw recycling machine in addition
Structure, screw is preferably served by screw recovering mechanism and is inhaled during lock is paid askew, screw is abnormal right during tightening
Product causes to damage, and reduces the fraction defective of product, while improves the quality of product；Structure of the present invention is novel, it is reasonable in design,
Easy to operate, the turn of the screw speed is fast, efficiency high, and the fraction defective of product is low.
Brief description of the drawings
Accompanying drawing 1 is the structural representation of the articulated robot of automatic lock screw of the present invention；
Accompanying drawing 2 is the structural representation of horicontal motion mechanism shown in accompanying drawing 1；
Accompanying drawing 3 is the front view of the articulated robot of automatic lock screw of the present invention；
Accompanying drawing 4 is the structural representation of the turn of the screw mechanism shown in accompanying drawing 1 of the present invention；
Accompanying drawing 5 is the mplifying structure schematic diagram of anticollision testing agency shown in accompanying drawing 3 of the present invention；
Accompanying drawing 6 is the mplifying structure schematic diagram that Fu Suo testing agencies are tightened shown in Fig. 3 of the present invention；
Accompanying drawing 7 is the structural representation of vibrations feed mechanism shown in Fig. 3 of the present invention；
Accompanying drawing 8 is the structural representation of feeding distribution mechanism shown in Fig. 3 of the present invention；
Accompanying drawing 9 is the structural representation of screw recovering mechanism shown in Fig. 4 of the present invention；
Accompanying drawing 10 is the profile of screw recovering mechanism shown in Fig. 9 of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments, not
In the case of conflict, the feature in embodiment and embodiment in the application can be mutually combined, and below with reference to the accompanying drawings and be tied
Embodiment is closed to describe the present invention in detail.
As shown in figure 1, a kind of articulated robot of automatic lock screw, including 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, the horicontal motion mechanism 2 are arranged on fixed branch
Support on seat 1, horicontal motion mechanism 2 drives to be connected in the front-rear reciprocation movement in Y direction, rotating mechanism 3 with horicontal motion mechanism 2
Connect, and driven by the horicontal motion mechanism 2 in reciprocating in X-direction, the vertical lifting mechanism 4 is arranged on the rotation
On rotation mechanism 3, the turn of the screw mechanism 5 is arranged on vertical lifting mechanism 4, and is driven by the vertical lifting mechanism 4 in Z axis side
Reciprocating upwards, the feed mechanism 6 is arranged on the lower end of the turn of the screw mechanism 5, the horicontal motion mechanism 2, whirler
Structure 3, vertical lifting mechanism 4, the turn of the screw mechanism 5 and feed mechanism 6 are connected with a manipulator control card, and are controlled by it.
Fixed as shown in Fig. 2 the horicontal motion mechanism 2 includes Y-axis servo motor 21, toothed belt transmission component 22, Y-axis
Seat 23, line slide rail component 24, Y-axis screw component 25, Y-axis sliding panel 26 and motor mounts 27, the Y-axis fixed seat 23 are pacified
On fixed supporting seat 1, line slide rail component 24 is fixed in Y-axis fixed seat 23, and Y-axis sliding panel 26 is arranged on line slide rail
On component 24, Y-axis servo motor 21 is fixed on the top of Y-axis sliding panel 26, the Y-axis screw mandrel group by a motor mounts 27
Part 25 is fixed in Y-axis fixed seat 23 by nut, and the one end of Y-axis screw component 25 is (not shown) solid by a bearing block assembly
It is scheduled on Y-axis sliding panel 26, the other end is connected by toothed belt transmission component 22 with Y-axis servo motor 21, by Y-axis servo motor
21 driving Y-axis screw components 25, then drive Y-axis sliding panel 26 to move by Y-axis screw component 25, so as to reach horicontal motion mechanism
2 horizontal extension Y-axis reciprocating.
