CN106392563A - Nut loading suite and loading method thereof - Google Patents
Nut loading suite and loading method thereof Download PDFInfo
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- CN106392563A CN106392563A CN201611049581.3A CN201611049581A CN106392563A CN 106392563 A CN106392563 A CN 106392563A CN 201611049581 A CN201611049581 A CN 201611049581A CN 106392563 A CN106392563 A CN 106392563A
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- nut
- groove
- storing
- draw
- hole
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- 238000011068 loading method Methods 0.000 title abstract description 7
- 238000003860 storage Methods 0.000 claims abstract description 18
- 239000012636 effector Substances 0.000 claims description 34
- 239000000463 material Substances 0.000 claims description 19
- 230000001737 promoting effect Effects 0.000 claims description 6
- 238000000151 deposition Methods 0.000 claims description 5
- 230000000694 effects Effects 0.000 claims description 5
- 238000000034 method Methods 0.000 description 12
- 238000010586 diagram Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 238000003825 pressing Methods 0.000 description 3
- 239000002131 composite material Substances 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012840 feeding operation Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
Classifications
-
- 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
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
Abstract
The invention belongs to the field of industrial robots and technical application, in particular, relates to a nut loading suite and a loading method thereof, and aims to solve such problems as nut clamping in a traditional loading device. The nut loading suite comprises a robot and a tray mechanism; a clamping groove is formed in a working end of a terminal actuator of the robot; the tray mechanism includes a tray mounting plate, and a storage mechanism arranged on the tray mounting plate for storing nuts; the nuts can be accommodated in the clamping groove; a first locking mechanism is arranged on the terminal actuator, and can enable the nuts to be clamped in/deviated from the clamping groove; and a second locking mechanism is arranged on the storage mechanism, and can enable the nuts to be clamped in/deviated from the storage mechanism. Through settings of the first locking mechanism and the second locking mechanism, when the robot loads and unloads, the nuts can be effectively clamped under the condition of not introducing additional clamping mechanism, and the nut clamping problem of a screwing system is solved.
Description
Technical field
The invention belongs to industrial robot and its technical applications, more particularly, to a kind of automation is spirally connected the spiral shell of robot
Female feeding external member and its charging method.
Background technology
Bolt and nut connection is a kind of important and common connected mode between part, and it occupies phase in assembling work
When big proportion, the quality of Screw assembly directly influences stability and the quality of parts.Most of bolt and nuts are equal at present
Using traditional hand assembled, carry out manpower operation by simple spanner, or carry out by pneumatically or electrically installation tool
Operation, in the case that parts are various, inefficiency, easily error.For these reasons, digitized automatic assembly technique
Become the inexorable trend of the technological development that is spirally connected.Wherein, it is one based on the automation installation system of industrial robot important to send out
Exhibition direction, for automation installation system, a typical application is：Generally adopt between aerospace field, composite
Carry out the Fine Boring of bolts and nuts with the automation system of being spirally connected.
Because robot is in feeding process, needs robot to drive feeding device to convert different gestures and complete different moving
Make (for example robot drives spinning upside down of feeding device), so being located at feeding device when feeding device alters one's posture
Draw-in groove in bolt or nut be easy to come off from draw-in groove, once and bolt or nut come off from draw-in groove, by serious shadow
Ring assembly precision and safety.In order to prevent above-mentioned situation, some automation systems of being spirally connected need to design extra clamping machine
Structure auxiliary feeding device carries out the clamping of bolt or nut, and the design of extra clamping device makes a whole set of automation be spirally connected
System architecture is complicated, reliability is low.
Correspondingly, this area needs a kind of new nut feeding external member and its charging method to solve the above problems.
Content of the invention
In order to solve the problems referred to above of the prior art, the nut clamping problems being the existing feeding device of solution are with outward
Connect the problem that material clamping mechanism structure is complicated, reliability is low, on the one hand, the invention provides a kind of nut feeding external member, should
External member includes robot and charging tray mechanism, and the working end of the end effector of robot is provided with draw-in groove, described charging tray mechanism bag
Include charging tray installing plate and be arranged on the described charging tray installing plate, material storage mechanism for depositing nut, and described nut
Described draw-in groove can be contained in；First retaining mechanism is additionally provided with described end effector, described first retaining mechanism can
Described nut is made to be placed in/depart from described draw-in groove；Second retaining mechanism is provided with described material storage mechanism, this second retaining mechanism
Described nut can be made to be placed in/depart from described material storage mechanism.
