CN106002220A - Automatic manipulator assembly device of vehicle fastening pieces - Google Patents

Automatic manipulator assembly device of vehicle fastening pieces Download PDF

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Publication number
CN106002220A
CN106002220A CN201610545785.XA CN201610545785A CN106002220A CN 106002220 A CN106002220 A CN 106002220A CN 201610545785 A CN201610545785 A CN 201610545785A CN 106002220 A CN106002220 A CN 106002220A
Authority
CN
China
Prior art keywords
described
mechanical hand
platform
hand module
slide rail
Prior art date
Application number
CN201610545785.XA
Other languages
Chinese (zh)
Inventor
任鹏波
Original Assignee
浙江鼎盛汽车紧固件有限公司
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 浙江鼎盛汽车紧固件有限公司 filed Critical 浙江鼎盛汽车紧固件有限公司
Priority to CN201610545785.XA priority Critical patent/CN106002220A/en
Publication of CN106002220A publication Critical patent/CN106002220A/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23POTHER WORKING OF METAL; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00Machines for simply fitting together or separating metal parts, 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
    • B23P19/04Machines for simply fitting together or separating metal parts, 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
    • B23P19/06Screw or nut setting or loosening machines
    • B23P19/069Multi-spindle machines
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • B25J11/005Manipulators for mechanical processing tasks
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23POTHER WORKING OF METAL; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P2700/00Indexing scheme relating to the articles being treated, e.g. manufactured, repaired, assembled, connected or other operations covered in the subgroups
    • B23P2700/50Other automobile vehicle parts, i.e. manufactured in assembly lines

Abstract

The invention discloses an automatic manipulator assembly device of vehicle fastening pieces. The device comprises a servo motor, a first manipulator module, a second manipulator module, a third manipulator module, a first slide block, a first slide rail, a second slide block, a second slide rail, a coupling, a lifting cylinder, a primary clamp, a secondary clamp, an unloading clamp, a manipulator cylinder, a lead screw, a fixed bearing base, a support bearing base, a screw nut, a first platform and a second platform. The automatic manipulator assembly device of the vehicle fastening pieces can automatically perform machining and assembly of the vehicle fastening pieces by totally using a manipulator, is reasonable in structure, convenient for operation, high in machining and assembly precision and high in continuity, and facilitates large-batch continuous machining and assembly of the vehicle fastening pieces.

Description

A kind of fastening parts of automobiles automatic manipulator assembling device

[technical field]

The present invention relates to the technical field of machining, particularly a kind of fastening parts of automobiles automatic manipulator assembling The technical field of device.

[background technology]

In life now, under the progress of Science and Technology Day crescent benefit, robot with have the arm of the mankind Big difference is that flexibility ratio and resistance to dynamics.Namely the sharpest edges of mechanical hand are recursive does same moving Make to feel tired the most forever at machinery!The application that can be mechanical arm also will be more and more wider General, mechanical hand is a kind of high-tech automatic producing device that recent decades grows up, the accuracy of operation and ring The ability fulfiled assignment in border.One important branch of industry mechanical arm robot.Mechanical hand mainly by hand, Motion and control system three parts composition.Hand is used to grasp the parts of workpiece, according to being grasped The shape of object, size, weight, material and job requirements and have various structures form, such as clamp-type, torr Hold type and absorbent-type etc..Motion, makes hand complete various rotation (swing), mobile or compound motion Realize the action of regulation, change and grasped position and the posture of object.The lifting of motion, flexible, The degree of freedom of the self-movement modes such as rotation, referred to as mechanical hand.In order to capture optional position and orientation in space Object, need to have 6 degree of freedom.Degree of freedom is the key parameter of manipulator design.Degree of freedom is the most, machine The motility of tool hands is the biggest, and versatility is the widest, and its structure is the most complicated.

[summary of the invention]

The purpose of the present invention solves the problems of the prior art exactly, proposes a kind of fastening parts of automobiles automation Hands assembling device, it is possible to making the process and assemble of fastening parts of automobiles fully rely on mechanical hand and automatically carry out, structure is closed Reason, easy to operate, process and assemble precision is high, and persistence is strong, and the beneficially high-volume of fastening parts of automobiles adds continuously Frock is joined.

