CN107538208A - A kind of the turn of the screw manipulator and screwing device - Google Patents
A kind of the turn of the screw manipulator and screwing device Download PDFInfo
- Publication number
- CN107538208A CN107538208A CN201610462808.0A CN201610462808A CN107538208A CN 107538208 A CN107538208 A CN 107538208A CN 201610462808 A CN201610462808 A CN 201610462808A CN 107538208 A CN107538208 A CN 107538208A
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- fixed
- screw
- turn
- mouth
- manipulator
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Abstract
The embodiment of the invention discloses a kind of the turn of the screw manipulator and screwing device.The turn of the screw machinery hand includes mechanical arm, the turn of the screw structure and for screw to sort and orients the feeding structure of conveying in the embodiment of the present invention；The turn of the screw structure, feeding structure are arranged on mechanical arm；The turn of the screw structure includes electric screwdriver, guide rail slide block, the first fixed plate, the first cylinder, cylinder seat and the vision camera for positioning screw hole position, guide rail slide block is fixed in the first fixed plate, electric screwdriver is arranged on guide rail slide block and can slided up and down along guide rail slide block, first cylinder is fixed in the first fixed plate by cylinder seat, and vision camera is fixed on mechanical arm bottom surface by fixed metal plate.The operation that absorption type automatic screw-driving is greatly shortened in the embodiment of the present invention is taken, and is designed according to standardized product mode, exempts to debug, and the plug and play as household electrical appliance, critical piece is easily changed, and improves product maintenance.
Description
Technical field
The present invention relates to screw locking apparatus for work, more particularly to a kind of the turn of the screw manipulator and the turn of the screw dress
Put.
Background technology
Currently in manufacturings such as numerous electronics, motor, mechanical five metals, toy and computer peripheral products,
Combination and fixation for workpiece, are often completed by lock screw, thus screw in daily life and
Play the part of indispensable role in industry, and be widely used in every field.
The lock screw fashion of conventional workpiece, often staff hold electric screwdriver or gas batch, and by manually handle
Screw is put into after screw hole position carries out locking operation again.Obviously, the more cumbersome and efficiency of such operation is low
Under.When using split type screw fixing machine, electric screwdriver needs to move repeatedly operation in multiple screw hole interdigits,
This is for the more product of screw, especially cumbersome, such as computor-keyboard etc..
Existing integral absorption type automatic screw-driving device is mainly rotating disc type or pneumatic fortune nail type structure, and it is led
Want shortcoming as follows：
(1) taking nail to twist, nail action is more and not parallel, and productive temp is slower, is filled in rotating disc type automatic screw-driving
In putting, including rotating disk, electric screwdriver, Z-direction motion module and feeding device, electric screwdriver can be under motion module drivings
Make upper and lower slip along Z-direction, during operation, under the single screw for entering groove is transported to electric screwdriver just by rotating disk
Side, electric screwdriver is descending to take nail, then rises and lifts, and treats that rotating disk is gone to and avoids position, electric screwdriver can descend to advance
Row twists nail operation.During taking nail due to rotating disk, electric screwdriver can not descending stubborn nail, and electric screwdriver take nail after need
Rise and treat that rotating disk goes to avoidance position, cause electric screwdriver motion discontinuous, operation is time-consuming longer.
(2) automatic screw-driving device substantially performs according to engineering project mode at present, and field adjustable expends
A large amount of manpower and materials；
(3) critical piece is not easy to change, and product maintenance is poor.
The content of the invention
The embodiments of the invention provide a kind of the turn of the screw manipulator and screwing device, significantly shorten absorption type
Automatic screw-driving operation is taken, and is designed according to standardized product mode, and critical piece is easily changed, and is carried
High product maintenance.
This application provides a kind of the turn of the screw manipulator, including mechanical arm, the turn of the screw structure for first aspect
With for screw to be sorted and orients the feeding structure of conveying；The turn of the screw structure, the feeding structure
It is arranged on the mechanical arm；The turn of the screw structure include electric screwdriver, guide rail slide block, the first fixed plate,
First cylinder, cylinder seat and the vision camera for positioning screw hole position, the guide rail slide block are fixed on described
In first fixed plate, the electric screwdriver is arranged on the guide rail slide block and can glided along the guide rail slide block
Dynamic, first cylinder is fixed in first fixed plate by the cylinder seat, and the vision camera is led to
Fixed metal plate is crossed to be fixed on the mechanical arm bottom surface.