In the optimal technical scheme of above-mentioned nut feeding external member, tangent plane is extended at least one side along described draw-in groove
Platform, described first retaining mechanism is arranged at described tangent plane platform, and described nut can be held by described first retaining mechanism
It is contained in described draw-in groove, and the described nut being contained in described draw-in groove is placed in described draw-in groove.
In the optimal technical scheme of above-mentioned nut feeding external member, described first retaining mechanism includes locking shell and appearance
It is contained in the compact heap of described housing, between described locking shell and described compact heap, is provided with the first holddown spring, be situated between in external force
In the case of entering, described compact heap can be moved to the direction away from described draw-in groove by way of compressing described first holddown spring
Dynamic, and this movement can make described nut disengage described draw-in groove.
In the optimal technical scheme of above-mentioned nut feeding external member, described compact heap has the first inclined-plane, described charging tray peace
It is provided with first projective structure corresponding with described first inclined-plane, described first projective structure can be described by promoting on dress plate
First inclined-plane makes described compact heap move to the direction away from described draw-in groove.
In the optimal technical scheme of above-mentioned nut feeding external member, described material storage mechanism also includes storing housing and setting
In described storing housing, can to accommodate described nut storing through hole, described second retaining mechanism can be by being contained in
The described nut stating storing through hole is placed in described storing through hole.
In the optimal technical scheme of above-mentioned nut feeding external member, described second retaining mechanism include the first movable part and
The second movable part that be pivotally connected with described first movable part, that there is the second inclined-plane.Wherein, described first movable part and described
It is provided with the second holddown spring, in the case of external force intervenes, described first movable part can be by compressing institute between storing housing
State the second holddown spring to move to the direction away from described charging tray installing plate；Wherein, described second inclined-plane can be radially into
Described storing through hole, and then the described nut being contained in described storing through hole is placed in described storing through hole.
In the optimal technical scheme of above-mentioned nut feeding external member, described second movable part is provided with bar shaped spacing hole,
The bearing pin being fixed on described storing housing is arranged at the spacing in the hole of this described bar shaped, in described first movable part to away from described material
In the case of the direction of disk installing plate is mobile, by the restriction of described bearing pin, described second inclined-plane can radially exit described
Storing through hole, and then so that described nut is moved in described storing through hole.
In the optimal technical scheme of above-mentioned nut feeding external member, described charging tray mechanism also includes feeding tube, described feeding
Pipe is connected with described storing through hole, and described nut can enter into and through described second retaining mechanism holding by described feeding tube
In/depart from described storing through hole.
In the optimal technical scheme of above-mentioned nut feeding external member, described charging tray installing plate is additionally provided with tremie pipe and
Two projective structures, described second projective structure can make described compact heap to away from described draw-in groove by promoting described first inclined-plane
Direction move, and then enable the part in described draw-in groove to enter described tremie pipe.
In the optimal technical scheme of above-mentioned nut feeding external member, described first projective structure and the second projective structure are respectively
It is arranged at the opposition side of described charging tray installing plate.
In the optimal technical scheme of above-mentioned nut feeding external member, described nut is Closely locking nut, described end effector
Working end can by with described first projective structure cooperation by way of make described Closely locking nut be placed in described draw-in groove, and
The working end of described end effector can make the de- of described Closely locking nut with described second projective structure by way of coordinating
The part that falls falls into described tremie pipe.
A kind of another aspect of the present invention, there is provided nut charging method of nut feeding external member, this charging method includes
Following steps：
Nut is made to fall into the storing through hole of described charging tray mechanism from the feeding tube of charging tray mechanism；
The nut falling in described storing through hole is made to be placed in described storing through hole；
The nut being placed in described storing through hole is made to fall into the draw-in groove of the working end of end effector of robot；
The nut falling into described draw-in groove is made to be placed in described draw-in groove.
