CN107081767A - A kind of method of work of intelligent riveting robot - Google Patents
A kind of method of work of intelligent riveting robot Download PDFInfo
- Publication number
- CN107081767A CN107081767A CN201710405359.0A CN201710405359A CN107081767A CN 107081767 A CN107081767 A CN 107081767A CN 201710405359 A CN201710405359 A CN 201710405359A CN 107081767 A CN107081767 A CN 107081767A
- Authority
- CN
- China
- Prior art keywords
- rivet
- screw rod
- joint arm
- work
- lock
- Prior art date
- 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.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/007—Riveting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0675—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum of the ejector type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
- B25J9/044—Cylindrical coordinate type comprising an articulated arm with forearm providing vertical linear movement
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
Abstract
The invention discloses a kind of method of work of intelligent riveting robot, it is related to the technical field of intelligence manufacture；Staff sets running parameter and instruction by controller first, and the first joint arm and second joint arm start the rotation regulation in horizontal direction under the driving of AC torque motor；Under the driving of adapter sleeve inner hollow spindle motor, screw rod starts regulation motion up and down, while vacuum slot starts air-breathing, rivet is inhaled into lock by charging line by loader and paid in pawl head, and is positioned by vacuum slot；When screw rod is moved to corresponding rivet hole position, screw rod rotating down pressing under the driving of air motor, rivet continuous precession hole position under the drive of screw rod, until rivet is locked in screw completely；After the completion of rivet lock is paid, screw rod is moved upwards, leaves rivet hole position；Method of work safety and stability of the present invention is good, and is easy to the working condition of the real-time supervisory-controlled robot of staff, it is ensured that riveting work is efficiently and stably run for a long time.
Description
Technical field
The present invention relates to the technical field of intelligence manufacture, specifically a kind of method of work of intelligent riveting robot.
Background technology
In recent years, with the quickening of modernization construction paces, electric equipment products, the demand of household appliances constantly rise, machine
Tool and automated production, assembling line substantial increase, capture rivet using human hand again in such case, use electric screw driver
The need for tightened mode far can not adapt to mechanization and automatic mass production, assembling.Therefore, how to solve to lock at a high speed
Rivet and raising lock quality and consistency problem has turned into the problem that those skilled in the art have extremely paid close attention to.
To solve this problem, many producers have developed miscellaneous riveting robot, and it has been mainly characterized by one
In one or so the openable elastic dop that rivet is blown into below screwdriver screwdriver head by individual rivet feedway, by a set of
Pneumatically or electrically dop and rivet are first moved to the position close to screw mouthful by mechanism together, then by it is another set of pneumatically or electrically
Motivation structure drives screwdriver and screwdriver head to be about to rivet ejection dop down together, and most rivet locks screw at last.
However as continuing to develop for science and technology, there is also certain disadvantage while updating for riveting robot
There is following defect in end, such as the method for work of existing riveting robot：
1st, security is poor, can not be responded in time when there is fortuitous event, it is impossible to ensure that riveting work is long-term efficiently and stably
Operation；
2nd, staff can not monitor the specific works state that lock pays pawl head in real time, therefore easily deviation occur during riveting；
3rd, easily there is interference problem when rivet lock is paid, poor work stability, while each joint arm positioning precision is low, reduces work
Make efficiency.
The content of the invention
Goal of the invention：In order to overcome the above not enough, it is an object of the invention to provide a kind of work of intelligent riveting robot
Make method, the method for work safety and stability is good, realize action that is highly difficult, becoming more meticulous, and be easy to staff
The working condition of real-time supervisory-controlled robot, it is ensured that riveting work is efficiently and stably run for a long time.
Technical scheme：In order to realize the above object a kind of method of work of intelligent riveting robot of the present invention,
Include base, controller, the first joint arm, second joint arm, air motor and adapter sleeve；First joint arm is arranged on
On base, the second joint arm is arranged on the first joint arm, and first joint arm is with second joint arm by exchanging
Torque motor drives；The air motor and adapter sleeve are installed on second joint arm, provided with suction inside the adapter sleeve
Head assembly and screw rod, the screw rod are paid pawl head and are connected with air motor, lock respectively up and down, and the screw rod passes through coupled
Hollow shaft motor driving；The Suction head component is paid pawl head, vacuum slot with lock and is connected, and the vacuum slot bottom is connected to riveting
Head；The base is connected with outside controller, and the controller side is provided with autoalarm；The second joint arm bottom
Portion is provided with the CCD camera being connected with display screen；The Suction head component is connected by feeding pipeline with outside rivet loader；
Specific job step is as follows：
（1）, startup power supply switch, staff first sets running parameter and instruction by controller, the first joint arm and
Second joint arm starts the rotation regulation in horizontal direction under the driving of AC torque motor；
（2）, under the driving of adapter sleeve inner hollow spindle motor, screw rod start up and down regulation motion, while vacuum slot start
Air-breathing, rivet is inhaled into lock by charging line by loader and paid in pawl head, and is positioned by vacuum slot；
（3）, when screw rod is moved to corresponding rivet hole position, screw rod rotating down pressing under the driving of air motor, rivet is in spiral shell
Continuous precession hole position under the drive of bar, until rivet is locked in screw completely；
（4）, after the completion of rivet lock pays, screw rod is moved upwards, leaves rivet hole position, waits lock next time to pay work.