The rotating mechanism 3 includes X-axis servo motor 31, harmonic speed reducer 32, decelerator fixed block 33, X-axis turning arm
34, the decelerator fixed block 33 is arranged on the front end of Y-axis sliding panel 26, and harmonic speed reducer 32 is fixed on decelerator fixed block 33
On, 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 harmonic reduction
The output end of device 32.
Refer to Fig. 3, Fig. 4, the vertical lifting mechanism 4 include Z axis servo motor 41, Z axis pedestal 42, Z axis sliding block 43,
Z axis screw mandrel 44 and Z axis slide rail component 45, the Z axis servo motor 41 are arranged on the upper end of Z axis pedestal 42, the Z axis pedestal 42
It is connected with X-axis turning arm 34, the Z axis sliding block 43 is movably arranged on Z axis pedestal 42 by Z axis slide rail component 45, the Z axis
Screw mandrel 44 is movably arranged on Z axis pedestal 42, and the output end of Z axis servo motor 41 is connected with Z axis screw mandrel 44, and Z axis screw mandrel 44
Feed screw nut's (not shown) be fixed on Z axis sliding block 43, so as to drive Z axis sliding block about 43 by Z axis servo motor 41
Move back and forth.
Fig. 3, Fig. 4 are referred to, the turn of the screw mechanism 5 includes z axis module 51, electric screwdriver tightening mechanism 52, the Z axis
Linear module 51 includes substrate 511, Z axis slide rail 512, and the upper end of the substrate 511 is slidably mounted on Z axis pedestal 42, substrate
511 lower end is fixed on Z axis sliding block 43, and Z axis slide rail 512 is arranged on substrate 511, and the electric screwdriver tightening mechanism 52 is arranged on
On z axis module 51, the electric screwdriver tightening mechanism 52 include electric screwdriver sliding sleeve 521, compression spring 522, electric screw driver 523,
Electric screwdriver head 524, vaccum suction pipe 525, the electric screwdriver sliding sleeve 521 are slidably mounted on substrate 511, and electric screw driver 523 is arranged on
On electric screwdriver sliding sleeve 521, and it is connected by an electric screwdriver guide rod (not shown) with compression spring 522, it is good so as to serve
Sliding compression acts on, and vaccum suction pipe 525 is arranged on the lower section of electric screw driver 523, the electric screwdriver head 524 and electric screw 523
It is connected and through vaccum suction pipe 525.
As shown in Fig. 3, Fig. 4 and Fig. 5, the electric screwdriver tightening mechanism 52 also includes an anticollision testing agency 527, anticollision
Testing agency 527 includes soup stick sliding block 5271, L-type sensing chip 5272, guide rod 5273, sensor 5274 and guide rod fixed block
5275, the soup stick sliding block 5271 is located at the lower end of electric screwdriver head 524 and is slidably arranged in Z axis slide rail 512, soup stick sliding block 5271
Be provided with a hole clipping (not shown), vaccum suction pipe 525 is arranged in the hole clipping of soup stick sliding block 5271, L-type sensing chip 5272 with
Soup stick sliding block 5271 connects, and guide rod fixed block 5275 is arranged on the middle part of substrate 511 and Z axis slide rail 512 is fixed through guide rod
Block 5275, guide rod 5273 is arranged on guide rod fixed block 5275 and lower end is connected with L-type sensing chip 5272, is covered on guide rod 5273
Provided with compression spring 5276, sensor 5274 is connected with L-type sensing chip 5272, so that during screwed lock, vaccum suction pipe 525
Barrier is collided during moving down, will compression spring 5276, by L-type sensing chip 5272 triggering be fixed on section bar
Sensor 5274, send fault-signal or alarm, the product department paid occurs to lock during the screwed lock for this device
When part is not put in place, the impact of hardness will not be caused to product or equipment, so as to serve fine protective effect.
As shown in Fig. 3 figures, 6, the electric screwdriver tightening mechanism 52 also tightens Fu Suo testing agencies 528 including one, described to tighten
Fu Suo testing agencies 528 include fixed block 5281, detection sliding block 5282, adjusting screw rod 5283, sensor 5284 and sensing post
5285, the fixed block 5281 is arranged on electric screwdriver sliding sleeve 521, and detection sliding block 5282 is arranged on fixed block 5281, the biography
Sensor 5284 is arranged on detection sliding block 5282 by adjusting screw rod 5283, and the sensing post 5285 is fixed on electric screw driver
523 tail ends and it is connected with sensor 5284.