It will be appreciated to those of skill in the art that in the preferred technical solution of the present invention, end effector sets
It is equipped with draw-in groove and the first retaining mechanism, the first retaining mechanism includes compact heap, the first retaining mechanism can pass through compact heap
Move nut holding/disengaging draw-in groove.In addition, storing passage and the second retaining mechanism are provided with material storage mechanism, the second lock
Tight mechanism includes the first movable part and the second movable part being pivotally connected with the first movable part, and the second retaining mechanism can be by the
One movable part drives the second movable part to move, by nut holding/disengaging storing passage.In other words, by the first retaining mechanism
With the setting of the second retaining mechanism, allow the robot to retaining nut and be in while clamped condition moreover it is possible to join with charging tray mechanism
Conjunction completes feeding or blanking operation.Above-mentioned nut feeding external member and its charging method, are not only simple in structure, and are easy to process, and
And efficiently solve robot and be spirally connected the nut clamping problems of system, simplify the structure of the system of being spirally connected, improve the system of being spirally connected
Automaticity.
Scheme 1, a kind of nut feeding external member, including robot and charging tray mechanism, the working end of the end effector of robot sets
Be equipped with draw-in groove it is characterised in that
Described charging tray mechanism includes charging tray installing plate and is arranged on the described charging tray installing plate, storing for depositing nut
Mechanism, and described nut can be contained in described draw-in groove；
First retaining mechanism is additionally provided with described end effector, described first retaining mechanism can make described nut holding
In/depart from described draw-in groove；
Second retaining mechanism is provided with described material storage mechanism, this second retaining mechanism can make described nut be placed in/depart from
Described material storage mechanism.
Scheme 2, the nut feeding external member according to scheme 1 are it is characterised in that extend along at least one side of described draw-in groove
Go out tangent plane platform, described first retaining mechanism is arranged at described tangent plane platform, and
Described nut can be contained in described draw-in groove for described first retaining mechanism, and described in being contained in described draw-in groove
Nut is placed in described draw-in groove.
Scheme 3, the nut feeding external member according to scheme 2 are it is characterised in that described first retaining mechanism includes locking shell
And it is contained in the compact heap of described housing, it is provided with the first holddown spring between described locking shell and described compact heap,
In the case of external force intervention, described compact heap can be to away from described draw-in groove by way of compressing described first holddown spring
Direction is moved, and this movement can make described nut disengage described draw-in groove.
Scheme 4, the nut feeding external member according to scheme 3 are it is characterised in that described compact heap has the first inclined-plane, described
First projective structure corresponding with described first inclined-plane is provided with charging tray installing plate, described first projective structure can be by pushing away
Moving described first inclined-plane makes described compact heap move to the direction away from described draw-in groove.
Scheme 5, the nut feeding external member according to scheme 4 it is characterised in that described material storage mechanism also include storing housing with
And it is arranged at the storing through hole in described storing housing, described nut can be accommodated,
The described nut that be contained in described storing through hole can be placed in described storing through hole for described second retaining mechanism.
Scheme 6, the nut feeding external member according to scheme 5 are it is characterised in that described second retaining mechanism includes the first activity
Part and be pivotally connected with described first movable part, second movable part with the second inclined-plane,
Wherein, it is provided with the second holddown spring between described first movable part and described storing housing, in the case of external force intervenes,
Described first movable part can be moved to the direction away from described charging tray installing plate by compressing described second holddown spring；
Wherein, described second inclined-plane radially into described storing through hole, and then can will be contained in the institute of described storing through hole
State nut and be placed in described storing through hole.
Scheme 7, the nut feeding external member according to scheme 6 are it is characterised in that be provided with bar shaped limit on described second movable part
Position hole, the bearing pin being fixed on described storing housing is arranged at the spacing in the hole of this described bar shaped,
In the case of described first movable part moves to the direction away from described charging tray installing plate, by the limit of described bearing pin
System, described second inclined-plane can radially exit described storing through hole, and then so that described nut is moved in described storing through hole.
Scheme 8, the nut feeding external member according to scheme 7 it is characterised in that described charging tray mechanism also includes feeding tube,
Described feeding tube is connected with described storing through hole, and described nut can enter into and through described second by described feeding tube
Retaining mechanism is placed in/departs from described storing through hole.
Scheme 9, the nut feeding external member according to any one of scheme 4 to 8 are it is characterised in that on described charging tray installing plate
It is additionally provided with tremie pipe and the second projective structure,
Described second projective structure can make described compact heap to the direction away from described draw-in groove by promoting described first inclined-plane
Mobile, and then enable the part in described draw-in groove to enter described tremie pipe.
Scheme 10, the nut feeding external member according to scheme 9 are it is characterised in that described first projective structure and second protrudes
Structure is respectively arranged at the opposition side of described charging tray installing plate.