Optionally, the feeding machanism includes feeding machine, fixes bottom plate and the second fixed plate, and described second
Fixed plate is fixed on the mechanical arm side, and the feeding machine is fixed on described by the fixed bottom plate
In second fixed plate.
Optionally, the feeding machanism also includes front end panel, connecting plate, the first Pneumatic slid platform, fortune nail
Mechanism, opposite type sensor and sensor holder, the front end panel are fixed on the upper and lower plate of the mechanical arm
Between, first Pneumatic slid platform is fixed on the front end panel, and the connecting plate is fixed on described
On one Pneumatic slid platform, the fortune nailing machine structure is fixed on the connecting plate, and the opposite type sensor passes through institute
State the groove both sides that sensor holder is fixed on the fortune nailing machine structure.
Optionally, the lower end of the electric screwdriver is batch mouth, and the feeding machanism also includes the first pinboard, institute
State the first pinboard and be fixed on the mechanical arm bottom surface, described batch of mouth is fixed on by the 3rd fixed plate
On one pinboard.
Optionally, the mechanical arm also includes two the second cylinders and positioning briquetting, and described two second
Cylinder is individually fixed on the front end panel, and the positioning briquetting is connected to below second cylinder.
Optionally, the feeding machanism also includes ejector pin mechanism, the second pinboard and the second Pneumatic slid platform,
The ejector pin mechanism is fixed on second Pneumatic slid platform by the second pinboard, the ejector pin mechanism head
Portion's face ejector pin entrance.
Optionally, the fortune nail mechanism grooves are used to block screw to be twisted and transport to hammer into mouth in vertical direction just
To ejector pin entrance.
Optionally, ejector pin track, the ejector pin track both ends and the ejector pin are set in front of the ejector pin mechanism
Entrance, batch mouth enter to follow closely mouth on the same line.
Optionally, the turn of the screw structure also includes batch mouth briquetting and reset tension spring, and described batch of mouth briquetting leads to
Cross the 3rd pinboard to be fixed on the guide rail slide block, the stubborn mouth that hammers into of batch mouth is located at immediately below screwdriver bit, screwdriver bit
Set is helped to be fixed on batch mouth briquetting, reset tension spring or so is individually fixed in two soket head cap screws on batch mouth
On.
Second aspect, provides a kind of screw tightening device in the embodiment of the present invention, including the turn of the screw manipulator,
Workpiece and overall Vision camera, the turn of the screw manipulator are the turn of the screw as described in any in first aspect
Manipulator.
As can be seen from the above technical solutions, absorption type automatic screw-driving is greatly shortened in the embodiment of the present invention
Operation take, be designed according to standardized product mode, exempt to debug, as household electrical appliance i.e. insert i.e.
With critical piece is easily changed, and improves product maintenance.
Brief description of the drawings
Fig. 1 is one embodiment schematic diagram of the turn of the screw manipulator in the embodiment of the present invention；
Fig. 2 is another embodiment schematic diagram of the turn of the screw manipulator in the embodiment of the present invention；
Fig. 3 is a-quadrant enlarged diagram in Fig. 2；
Fig. 4 is B area enlarged diagram in Fig. 3；
Fig. 5 is subregion enlarged diagram in Fig. 4；
Fig. 6 is another part enlarged diagram in the embodiment of the present invention；
Fig. 7 is one embodiment schematic diagram of screwing device in the embodiment of the present invention.
In figure, 1, electric screwdriver, 2, guide rail slide block, the 3, first fixed plate, the 4, first cylinder, 5, cylinder
Seat, 6, vision camera, 7, fixed metal plate, 8, feeding machine, the 9, second fixed plate, 10, fixed bottom
Plate, the 11, first Pneumatic slid platform, 12, connecting plate, 13, fortune nailing machine structure, 14, opposite type sensor, 15,
Sensor holder, the 16, second cylinder, 17, positioning briquetting, the 18, second Pneumatic slid platform, 19, batch mouth,
20th, the 3rd fixed plate, the 21, first pinboard, 22 and 23, front end panel, 24, ejector pin mechanism, 25,
Second pinboard, 26, feeding orbit, 27, fortune hammer into mouth, 28, ejector pin entrance, 29, screw, 30,
Reset tension spring, 31, batch mouth enter to follow closely mouth, 32, ejector pin track, 33, screwdriver bit, 34, screwdriver bit help set, 35,
Batch mouth briquetting, the 36, the 3rd pinboard, 37, batch mouth twist and hammer into mouth, 38, soket head cap screw, 39, twist
Screw machine hand, 40, workpiece, 41, overall Vision camera.
