CN106736485A - A kind of automatic lock screw system and its implementation based on robot - Google Patents
A kind of automatic lock screw system and its implementation based on robot Download PDFInfo
- Publication number
- CN106736485A CN106736485A CN201710010719.7A CN201710010719A CN106736485A CN 106736485 A CN106736485 A CN 106736485A CN 201710010719 A CN201710010719 A CN 201710010719A CN 106736485 A CN106736485 A CN 106736485A
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- China
- Prior art keywords
- screw
- robot
- electric screwdriver
- screwdriver device
- adsorbent equipment
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- Legal status (The legal status 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 status listed.)
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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
- B23P19/06—Screw or nut setting or loosening 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
- B23P19/001—Article feeders for assembling machines
- B23P19/006—Holding or positioning the article in front of the applying tool
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Details Of Spanners, Wrenches, And Screw Drivers And Accessories (AREA)
- Manipulator (AREA)
Abstract
The invention provides a kind of automatic lock screw system and its implementation based on robot, moved at feeding device by controlling robot；Switch board outputs a control signal to adsorbent equipment, control adsorbent equipment absorption screw；Control robot drives electric screwdriver device to move at screw to be locked, and then switch board outputs a control signal to electric screwdriver device, and control electric screwdriver device performs lock screw operation.Method of the present invention and system is realized, corresponding control operation is performed using robot, so as to realize locking the accurate of screw, overcome screw hole position locking when deviation, be capable of achieving different model screw is carried out it is high-precision lock, have a wide range of application, accuracy is high, locks efficiency high.
Description
Technical field
The present invention relates to equipment mounting technology field, more particularly to a kind of automatic lock screw system based on robot
And its implementation.
Background technology
In current Chinese manufacturing, the industry such as toy, electronic product, plastic cement, auto parts, communication apparatus, household electrical appliances
It is important component in manufacturing industry, in the product manufacturing assembling of these industries, screw assembling is always one important work
Sequence, its precision and efficiency are particularly important.
Prior art and shortcoming：1st, traditional manually screwed lock pays process needs experience " to take screw-alignment-lock
The process of screw ", wherein taking screw, the time used by alignment screwed hole accounts for entirely locking the half of screw time or more,
Work period is long and screwed lock is paid precision and cannot be ensured.2nd, traditional automatic locking screw machine can improve operating efficiency, but be applicable field
Close limited, it is impossible to adjusting screw hole position deviation.
Therefore, prior art awaits further improvement.
The content of the invention
In view of above-mentioned weak point of the prior art, a kind of based on robot it is an object of the invention to provide the user
Automatic lock screw system and its implementation, overcome automatic locking screw machine to be in the prior art unable to adjusting screw hole position deviation
Defect.
The technical proposal for solving the technical problem of the invention is as follows：
A kind of automatic lock screw system based on robot, wherein, including：Robot and automatic locking screw machine；
The automatic locking screw machine includes：
Feeding device for providing screw；
It is connected with the interface of end effector of robot, for tightening and unscrewing screw electric screwdriver device；It is connected with electric screwdriver device
Connect, be arranged between the interface of the end effector of robot and the electric screwdriver device, for attaching the screw to the electricity
Criticize the adsorbent equipment on device；
And, be arranged in robot, for when detect electric screwdriver device move to wait lock screw at when, output a control signal to
Electric screwdriver device, control electric screwdriver device completes the switch board of screw locking operation；
The robot controls the adsorbent equipment that screw is obtained from feeding device according to default operating process, controls electric screwdriver
Device is moved at screw to be locked, and performs the operation in screw locking to screw hole.
The described automatic lock screw system based on robot, wherein, the artificial six-joint robot of machine.
The described automatic lock screw system based on robot, wherein, the adsorbent equipment includes:The electromagnetism of interconnection
Valve, vacuum generator and air compressor；
The vacuum generator produces negative pressure with air compressor using malleation source of the gas, attaches the screw on electric screwdriver；
The magnetic valve, the control signal for receiving switch board input, controls the absorption of screw.