Scheme 11, the nut feeding external member according to scheme 10 it is characterised in that described nut be Closely locking nut,
The working end of described end effector can make described Closely locking nut by way of coordinating with described first projective structure
It is placed in described draw-in groove, and
The working end of described end effector can make described Closely locking nut by way of coordinating with described second projective structure
Come off part fall into described tremie pipe.
A kind of nut charging method of the nut feeding external member any one of scheme 12, employing scheme 1 to 11, its feature exists
In this charging method comprises the steps：
Nut is made to fall into the storing through hole of described charging tray mechanism from the feeding tube of charging tray mechanism；
The nut falling in described storing through hole is made to be placed in described storing through hole；
The nut being placed in described storing through hole is made to fall into the draw-in groove of the working end of end effector of robot；
The nut falling into described draw-in groove is made to be placed in described draw-in groove.
Brief description
Fig. 1 is the structural representation of the nut feeding external member of the present invention；
Fig. 2 is the structural representation of the end effector of the robot of the present invention；
Fig. 3 is the structural representation of first retaining mechanism of the present invention；
Fig. 4 is the structural representation of the charging tray mechanism of the present invention；
Fig. 5 is the structure sectional view of the charging tray mechanism of the present invention；
Fig. 6 A is the schematic diagram with the first retaining mechanism before the contact of charging tray mechanism for the end effector of the present invention；
Fig. 6 B is the schematic diagram with the first retaining mechanism after the contact of charging tray mechanism for the end effector of the present invention；
Fig. 7 A is the schematic diagram with the second locking device before the contact of charging tray mechanism for the end effector of the present invention；
Fig. 7 B is the schematic diagram with the second locking device after the contact of charging tray mechanism for the end effector of the present invention.
Specific embodiment
The preferred embodiment of the present invention to be described with reference to the accompanying drawings.It will be apparent to a skilled person that this
A little embodiments are used only for explaining the know-why of the present invention it is not intended that limiting the scope of the invention.For example although
The section of the draw-in groove in embodiment is regular hexagon, but this section form is not unalterable, and those skilled in the art can
To make adjustment to it as needed, to adapt to specific application scenario.
It should be noted that in describing the invention, term " " center ", " on ", D score, "left", "right", " vertical ",
The direction of instruction such as " level ", " interior ", " outward " or the term of position relationship are based on direction shown in the drawings or position relationship, this
It is intended merely to facilitate description, rather than instruction or hint described device or element must have specific orientation, with specific
Azimuth configuration and operation, are therefore not considered as limiting the invention.Additionally, term " first ", " second ", " the 3rd " are only used
In description purpose, and it is not intended that indicating or hint relative importance.
In addition it is also necessary to explanation, in describing the invention, unless otherwise clearly defined and limited, term " peace
Dress ", " being connected ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or integratedly
Connect；Can be to be mechanically connected or electrically connect；Can be to be joined directly together it is also possible to be indirectly connected to by intermediary,
It can be the connection of two element internals.To those skilled in the art, can understand that above-mentioned term exists as the case may be
Concrete meaning in the present invention.
It is an object of the invention to, on the premise of not introducing extra clamping device, held by the end in robot
First retaining mechanism is arranged on row device and the second retaining mechanism is arranged on tray device, efficiently solve robot and be spirally connected and be
The nut clamping problems of system, simplify the structure of the system that is spirally connected, and improve system automation degree.
As shown in figure 1, the nut feeding external member of the present invention mainly includes robot 1 and charging tray mechanism 3.Wherein, robot 1
End be provided with end effector 2, by the action of robot 1, end effector 2 can be made to obtain from charging tray mechanism 3
Nut, and nut is placed in the working end of end effector 2, so that corresponding tightening operation is carried out to nut.