Fig. 3, Fig. 4 are referred to, the feed mechanism 6 includes the rotary feeding mechanism 61, vibrations feed mechanism 62, sub-material
Mechanism 63 and fixed frame 64, the rotary feeding mechanism 61 are arranged on vibrations feed mechanism 62, feeding distribution mechanism 63 and vibrations
The end of feed mechanism 62 connects, and the rotary feeding mechanism 61 includes rotation motor 611, power transmission shaft 612, screw and puts feed roller
613 and pinch roller 614, fixed frame 64 is arranged on the bottom of the turn of the screw mechanism 5, and the rotation motor 611 is arranged on fixed frame
On 64, rotation motor 611 is connected by universal joint with power transmission shaft 612, and the screw puts feed roller 613 and is arranged on power transmission shaft 612
Screens on, the housing pin of pinch roller 614 puts the upper end of feed roller 613, prevents equipment screw from putting feed roller 613 in motion process
Rock, when rotary feeding mechanism 61 operates, rotation motor 611 drives power transmission shaft 612 to rotate, so as to which device is in power transmission shaft 612
On screw put feed roller 613 reverse rotation occur, when putting feed roller 613 and rotating, the segment screw that is stored in roller
Drop on vibrations feed mechanism 62.
Referring to Fig. 7, it is described vibrations feed mechanism 62 include electromagnetic shaker 621, feeding track 622, screw screening tank 623 and
Material waiting section 624, the electromagnetic shaker 621 are arranged on the bottom of fixed frame 64, and screw screening tank 623 is connected to feeding track 622 1
End, and be inserted into screw and put in feed roller 613, material waiting section 624 is located at the other end of feeding track 622, when screw puts feed roller
During 613 rotation, it is stored in the segment screw in roller and drops on screw screening tank 623, screw passes through screw screening tank 623
Screening arrangement, in the presence of electromagnetic shaker 621, by orderly direction by feeding track 622, it is sent to the end of feeding track 622
The material waiting section 624 at end, which waits, draws, so as to realize self-feeding.
Refer to Fig. 7, Fig. 8, the feeding distribution mechanism 63 include material splitting cylinder 631, fixed block 632, sub-material sliding block 633, point
Block 634, active block stop 635, extension spring 636 are followed closely, the afterbody of sub-material sliding block 633 is connected simultaneously with the output end of material splitting cylinder 631
And be arranged in fixed block 632, sub-material sliding block 633 drives fore-aft motion under the effect of material splitting cylinder 631, and a point nail block 634 is installed
In the front end of sub-material sliding block 633, the active blade 635 is connected with extension spring 636 and is fixed on a point nail by a steady pin
On block 634, a bail groove 637 is provided with point nail block 634, bail groove 637 is used to import screw, point nail of the feeding distribution mechanism 63
The material waiting section 624 of block 634 and feeding track 622 forms horizontal sextant angle α, and α is 30-60 °, wherein preferably 45 °, and junction has
Certain gap, prevents both from being rubbed during motion, when material splitting cylinder 631 moves in driving point nail block 634
Moved horizontally along angle [alpha], this structure can effectively prevent bail so that sub-material is more stable.
