CN106002216A - Efficient intelligent type locking mechanical hand - Google Patents

Efficient intelligent type locking mechanical hand Download PDF

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Publication number
CN106002216A
CN106002216A CN201610499134.1A CN201610499134A CN106002216A CN 106002216 A CN106002216 A CN 106002216A CN 201610499134 A CN201610499134 A CN 201610499134A CN 106002216 A CN106002216 A CN 106002216A
Authority
CN
China
Prior art keywords
joint arm
type locking
intelligent type
mechanical hand
machine tool
Prior art date
Application number
CN201610499134.1A
Other languages
Chinese (zh)
Inventor
苏皓
Original Assignee
江苏捷帝机器人股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 江苏捷帝机器人股份有限公司 filed Critical 江苏捷帝机器人股份有限公司
Priority to CN201610499134.1A priority Critical patent/CN106002216A/en
Publication of CN106002216A publication Critical patent/CN106002216A/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—OTHER WORKING OF METAL; 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/04—Viewing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture

Abstract

The invention discloses an efficient intelligent type locking mechanical hand, and mainly relates to the technical field of the mechanical hand. The two ends of a first joint arm are separately connected to a machine base and a second joint arm in a matched manner; the first joint arm and the second joint arm are driven by a servo motor arranged inside the machine base; the bottom of the second joint arm is provided with a sleeve; the upper end of a spline shaft is connected to a screw-up motor in a matched manner through a buffer mechanism; the middle part of the spline shaft is provided with a hollow shaft motor; the lower part of the spline shaft passes through the second joint arm, and is nested into the sleeve, and the bottom of the spline shaft is connected to a screwdriver head in the matched manner; the top of the machine base is provided with an automatic alarm device connected to a controller; and the controller comprises a liquid crystal display screen and a PLC programmer. The locking mechanical hand is high in locking efficiency, is small in damage on a workpiece, is simple to operate by a worker, can keep long-time efficient and stable operation; and moreover, the locking mechanical hand has fewer redundant structures, is convenient and quick to mount, dismount and maintain, and is low in manufacturing and operation cost.

Description

A kind of efficient intelligent type locking machine tool hands

Technical field

The present invention relates to the technical field of mechanical hand, specifically a kind of efficient intelligent type locking machine tool hands.

Background technology

Mechanical hand is some holding function that can imitate human arm, in order to capture, to carry object or the automatic pilot of operation instrument by fixed routine.Mechanical hand is the industrial robot occurred the earliest, also it is the modern machines people occurred the earliest, it can replace the heavy labor of people to realize the mechanization and the automatization that produce, and can operate under hostile environment, thus is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.Wherein locking machine tool hands produces rotary power by the way of electric or pneumatic, to replace the most manual lock to pay action, alleviates the intensity that workpiece lock is paid to a certain extent.

In recent years, along with the development of science and technology, the technology of locking machine tool hands is required more and more higher by every profession and trade, but existing locking machine tool hands there is also following defect:

1, the axial impact force that splined shaft produces time descending is easy to defective work piece, and each joint often occurs the deviation on position in running；

2, operated by personnel is complicated, and screwed lock pays inefficiency；

3, mechanical hand redundancy structure is more, and size and weight are big, maintain relatively complicated, manufactures and operating cost is high.

Summary of the invention

Goal of the invention: the problem and shortage existed for above-mentioned prior art, it is an object of the invention to provide a kind of efficient intelligent type locking machine tool hands, it is high that efficiency paid by this mechanical hand lock, little to workpiece damage, operated by personnel is simple, it is possible to keep the operation of long-time efficient stable, and its redundancy structure is few, load and unload easy to maintenance fast, manufacture and operating cost cheap.

