CN106078181A - A kind of mechanical hand installing multiple spring and method of work thereof - Google Patents
A kind of mechanical hand installing multiple spring and method of work thereof Download PDFInfo
- Publication number
- CN106078181A CN106078181A CN201610639616.2A CN201610639616A CN106078181A CN 106078181 A CN106078181 A CN 106078181A CN 201610639616 A CN201610639616 A CN 201610639616A CN 106078181 A CN106078181 A CN 106078181A
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- Prior art keywords
- spring
- mechanical hand
- jaw
- driving means
- installing multiple
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Classifications
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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
- B23P19/048—Springs
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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
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of mechanical hand installing multiple spring, including robot base, external control system, two spring jaws, a bleeder sucker and detection pawl, two of which spring jaw is oppositely arranged on robot base two ends, bleeder sucker is arranged between two spring jaws, each spring jaw all includes that two capture finger, detection pawl end is provided with force cell, spring jaw is provided with position detecting device, and external control system includes alarm device, counting assembly, driving means and control device；Described spring jaw, crawl finger, bleeder sucker and detection pawl are all connected with driving means, and force cell, alarm device, counting assembly, position detecting device and driving means are all connected with control device.This design replaces manual installation spring, is greatly improved production efficiency, and the problem solving the bad installation of machine contained spring.
Description
Technical field
The present invention relates to the technical field of mechanical hand, particularly to a kind of mechanical hand installing multiple spring.
Background technology
Owing to the installation environment of spring is complex, mounting means changes more, and at present, the installation of spring mostly is manual peace
Dress, but, when spring need to be arranged on machine inside, staff is inconvenient to probe into, and is difficult to observe, even if utilizing when mounted
Viewfinder, is also very to affect production efficiency, and installs quality and be difficult to ensure；It addition, when the spring-loaded spring of required peace
When power is the biggest, manual operations is more difficult to, and this needs exist for the spring installation system of a kind of automatization, replaces manual operations,
And the installation environment that spring is complicated can be tackled.
Additionally spring installation may produce defective, or installation rear spring power is not reaching to standard, and this is accomplished by
Effectively detect after installation, but common position detection is qualified does not ensures that spring force necessarily reaches standard.
Summary of the invention
The purpose of invention: the present invention discloses a kind of mechanical hand installing multiple spring, replaces manual spring of installing, significantly
Improve production efficiency, the problem that the bad installation of machine contained spring can be solved, it is possible to the practical situation that reply is complicated；Install
Cheng Hou, directly detects spring force, once detects that installation is defective, installs.
Technical scheme: in order to realize object above, the invention discloses a kind of mechanical hand installing multiple spring, including
Robot base, external control system, two spring jaws, a bleeder sucker and detection pawl, two of which alligator clamp
Pawl is oppositely arranged on robot base two ends, and bleeder sucker is arranged between two spring jaws, and each spring jaw all wraps
Including two and capture finger, detection pawl end is provided with force cell, and spring jaw is provided with position detecting device, external control system
System includes alarm device, counting assembly, driving means and control device；Described spring jaw, capture finger, bleeder sucker
All it is connected with driving means with detection pawl, force cell, alarm device, counting assembly, position detecting device and driving means
All it is connected with control device.This design installs spring with can substitute for craft, is greatly improved production efficiency, can solve in machine
The problem of the bad installation of portion's spring, it is possible to the practical situation that reply is complicated, and have tally function；True by position detecting device
Dingan County's holding position, after installation, detects spring force, once detects that installation is defective, installs；When
When defective state cannot be got rid of, alarm device is reported to the police.
Further, above-mentioned a kind of mechanical hand installing multiple spring, described driving means includes vac sorb blower fan,
It is connected with bleeder sucker.This design, for being magnetic and not having magnetic object, can attract, and the suitability is wide.
Further, above-mentioned a kind of mechanical hand installing multiple spring, described force cell is pressure transducer.This
Planting the design spring force by detection spring, differentiate whether spring is properly installed, this mode is direct and effective.
