CN107186716A - Security cooperation robot is used in one kind assembling - Google Patents
Security cooperation robot is used in one kind assembling Download PDFInfo
- Publication number
- CN107186716A CN107186716A CN201710399545.8A CN201710399545A CN107186716A CN 107186716 A CN107186716 A CN 107186716A CN 201710399545 A CN201710399545 A CN 201710399545A CN 107186716 A CN107186716 A CN 107186716A
- Authority
- CN
- China
- Prior art keywords
- joint arm
- cooperation robot
- base
- screw driver
- electric screw
- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/004—Feeding the articles from hoppers to machines or dispensers
- B23P19/005—Feeding the articles from hoppers to machines or dispensers by using flowing gases
-
- 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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/02—Hand grip control means
- B25J13/025—Hand grip control means comprising haptic means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/081—Touching devices, e.g. pressure-sensitive
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/026—Acoustical sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of assembling security cooperation robot, it is related to the technical field of intelligence manufacture；First joint arm is arranged on base, and the second joint arm is arranged on the first joint arm, and first joint arm and second joint arm are driven by AC torque motor；The electric screw driver and adapter sleeve are installed on second joint arm, and the screw rod being provided with inside the adapter sleeve is paid pawl head and be connected with electric screw driver, lock respectively up and down, and the screw rod is driven by coupled hollow shaft motor；The vacuum slot that the lock pair pawl head bottom is provided with is access to loader by charging line；The base top is connected to sonar sensor and touch-screen, and the base is connected with peripheral control unit；Robot safety of the present invention and stability are good, combine the intelligence of people and the efficiency of machine, realize action that is highly difficult, becoming more meticulous, and program simply, and versatility is good, with low cost.
Description
Technical field
It is specifically that security cooperation robot is used in a kind of assembling the present invention relates to the technical field of intelligence manufacture.
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, screw or rivet are captured in such case using human hand again, with electronic
The need for the tightened mode of screwdriver far can not adapt to mechanization and automatic mass production, assembling.Therefore, how to solve
Lock screw and raising lock quality and consistency problem at a high speed 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 the miscellaneous people that puts together machines, and it has been mainly characterized by one
In one or so the openable elastic dop that screw is blown into below screwdriver screwdriver head by individual screw feeding device, by a set of
Pneumatically or electrically dop and screw 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 screw ejection dop down together, and most screw or rivet lock screw at last.
However as continuing to develop for science and technology, there is also certain disadvantage while updating by the people that puts together machines
There is following defect in end, such as the existing people that puts together machines：
1st, for security reasons, it is necessary to install security protection isolation additional, operator can not be close, it is impossible to carries out man-machine collaboration；
2nd, robot overall volume is huge, and weight is big, it is impossible to flexibly moved in workshop, and production and operating cost are high；
3rd, program complexity, time-consuming, there is higher specialty to require to operating personnel, poor universality, it is impossible to large-scale application；
4th, easily there is interference problem when screw 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 assembling security cooperation robot,
The robot safety and stability are good, combine the intelligence of people and the efficiency of machine, realize it is highly difficult, become more meticulous it is dynamic
Make, and program simply, versatility is good, operating efficiency is high, with low cost.
Technical scheme：In order to realize the above object security cooperation robot is used in a kind of assembling of the present invention, include
Base, controller, the first joint arm, second joint arm, electric screw driver and adapter sleeve；First joint arm is arranged on base
On, the second joint arm is arranged on the first joint arm, and first joint arm and second joint arm pass through ac torque
Motor drives；The electric screw driver and adapter sleeve are installed on second joint arm, the spiral shell being provided with inside the adapter sleeve
Bar is paid pawl head and is connected with electric screw driver, lock respectively up and down, and the screw rod is driven by coupled hollow shaft motor；
The vacuum slot that the lock pair pawl head bottom is provided with is access to loader by charging line；The base top is connected to sonar sensing
Device and touch-screen, the base are connected with peripheral control unit.Each joint arm of the invention is driven by AC torque motor,
Positioning precision is high, and coordinates sonar sensor, so that when running into barrier or human body by the change of electric current, and robot can be with
Quick to stop, security is very high；And its overall structure is simple, and weight and size are small, can flexibly be disposed, along with circle
The vacuum slot of shape is descending the problem of avoid interference when locking, it is ensured that axial impact force will not damage production during work
Product, job stability is greatly improved；On the other hand, the structure design of its Highgrade integration, reduces too fat to move and Chen Yu mechanisms, greatly
Width reduces load, therefore manufacture and operating cost are cheap, while its programming is simple, staff is run by touch-screen to it
Parameter carries out real-time control, and operated simple and fast, and operating efficiency is greatly improved, while it has higher versatility, can
Standardization, mass are produced.