Staff can monitor the specific works situation that lock pays pawl head in real time by display screen in the inventive method.
In the inventive method, when deviation occurs in operation, its autoalarm makes an immediate response and sends audible and visible alarm.
Method of work of the present invention be different from existing riveting robot, its can with person cooperative work, and combine people intelligence
The efficiency of energy and machine, realizes action that is highly difficult, becoming more meticulous, while learning ability, compliability are also equipped with, and operation
Simply, available for various complicated automatically workings.
During work, each of which joint arm is driven by AC torque motor, and positioning precision is high；And its circle is true
Suction mouth is descending the problem of avoid interference when locking, it is ensured that axial impact force will not damage product during work, works
Stability is greatly improved；And staff can monitor the specific works situation that lock pays pawl head in real time by display screen, so that
The security and accuracy during its work are improved, the generation of fortuitous event is prevented, and when deviation occurs in operation, its is automatic
Warning device makes an immediate response, so as to remind staff to be adjusted in time, greatly ensure that the long-term efficient stable of riveting work
Run on ground.
Beneficial effect：Compared with prior art, the present invention has advantages below：
1st, the method for work of heretofore described a kind of intelligent riveting robot, during work, robot can be cooperateed with people
Work, and the intelligence of people and the efficiency of machine are combined, action that is highly difficult, becoming more meticulous is realized, while being also equipped with learning energy
Power, compliability, and it is simple to operate, available for various complicated automatically workings.
2nd, the method for work of heretofore described a kind of intelligent riveting robot, during work, each of which joint arm is equal
Driven by AC torque motor, positioning precision is high；And circular vacuum slot is descending avoids interference when locking for its
Problem, it is ensured that axial impact force will not damage product during work, job stability is greatly improved.
3rd, the method for work of heretofore described a kind of intelligent riveting robot, during work, staff passes through aobvious
Display screen can monitor the specific works situation that lock pays pawl head in real time, so that security and accuracy when improving its work, prevent
The only generation of fortuitous event, and when deviation occurs in operation, its autoalarm makes an immediate response, so as to remind staff
It is adjusted in time, greatly ensure that riveting work is efficiently and stably run for a long time.
Brief description of the drawings
Fig. 1 is the overall structure diagram of riveting robot in the present invention.
In figure：Base 1, controller 2, the first joint arm 3, second joint arm 4, air motor 5, adapter sleeve 6, lock pay pawl head
7th, vacuum slot 71, Suction head component 8, sonar sensor 9, display screen 10, CCD camera 11, autoalarm 21.
Embodiment
Below in conjunction with specific embodiment, the present invention is described in detail, but illustrates protection scope of the present invention simultaneously simultaneously
The specific scope of the present embodiment is not limited to, based on the embodiment in the present invention, those of ordinary skill in the art are not making
The every other embodiment obtained under the premise of creative work, belongs to the scope of protection of the invention.
Embodiment 1
As shown in figure 1, a kind of method of work of intelligent riveting robot of the present embodiment, specific job step is as follows：
（1）, startup power supply switch, staff sets running parameter and instruction, the first joint arm 3 by controller 2 first
Start under the driving of AC torque motor the rotation regulation in horizontal direction with second joint arm 4；
（2）, under the driving of the inner hollow spindle motor of adapter sleeve 6, screw rod start up and down regulation motion, while vacuum slot 71 is opened
Dynamic air-breathing, rivet is inhaled into lock by charging line by loader and paid in pawl first 7, and is positioned by vacuum slot 71；
（3）, when screw rod is moved to corresponding rivet hole position, screw rod rotating down pressing under the driving of air motor 5, rivet is in spiral shell
Continuous precession hole position under the drive of bar, until rivet is locked in screw completely；
（4）, after the completion of rivet lock pays, screw rod is moved upwards, leaves rivet hole position, waits lock next time to pay work.
In the present embodiment method of work, staff can monitor the specific work that lock pays pawl first 7 in real time by display screen 10
Make situation, and when deviation occurs in operation, its autoalarm 21 makes an immediate response and sends audible and visible alarm.
Embodiments of the invention are provided for the sake of example and description, and are not exhaustively or by this to send out
It is bright to be limited to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.Choosing
Select and describe embodiment and be more preferably to illustrate the principle and practical application of the present invention, and make one of ordinary skill in the art
It will be appreciated that the present invention is so as to design the various embodiments with various modifications suitable for special-purpose.