Further, above-mentioned a kind of mechanical hand installing multiple spring, the end of described crawl finger is provided with rubber sleeve.
Rigid contact when capturing spring is converted into flexible contact by this design, prevents from damaging captured spring.
Further, above-mentioned a kind of mechanical hand installing multiple spring, described rubber sleeve surface is provided with anti-slip veins.This
Design improves the frictional force between rubber sleeve and spring, prevents from slipping.
Further, above-mentioned a kind of mechanical hand installing multiple spring, said two spring jaw can be in driving means
Effect lower mutually with parastate closer or far from.
Further, above-mentioned a kind of mechanical hand installing multiple spring, said two spring jaw one end is connected, and
Folding can be carried out with junction point for fulcrum under driving means effect.
The method of work of a kind of mechanical hand installing multiple spring, specific works method is as follows: 1) mechanical hand arrives bullet
Spring storeroom, bleeder sucker attracts spring；2) after spring is adsorbed, mechanical hand leaves spring storeroom, is prepared to enter into installing
Position, both ends of the spring is fixed by spring jaw respectively simultaneously；3) spring jaw by spring elongation or is compressed to preseting length, simultaneously
Mechanical hand arrives predetermined installation site；4) spring one end is first installed to specifying position by one of them spring jaw；5) another
The spring other end is installed to specifying position by individual spring jaw again, and during this, another spring jaw can drive dress
Putting and under drive, spring is compressed or stretches, i.e. adjusting its length to install smoothly；6), after once mounting completes, bleed
Formula sucker stops attracting；7) detection pawl drives force cell to detect the spring after installing, if spring force reaches to set
Value, illustrates that spring is installed successfully, and once, mechanical hand exits and carries out next round installation counting device；8) if spring force reaches
Less than setting value, illustrate that spring install failure, bleeder sucker match with spring jaw, take out spring and install again and
Detect again, detect qualified rear counting device once；9) if continuous 2 ~ 5 times all cannot be installed, alarm device is reported to the police, by
Operator fix a breakdown.
Further, the method for work of above-mentioned a kind of mechanical hand installing multiple spring, described spring is compression spring
Time, two spring jaws directly clamp and compression spring, now capture finger and are in closed configuration；When spring is for stretching spring,
Crawl finger is opened, and captures the hook of stretching both ends of the spring and clamps, stretching with this；When spring is torque spring, capture
Finger is opened, and captures and clamp the two-arm of torque spring, to install.
Technique scheme is it can be seen that there is advantages that a kind of installation of the present invention is multiple
The mechanical hand of spring, replaces manual installation spring, is greatly improved production efficiency, and solves the bad installation of machine contained spring
Problem；Can draw all springs, capture spring more convenient simultaneously, and avoid damaging spring, installation process is more reliable, and energy
The practical situation that reply is complicated, meets compression spring, stretching spring and the installation of torque spring simultaneously；After installation, pass through pressure
Spring force is detected by sensor, once detects that installation is defective, controls device and sends instruction, installs；
Defective when cannot automatically get rid of, can report to the police, more humane, and have tally function.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of mechanical hand installing multiple spring of the present invention；
In figure: 1-spring jaw, 11-captures finger, 2-bleeder sucker, and 3-detects pawl, 4-force cell.
Detailed description of the invention
Below in conjunction with the accompanying drawings, the specific embodiment of the invention is described in detail.
Embodiment
A kind of mechanical hand installing multiple spring of the present invention, as it is shown in figure 1, include robot base, external control
System, 1, bleeder sucker 2 of two spring jaws and detection pawl 3, two of which spring jaw 1 is oppositely arranged on machinery
Hands pedestal two ends, bleeder sucker 2 is arranged between two spring jaws 1, and each spring jaw 1 all includes that two capture finger
11, detection pawl 3 end is provided with force cell 4, and force cell 4 is pressure transducer, and spring jaw 1 is provided with position detection
Device, external control system includes alarm device, counting assembly, driving means and control device；Described spring jaw 1, grab
Take finger 11, bleeder sucker 2 and detection pawl 3 be all connected with driving means, force cell 4, alarm device, counting assembly,
Position detecting device and driving means are all connected with control device；Described driving means includes vac sorb blower fan, its with bleed
Formula sucker 2 connects；The end of described crawl finger 11 is provided with rubber sleeve；Described rubber sleeve surface is provided with anti-slip veins.
