CN107214509A - A kind of protection type puts together machines the method for work of people - Google Patents
A kind of protection type puts together machines the method for work of people Download PDFInfo
- Publication number
- CN107214509A CN107214509A CN201710405317.7A CN201710405317A CN107214509A CN 107214509 A CN107214509 A CN 107214509A CN 201710405317 A CN201710405317 A CN 201710405317A CN 107214509 A CN107214509 A CN 107214509A
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- CN
- China
- Prior art keywords
- screw
- joint arm
- screw rod
- 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.)
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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
- B23P19/04—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
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J15/00—Riveting
- B21J15/10—Riveting machines
- B21J15/30—Particular elements, e.g. supports; Suspension equipment specially adapted for portable riveters
- B21J15/32—Devices for inserting or holding rivets in position with or without feeding arrangements
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
Abstract
Put together machines the method for work of people the invention discloses a kind of protection type, is related to the technical field of intelligence manufacture；First joint arm first 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, negative-pressure vacuum loop is formed in the presence of Suction head component, screw 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 screw hole position, screw rod rotating down pressing under the driving of intelligent tightening axle, screw continuous precession hole position under the drive of screw rod, until screw is locked in screw completely；After the completion of screw lock is paid, screw rod is moved upwards, leaves screw hole position；Method of work safety and stability of the present invention is good, and operating efficiency is high, and operating cost is cheap, it is ensured that assembly 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 protection type puts together machines the method for work of people.
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 method for work of the existing people that puts together machines：
1st, overall security is poor, can not be responded in time when there is fortuitous event, it is impossible to ensure that assembly work is long-term efficiently steady
Surely run, at the same also can not safeguard work personnel the security of the lives and property；
2nd, easily there is interference problem, poor work stability when screw lock is paid, while each joint arm positioning precision is low, operating efficiency
Have much room for improvement.
The content of the invention
Goal of the invention：In order to overcome the above not enough, a kind of work for the people that put together machines it is an object of the invention to provide protection type
Make method, the method for work safety and stability is good, combine the intelligence of people and the efficiency of machine, realize it is highly difficult,
The action become more meticulous, operating efficiency is high, and operating cost is cheap, it is ensured that assembly work is efficiently and stably run for a long time.
Technical scheme：The method of work of people in order to realize the above object a kind of protection type of the present invention puts together machines,
Include base, controller, the first joint arm, second joint arm, intelligent tightening axle and adapter sleeve；First joint arm is installed
On base, the second joint arm is arranged on the first joint arm, and first joint arm and second joint arm are by handing over
Flow torque motor driving；The intelligent tightening axle and adapter sleeve are installed on second joint arm, are set inside the adapter sleeve
Some screw rods are paid pawl head and are connected with intelligent tightening axle, lock respectively up and down, and the screw rod passes through coupled quill shaft electricity
Machine drives；The vacuum slot that the lock pair pawl head bottom is carried is connected by Suction head component, charging line with loader；The bottom
Seat is connected with outside controller, and the base top is provided with the force sensor and autoalarm being connected with controller.
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, forms negative-pressure vacuum loop in the presence of Suction head component, and screw is inhaled into lock by charging line by loader and pays pawl
In head, and positioned by vacuum slot；
（3）, when screw rod is moved to corresponding screw hole position, screw rod rotating down pressing under the driving of intelligent tightening axle, screw exists
Continuous precession hole position under the drive of screw rod, until screw is locked in screw completely；
（4）, after the completion of screw lock pays, screw rod is moved upwards, leaves screw hole position, waits lock next time to pay work.
Method of work of the present invention be different from the existing people that puts together machines, 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, it is running into barrier or people by the situation of external force suffered by the real-time monitoring robot of force sensor
Controller is responded rapidly to according to the transmission signal of force sensor during body, so that robot can be stopped with fast automatic, it is to avoid
The generation of contingency, has ensured the security of the lives and property of staff, and security is very high；And its circular vacuum slot
It is descending the problem of avoid interference when locking, it is ensured that axial impact force will not damage product, job stability during work
Greatly improve.
In the inventive method, screw, screw or rivet can be inhaled into lock by charging line by loader and pay pawl head
In, so as to carry out lock screw, nut or the operation for riveting rivet, the scope of application is very wide.
In the inventive method, when deviation or failure occurs in operation, its autoalarm makes an immediate response and sends acousto-optic
Alarm, so as to remind staff to be adjusted in time, greatly ensure that assembly work is efficiently and stably run for a long time.
Beneficial effect：Compared with prior art, the present invention has advantages below：
1st, a kind of heretofore described protection type is put together machines the method for work of people, and 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, a kind of heretofore described protection type puts together machines the method for work of people, and during work, it passes through force sensing
The situation of external force suffered by the real-time monitoring robot of device, when running into barrier or human body, controller is according to the transmission of force sensor
Signal is responded rapidly to, so that robot can be stopped with fast automatic, it is to avoid the generation of contingency, has ensured staff's
The security of the lives and property, security is very high.
3rd, a kind of heretofore described protection type is put together machines the method for work of people, during work, and its circular vacuum is inhaled
Mouth is descending the problem of avoid interference when locking, it is ensured that axial impact force will not damage product, working stability during work
Property is greatly improved.