As shown in Fig. 2 the draw-in groove 21 that can accommodate nut is provided with the working end of end effector 2, along draw-in groove 21 extremely
Tangent plane platform 22 is extended in a few side.First retaining mechanism 23, the first retaining mechanism 23 energy are provided with tangent plane platform 22
Enough and draw-in groove 21 coordinates nut holding or disengages in draw-in groove 21.Specifically, enter draw-in groove 21 from charging tray mechanism 3 in nut
When, the first retaining mechanism 23 can make nut enter draw-in groove 21.After entering draw-in groove 21, the first retaining mechanism 23 can be by spiral shell
Master card is placed in draw-in groove 21 it is ensured that follow-up tightening operation can reliably be carried out., draw-in groove 21 can be taking hex nut as a example
Cross section is regular hexagon corresponding with hex nut, and the axis coinciding of draw-in groove 21 and working end.Orthohexagonal upper side edge
In tangent plane platform 22.It may occur to persons skilled in the art that, the structure of draw-in groove 21 can also nut class securing member outer
Nut in the other forms that edge is adapted, such as the present embodiment can be Closely locking nut 4.Certainly, except nut class securing member, this
The nut feeding external member of invention is also applied for needing to carry out other any parts of operation by clamping, by the nut of the present invention
When feeding external member is applied to this part, need to ensure the structure matching of draw-in groove 21 and part.
Further as shown in figure 3, the first retaining mechanism 23 mainly includes locking shell 231 (as two back to the L-type being spirally connected
Locking shell unit) and it is contained in the compact heap 232 in locking shell 231.Between locking shell 231 and compact heap 232
The first holddown spring 233 can be provided with, and compact heap 232 and the first holddown spring 233 are installed in and are arranged at locking shell
In the first stroke groove 234 with corresponding construction in body 231.Compact heap 232 can pass through the elastic force of the first holddown spring 233
Between draw-in groove 21 and the first stroke groove 234, set in the range of move back and forth.Preferably, can set on compact heap 232
It is equipped with the first inclined-plane (in figure does not mark), when there being external force to promote the first inclined-plane, the first holddown spring 233 forced compression, this pressure
Contracting can make nut enter draw-in groove 21 or make the nut in draw-in groove 21 depart from draw-in groove 21.Similarly, the situation disappearing in external force
Under, the first holddown spring 233 being compressed extends, and the elastic force that this elongation produces can make stably to be placed in nut draw-in groove 21
Interior.Certainly, the first inclined-plane can also be other versions, as long as this version can be by making compact heap 232 in card
Moving back and forth between groove 21 and the first stroke groove 234, enables nut smoothly to enter/to depart from draw-in groove 21, and is entering card
Can reliably be placed in draw-in groove 21 after groove 21.
As shown in Figure 4 and Figure 5, charging tray mechanism 3 mainly includes charging tray installing plate 31 and is arranged on charging tray installing plate 31
, for depositing the material storage mechanism 32 of Closely locking nut 4, material storage mechanism 32 is also correspondingly arranged on for depositing Closely locking nut 4
Expects pipe 35.Corresponding with the first inclined-plane on compact heap 232, the first projective structure 33 is additionally provided with charging tray installing plate 31.When
Compact heap 232 close to the first projective structure 33 when, the first projective structure 33 can promote compact heap 232 so as to radially move back
Go out draw-in groove 21, so that nut can enter/depart from draw-in groove 21., charging tray mechanism 3 can also include reclaiming taking Closely locking nut 4 as a example
The tremie pipe 36 of the part that comes off of Closely locking nut 4 and the second projective structure 34.Second projective structure 34 passes through to promote compact heap 232
On the first inclined-plane so that compact heap 232 is moved to the direction away from draw-in groove 21, and then so that coming off of Closely locking nut 4 is partially into down
Expects pipe 36.
With further reference to Fig. 5, still, material storage mechanism 32 mainly includes storing housing 321 (such as two taking Closely locking nut 4 as a example
Individual back to the L-type storing housing unit being spirally connected), the second retaining mechanism 322 of being arranged in storing housing 321 and can accommodating
The storing through hole 323 of Closely locking nut 4.Wherein, the second retaining mechanism 322 can make Closely locking nut 4 holding/disengaging storing through hole
323, the first projective structure 33 and the second projective structure 34 all by inserting the first stroke groove 234 and then can promote compact heap
232 the first inclined-plane makes compact heap 232 exit draw-in groove 21 in radial direction, and then makes the Closely locking nut 4 in storing through hole 323 enter card
In groove 21, and coming off of the Closely locking nut 4 in draw-in groove 21 is made to be partially into tremie pipe 36.Wherein, feeding tube 35 and storing lead to
Hole 323 connects, and Closely locking nut 4 can enter storing through hole 323 by feeding tube 35, promotes pressure in the first projective structure 33 afterwards
The Closely locking nut 4 in entrance storing through hole 323 can be made during the first inclined-plane of tight block 232 to enter draw-in groove 21.