Technical scheme: in order to realize object above, a kind of efficient intelligent type locking machine tool hands of the present invention, include support, the first joint arm, second joint arm, buffer gear and splined shaft；Described first joint arm two ends are connected with support, second joint arm respectively, the driven by servomotor that described first joint arm and second joint arm are all provided with by base inner；Being connected to sleeve bottom described second joint arm, described splined shaft upper end is connected with tightening motor by buffer gear, is provided with hollow shaft motor in the middle part of described splined shaft；Described splined shaft bottom is embedded in sleeve through second joint arm, and bottom is connected with screwdriver head；Described support top is provided with the autoalarm being connected with controller, and described controller includes LCDs and PLC programmable device.The present invention carries out Based Intelligent Control by PLC programmable device to whole mechanical hand, each joint arm is accurately positioned automatically, operated by personnel is simple simultaneously, by LCDs, its operational factor is carried out real-time monitoring, and its autoalarm makes an immediate response when deviation occurs in mechanical hand operation, thus remind staff to be adjusted in time, greatly ensure that the operation of the long-time efficient stable of mechanical hand；And it passes through to tighten motor, hollow shaft motor is co-axially mounted with splined shaft, thus decreases the redundant unit of mechanical hand, improve lock and pay an efficiency, significantly reduce load, manufacture and operating cost is cheap, to maintain the most convenient simultaneously；On the other hand, it achieves flexible assembly by buffer gear, thus reduce splined shaft descending time the axial impact force damage to workpiece.

Heretofore described support surface is provided with the vision sensor being connected with LCDs, thus facilitates staff's monitoring to its specific works state.

Heretofore described motor of tightening can be replaced by air motor, and versatility is the best.

Heretofore described buffer gear includes spring and connects power transmission shaft.Buffer gear in the present invention serves power transmission and cushioning effect well, avoids the damage to workpiece when occurring and positioning and do not mate, and can actively carry out Matching and modification.

Heretofore described autoalarm is acoustooptic alarm, and prompting effect is notable.

Heretofore described sleeve is connected by mosaic mode and second joint arm are fixing, and its sleeve and second joint arm are connected with each other stably firmly, easy to loading and unloading fast can be replaced at any time according to actual needs, and the scope of application is the widest.

Heretofore described support is connected with controller by telescopic folding rod, consequently facilitating the regulation and control of staff.

Beneficial effect: compared with prior art, the invention have the advantages that

1, heretofore described a kind of efficient intelligent type locking machine tool hands, it carries out Based Intelligent Control by PLC programmable device to whole mechanical hand, each joint arm is accurately positioned automatically, operated by personnel is simple simultaneously, by LCDs, its operational factor is carried out real-time monitoring, and when deviation occurs in mechanical hand operation, its autoalarm makes an immediate response, thus reminds staff to be adjusted in time, greatly ensure that the operation of the long-time efficient stable of mechanical hand.

2, heretofore described a kind of efficient intelligent type locking machine tool hands, it passes through to tighten motor, hollow shaft motor is co-axially mounted with splined shaft, thus decrease the redundant unit of mechanical hand, improve lock and pay efficiency, significantly reduce load, manufacturing and operating cost is cheap, to maintain the most convenient simultaneously.

3, heretofore described a kind of efficient intelligent type locking machine tool hands, its buffer gear serves power transmission and cushioning effect well, the damage to workpiece is avoided when occurring and positioning and do not mate, and can actively carry out Matching and modification, it is achieved thereby that flexible assembly, reduce splined shaft descending time the axial impact force damage to workpiece.

4, heretofore described a kind of efficient intelligent type locking machine tool hands, its vision sensor being connected with LCDs facilitates staff's monitoring to its specific works state；Additionally its sleeve and second joint arm are connected with each other stably firm, easy to loading and unloading fast can be replaced at any time according to actual needs, and the scope of application is the widest.

Accompanying drawing explanation

Fig. 1 is the overall structure schematic diagram of mechanical hand in the present invention.

In figure: support the 1, first joint arm 2, second joint arm 3, tighten motor 4, buffer gear 5, hollow shaft motor 6, splined shaft 7, sleeve 8, screwdriver head 9, controller 10, autoalarm 11.

Detailed description of the invention

Below in conjunction with specific embodiment, the present invention is described in detail; but explanation protection scope of the present invention is not limited to the concrete scope of the present embodiment simultaneously; based on the embodiment in the present invention; the every other embodiment that those of ordinary skill in the art are obtained under not making creative work premise, broadly falls into the scope of protection of the invention.

Embodiment 1

As shown in Figure 1, a kind of efficient intelligent type locking machine tool hands of the present embodiment, including: support the 1, first joint arm 2, second joint arm 3, tighten motor 4, buffer gear 5, hollow shaft motor 6, splined shaft 7, sleeve 8, screwdriver head 9, controller 10 and autoalarm 11.