4th, a kind of heretofore described protection type puts together machines the method for work of people, deviation or failure occurs in operation
When, its autoalarm makes an immediate response and sends audible and visible alarm, so as to remind staff to be adjusted in time, greatly ensures
Assembly work is for a long time efficiently and stably run.
Brief description of the drawings
Fig. 1 is the overall structure diagram of people of being put together machines in the present invention.
In figure：Base 1, controller 2, the first joint arm 3, second joint arm 4, intelligent tightening axle 5, adapter sleeve 6, lock pay pawl
First 7, vacuum slot 71, loader 8, charging line 81, force sensor 9, autoalarm 10, Suction head component 11, detection
Mechanism 12.
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
The method of work of people as shown in figure 1, a kind of protection type of the present embodiment puts together machines, 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, forms negative-pressure vacuum loop in the presence of Suction head component 11, and screw is inhaled into by loader 8 by charging line 81
Lock is paid in pawl first 7, and is positioned by vacuum slot 71；
（3）, when screw rod is moved to corresponding screw hole position, screw rod rotating down pressing under the driving of intelligent tightening axle 5, screw exists
Continuous precession hole position under the drive of screw rod, until screw is locked in screw completely；
（4）, after the completion of screw lock pays, screw rod is moved upwards, leaves screw hole position, waits lock next time to pay work.
In the present embodiment method of work, screw, screw or rivet can be inhaled into by loader 8 by charging line 81
Lock is paid in pawl first 7；In addition when deviation or failure occurs in operation, its autoalarm 10 makes an immediate response and sends acousto-optic and warns
Report.
In the present embodiment method of work, the end of second joint arm 4 is provided with the testing agency 12 being connected with controller 2,
The testing agency 12 includes sonar sensor, temperature sensor and humidity sensor.
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)
- The method of work of people 1. a kind of protection type puts together machines, it is characterised in that：Including：Base（1）, controller（2）, first close Joint arm（3）, second joint arm（4）, intelligent tightening axle（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 intelligent tightening axle（5）With Adapter sleeve（6）It is installed in second joint arm（4）On, the adapter sleeve（6）The screw rod that inside is provided with is twisted with intelligence respectively up and down Mandrel（5）, lock pay a pawl head（7）It is connected, the screw rod is driven by coupled hollow shaft motor；The lock pays pawl head （7）The vacuum slot that bottom is carried（71）Pass through Suction head component（11）, charging line（81）With loader（8）It is connected；The bottom Seat（1）With outside controller（2）It is connected, the base（1）Top is provided with and controller（2）Connected force sensor（9） And autoalarm（10）；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, in Suction head component（11）In the presence of form negative-pressure vacuum loop, screw is by loader（8）By feed pipe Road（81）It is inhaled into lock and pays pawl head（7）In, and by vacuum slot（71）Positioning；（3）, when screw rod is moved to corresponding screw hole position, screw rod is in intelligent tightening axle（5）Driving under rotating down pressing, screw The continuous precession hole position under the drive of screw rod, until screw is locked in screw completely；（4）, after the completion of screw lock pays, screw rod is moved upwards, leaves screw hole position, waits lock next time to pay work.
- The method of work of people 2. a kind of protection type according to claim 1 puts together machines, it is characterised in that：Screw, screw Or rivet can be by loader（8）By charging line（81）It is inhaled into lock and pays pawl head（7）In.
- The method of work of people 3. a kind of protection type according to claim 1 puts together machines, it is characterised in that：Occur in operation When deviation or failure, its autoalarm（10）Make an immediate response and send audible and visible alarm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710405317.7A CN107214509A (en) | 2017-05-31 | 2017-05-31 | A kind of protection type puts together machines the method for work of people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710405317.7A CN107214509A (en) | 2017-05-31 | 2017-05-31 | A kind of protection type puts together machines the method for work of people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107214509A true CN107214509A (en) | 2017-09-29 |
Family
ID=59948021
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710405317.7A Pending CN107214509A (en) | 2017-05-31 | 2017-05-31 | A kind of protection type puts together machines the method for work of people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107214509A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108213903A (en) * | 2018-03-06 | 2018-06-29 | 天津市多思机械设备有限公司 | Three-nozzle negative pressure type nail feeding tail end |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0689494B1 (en) * | 1993-03-19 | 1996-12-18 | Bermo, Inc. | Apparatus for detecting fault conditions |
| 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 |
| 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 CN201710405317.7A patent/CN107214509A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0689494B1 (en) * | 1993-03-19 | 1996-12-18 | Bermo, Inc. | Apparatus for detecting fault conditions |
| 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 |
| 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 (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108213903A (en) * | 2018-03-06 | 2018-06-29 | 天津市多思机械设备有限公司 | Three-nozzle negative pressure type nail feeding tail end |
| CN108213903B (en) * | 2018-03-06 | 2024-01-12 | 天津市多思机械设备有限公司 | Three-nozzle negative pressure nail feeding end |
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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: 20170929 |
|
| RJ01 | Rejection of invention patent application after publication |