The described automatic lock screw system based on robot, wherein, the feed device is provided with material taking mouth；It is described to take
Photoelectric sensor is provided with the outside of material mouth；The photoelectric sensor is used to detect whether the number of material taking mouth screw reduces one
It is individual.
The described automatic lock screw system based on robot, wherein, the material taking mouth inner side of the feed device is provided with
Feeding guide, screw is arranged with the feeding guide.
The described automatic lock screw system based on robot, wherein, the adsorbent equipment also includes：Vacuum tube；It is described
Vacuum generator is transmitted with the negative pressure of generation in air compressor by the vacuum tube.
The described automatic lock screw system based on robot, wherein, the switch board outputs a control signal to absorption dress
Put, adsorption operations of the control adsorbent equipment to screw.
The described automatic lock screw system based on robot, wherein, it is provided with image on the outside of the electric screwdriver device and obtains
Take device；
Described image acquisition device, the control signal for receiving switch board shoots the image after the completion of screw locking, and by institute
State image transmitting to coupled host computer.
The described automatic lock screw system based on robot, it is characterised in that be provided with the outside of the electric screwdriver device
Position sensor；
The position sensor, for detect electric screwdriver device whether by screw locking in place.
A kind of described automatic lock screw system lock the implementation method of screw, wherein, including step：
Step A, control robot are moved at feeding device；
Step B, switch board output a control signal to adsorbent equipment, and control adsorbent equipment adsorbs screw to electric screwdriver device；
Step C, control robot drive electric screwdriver device to move at screw to be locked；
Step D, switch board output control signal electric screwdriver device, control electric screwdriver device perform lock screw operation.
Beneficial effect, the invention provides a kind of automatic lock screw system and its implementation based on robot, passes through
Control robot is moved at feeding device；Switch board outputs a control signal to adsorbent equipment, control adsorbent equipment absorption screw
Onto electric screwdriver device；Control robot drives electric screwdriver device to move at screw to be locked, then switch board output control signal electricity
Device is criticized, control electric screwdriver device performs lock screw operation.Method of the present invention and system is realized, phase is performed using robot
The control operation answered, so as to realize locking the accurate of screw, overcomes deviation of the screw hole position in locking, is capable of achieving to not
Same model screw carry out it is high-precision lock, have a wide range of application, accuracy is high, lock efficiency high.
Brief description of the drawings
Fig. 1 is the automatic lock screw system structural representation based on robot provided by the present invention.
Fig. 2 is the structural representation of robot in automatic lock screw system of the present invention.
The step of Fig. 3 is automatic lock screw system implementation method of the present invention flow chart.
Specific embodiment
To make the objects, technical solutions and advantages of the present invention clearer, clear and definite, develop simultaneously embodiment pair referring to the drawings
The present invention is further described.It should be appreciated that specific embodiment described herein is used only for explaining of the invention, and without
It is of the invention in limiting.
Disclosed by the invention is a kind of automatic lock screw system based on industrial robot, and the system mainly includes machine
People, electric screwdriver device, adsorbent equipment, switch board and feeding device.These mechanisms coordinate running by switch board, complete high-precision
Degree, efficient screwed lock pay work.
Specifically, such as Fig. 1, includes the invention provides a kind of automatic lock screw system based on robot：Robot 10
And automatic locking screw machine；
The automatic locking screw machine includes：Feeding device 23, adsorbent equipment 24, electric screwdriver device 21 and switch board 22；The feed
Device 23, for providing screw；The electric screwdriver device 21, is connected with the interface of end effector of robot, for tightening and
Unscrew screw；The adsorbent equipment 24, is connected with electric screwdriver device 21, is arranged on the interface of the end effector of the robot 10
Between the electric screwdriver device 21, for attaching the screw to the electric screwdriver device；The switch board 22, is arranged on robot
On, for moving to when locking at screw when detecting electric screwdriver device 21, output a control signal to electric screwdriver device 21, control electric screwdriver
Device 21 completes screw locking operation；
The robot 10, for controlling the adsorbent equipment 24 that spiral shell is obtained from feeding device 23 according to default operating process
Silk, control electric screwdriver device 21 is moved at screw to be locked, and performs the operation in screw locking to screw hole.