In heretofore described loader can permutation screw, screw or rivet are set, so as to carry out lock screw, spiral shell
Female or riveting rivet operation, the scope of application is very wide.
Preferably, heretofore described controller is connected to hand-hold programmer, so that being accurately positioned lock pays position, fits
Wide, the highly versatile with scope.
Buffer gear is provided between heretofore described electric screw driver and screw rod, it makes whole locking by buffer gear
Process realizes flexible locking, so as to further reduce damage of the axial impact force to product during work.
Heretofore described buffer gear includes spring and bearing, and the bearing is fixed on screw rod upper end, the axle
Hold and spring is provided between electric screw driver.The buffer gear of the present invention serves power transmission and cushioning effect well,
It ensure that rivet or screw do not sustain damage when there is locating slot mismatch, and can actively realize Matching and modification.
Heretofore described electric screw driver can be replaced by air motor or intelligent tightening axle, and versatility is good.
Beneficial effect：Compared with prior art, the present invention has advantages below：
1st, security cooperation robot is used in a kind of heretofore described assembling, and each of which joint arm passes through AC torque motor
Driving, positioning precision is high, and coordinates sonar sensor, so as to pass through the change of electric current, machine when running into barrier or human body
People can quickly stop, and security is very high.
2nd, a kind of heretofore described assembling security cooperation robot, the structure design of its Highgrade integration is reduced
Too fat to move and Chen Yu mechanisms, significantly reduce load, therefore manufacture and operating cost are cheap, while its programming is simple, work people
Member carries out real-time control by touch-screen to its operational factor, and operated simple and fast, and operating efficiency is greatly improved, while its
With higher versatility, it can standardize, mass is produced.
3rd, security cooperation robot is used in a kind of heretofore described assembling, and its overall structure is simple, and weight and size are small,
Can flexibly it be disposed, the problem of along with interference is avoided when circular vacuum slot is descending to be locked, it is ensured that work
When axial impact force will not damage product, job stability is greatly improved.
4th, security cooperation robot is used in a kind of heretofore described assembling, and it makes whole locking process by buffer gear
Flexible locking is realized, so that damage of the axial impact force to product during work is further reduced, while its buffer gear rises
Power transmission and cushioning effect well have been arrived, ensure that rivet or screw are not damaged when there is locating slot mismatch
Wound, and can actively realize Matching and modification.
5th, security cooperation robot is used in a kind of heretofore described assembling, can permutation setting screw, spiral shell in its loader
Nail or rivet, so as to carry out lock screw, nut or the operation for riveting rivet, and electric screw driver can be by air motor
Or intelligent tightening axle is replaced, the scope of application is very wide；Its other controller is connected to hand-hold programmer, is paid so as to be accurately positioned lock
Position, applied widely, highly versatile.
Brief description of the drawings
Fig. 1 is the overall structure diagram of robot in the present invention.
In figure：Base 1, controller 2, the first joint arm 3, second joint arm 4, electric screw driver 5, adapter sleeve 6, lock pay pawl
First 7, vacuum slot 71, loader 8, charging line 81, sonar sensor 9, touch-screen 10.
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, security cooperation robot is used in a kind of assembling of the present embodiment, including：Base 1, controller 2, the first joint
Arm 3, second joint arm 4, electric screw driver 5, adapter sleeve 6, lock pay a pawl first 7, vacuum slot 71, loader 8, charging line 81,
Sonar sensor 9 and touch-screen 10.