As shown in Fig. 1, Fig. 9 and Figure 10, a screw recovering mechanism 7, the spiral shell are also included in described articulated robot
Silk recovering mechanism 7 is arranged on the lower section of the turn of the screw mechanism 5, and screw recovering mechanism 7 includes vacuum pressure switch 71, fixed cunning
Set 72, nail sliding block 73, screw recycling box 74, slide 75, recovery cylinder 76, connecting rod 77, extension spring 78 are connect, it is described to connect nail
The inside of sliding block 73 is provided with neck (not shown), slide 75 be arranged on by extension spring 78 connect in the neck for following closely sliding block 73 from
And can slidably reciprocate, connect nail sliding block 73 by connecting rod 77 with recovery cylinder 76 be connected, by reclaim cylinder 76 effect under
Fore-aft motion in fixed sliding sleeve 72, connecing and circular hole 79 is provided with nail sliding block 73, screw recycling box 74 is arranged on the fixed lower section of sliding sleeve 72,
During the screwed lock, vaccum suction pipe 525 when drawing screw, if any screw adsorb it is not in place, inhale askew, or screw is abnormal,
When the normal pressure numerical value set in advance by vacuum pressure switch 71 is to detect this screw whether setting pressure value
It is interior, when pressure value is less than setting value, vacuum pressure switch 71 will trigger signal give control system, driven by control system
Recovery cylinder 76 on screw recovering mechanism 7, which promotes, connects the lower section that nail sliding block 73 is moved to vaccum suction pipe 525, is broken by magnetic valve
Its vacuum, to prevent the magnetic force of screw to be bonded in suction nozzle head, while air blowing magnetic valve screw is under the effect of the pressure installed additional
Accurately fall into the circular hole 79 for connecing the screw that nail sliding block 73 front end is provided with, after screw falls into circular hole 79, recovery cylinder 76 drives
Connect nail sliding block 73 and return to origin position, during Aligning control, slide 75 also moves simultaneously, and slide 75 touches with slip cap 72
When hitting, the stop motion of slide 75, slide and be provided with 75 with connecing the screw hole that the size of circular hole 79 is consistent on nail sliding block 73, so as to spiral shell
Silk is fallen into by this hole and connect in staple cartridge 74, and this mechanism preferably serves screw and inhaled during lock is paid askew, and screw is abnormal to twist
Product is caused to damage in tight process, reduces the fraction defective of product, while improves the quality of product.
In use, rotation motor 611 drives power transmission shaft 612 to rotate, so as to which screw of the device on power transmission shaft 612 puts material rolling
Reverse rotation occurs for cylinder 613, and when putting the rotation of feed roller 613, the segment screw being stored in roller drops in vibrations feeding
In mechanism 5, screw is arranged by the screening of screening tank 623, in the presence of vibrator 621, passes through vibrations by orderly direction
Track 622, the material waiting section 624 for being sent to the end of feeding track 622 wait absorption, then, electricity are driven by Z axis servo motor 41
Criticize tightening mechanism 52 to move down, vaccum suction pipe 525 is also moved downward to the top of bail groove 67 of feeding distribution mechanism 6, vacuum simultaneously
Suction pipe 525 sucks screw in the suction nozzle on the head of vaccum suction pipe 525, and screw and electric screw driver 523 are made under the positioning of suction nozzle
Electric screwdriver head 524 accurately match, under the driving effect of z axis module 51, be moved downward to the screwed lock that product is specified
Seat is paid, then electric screwdriver sliding sleeve 521 is promoted by the cylinder in screw tightening mechanism 5, causes the compression bullet on electric screw driver 523
Spring 522 compresses electric screw driver 523 and paid with electric screwdriver head 522 so as to which screw accurately be locked on product.During screwed lock,
Vaccum suction pipe 525 collides barrier during moving down, will compression spring 5273, triggered by L-type sensing chip 5272
The sensor 5274 being fixed on section bar, sends fault-signal or alarm；Vaccum suction pipe 525 when drawing screw, if any
Screw absorption is not in place, it is askew to inhale, or screw is abnormal, drives the recovery cylinder 76 on screw recovering mechanism 7 to push away by control system
The dynamic lower section for connecing nail sliding block 73 and being moved to vaccum suction pipe 525, screw, which is accurately fallen into, connects the screw that nail sliding block 73 front end is provided with
In circular hole 79, after screw falls into circular hole 79, the recovery driving of cylinder 76 connects nail sliding block 73 and returns to origin position, in meeting origin process
In, slide 75 also moves simultaneously, when slide 75 and slip cap 72 collide, the stop motion of slide 75, opens on slide 75
Have with connecing the screw hole that the size of circular hole 79 is consistent on nail sliding block 73, connect so as to which screw is fallen into by this hole in staple cartridge 74, realize spiral shell
The recovery of silk.