Embodiment
The embodiments of the invention provide a kind of the turn of the screw manipulator and screwing device, significantly shorten absorption type
Automatic screw-driving operation is taken, and is designed according to standardized product mode, and critical piece is easily changed, and is carried
High product maintenance.
In order that those skilled in the art more fully understand the present invention program, below in conjunction with of the invention real
The accompanying drawing in example is applied, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that
Described embodiment only a part of embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained under the premise of creative work is not made
The every other embodiment obtained, should all belong to the scope of protection of the invention.
Term " first ", " second " in description and claims of this specification and above-mentioned accompanying drawing, "
The (if present)s such as three " " four " are for distinguishing similar object, without specific for describing
Order or precedence.It should be appreciated that the data so used can exchange in the appropriate case, so as to this
In the embodiment that describes can be implemented with the order in addition to the content for illustrating or describing herein.In addition,
Term " comprising " and " having " and their any deformation, it is intended that cover it is non-exclusive include,
It is not necessarily limited to for example, containing the process of series of steps or unit, method, system, product or equipment
Those steps or unit clearly listed, but may include not list clearly or for these mistakes
The intrinsic other steps of journey, method, product or equipment or unit.
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out
Clearly and completely describing, it is clear that described embodiment is only part of the embodiment of the present invention, and
The embodiment being not all of.Based on the embodiment in the present invention, those skilled in the art are not making wound
The every other embodiment obtained under the premise of the property made work, belongs to the scope of protection of the invention.
As shown in figure 1, the turn of the screw machinery hand includes mechanical arm, the turn of the screw structure in the embodiment of the present invention
With for screw to be sorted and orients the feeding structure of conveying；The turn of the screw structure, the feeding structure
It is arranged on the mechanical arm；The turn of the screw structure includes electric screwdriver 1, guide rail slide block 2, first is fixed
Plate 3, the first cylinder 4, cylinder seat 5 and the vision camera 6 for positioning screw hole position, the guide rail slide block
2 are fixed in first fixed plate 3, and the electric screwdriver 1 is arranged on the guide rail slide block 2 and can be along institute
State guide rail slide block 2 to slide up and down, first cylinder 4 is fixed on described first by the cylinder seat 5 to be consolidated
On fixed board 3, the vision camera 6 is fixed on the mechanical arm bottom surface by fixed metal plate 7.
As shown in Fig. 2 the feeding machanism includes feeding machine 8, the fixed fixed plate 9 of bottom plate 10 and second,
Second fixed plate 9 is fixed on the mechanical arm side, and the feeding machine 8 passes through the fixed bottom
Plate 10 is fixed in second fixed plate 9, when feeding machine 8 need to be safeguarded, passes through dismounting second
Fixed plate 9 can take out whole feeding machanism from forearm side.
As shown in figure 3, the feeding machanism also includes front end panel 22, connecting plate 12, the first aerodynamic slide
Platform 11, fortune nailing machine structure 13, opposite type sensor 14, sensor holder 15, the front end panel 22 are fixed on
Between the upper and lower plate of mechanical arm, first Pneumatic slid platform 11 is fixed on the front end panel,
The connecting plate 12 is fixed on first Pneumatic slid platform 11, and the fortune nailing machine structure 13 is fixed on connection
On plate 12, the opposite type sensor 14 is fixed on the fortune nailing machine structure 13 by the sensor holder 15
Groove both sides.
Optionally, the lower end of the electric screwdriver is batch mouth 19, and the feeding machanism also includes the first pinboard 21,
First pinboard 21 is fixed on the mechanical arm bottom surface, and described batch of mouth 19 passes through the 3rd fixed plate
20 are fixed on the first pinboard 21.When batch mouth 19 needs to be changed, pass through the switching of dismounting first
Plate 21 will can entirely criticize mouth module and be taken out below forearm.