Claims (3)
1. a kind of method of work of intelligent riveting robot, it is characterised in that：Including：Base（1）, controller（2）, first close
Joint arm（3）, second joint arm（4）, air motor（5）And adapter sleeve（6）；First joint arm（3）Installed in base（1）
On, the second joint arm（4）Installed in the first joint arm（3）On, first joint arm（3）With second joint arm（4）
Driven by AC torque motor；The air motor（5）And adapter sleeve（6）It is installed in second joint arm（4）On, it is described
Adapter sleeve（6）Inside is provided with Suction head component（8）And screw rod, the screw rod up and down respectively with air motor（5）, lock pay a pawl head（7）
It is connected, the screw rod is driven by coupled hollow shaft motor；The Suction head component（8）Pawl head is paid with lock（7）, it is true
Suction mouth（71）It is connected, the vacuum slot（71）Bottom is connected to riveted joint；The base（1）With outside controller（2）Phase
Even, the controller（2）Side is provided with autoalarm（21）；The second joint arm（4）Bottom is provided with and display screen
（10）Connected CCD camera（11）；The Suction head component（8）It is connected by feeding pipeline with outside rivet loader；
Specific job step is as follows：
（1）, startup power supply switch, staff passes through controller first（2）Set running parameter and instruction, the first joint arm
（3）With second joint arm（4）Start the rotation regulation in horizontal direction under the driving of AC torque motor；
（2）, in adapter sleeve（6）Under the driving of inner hollow spindle motor, screw rod starts regulation motion up and down, while vacuum slot
（71）Start air-breathing, rivet is inhaled into lock by charging line by loader and pays pawl head（7）In, and by vacuum slot（71）It is fixed
Position；
（3）, when screw rod is moved to corresponding rivet hole position, screw rod is in air motor（5）Driving under rotating down pressing, rivet exists
Continuous precession hole position under the drive of screw rod, until rivet is locked in screw completely；
（4）, after the completion of rivet lock pays, screw rod is moved upwards, leaves rivet hole position, waits lock next time to pay work.
2. a kind of method of work of intelligent riveting robot according to claim 1, it is characterised in that：Staff is led to
Cross display screen（10）Lock can be monitored in real time pays pawl head（7）Specific works situation.
3. a kind of method of work of intelligent riveting robot according to claim 1, it is characterised in that：Occur in operation
Its autoalarm during deviation（21）Make an immediate response and send audible and visible alarm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710405359.0A CN107081767A (en) | 2017-05-31 | 2017-05-31 | A kind of method of work of intelligent riveting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710405359.0A CN107081767A (en) | 2017-05-31 | 2017-05-31 | A kind of method of work of intelligent riveting robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107081767A true CN107081767A (en) | 2017-08-22 |
Family
ID=59607720
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710405359.0A Pending CN107081767A (en) | 2017-05-31 | 2017-05-31 | A kind of method of work of intelligent riveting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107081767A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110538961A (en) * | 2019-09-18 | 2019-12-06 | 湖北大冶汉龙汽车有限公司 | Cold-pressing riveting system and cold-pressing riveting process for welding white automobile body |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4213421A1 (en) * | 1992-04-23 | 1993-10-28 | Fraunhofer Ges Forschung | Riveting tool with tilting head - has rotary drive for head mounted on vertically moving carriage |
| CN105081757A (en) * | 2015-08-25 | 2015-11-25 | 苏州博思特装配自动化科技有限公司 | Novel intelligent universal high-speed screwing assembly robot |
| CN106003150A (en) * | 2016-06-30 | 2016-10-12 | 苏州塞默机械有限公司 | Mounting method of lightweight screw locking manipulator |
| CN106002216A (en) * | 2016-06-30 | 2016-10-12 | 江苏捷帝机器人股份有限公司 | Efficient intelligent type locking mechanical hand |
| CN106003086A (en) * | 2016-06-30 | 2016-10-12 | 苏州塞默机械有限公司 | Working method for joint robot for assembly |
| CN205817262U (en) * | 2016-07-29 | 2016-12-21 | 重庆市灵龙自动化设备有限公司 | Intelligence filature |
-
2017
- 2017-05-31 CN CN201710405359.0A patent/CN107081767A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4213421A1 (en) * | 1992-04-23 | 1993-10-28 | Fraunhofer Ges Forschung | Riveting tool with tilting head - has rotary drive for head mounted on vertically moving carriage |
| CN105081757A (en) * | 2015-08-25 | 2015-11-25 | 苏州博思特装配自动化科技有限公司 | Novel intelligent universal high-speed screwing assembly robot |
| CN106003150A (en) * | 2016-06-30 | 2016-10-12 | 苏州塞默机械有限公司 | Mounting method of lightweight screw locking manipulator |
| CN106002216A (en) * | 2016-06-30 | 2016-10-12 | 江苏捷帝机器人股份有限公司 | Efficient intelligent type locking mechanical hand |
| CN106003086A (en) * | 2016-06-30 | 2016-10-12 | 苏州塞默机械有限公司 | Working method for joint robot for assembly |
| CN205817262U (en) * | 2016-07-29 | 2016-12-21 | 重庆市灵龙自动化设备有限公司 | Intelligence filature |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110538961A (en) * | 2019-09-18 | 2019-12-06 | 湖北大冶汉龙汽车有限公司 | Cold-pressing riveting system and cold-pressing riveting process for welding white automobile body |
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|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170822 |
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| RJ01 | Rejection of invention patent application after publication |