The annexation of above-mentioned each part is as follows：First joint arm 3 is arranged on base 1, the second joint arm 4
On the first joint arm 3, first joint arm 3 and second joint arm 4 are driven by AC torque motor；It is described
Electric screw driver 5 and adapter sleeve 6 are installed on second joint arm 4, the screw rod that the inside of the adapter sleeve 6 is provided with up and down respectively with
Electric screw driver 5, lock are paid pawl first 7 and are connected, and the screw rod is driven by coupled hollow shaft motor；The lock pays pawl
The vacuum slot 71 that first 7 bottom is provided with is access to loader 8 by charging line 81；The top of base 1 is connected to sonar sensor 9
With touch-screen 10, the base 1 is connected with peripheral control unit 2.
Permutation is provided with screw, screw or rivet in loader 8 described in the present embodiment；The controller 2 is connected to hand
Hold programmable device.
Buffer gear is provided between electric screw driver 5 described in the present embodiment and screw rod；The buffer gear includes bullet
Spring and bearing, the bearing are fixed on screw rod upper end, and spring is provided between the bearing and electric screw driver 5.
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 (6)
1. security cooperation robot is used in one kind assembling, it is characterised in that：Including：Base（1）, controller（2）, the first joint arm
（3）, second joint arm（4）, electric screw driver（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）Pass through
AC torque motor drives；
The electric screw driver（5）And adapter sleeve（6）It is installed in second joint arm（4）On, the adapter sleeve（6）Inside is provided with
Screw rod up and down respectively with electric screw driver（5）, lock pay a pawl head（7）It is connected, the screw rod passes through coupled hollow
Spindle motor drives；The lock pays pawl head（7）The vacuum slot that bottom is provided with（71）Pass through charging line（81）It is access to loader
（8）；
The base（1）Top is connected to sonar sensor（9）And touch-screen（10）, the base（1）With peripheral control unit（2）Phase
Even.
2. security cooperation robot is used in a kind of assembling according to claim 1, it is characterised in that：The loader（8）It is interior
Permutation is provided with screw, screw or rivet.
3. security cooperation robot is used in a kind of assembling according to claim 1, it is characterised in that：The controller（2）Connect
There is hand-hold programmer.
4. security cooperation robot is used in a kind of assembling according to claim 1, it is characterised in that：The electric screw driver
（5）Buffer gear is provided between screw rod.
5. security cooperation robot is used in a kind of assembling according to claim 4, it is characterised in that：The buffer gear includes
Spring and bearing, the bearing are fixed on screw rod upper end, the bearing and electric screw driver（5）Between be provided with spring.
6. security cooperation robot is used in a kind of assembling according to claim 1, it is characterised in that：The electric screw driver
（5）It can be replaced by air motor or intelligent tightening axle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710399545.8A CN107186716A (en) | 2017-05-31 | 2017-05-31 | Security cooperation robot is used in one kind assembling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710399545.8A CN107186716A (en) | 2017-05-31 | 2017-05-31 | Security cooperation robot is used in one kind assembling |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107186716A true CN107186716A (en) | 2017-09-22 |
Family
ID=59876730
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710399545.8A Pending CN107186716A (en) | 2017-05-31 | 2017-05-31 | Security cooperation robot is used in one kind assembling |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107186716A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN106078196A (en) * | 2016-06-30 | 2016-11-09 | 苏州塞默机械有限公司 | A kind of installation method riveting use articulated robot |
| CN205734963U (en) * | 2016-06-30 | 2016-11-30 | 江苏捷帝机器人股份有限公司 | A kind of safety assembly manipulator |
| 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 CN201710399545.8A patent/CN107186716A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN106078196A (en) * | 2016-06-30 | 2016-11-09 | 苏州塞默机械有限公司 | A kind of installation method riveting use articulated robot |
| CN205734963U (en) * | 2016-06-30 | 2016-11-30 | 江苏捷帝机器人股份有限公司 | A kind of safety assembly manipulator |
| CN205817262U (en) * | 2016-07-29 | 2016-12-21 | 重庆市灵龙自动化设备有限公司 | Intelligence filature |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 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: 20170922 |
|
| RJ01 | Rejection of invention patent application after publication |