Said two spring jaw 1 can under driving means effect mutually with parastate closer or far from；Or with two
Individual spring jaw 1 one end is connected, and can carry out folding to replace above-mentioned side with junction point for fulcrum under driving means effect
Case.
Said two spring jaw 1 all can rotate in robot base, so can adjust the crawl capturing finger 11
Direction, preferably carries out the clamping to spring according to practical situation.
Detection pawl 3 includes dewclaw, lower claw and connects both joints, thus can be adjusted flexibly by detection pawl 3
The position of force cell 4, in order to spring is measured.
Capture finger 11 and include upper gripper jaw and lower jaw, between upper gripper jaw and lower jaw, be provided with jaw joint, upper gripper jaw with
It is provided with joint between spring jaw 1, each other can be with flexible rotating, to tackle the spring of different size.Or at alligator clamp
Pawl 1 end arranges total joint, and Jun Yuzong joint, two upper gripper jaw ends is connected, and is used for replacing two upper gripper jaws and spring jaw
The scheme in joint it is respectively equipped with between 1.
The method of work of a kind of mechanical hand installing multiple spring is as follows:
1) mechanical hand arrives spring storeroom, and bleeder sucker 2 attracts spring；
2), after spring is adsorbed, mechanical hand leaves spring storeroom, is prepared to enter into installation site, and spring jaw 1 is by spring simultaneously
Two ends are fixed respectively；
3) spring jaw 1 by spring elongation or is compressed to preseting length, and mechanical hand arrives predetermined installation site simultaneously；
4) spring one end is first installed to specifying position by one of them spring jaw 1；
5) the spring other end is installed to specifying position by another spring jaw 1 again, during this, and another spring jaw 1
Under driving means drives, spring can being compressed or stretch, i.e. adjusting its length to install smoothly；
6), after once mounting completes, bleeder sucker 2 stops attracting；
7) detection pawl 3 drives force cell 4 to detect the spring after installing, if spring force reaches setting value, bullet is described
Spring is installed successfully, and once, mechanical hand exits and carries out next round installation counting device；
8) if spring force does not reaches setting value, illustrate that spring install failure, bleeder sucker 2 match with spring jaw 1, take out
Spring is also installed and is detected, detects qualified rear counting device once；
9) if continuous 2 ~ 5 times all cannot be installed, alarm device is reported to the police, operator fix a breakdown.
When spring is compression spring, two spring jaws 1 directly clamp and compression spring, now capture finger 11 and are in
Closed configuration；When spring is for stretching spring, captures finger 11 and open, capture the hook of stretching both ends of the spring and clamp, entering with this
Row stretching；When spring is torque spring, captures finger 11 and open, capture and clamp the two-arm of torque spring, first by torque spring
Body be arranged on spring and install on axle or other installation portions, so the crawl finger 11 of latter two spring jaw 1 is firmly grasped simultaneously
The two-arm of torque spring, mobile to setting position, complete to install.
The above is only the preferred embodiment of the present invention, it should be noted that for those skilled in the art
For, under the premise without departing from the principles of the invention, it is also possible to make some improvement, these improve the guarantor that also should be regarded as the present invention
Protect scope.
Claims (9)
1. one kind install multiple spring mechanical hand, it is characterised in that: include robot base, external control system, two
Spring jaw (1), a bleeder sucker (2) and detection pawl (3), two of which spring jaw (1) is oppositely arranged on machinery
Hands pedestal two ends, bleeder sucker (2) is arranged between two spring jaws (1), and each spring jaw (1) all includes that two are grabbed
Taking finger (11), detection pawl (3) end is provided with force cell (4), and spring jaw (1) is provided with position detecting device, outside
Control system includes alarm device, counting assembly, driving means and control device；
Described spring jaw (1), crawl finger (11), bleeder sucker (2) and detection pawl (3) are all connected with driving means,
Force cell (4), alarm device, counting assembly, position detecting device and driving means are all connected with control device.