With continued reference to Fig. 5, the second retaining mechanism 322 mainly includes the first movable part 3221 (as the storage being substantially of an L-shaped structure
Material switch) and the second movable part 3222 of being pivotally connected with the first movable part 3221.First movable part 3221 and storing housing
It is provided with the second holddown spring 3223 between 321, and the first movable part 3221, the second movable part 3222 and the second holddown spring
3223 are installed in the second stroke groove 3224 being arranged in storing housing 321.Additionally, also setting up on the second movable part 3222
There is bar shaped spacing hole 3225, in storing housing 321, be additionally provided with the bearing pin 3226 being contained in bar shaped spacing hole 3225.Work as pressing
During the first movable part 3221, due to being pivotally connected with the first movable part 3221, one end of the second movable part 3222 can be with first
While the pressing of movable part 3221 is moved up and down, the free end of the second movable part 3222 can be in the restriction of bearing pin 3226
The radially wobbling of lower edge storing through hole 323.Preferably, the free end in the second movable part 3222 has the second inclined-plane (in figure is not
Mark), under the common restriction of the first movable part 3221 and bearing pin 3226, the second inclined-plane can radially enter to a certain extent
Enter storing through hole 323, by Closely locking nut 4 clamping of in the hole, or radially exit storing through hole 323 it is allowed to the high of in the hole is locked
Nut 4 glides.It may occur to persons skilled in the art that, the second inclined-plane can also be other forms, as long as this form is passed through
The activity of the second movable part 3222, be capable of standing in storing through hole 323 for the Closely locking nut 4 and deposit or freely depart from be
Can.
It is possible to further the first projective structure 33 and the second projective structure 34 are separately positioned on charging tray installing plate 31
Opposition side, for improving the operability when carrying out loading and unloading operation for the robot 1.As according to Fig. 5 orientation, the first projective structure 33
It is arranged on the downside of charging tray installing plate 31, and is located at the position near storing through hole 323, be such as arranged substantially in storing through hole
323 edge, so as working end close to storing through hole 323 when, this first projective structure 33 can be pressed into the of compact heap 232
One inclined-plane.Accordingly, the second projective structure 34 is arranged on the upside of charging tray installing plate 31, and is located at the position near tremie pipe 36
Put, be such as arranged substantially in the edge of tremie pipe 36.That is, in the present embodiment, the end effector 2 of robot 1 adopts
The opening up mode feeding of draw-in groove 21, after making Closely locking nut 4 enter draw-in groove 21, leaves charging tray installing plate 31 and is twisted accordingly
Tight operation, adopts the downward opening mode blanking of draw-in groove 21 afterwards, makes the part that comes off of the Closely locking nut 4 twisted into two parts fall into tremie pipe
36.It may occur to persons skilled in the art that, the set location of the first projective structure 33 and the second projective structure 34 not
Become constant, can be according to specifically used environment, and the position of the feeding, discharge of end effector 2 and posture are adjusted.
Still, as shown in Fig. 6 A, 6B, 7A, 7B, further illustrate using on the nut of the present invention taking Closely locking nut 4 as a example
Material external member carries out the concrete course of action of feeding, discharge operation.
The concrete course of action of feeding operation mainly includes：
Before feeding, Closely locking nut 4 is transported in storing through hole 323 by feeding tube 35, and by the second activity
The second inclined-plane on the free end of part 3222 is placed in storing through hole 323.
During feeding, robot 1 drives end effector 2 to press predetermined gesture and moves, and the working end of end effector 2 is against simultaneously
Promote the first projective structure 33 of charging tray installing plate 31 bottom side further, make the first projective structure 33 insert the first stroke groove 234,
And make compact heap 232 be radially away from draw-in groove 21 by promoting the first inclined-plane of compact heap 232, now draw-in groove 21 is in can make
The position that Closely locking nut 4 enters.
Meanwhile, the first movable part 3221 of working end pressing second retaining mechanism 322 of end effector 2 makes it produce
Raw displacement from bottom to top, the second inclined-plane of the second movable part 3222 is in the restriction bottom of the first movable part 3221 and bearing pin 3226
Move to vertical direction, that is, exit storing through hole 323, Closely locking nut 4 falls in the presence of self gravitation, falls into end effector 2
Draw-in groove 21 in.