For achieving the above object, the present invention proposes a kind of fastening parts of automobiles automatic manipulator assembling device, bag Include servomotor, the first mechanical hand module, the second mechanical hand module, the 3rd mechanical hand module, the first slide block, First slide rail, the second slide block, the second slide rail, shaft joint, lift cylinder, just expect pincers, defective material pincers, discharging Pincers, manipulator cylinder, screw mandrel, fixed bearing block, supporting bearing base, feed screw nut, the first platform, Two platforms, described second slide rail top is provided with the second slide block, and it is flat that described second slider top is provided with first Platform, described first table top is provided with the first slide rail, and described first slide rail top is provided with the first slide block, Described first slider top is provided with the second platform, and described first platform side is provided with servomotor, described Connecting on servomotor and have shaft joint, described shaft joint connects has screw mandrel, described screw mandrel to sequentially pass through fixing Bearing block, feed screw nut, supporting bearing base, described fixed bearing block is arranged on the first platform, described silk Stem nut and supporting bearing base are arranged on the second mesa base, and described second table top is provided with lift cylinder, Described lift cylinder top is disposed with the first mechanical hand module, the second mechanical hand module, the 3rd mechanical hand Module, is respectively provided with organic in described first mechanical hand module, the second mechanical hand module, the 3rd mechanical hand module Tool tinea manus cylinder, described first mechanical hand module is provided with and just expects to arrange on pincers, described second mechanical hand module There is defective material to clamp, described 3rd mechanical hand module is provided with discharging pincers.

As preferably, the quantity of described first slide rail at least two, the quantity of described first slide block is at least Four pieces, the quantity of described second slide rail at least two, the quantity of described second slide block at least four pieces.

As preferably, the length of described screw mandrel is more than the greatest length of the second slide rail, and described screw mandrel is positioned at second The underface of platform, described feed screw nut is fixedly installed on the bottom of the second platform, and described supporting bearing base is solid Surely the outermost of the second mesa base, described screw mandrel and the second slide rail it are arranged on the most parallel to each other.

As preferably, described first mechanical hand module, the second mechanical hand module, the 3rd mechanical hand module are positioned at In same level, the quantity of described lift cylinder at least two groups.

Beneficial effects of the present invention: the present invention is by by servomotor, the first mechanical hand module, the second machinery Fingerprint group, the 3rd mechanical hand module, the first slide block, the first slide rail, the second slide block, the second slide rail, connecting shaft Device, lift cylinder, just expect pincers, defective material pincers, discharging pincers, manipulator cylinder, screw mandrel, fixed bearing block, Supporting bearing base, feed screw nut, the first platform, the second platform combine, through optimum experimental, energy The process and assemble enough making fastening parts of automobiles fully relies on mechanical hand and automatically carries out, rational in infrastructure, easy to operate, Process and assemble precision is high, and persistence is strong, beneficially the high-volume Continuous maching assembling of fastening parts of automobiles.

Inventive feature and advantage will combine accompanying drawing by embodiment and be described in detail.

[accompanying drawing explanation]

Fig. 1 is the main TV structure schematic diagram of the present invention a kind of fastening parts of automobiles automatic manipulator assembling device;

Fig. 2 is the plan structure schematic diagram of the present invention a kind of fastening parts of automobiles automatic manipulator assembling device.

In figure: 1-servomotor, 2-the first mechanical hand module, 3-the second mechanical hand module, 4-the 3rd machinery Fingerprint group, 5-the first slide block, 6-the first slide rail, 7-the second slide block, 8-the second slide rail, 9-shaft joint, 10- Pincers, 12-defective material pincers, 13-discharging pincers, 14-manipulator cylinder, 15-screw mandrel, 16-is expected at the beginning of lift cylinder, 11- Fixed bearing block, 17-supporting bearing base, 18-feed screw nut, 19-the first platform, 21-the second platform.

[detailed description of the invention]