The present invention controls rotation, the absorption of screw, the motion of robot of electric screwdriver by switch board, the screw that lock is paid by
Feeding device carries out feed.
Feeding style：Using absorption type feeding style, the absorption affinity produced by the compressed air of electric screwdriver head is taken away single
Screw, reruning to navigate to carried out in product hole position lock pair.Though its production efficiency is less than air blowing type feeding style, the letter of its structure
Single, manufacturing cycle is short, and coping screw is too small or too short air blowing type（Pipeline）Feeding style can not realize automatic nail feeding
Situation, the present invention in robot drive adsorbent equipment draw screw move to relevant position carry out lock pay.
In the specific implementation, preferably, as shown in Fig. 2 the artificial six-joint robot of the machine.Six-joint robot can be real
Up and down and front and rear operational control now, electric screwdriver device can be controlled to carry out more accurate lock screw operation.Can be by electricity
Criticize device and adsorbent equipment is arranged on the support of end effector of robot, be easy to robot to electric screwdriver device and adsorbent equipment
Operated.
The adsorbent equipment includes:The magnetic valve of interconnection, vacuum generator and air compressor；
The vacuum generator produces negative pressure with air compressor using malleation source of the gas, attaches the screw on electric screwdriver；
The magnetic valve, the control signal for receiving switch board input, controls the absorption of screw.
The adsorbent equipment also includes：Vacuum tube；The vacuum generator passes through with the negative pressure of generation in air compressor
The vacuum tube transmission.
Adsorbent equipment of the present invention：It is made up of parts such as vacuum tube, magnetic valve, vacuum generator, air compressors,
Negative pressure is produced using malleation source of the gas by vacuum generator, the absorption to screw is completed, switch board is by giving solenoid valve control
Signal, realizes the switch closure of magnetic valve to control whole adsorbent equipment.
The electric screwdriver device, adsorbent equipment are connected with the interface of end effector of robot, by corresponding program
Operation is write, robot is moved according to default movement locus, by the drive electric screwdriver that moves up and down of robot
Device and adsorbent equipment are moved.At the screw material taking mouth that automatic screw feeder is moved to from initial position, switch board gives
Adsorbent equipment control signal produces absorption affinity, completes the absorption of screw.Robot drives electric screwdriver device to move to and need to treat spiral shell again
At silk lock is paid, switch board gives electric screwdriver device control signal, and robot is moved down while the screwdriver bit of electric screwdriver device rotates, and screw is twisted
Enter workpiece, screwed lock is paid work and completed.After screw is locked successfully, under the control of switch board, robot rises, and carries out next time
Screw is operated or stopped.
The feed device is provided with material taking mouth；Photoelectric sensor is provided with the outside of the material taking mouth；The photoelectric transfer
Sensor send for detecting whether the number of material taking mouth screw reduces to be provided with the inside of one, and the material taking mouth of the feed device
Material guide rail, screw is arranged with the feeding guide.
Specifically, the automatic screw feeder that the feeding device passes through to put aside carries out Automatic-feeding, whenever machine
People takes a screw away from material taking mouth, is arranged on the photoelectric sensor on the outside of material taking mouth and detects and lacks screw, is arranged on guide rail
Good screw enters material taking mouth, completes the supplement of screw, waits to be adsorbed.
When robot drives adsorbent equipment to move at feeding device, then the switch board outputs a control signal to absorption
Device, adsorption operations of the control adsorbent equipment to screw.
Preferably, it is provided with image acquiring device on the outside of the electric screwdriver device；
Described image acquisition device, the control signal for receiving switch board shoots the image after the completion of screw locking, and by institute
State image transmitting to coupled host computer.
After the host computer being connected with image acquiring device receives image, then place is analyzed to the image for receiving
Reason, judges that whether position precisely, has how many error to this lock screw operation, then can be carried out to lock screw operation next time
Corresponding adjustment, so that the operation of next step is more accurate.