The present invention by installing an anticollision testing agency additional can occur that the product department paid need to be locked during the screwed lock
Part does not put the impact that hardness in place, will not be caused to product or equipment, so as to serve fine protective effect, uses simultaneously
Shake the mode of feeding so that after screw is arranged by the screening of screening tank, in the presence of vibrator, lead to by orderly direction
Vibrations track is crossed, and realizes self-feeding, the present invention passes through screw recovering mechanism also by setting a screw recovering mechanism in addition
Preferably serve screw lock pay during inhale it is askew, screw extremely product is caused to damage during tightening, reduce
The fraction defective of product, while improve the quality of product；Structure of the present invention is novel, reasonable in design, easy to operate, the turn of the screw speed
It hurry up, efficiency high, the fraction defective of product is low.
Embodiments of the invention are the foregoing is only, are not intended to limit the scope of the invention, it is every to utilize this hair
The equivalent structure or equivalent flow conversion that bright description is made, or directly or indirectly it is used in other related technology necks
Domain, it is included within the scope of the present invention.
Claims (10)
1. a kind of articulated robot of automatic lock screw, including 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), the horicontal motion mechanism (2), which is arranged on, fixes
On support base (1), rotating mechanism (3) is connected with horicontal motion mechanism (2), and the vertical lifting mechanism (4) is arranged on whirler
On structure (3), the turn of the screw mechanism (5) is arranged on vertical lifting mechanism (4), and the feed mechanism (6) is arranged on the turn of the screw
The lower end of mechanism (5), it is characterised in that：Also include a screw recovering mechanism (7), the screw recovering mechanism (7) is arranged on institute
The lower section of the turn of the screw mechanism (5) is stated, screw recovering mechanism (7) includes vacuum pressure switch (71), fixed sliding sleeve (72), connects nail cunning
Block (73), screw recycling box (74), slide (75), recovery cylinder (76), connecting rod (77), extension spring (78), it is described to connect
Neck is provided with inside nail sliding block (73), slide (75) is arranged on by extension spring (78) in the neck for connecing nail sliding block (73),
Connect nail sliding block (73) to be connected with recovery cylinder (76) by connecting rod (77), by reclaiming under cylinder (76) effect in fixed sliding sleeve
(72) interior fore-aft motion, connect and circular hole (79) is provided with nail sliding block (73), screw recycling box (74) is arranged under fixed sliding sleeve (72)
Side.
2. the articulated robot of automatic lock screw according to claim 1, it is characterised in that：The horicontal motion mechanism
(2) Y-axis servo motor (21), toothed belt transmission component (22), Y-axis fixed seat (23), line slide rail component (24), Y-axis are included
Screw component (25), Y-axis sliding panel (26) and motor mounts (27), the Y-axis fixed seat (23) are arranged on fixed supporting seat
(1) on, line slide rail component (24) is fixed in Y-axis fixed seat (23), and Y-axis sliding panel (26) is arranged on line slide rail component
(24) on, Y-axis servo motor (21) is fixed on the top of Y-axis sliding panel (26), the Y-axis silk by a motor mounts (27)
Bar assembly (25) is fixed in Y-axis fixed seat (23) by nut, and Y-axis screw component (25) one end is consolidated by a bearing block assembly
It is scheduled on Y-axis sliding panel (26), the other end is connected by toothed belt transmission component (22) with Y-axis servo motor (21).
3. the articulated robot of automatic lock screw according to claim 1, it is characterised in that：The rotating mechanism (3)
Including X-axis servo motor (31), harmonic speed reducer (32), decelerator fixed block (33), X-axis turning arm (34), the decelerator
Fixed block (33) is arranged on the front end of Y-axis sliding panel (26), and harmonic speed reducer (32) is fixed on decelerator fixed block (33), X
The output shaft of axle servo motor (31) is connected with the input of harmonic speed reducer (32), and X-axis turning arm (34) is fixed on harmonic wave and subtracted
The output end of fast device (32).