A kind of mechanical hand installing multiple spring the most according to claim 1, it is characterised in that: described driving means bag
Including vac sorb blower fan, it is connected with bleeder sucker (2).
A kind of mechanical hand installing multiple spring the most according to claim 1, it is characterised in that: described force cell
(4) it is pressure transducer.
A kind of mechanical hand installing multiple spring the most according to claim 1, it is characterised in that: described crawl finger
(11) end is provided with rubber sleeve.
A kind of mechanical hand installing multiple spring the most according to claim 4, it is characterised in that: described rubber sleeve surface
It is provided with anti-slip veins.
A kind of mechanical hand installing multiple spring the most according to claim 1, it is characterised in that: said two alligator clamp
Pawl (1) can under driving means effect mutually with parastate closer or far from.
A kind of mechanical hand installing multiple spring the most according to claim 1, it is characterised in that: said two alligator clamp
Pawl (1) one end is connected, and can carry out folding with junction point for fulcrum under driving means effect.
8. the method for work of the mechanical hand installing multiple spring, it is characterised in that: specific works method is as follows:
1) mechanical hand arrives spring storeroom, and bleeder sucker (2) attracts spring；
2), after spring is adsorbed, mechanical hand leaves spring storeroom, is prepared to enter into installation site, and spring jaw (1) is by bullet simultaneously
Spring two ends are fixed respectively；
3) spring jaw (1) by spring elongation or is compressed to preseting length, and mechanical hand arrives predetermined installation site simultaneously；
4) spring one end is first installed to specifying position by one of them spring jaw (1)；
5) the spring other end is installed to specifying position by another spring jaw (1) again, during this, and another spring jaw
(1) under driving means drives, spring can being compressed or stretch, i.e. adjusting its length to install smoothly；
6), after once mounting completes, bleeder sucker (2) stops attracting；
7) detection pawl (3) drives force cell (4) to detect the spring after installing, if spring force reaches setting value, says
Bright spring is installed successfully, and once, mechanical hand exits and carries out next round installation counting device；
8) if spring force does not reaches setting value, illustrate that spring install failure, bleeder sucker (2) match with spring jaw (1),
Take out spring and install again and detect again, detecting qualified rear counting device once；
9) if continuous 2 ~ 5 times all cannot be installed, alarm device is reported to the police, operator fix a breakdown.
The method of work of a kind of mechanical hand installing multiple spring the most according to claim 8, it is characterised in that: described
When spring is compression spring, two spring jaws (1) directly clamp and compression spring, now capture finger (11) and are in and close up shape
State；When spring is for stretching spring, captures finger (11) and open, capture the hook of stretching both ends of the spring and clamp, drawing with this
Stretch；When spring is torque spring, captures finger (11) and open, capture and clamp the two-arm of torque spring, to install.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610639616.2A CN106078181B (en) | 2016-08-08 | 2016-08-08 | A kind of manipulator and its working method of a variety of springs of installation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610639616.2A CN106078181B (en) | 2016-08-08 | 2016-08-08 | A kind of manipulator and its working method of a variety of springs of installation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106078181A true CN106078181A (en) | 2016-11-09 |