After leaving the first projective structure 33 of charging tray installing plate 31, compact heap 232 is in the elastic force of the first holddown spring 233
Under effect by Closely locking nut 4 holding in draw-in groove 21, feeding completes.After the completion of feeding, robot 1 can drive end effector
2 press predetermined gesture motion, such as can complete the assembling of Closely locking nut 4 after leaving charging tray installing plate 31, carry out tight accordingly
Gu operation.Meanwhile, the first movable part 3221, under the elastic force of the second holddown spring 3223 acts on, drives the second movable part
3222 the second inclined-plane is swung up, and radially into storing through hole 323, waits the height in next storing through hole 323
Split nut 4 clamping.
The concrete course of action of blanking operation mainly includes：
Drive coming off of the Closely locking nut 4 after end effector 2 completes the assembling of Closely locking nut 4, twisted into two parts in robot 1
Part is still placed in draw-in groove 21, and now robot 1 drives end effector 2 to press predetermined attitude motion, such as end effector 2
Working end against and further pass through promote charging tray installing plate 31 upside the second projective structure 34, make the second projective structure
34 insertion the first stroke grooves 234, and by promoting the first inclined-plane of compact heap 232, make compact heap 232 be radially away from draw-in groove
21, now draw-in groove 21 be in can make Closely locking nut 4 come off part disengagement position.The now part that comes off of Closely locking nut 4
Fall in tremie pipe 36 from draw-in groove 21 in the presence of self gravitation, the part that comes off of Closely locking nut 4 is reclaimed, blanking operation
Complete.
After blanking operation completes, robot 1 drives end effector 2 to press predetermined gesture and moves, and installs leaving charging tray
After the second projective structure 34 on plate 31, compact heap 232 acts on lower edge radially adjacent to card in the elastic force of the first holddown spring 233
Groove 21.In upper once feeding, compact heap 232 is made again radially to exit draw-in groove 21 by the first projective structure 33, so that on
Material.So circulate.
Above-mentioned preferred embodiment, by the first retaining mechanism 23 is arranged on end effector 2, and in charging tray machine
The mode of the second retaining mechanism 322 is arranged on structure 3 so that robot 1, during carrying out feeding or blanking operation, need not draw
Enter extra clamping device, you can effectively to carry out holding putting to Closely locking nut 4.Aforesaid way is not only eliminating extra folder
Solve robot 1 on the premise of holding mechanism to be spirally connected the nut clamping problems of system, simplify the structure of the system of being spirally connected, improve
System automation degree, and, the first retaining mechanism 23 is ingenious with the design of the second retaining mechanism 322, and structure is simple, is easy to add
Work.
So far, describe technical scheme already in connection with preferred embodiment shown in the drawings, but, this area
Technical staff is it is easily understood that protection scope of the present invention is expressly not limited to these specific embodiments.Without departing from this
On the premise of the principle of invention, those skilled in the art can make equivalent change or replacement to correlation technique feature, these
Technical scheme after changing or replacing it falls within protection scope of the present invention.
Claims (10)
1. a kind of nut feeding external member, including robot and charging tray mechanism, the working end of the end effector of robot is provided with
Draw-in groove it is characterised in that
Described charging tray mechanism includes charging tray installing plate and is arranged on the described charging tray installing plate, storing for depositing nut
Mechanism, and described nut can be contained in described draw-in groove；
First retaining mechanism is additionally provided with described end effector, described first retaining mechanism can make described nut holding
In/depart from described draw-in groove；
Second retaining mechanism is provided with described material storage mechanism, this second retaining mechanism can make described nut be placed in/depart from
Described material storage mechanism.
2. nut feeding external member according to claim 1 is it is characterised in that extend along at least one side of described draw-in groove
Go out tangent plane platform, described first retaining mechanism is arranged at described tangent plane platform, and
Described nut can be contained in described draw-in groove for described first retaining mechanism, and described in being contained in described draw-in groove
Nut is placed in described draw-in groove.
3. nut feeding external member according to claim 2 is it is characterised in that described first retaining mechanism includes locking shell
And it is contained in the compact heap of described housing, it is provided with the first holddown spring between described locking shell and described compact heap,
In the case of external force intervention, described compact heap can be to away from described draw-in groove by way of compressing described first holddown spring
Direction is moved, and this movement can make described nut disengage described draw-in groove.
4. nut feeding external member according to claim 3 is it is characterised in that described compact heap has the first inclined-plane, described
First projective structure corresponding with described first inclined-plane is provided with charging tray installing plate, described first projective structure can be by pushing away
Moving described first inclined-plane makes described compact heap move to the direction away from described draw-in groove.