4. the articulated robot of automatic lock screw according to claim 1, it is characterised in that：The vertical lifting mechanism
(4) Z axis servo motor (41), Z axis pedestal (42), Z axis sliding block (43), Z axis screw mandrel (44) and Z axis slide rail component (45) are included,
The Z axis servo motor (41) is arranged on the top of Z axis pedestal (42), and the Z axis pedestal (42) connects with X-axis turning arm (34)
Connect, the Z axis sliding block (43) is movably arranged on Z axis pedestal (42) by Z axis slide rail component (45), the Z axis screw mandrel (44)
It is movably arranged on Z axis pedestal (42), the output end of Z axis servo motor (41) is connected with Z axis screw mandrel (44), and Z axis slide rail
The feed screw nut of component (45) is fixed on Z axis sliding block (43).
5. the articulated robot of automatic lock screw according to claim 1, it is characterised in that：The turn of the screw mechanism
(5) z axis module (51), electric screwdriver tightening mechanism (52) are included, the z axis module (51) includes substrate (511), Z axis
Slide rail (512), the upper end of the substrate (511) are slidably mounted on Z axis pedestal (42), and the lower end of substrate (511) is fixed on Z axis
On sliding block (43), Z axis slide rail (512) is arranged on substrate (511), and the electric screwdriver tightening mechanism (52) is arranged on z axis mould
In group (51), the electric screwdriver tightening mechanism (52) include electric screwdriver sliding sleeve (521), compression spring (522), electric screw driver (523),
Electric screwdriver head (524), vaccum suction pipe (525), the electric screwdriver sliding sleeve (521) are slidably mounted on substrate (511), electric screw driver
(523) it is arranged on electric screwdriver sliding sleeve (521), and is connected by an electric screwdriver guide rod with compression spring (522), vaccum suction pipe
(525) lower section of electric screw driver (523) is arranged on, the electric screwdriver head (524) is connected and through vacuum with electric screw (523)
Suction pipe (525).
6. the articulated robot of automatic lock screw according to claim 5, it is characterised in that：The electric screwdriver tightening mechanism
(52) an anticollision testing agency (527) is also included, anticollision testing agency (527) includes soup stick sliding block (5271), L-type senses
Piece (5272), guide rod (5273), sensor (5274) and guide rod fixed block (5275), the soup stick sliding block (5271) are located in electricity
Criticize the lower end of nozzle (524) and be slidably arranged in Z axis slide rail (512), soup stick sliding block (5271) is provided with a hole clipping, vaccum suction pipe
(525) in the hole clipping of soup stick sliding block (5271), L-type sensing chip (5272) is connected with soup stick sliding block (5271), and guide rod is solid
Determine block (5275) and pass through guide rod fixed block (5275), guide rod installed in the middle part of substrate (511) and Z axis slide rail (512)
(5273) it is arranged on guide rod fixed block (5275) and lower end is connected with L-type sensing chip (5272), guide rod is arranged on (5273)
There is compression spring (5276), sensor (5274) is connected with L-type sensing chip (5272).
7. the articulated robot of automatic lock screw according to claim 5, it is characterised in that：The electric screwdriver tightening mechanism
(52) Fu Suo testing agencies (528) also are tightened including one, it is described tighten Fu Suo testing agencies (528) include fixed block (5281),
Detect sliding block (5282), adjusting screw rod (5283), sensor (5284) and sensing post (5285), fixed block (5281) installation
On electric screwdriver sliding sleeve (521), detection sliding block (5282) is arranged on fixed block (5281), and the sensor (5284) passes through regulation
Screw rod (5283) is arranged on detection sliding block (5282), and the sensing post (5285) is fixed on electric screw driver (523) tail end simultaneously
And it is connected with sensor (5284).