Refering to Fig. 1 and Fig. 2, one fastening parts of automobiles automatic manipulator of the present invention assembling device, including servo electricity Machine the 1, first mechanical hand module the 2, second mechanical hand module the 3, the 3rd mechanical hand module the 4, first slide block 5, First slide rail the 6, second slide block the 7, second slide rail 8, shaft joint 9, lift cylinder 10, just material pincers 11, secondary Material pincers 12, discharging pincers 13, manipulator cylinder 14, screw mandrel 15, fixed bearing block 16, supporting bearing base 17, Feed screw nut's the 18, first platform the 19, second platform 21, described second slide rail 8 top is provided with the second slide block 7, described second slide block 7 top is provided with the first platform 19, and described first platform 19 top is provided with first Slide rail 6, described first slide rail 6 top is provided with the first slide block 5, and described first slide block 5 top is provided with Two platforms 21, described first platform 19 side is provided with servomotor 1, and described servomotor 1 connects to be had Shaft joint 9, on described shaft joint 9 connect have screw mandrel 15, described screw mandrel 15 sequentially pass through fixed bearing block 16, Feed screw nut 18, supporting bearing base 17, described fixed bearing block 16 is arranged on the first platform 19, described Feed screw nut 18 and supporting bearing base 17 are arranged on bottom the second platform 21, described second platform 21 top Being provided with lift cylinder 10, described lift cylinder 10 top is disposed with the first mechanical hand module 2, second Mechanical hand module the 3, the 3rd mechanical hand module 4, described first mechanical hand module the 2, second mechanical hand module 3, It is provided with manipulator cylinder 14 in 3rd mechanical hand module 4, described first mechanical hand module 2 is provided with Just it is provided with defective material pincers 12, described 3rd mechanical hand module 4 on material pincers 11, described second mechanical hand module 3 On be provided with discharging pincers 13, the quantity of described first slide rail 6 at least two, the number of described first slide block 5 Amount at least four pieces, the quantity of described second slide rail 8 at least two, the quantity of described second slide block 7 is extremely Rare four pieces, the length of described screw mandrel 15 is more than the greatest length of the second slide rail 8, and described screw mandrel 15 is positioned at The underface of the second platform 21, described feed screw nut 18 is fixedly installed on the bottom of the second platform 21, described Supporting bearing base 17 is fixedly installed on the outermost bottom the second platform 21, described screw mandrel 15 and the second slide rail 8 is the most parallel to each other, described first mechanical hand module the 2, second mechanical hand module the 3, the 3rd machinery Fingerprint group 4 is positioned in same level, the quantity of described lift cylinder 10 at least two groups.

Work process of the present invention:

The present invention is by by servomotor the 1, first mechanical hand module the 2, second mechanical hand module the 3, the 3rd machine Tool fingerprint group the 4, first slide block the 5, first slide rail the 6, second slide block the 7, second slide rail 8, shaft joint 9, liter Sending down the abnormal ascending QI cylinder 10, just material pincers 11, defective material pincers 12, discharging pincers 13, manipulator cylinder 14, screw mandrel 15, fixing Bearing block 16, supporting bearing base 17, feed screw nut's the 18, first platform the 19, second platform 21 are combined in one Rise, through optimum experimental, it is possible to make the process and assemble of fastening parts of automobiles fully rely on mechanical hand and automatically carry out, Rational in infrastructure, easy to operate, process and assemble precision is high, and persistence is strong, the beneficially high-volume of fastening parts of automobiles Continuous maching assembles.

Above-described embodiment is the description of the invention, is not limitation of the invention, any simple to the present invention Scheme after conversion belongs to protection scope of the present invention.

Claims (4)

1. fastening parts of automobiles automatic manipulator assembling device, it is characterised in that: include servomotor (1), the One mechanical hand module (2), the second mechanical hand module (3), the 3rd mechanical hand module (4), the first slide block (5), the first slide rail (6), the second slide block (7), the second slide rail (8), shaft joint (9), lifting air Cylinder (10), just expect clamp (11), defective material pincers (12), discharging pincers (13), manipulator cylinder (14), silk Bar (15), fixed bearing block (16), supporting bearing base (17), feed screw nut (18), the first platform (19), the second platform (21), described second slide rail (8) top is provided with the second slide block (7), described Second slide block (7) top is provided with the first platform (19), and described first platform (19) top is provided with First slide rail (6), described first slide rail (6) top is provided with the first slide block (5), described first slide block (5) top is provided with the second platform (21), and described first platform (19) side is provided with servomotor (1), the upper connection of described servomotor (1) has shaft joint (9), and the upper connection of described shaft joint (9) has Screw mandrel (15), described screw mandrel (15) sequentially passes through fixed bearing block (16), feed screw nut (18), props up Support bearing block (17), described fixed bearing block (16) is arranged on the first platform (19), described screw mandrel Nut (18) and supporting bearing base (17) are arranged on the second platform (21) bottom, described second platform (21) top is provided with lift cylinder (10), and described lift cylinder (10) top is disposed with first Mechanical hand module (2), the second mechanical hand module (3), the 3rd mechanical hand module (4), described first machine It is provided with machinery in tool fingerprint group (2), the second mechanical hand module (3), the 3rd mechanical hand module (4) Tinea manus cylinder (14), described first mechanical hand module (2) is provided with and just expects to clamp (11), described second machine It is provided with defective material pincers (12) on tool fingerprint group (3), described 3rd mechanical hand module (4) is provided with and unloads Material pincers (13).
2. a kind of fastening parts of automobiles automatic manipulator assembling device as claimed in claim 1, it is characterised in that: institute State the quantity at least two of the first slide rail (6), the quantity of described first slide block (5) at least four pieces, The quantity of described second slide rail (8) at least two, the quantity of described second slide block (7) at least four Block.
3. a kind of fastening parts of automobiles automatic manipulator assembling device as claimed in claim 1, it is characterised in that: institute Stating the greatest length more than the second slide rail (8) of the length of screw mandrel (15), described screw mandrel (15) is positioned at the The underface of two platforms (21), described feed screw nut (18) is fixedly installed on the second platform (21) Bottom, described supporting bearing base (17) is fixedly installed on the outermost of the second platform (21) bottom, institute State screw mandrel (15) the most parallel to each other with the second slide rail (8).
4. a kind of fastening parts of automobiles automatic manipulator assembling device as claimed in claim 1, it is characterised in that: institute State the first mechanical hand module (2), the second mechanical hand module (3), the 3rd mechanical hand module (4) be positioned at On one horizontal plane, the quantity of described lift cylinder (10) at least two groups.
CN201610545785.XA 2016-07-07 2016-07-07 Automatic manipulator assembly device of vehicle fastening pieces CN106002220A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610545785.XA CN106002220A (en) 2016-07-07 2016-07-07 Automatic manipulator assembly device of vehicle fastening pieces