Position sensor is provided with the outside of the electric screwdriver device；
The position sensor, for detect electric screwdriver device whether by screw locking in place.
Likewise, except setting image acquiring device, obtain outside the situation whether screw locks in place, can also be in electricity
Whether the outside set location inductor of device is criticized, in place this operation of robot is judged, so as to judge this lock screw
Whether in place, while whether the operation that robot can also be detected occurs exception.
Automatic lock screw system of the present invention is applied to most of screw, conventional cross recess screw, flat recess spiral shell
Silk, composite slot screw, hexagon socket head cap screw, plum blossom groove screw be can be used, it is only necessary to which head is draped over one's shoulders in replacing.
The present invention is on the basis of above-mentioned automatic lock screw system, there is provided a kind of described automatic lock screw system is locked
The implementation method of screw, as described in Figure 3, including step：
Step S1, control robot are moved at feeding device.
Step S2, switch board output a control signal to adsorbent equipment, and control adsorbent equipment adsorbs screw to electric screwdriver device.
Step S3, control robot drive electric screwdriver device to move at screw to be locked.
Step S4, switch board output control signal electric screwdriver device, control electric screwdriver device perform lock screw operation.
Automatic locking screw machine system provided by the present invention and implementation method, are realized using robot in its working space
Accurately lock pays work to screw automatically.It is mainly characterized by being combined industrial robot with screw locking system, forms one
Change system, it is only necessary to the modification to locking the control program of system, you can realize the screw of robot working space optional position
Lock, it is only necessary to change different screwdriver bits and be capable of achieving to carry out different model screw on high-precision lock pair.
The invention provides a kind of automatic lock screw system and its implementation based on robot, by controlling robot
Move at feeding device；Switch board outputs a control signal to adsorbent equipment, and control adsorbent equipment adsorbs screw to electric screwdriver device
On；Control robot drives electric screwdriver device to move at screw to be locked, then switch board output control signal electric screwdriver device, control
Electric screwdriver device performs lock screw operation.Method of the present invention and system is realized, corresponding control behaviour is performed using robot
Make, so as to realize locking the accurate of screw, overcome deviation of the screw hole position in locking, be capable of achieving to different model screw
Carry out it is high-precision lock, have a wide range of application, accuracy is high, lock efficiency high.
It is understood that for those of ordinary skills, can be with technology according to the present invention scheme and its hair
Bright design is subject to equivalent or change, and all these changes or replacement should all belong to the guarantor of appended claims of the invention
Shield scope.
Claims (10)
1. a kind of automatic lock screw system based on robot, it is characterised in that including：Robot and automatic locking screw machine；
The automatic locking screw machine includes：
Feeding device for providing screw；
It is connected with the interface of end effector of robot, for tightening and unscrewing screw electric screwdriver device；
It is connected with electric screwdriver device, is arranged between the interface of the end effector of robot and the electric screwdriver device, is used for
Attach the screw to the adsorbent equipment on the electric screwdriver device；
And, be arranged in robot, for when detect electric screwdriver device move to wait lock screw at when, output a control signal to
Electric screwdriver device, control electric screwdriver device completes the switch board of screw locking operation；
The switch board controls the adsorbent equipment that screw is obtained from feeding device according to default operating process, controls electric screwdriver
Device is moved at screw to be locked, and performs the operation in screw locking to screw hole.
2. the automatic lock screw system based on robot according to claim 1, it is characterised in that the machine artificial six
Axle robot.
3. the automatic lock screw system based on robot according to claim 1, it is characterised in that the adsorbent equipment bag
Include:The magnetic valve of interconnection, vacuum generator and air compressor；
The vacuum generator produces negative pressure with air compressor using malleation source of the gas, attaches the screw on electric screwdriver；
The magnetic valve, the control signal for receiving switch board input, controls the absorption of screw.