| CN106078181B CN106078181B (en) | 2018-07-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610639616.2A Active CN106078181B (en) | 2016-08-08 | 2016-08-08 | A kind of manipulator and its working method of a variety of springs of installation |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107335996A (en) * | 2017-08-09 | 2017-11-10 | 苏州阿甘机器人有限公司 | A kind of industrial robot and its method of work for installing torsion spring |
| CN110102994A (en) * | 2019-04-30 | 2019-08-09 | 慕贝尔汽车部件（太仓）有限公司 | A kind of spring adjustment mechanism |
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| CN1883888A (en) * | 2006-06-30 | 2006-12-27 | 中国科学院光电技术研究所 | Grab and suck the difunctional underwater electric manipulator |
| CN103817698A (en) * | 2014-02-21 | 2014-05-28 | 奇瑞汽车股份有限公司 | Automobile coil spring press-demounting manipulator device and utilization method thereof |
| CN104985474A (en) * | 2015-08-05 | 2015-10-21 | 伟本机电（上海）有限公司 | Blanking manipulator |
| CN205021604U (en) * | 2015-09-12 | 2016-02-10 | 杨四周 | Pneumatic manipulator claw with pressure sensor device |
| CN205238039U (en) * | 2015-10-26 | 2016-05-18 | 东莞技研新阳电子有限公司 | Terminal is carried out to big rotation angle plug -in components of manipulator single -end |
| CN205869920U (en) * | 2016-08-08 | 2017-01-11 | 江苏捷帝机器人股份有限公司 | Install manipulator that multiple spring was used |
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2016
- 2016-08-08 CN CN201610639616.2A patent/CN106078181B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE29622169U1 (en) * | 1996-12-20 | 1997-02-13 | ISI Automation Anlagen- und Komponenten Vertriebs GmbH, 65205 Wiesbaden | Connection of a pneumatic gripper to a carrier profile used to hold the gripper |
| CN1883888A (en) * | 2006-06-30 | 2006-12-27 | 中国科学院光电技术研究所 | Grab and suck the difunctional underwater electric manipulator |
| CN103817698A (en) * | 2014-02-21 | 2014-05-28 | 奇瑞汽车股份有限公司 | Automobile coil spring press-demounting manipulator device and utilization method thereof |
| CN104985474A (en) * | 2015-08-05 | 2015-10-21 | 伟本机电（上海）有限公司 | Blanking manipulator |
| CN205021604U (en) * | 2015-09-12 | 2016-02-10 | 杨四周 | Pneumatic manipulator claw with pressure sensor device |
| CN205238039U (en) * | 2015-10-26 | 2016-05-18 | 东莞技研新阳电子有限公司 | Terminal is carried out to big rotation angle plug -in components of manipulator single -end |
| CN205869920U (en) * | 2016-08-08 | 2017-01-11 | 江苏捷帝机器人股份有限公司 | Install manipulator that multiple spring was used |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107335996A (en) * | 2017-08-09 | 2017-11-10 | 苏州阿甘机器人有限公司 | A kind of industrial robot and its method of work for installing torsion spring |
| CN110102994A (en) * | 2019-04-30 | 2019-08-09 | 慕贝尔汽车部件（太仓）有限公司 | A kind of spring adjustment mechanism |
| CN110102994B (en) * | 2019-04-30 | 2020-11-03 | 慕贝尔汽车部件（太仓）有限公司 | Spring adjusting mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106078181B (en) | 2018-07-27 |
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Effective date of registration: 20230523 Address after: Room 585, floor 5, building 1, Hutai fashion, No. 10, Nanhai Road, Liuhe Town, Taicang City, Suzhou City, Jiangsu Province 215400 Patentee after: Suzhou huienyuan medical device accessories Co.,Ltd. Address before: 215138 Shitian Road, Yangchenghu Town, Xiangcheng District, Suzhou City, Jiangsu Province Patentee before: JIANGSU JIEDI ROBOT Co.,Ltd. |
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Effective date of registration: 20230813 Address after: Building 1, No. 51 Hongshan South Road, Xuanwu District, Nanjing City, Jiangsu Province, 210000 Patentee after: Nanjing Ningxin Anyu Medical Technology Co.,Ltd. Address before: Room 585, floor 5, building 1, Hutai fashion, No. 10, Nanhai Road, Liuhe Town, Taicang City, Suzhou City, Jiangsu Province 215400 Patentee before: Suzhou huienyuan medical device accessories Co.,Ltd. |
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