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Application Number Priority Date Filing Date Title
CN201610545785.XA CN106002220A (en) 2016-07-07 2016-07-07 Automatic manipulator assembly device of vehicle fastening pieces

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106426185A (en) * 2016-12-14 2017-02-22 大连扬天科技有限公司 Automatic tightening system for wind power hub bolt robot

Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08318480A (en) * 1995-05-19 1996-12-03 Shibaura Eng Works Co Ltd Straight moving robot
JP2004243431A (en) * 2003-02-12 2004-09-02 Denso Corp Rectangular robot
CN101829999A (en) * 2010-04-26 2010-09-15 北京交通大学 Reachable domain detection device for astronaut spatial activities
CN202781152U (en) * 2012-06-27 2013-03-13 上研机电股份有限公司 Machine arm mechanism capable of translating and lifting
CN103624774A (en) * 2013-12-17 2014-03-12 哈尔滨工程大学 Six-degree-of-freedom series-parallel connection robot
CN103659802A (en) * 2013-11-29 2014-03-26 苏州博众精工科技有限公司 Grabbing mechanism
CN103895196A (en) * 2014-03-13 2014-07-02 台州华曙机械有限公司 Material picking mechanism of injection molding product feeder
CN203863677U (en) * 2014-03-31 2014-10-08 温州职业技术学院 Linear motion module
CN204172027U (en) * 2014-10-17 2015-02-25 安维杰 Based on the industrial robot of slide unit
CN105459096A (en) * 2015-12-15 2016-04-06 爱彼思(苏州)自动化科技有限公司 Clamping device for round bar
CN105583741A (en) * 2016-03-10 2016-05-18 东莞市叁益机械科技有限公司 Feeding and discharging manipulator used for precision sand blasting machine
CN205798896U (en) * 2016-07-07 2016-12-14 浙江鼎盛汽车紧固件有限公司 A kind of fastening parts of automobiles automatic manipulator assembling device

Patent Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08318480A (en) * 1995-05-19 1996-12-03 Shibaura Eng Works Co Ltd Straight moving robot
JP2004243431A (en) * 2003-02-12 2004-09-02 Denso Corp Rectangular robot
CN101829999A (en) * 2010-04-26 2010-09-15 北京交通大学 Reachable domain detection device for astronaut spatial activities
CN202781152U (en) * 2012-06-27 2013-03-13 上研机电股份有限公司 Machine arm mechanism capable of translating and lifting
CN103659802A (en) * 2013-11-29 2014-03-26 苏州博众精工科技有限公司 Grabbing mechanism
CN103624774A (en) * 2013-12-17 2014-03-12 哈尔滨工程大学 Six-degree-of-freedom series-parallel connection robot
CN103895196A (en) * 2014-03-13 2014-07-02 台州华曙机械有限公司 Material picking mechanism of injection molding product feeder
CN203863677U (en) * 2014-03-31 2014-10-08 温州职业技术学院 Linear motion module
CN204172027U (en) * 2014-10-17 2015-02-25 安维杰 Based on the industrial robot of slide unit
CN105459096A (en) * 2015-12-15 2016-04-06 爱彼思(苏州)自动化科技有限公司 Clamping device for round bar
CN105583741A (en) * 2016-03-10 2016-05-18 东莞市叁益机械科技有限公司 Feeding and discharging manipulator used for precision sand blasting machine
CN205798896U (en) * 2016-07-07 2016-12-14 浙江鼎盛汽车紧固件有限公司 A kind of fastening parts of automobiles automatic manipulator assembling device

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106426185A (en) * 2016-12-14 2017-02-22 大连扬天科技有限公司 Automatic tightening system for wind power hub bolt robot

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Application publication date: 20161012

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