4. the automatic lock screw system based on robot according to claim 1, it is characterised in that the feed device sets
It is equipped with material taking mouth；Photoelectric sensor is provided with the outside of the material taking mouth；The photoelectric sensor is used to detect material taking mouth screw
Number whether reduce one.
5. the automatic lock screw system based on robot according to claim 4, it is characterised in that the feed device
Material taking mouth inner side is provided with feeding guide, and screw is arranged with the feeding guide.
6. the automatic lock screw system based on robot according to claim 3, it is characterised in that the adsorbent equipment is also
Including：Vacuum tube；The vacuum generator is transmitted with the negative pressure of generation in air compressor by the vacuum tube.
7. the automatic lock screw system based on robot according to claim 3, it is characterised in that the switch board output
Control signal to adsorbent equipment, adsorption operations of the control adsorbent equipment to screw.
8. the automatic lock screw system based on robot according to claim 7, it is characterised in that the electric screwdriver device
Outside is provided with image acquiring device；
Described image acquisition device, the control signal for receiving switch board shoots the image after the completion of screw locking, and by institute
State image transmitting to coupled host computer.
9. the automatic lock screw system based on robot according to claim 7, it is characterised in that the electric screwdriver device
Outside is provided with position sensor；
The position sensor, for detect electric screwdriver device whether by screw locking in place.
10. a kind of automatic lock screw system using described in claim 1 lock the implementation method of screw, it is characterised in that
Including step：
Step A, control robot are moved at feeding device；
Step B, switch board output a control signal to adsorbent equipment, and control adsorbent equipment adsorbs screw to electric screwdriver device；
Step C, control robot drive electric screwdriver device to move at screw to be locked；
Step D, switch board output control signal electric screwdriver device, control electric screwdriver device perform lock screw operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710010719.7A CN106736485A (en) | 2017-01-06 | 2017-01-06 | A kind of automatic lock screw system and its implementation based on robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710010719.7A CN106736485A (en) | 2017-01-06 | 2017-01-06 | A kind of automatic lock screw system and its implementation based on robot |
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| Publication Number | Publication Date |
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| CN106736485A true CN106736485A (en) | 2017-05-31 |
Family
ID=58951093
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710010719.7A Pending CN106736485A (en) | 2017-01-06 | 2017-01-06 | A kind of automatic lock screw system and its implementation based on robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108857318A (en) * | 2018-07-25 | 2018-11-23 | 东莞市松研智达工业设计有限公司 | Air flue type gasket robot |
| CN108857362A (en) * | 2018-08-02 | 2018-11-23 | 深圳市思榕科技有限公司 | Lock screw device and its screw locking method |
| CN108921890A (en) * | 2018-06-15 | 2018-11-30 | 广东拓斯达科技股份有限公司 | The screwed lock method, apparatus and computer readable storage medium |
| CN109048313A (en) * | 2018-10-11 | 2018-12-21 | 联宝(合肥)电子科技有限公司 | The screw locking method and device of a kind of electronic equipment |
| WO2021159581A1 (en) * | 2020-02-11 | 2021-08-19 | 浙江禾川科技股份有限公司 | Control method for electric screwdriver, and screw locking device |
| TWI819566B (en) * | 2021-09-29 | 2023-10-21 | 日商歐姆龍股份有限公司 | Robot system, control method and computer-readable recording medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108921890A (en) * | 2018-06-15 | 2018-11-30 | 广东拓斯达科技股份有限公司 | The screwed lock method, apparatus and computer readable storage medium |
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| CN108857362A (en) * | 2018-08-02 | 2018-11-23 | 深圳市思榕科技有限公司 | Lock screw device and its screw locking method |
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| WO2021159581A1 (en) * | 2020-02-11 | 2021-08-19 | 浙江禾川科技股份有限公司 | Control method for electric screwdriver, and screw locking device |
| TWI819566B (en) * | 2021-09-29 | 2023-10-21 | 日商歐姆龍股份有限公司 | Robot system, control method and computer-readable recording medium |
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Application publication date: 20170531 |
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| RJ01 | Rejection of invention patent application after publication |