The annexation of above-mentioned each parts is as follows: described first joint arm 2 two ends are connected with support 1, second joint arm 3 respectively, and described first joint arm 2 and second joint arm 3 are all by the internal driven by servomotor being provided with of support 1；Being connected to sleeve 8 bottom described second joint arm 3, described splined shaft 7 upper end is connected with tightening motor 4 by buffer gear 5, is provided with hollow shaft motor 6 in the middle part of described splined shaft 7；Described splined shaft 7 bottom is embedded in sleeve 8 through second joint arm 3, and bottom is connected with screwdriver head 9；Described support 1 top is provided with the autoalarm 11 being connected with controller 10, and described controller 10 includes LCDs and PLC programmable device.Wherein said support 1 surface is provided with the vision sensor being connected with LCDs, and described buffer gear 5 includes spring and connects power transmission shaft, and described autoalarm 11 is acoustooptic alarm；Described sleeve 8 is connected by mosaic mode is fixing with second joint arm 3, and described support 1 is connected with controller 10 by telescopic folding rod.

Embodiments of the invention are given for example with for the sake of describing, and are not exhaustively or limit the invention to disclosed form.Many modifications and variations are apparent from for the ordinary skill in the art.Selecting and describing embodiment is in order to the principle of the present invention and actual application are more preferably described, and makes those of ordinary skill in the art it will be appreciated that the present invention thus design are suitable to the various embodiments with various amendments of special-purpose.

Claims (7)

1. an efficient intelligent type locking machine tool hands, it is characterised in that: including: support (1), the first joint arm (2), second joint arm (3), buffer gear (5) and splined shaft (7)；Described first joint arm (2) two ends are connected with support (1), second joint arm (3) respectively, and described first joint arm (2) and second joint arm (3) are all by the internal driven by servomotor being provided with of support (1)；
Described second joint arm (3) bottom is connected to sleeve (8), and described splined shaft (7) upper end is connected with tightening motor (4) by buffer gear (5), and described splined shaft (7) middle part is provided with hollow shaft motor (6)；In described splined shaft (7) bottom is embedded in sleeve (8) through second joint arm (3), and bottom is connected with screwdriver head (9)；Described support (1) top is provided with the autoalarm (11) being connected with controller (10), and described controller (10) includes LCDs and PLC programmable device.
A kind of efficient intelligent type locking machine tool hands the most according to claim 1, it is characterised in that: described support (1) surface is provided with the vision sensor being connected with LCDs.
A kind of efficient intelligent type locking machine tool hands the most according to claim 1, it is characterised in that tightening motor (4) described in: can be replaced by air motor.
A kind of efficient intelligent type locking machine tool hands the most according to claim 1, it is characterised in that: described buffer gear (5) includes spring and connects power transmission shaft.
A kind of efficient intelligent type locking machine tool hands the most according to claim 1, it is characterised in that: described autoalarm (11) is acoustooptic alarm.
A kind of efficient intelligent type locking machine tool hands the most according to claim 1, it is characterised in that: described sleeve (8) is connected by mosaic mode and second joint arm (3) are fixing.
A kind of efficient intelligent type locking machine tool hands the most according to claim 1, it is characterised in that: described support (1) is connected with controller (10) by telescopic folding rod.
CN201610499134.1A 2016-06-30 2016-06-30 Efficient intelligent type locking mechanical hand CN106002216A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610499134.1A CN106002216A (en) 2016-06-30 2016-06-30 Efficient intelligent type locking mechanical hand

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610499134.1A CN106002216A (en) 2016-06-30 2016-06-30 Efficient intelligent type locking mechanical hand

Publications (1)

Publication Number Publication Date
CN106002216A true CN106002216A (en) 2016-10-12