8. the articulated robot of automatic lock screw according to claim 1, it is characterised in that：The feed mechanism (6)
Including the rotary feeding mechanism (61), vibrations feed mechanism (62), feeding distribution mechanism (63) and fixed frame (64), the rotation
Feed mechanism (61) is arranged on vibrations feed mechanism (62), and feeding distribution mechanism (63) is connected with vibrations feed mechanism (62) end,
The rotary feeding mechanism (61) includes rotation motor (611), power transmission shaft (612), screw and puts feed roller (613) and pinch roller
(614), fixed frame (64) is arranged on the bottom of the turn of the screw mechanism (5), and the rotation motor (611) is arranged on fixed frame
(64) rotation motor (611) is arranged on fixed frame (64) on, and rotation motor (611) passes through universal joint and power transmission shaft
(612) connect, the screw is put feed roller (613) and is arranged in the screens of power transmission shaft (612), and pinch roller (614) housing pin is put
The upper end of feed roller (613).
9. the articulated robot of automatic lock screw according to claim 8, it is characterised in that：The vibrations feed mechanism
(62) electromagnetic shaker (621), feeding track (622), screw screening tank (623) and material waiting section (624), the electromagnetic shaker are included
(621) fixed frame (64) bottom is arranged on, screw screening tank (623) is connected to feeding track (622) one end, and is inserted into spiral shell
Silk is put in feed roller (613), and material waiting section (624) are located at the other end of feeding track (622).
10. the articulated robot of automatic lock screw according to claim 8, it is characterised in that：The feeding distribution mechanism
(63) material splitting cylinder (631), fixed block (632), sub-material sliding block (633), point nail block (634), active block stop (635), drawing are included
Spring (636) is stretched, sub-material sliding block (633) afterbody is connected with material splitting cylinder (631) output end and is arranged on fixed block
(632) in, sub-material sliding block (633) drives fore-aft motion under material splitting cylinder (631) effect, and a point nail block (634) is arranged on sub-material
The front end of sliding block (633), the active blade (635) are connected with extension spring (636) and are fixed on a point nail by a steady pin
On block (634), a bail groove (637), point nail block (634) and the feeding of the feeding distribution mechanism (63) are provided with point nail block (634)
It is 30-60 ° that the material waiting section (624) of track (622), which forms horizontal sextant angle α, α, wherein preferably 45 °, and junction have it is certain
Gap.
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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105252263A CN105252263A (en) | 2016-01-20 |
| CN105252263B true CN105252263B (en) | 2017-12-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510819128.5A Expired - Fee Related CN105252263B (en) | 2015-11-20 | 2015-11-20 | A kind of articulated robot of automatic lock screw |
Country Status (1)
| Country | Link |
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| CN (1) | CN105252263B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105598956B (en) * | 2016-03-17 | 2017-06-23 | 苏州特瑞特机器人有限公司 | A kind of three axle Cartesian robots |
| CN106002212B (en) * | 2016-05-26 | 2018-03-02 | 广东金弘达自动化科技股份有限公司 | A kind of automatic assembling machine of screw rod and nut |
| CN105834744B (en) * | 2016-05-26 | 2018-03-02 | 广东金弘达自动化科技股份有限公司 | A kind of automatic assembling apparatus of screw rod and nut |
| CN105935866B (en) * | 2016-06-02 | 2018-02-23 | 华中科技大学 | Tip of screw actuator apparatus is beaten in intellectuality |
| 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 |
| CN108213903B (en) * | 2018-03-06 | 2024-01-12 | 天津市多思机械设备有限公司 | Three-nozzle negative pressure nail feeding 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 |
| 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 |
| 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 |
| JP7322821B2 (en) * | 2020-06-11 | 2023-08-08 | トヨタ自動車株式会社 | ROBOT CONTROL SYSTEM, ROBOT CONTROL METHOD, AND PROGRAM |
| CN111660277B (en) * | 2020-06-28 | 2023-02-10 | 中铁九局集团电务工程有限公司 | Bolt mounting arm |
| 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 |
| 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 |
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| CN105252263A (en) | 2016-01-20 |
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