5. nut feeding external member according to claim 4 it is characterised in that described material storage mechanism also include storing housing with
And it is arranged at the storing through hole in described storing housing, described nut can be accommodated,
The described nut that be contained in described storing through hole can be placed in described storing through hole for described second retaining mechanism.
6. nut feeding external member according to claim 5 is it is characterised in that described second retaining mechanism includes the first activity
Part and be pivotally connected with described first movable part, second movable part with the second inclined-plane,
Wherein, it is provided with the second holddown spring between described first movable part and described storing housing, in the case of external force intervenes,
Described first movable part can be moved to the direction away from described charging tray installing plate by compressing described second holddown spring；
Wherein, described second inclined-plane radially into described storing through hole, and then can will be contained in the institute of described storing through hole
State nut and be placed in described storing through hole.
7. nut feeding external member according to claim 6 is it is characterised in that be provided with bar shaped limit on described second movable part
Position hole, the bearing pin being fixed on described storing housing is arranged at the spacing in the hole of this described bar shaped,
In the case of described first movable part moves to the direction away from described charging tray installing plate, by the limit of described bearing pin
System, described second inclined-plane can radially exit described storing through hole, and then so that described nut is moved in described storing through hole.
8. nut feeding external member according to claim 7 is it is characterised in that described charging tray mechanism also includes feeding tube,
Described feeding tube is connected with described storing through hole, and described nut can enter into and through described second by described feeding tube
Retaining mechanism is placed in/departs from described storing through hole.
9. the nut feeding external member according to any one of claim 4 to 8 is it is characterised in that on described charging tray installing plate
It is additionally provided with tremie pipe and the second projective structure,
Described second projective structure can make described compact heap to the direction away from described draw-in groove by promoting described first inclined-plane
Mobile, and then enable the part in described draw-in groove to enter described tremie pipe.
10. nut feeding external member according to claim 9 is it is characterised in that described first projective structure and second protrudes
Structure is respectively arranged at the opposition side of described charging tray installing plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611049581.3A CN106392563B (en) | 2016-11-24 | 2016-11-24 | Nut feeding external member and its charging method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611049581.3A CN106392563B (en) | 2016-11-24 | 2016-11-24 | Nut feeding external member and its charging method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106392563A true CN106392563A (en) | 2017-02-15 |
| CN106392563B CN106392563B (en) | 2019-09-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611049581.3A Expired - Fee Related CN106392563B (en) | 2016-11-24 | 2016-11-24 | Nut feeding external member and its charging method |
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| Country | Link |
|---|---|
| CN (1) | CN106392563B (en) |
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| CN110293394A (en) * | 2019-07-23 | 2019-10-01 | 安徽宁国晨光精工股份有限公司 | A kind of nut quick-fitting device |
| CN112894294A (en) * | 2019-12-04 | 2021-06-04 | 中国商用飞机有限责任公司 | High-lock bolt screwing actuator and assembly robot |
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| CN204954314U (en) * | 2015-04-17 | 2016-01-13 | 浙江正泰建筑电器有限公司 | Nut fastener |
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| CN205218483U (en) * | 2015-11-30 | 2016-05-11 | 深圳市威富多媒体有限公司 | Nut locking device |
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| US20130319182A1 (en) * | 2012-05-31 | 2013-12-05 | Hon Hai Precision Industry Co., Ltd. | Screw locking device |
| CN203411062U (en) * | 2013-07-10 | 2014-01-29 | 富翔精密工业(昆山)有限公司 | Nut embedding device |
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| CN205021118U (en) * | 2015-10-03 | 2016-02-10 | 杨四清 | Nut extracting device |
| CN105215778A (en) * | 2015-11-03 | 2016-01-06 | 南岳电控(衡阳)工业技术有限公司 | A kind of self-feeding for processing small shaft class part locating slot and clamping device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110293394A (en) * | 2019-07-23 | 2019-10-01 | 安徽宁国晨光精工股份有限公司 | A kind of nut quick-fitting device |
| CN112894294A (en) * | 2019-12-04 | 2021-06-04 | 中国商用飞机有限责任公司 | High-lock bolt screwing actuator and assembly robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106392563B (en) | 2019-09-13 |
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Inventor after: Wang Jian Inventor after: Liu Manxian Inventor before: Chen Haojian |
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