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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107081767A (en) * 2017-05-31 2017-08-22 苏州诚晟信息技术有限公司 A kind of method of work of intelligent riveting robot
CN107081743A (en) * 2017-05-31 2017-08-22 太仓市微贯机电有限公司 A kind of riveting robot with real-time monitoring and control
CN107138942A (en) * 2017-05-31 2017-09-08 太仓市微贯机电有限公司 A kind of high-precision people that puts together machines
CN107138943A (en) * 2017-05-31 2017-09-08 太仓市高泰机械有限公司 A kind of method of work for the people that put together machines with monitoring function
CN107186717A (en) * 2017-05-31 2017-09-22 苏州诚晟信息技术有限公司 A kind of safety-type man-machine collaboration puts together machines the method for work of people
CN107186716A (en) * 2017-05-31 2017-09-22 太仓市微贯机电有限公司 Security cooperation robot is used in one kind assembling
CN107214509A (en) * 2017-05-31 2017-09-29 太仓市高泰机械有限公司 A kind of protection type puts together machines the method for work of people
CN107263045A (en) * 2017-05-31 2017-10-20 太仓市微贯机电有限公司 A kind of people that puts together machines with auto-alarm function
CN107335999A (en) * 2017-05-31 2017-11-10 太仓市高泰机械有限公司 A kind of high efficiency puts together machines the method for work of people

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10315070A (en) * 1997-05-12 1998-12-02 Nitto Seiko Co Ltd Automatic screwing machine
CN201217145Y (en) * 2008-05-30 2009-04-08 比亚迪股份有限公司 Automatic screwing down apparatus
CN101677046A (en) * 2008-09-18 2010-03-24 上海工程技术大学 Integrated screw-nut regulating locking device
CN103612114A (en) * 2013-11-05 2014-03-05 苏州铂电自动化科技有限公司 SCARA robot special for screwing down and assembling screws
CN105081757A (en) * 2015-08-25 2015-11-25 苏州博思特装配自动化科技有限公司 Novel intelligent universal high-speed screwing assembly robot
CN205218483U (en) * 2015-11-30 2016-05-11 深圳市威富多媒体有限公司 Nut locking device
CN205733756U (en) * 2016-06-30 2016-11-30 江苏捷帝机器人股份有限公司 A kind of intelligent locking machine tool hands

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10315070A (en) * 1997-05-12 1998-12-02 Nitto Seiko Co Ltd Automatic screwing machine
CN201217145Y (en) * 2008-05-30 2009-04-08 比亚迪股份有限公司 Automatic screwing down apparatus
CN101677046A (en) * 2008-09-18 2010-03-24 上海工程技术大学 Integrated screw-nut regulating locking device
CN103612114A (en) * 2013-11-05 2014-03-05 苏州铂电自动化科技有限公司 SCARA robot special for screwing down and assembling screws
CN105081757A (en) * 2015-08-25 2015-11-25 苏州博思特装配自动化科技有限公司 Novel intelligent universal high-speed screwing assembly robot
CN205218483U (en) * 2015-11-30 2016-05-11 深圳市威富多媒体有限公司 Nut locking device
CN205733756U (en) * 2016-06-30 2016-11-30 江苏捷帝机器人股份有限公司 A kind of intelligent locking machine tool hands

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107081767A (en) * 2017-05-31 2017-08-22 苏州诚晟信息技术有限公司 A kind of method of work of intelligent riveting robot
CN107081743A (en) * 2017-05-31 2017-08-22 太仓市微贯机电有限公司 A kind of riveting robot with real-time monitoring and control
CN107138942A (en) * 2017-05-31 2017-09-08 太仓市微贯机电有限公司 A kind of high-precision people that puts together machines
CN107138943A (en) * 2017-05-31 2017-09-08 太仓市高泰机械有限公司 A kind of method of work for the people that put together machines with monitoring function
CN107186717A (en) * 2017-05-31 2017-09-22 苏州诚晟信息技术有限公司 A kind of safety-type man-machine collaboration puts together machines the method for work of people
CN107186716A (en) * 2017-05-31 2017-09-22 太仓市微贯机电有限公司 Security cooperation robot is used in one kind assembling
CN107214509A (en) * 2017-05-31 2017-09-29 太仓市高泰机械有限公司 A kind of protection type puts together machines the method for work of people
CN107263045A (en) * 2017-05-31 2017-10-20 太仓市微贯机电有限公司 A kind of people that puts together machines with auto-alarm function
CN107335999A (en) * 2017-05-31 2017-11-10 太仓市高泰机械有限公司 A kind of high efficiency puts together machines the method for work of people

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Application publication date: 20161012

RJ01 Rejection of invention patent application after publication