Optionally, the mechanical arm also includes two the second cylinders 16 and positioning briquetting 17, described two
Second cylinder 16 is individually fixed on the front end panel 22,23, and the positioning briquetting 17 is connected to institute
State the lower section of the second cylinder 16.
As shown in Figure 4, Figure 5, the feeding machanism also includes ejector pin mechanism 24, the and of the second pinboard 25
Second Pneumatic slid platform 18, it is pneumatic that the ejector pin mechanism 24 by the second pinboard 25 is fixed on described second
18 on slide unit, the head face ejector pin entrance 28 of ejector pin mechanism 24.
Optionally, the groove of fortune nailing machine structure 13 is used to block screw 29 to be twisted and fortune hammers into mouth vertical
Direction face ejector pin entrance 28.
Optionally, ejector pin track 32, the both ends of ejector pin track 32 and ejector pin are set in front of the ejector pin mechanism
Entrance 28, batch mouth enter to follow closely mouth 31 on the same line.
As shown in fig. 6, the turn of the screw structure also includes batch mouth briquetting 35 and reset tension spring 30, batch mouth pressure
Block 35 is fixed on guide rail slide block 2 by pinboard 36, and batch mouth, which is twisted, to be hammered into mouth 37 and be located at screwdriver bit 33 just
Lower section, screwdriver bit help set 34 to be fixed on batch mouth briquetting 35, and reset tension spring 30 or so is individually fixed in batch mouth
On two soket head cap screws 38 on 19., can be from the lower section of batch mouth 19 when screwdriver bit 33 needs to be changed
Directly dismounting is taken out.
The embodiment of the present invention takes nail to twist because electric screwdriver down maneuver is coherent without pause, and for nail action with screwdriver bit
Nail action is parallel, has greatly saved operation and has taken, greatly improved productive temp, simultaneously because using module
Change thought and carry out product structure design, need frequent apparatus of repair parts and consumable accessory (such as feeding machine, screwdriver bit, to criticize
Mouth etc.) it can maintain easily, change, it is maintainable strong.
As shown in fig. 7, the embodiment of the present invention additionally provides a kind of screwing device, the screwing device bag
Include the turn of the screw manipulator, workpiece and overall Vision camera, the turn of the screw manipulator is any in above-mentioned
The turn of the screw manipulator of situation.
The embodiment of the present invention due to using overall Vision camera to workpiece carry out real time position demarcation, using from
Line programming mode input substantially screwhole position coordinate, accurately correct screwhole position in real time using trick camera and sit
Mark, therefore debugged without auxiliary equipments such as Working piece positioning devices, and without artificial teaching, really realize production
Product plug and play.
The operation principle of screwing device of the present invention is described below：
As shown in fig. 7, the present embodiment is the turn of the screw manipulator 39, workpiece 40 is placed in and locked on station,
Center is equipped with overall Vision camera 41 directly over the station, by shooting the side angle of workpiece four, determines workpiece
General orientation (demarcation workpiece coordinate system), the connected applications off-line programming technique input screw coordinate of workpiece 40
Value, screw approximate location is determined, the turn of the screw manipulator 39 is moved to above screw to be locked, and opens vision
Camera 6 is accurately positioned screwhole position in real time.
As shown in Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, feeding machine 8 is by screw permutation into team and single
Output, screw 29 to be twisted hammer into mouth 27 into fortune, treat that sensor 14 senses screw 29 completely into fortune
After nailing machine structure 13, feeding machine 8 is stopped, and the first Pneumatic slid platform 11 drives fortune nail by connecting plate 12
Mechanism 13 is vertically lowered, and drives screw 29 to ejector pin entrance 28, and now the second Pneumatic slid platform 18 passes through the
Screw 29 is pushed into batch mouth and enters to follow closely mouth 31 by two pinboards 25 drive ejector pin mechanism 24.
After screw 29 is completely into batch mouth 19, ejector pin mechanism 24 retreats perpendicular to original position, fortune nailing machine structure 13
Original position directly is risen to, feeding machine 8 restarts, into next fill cycles.
At the same time, two the second cylinders 16 drive positioning briquetting 17 to decline and push down workpiece 40, prevent
Workpiece 40 rotates when electric screwdriver 1 carries out locking operation.
First cylinder 4 drives electric screwdriver 1 to be vertically lowered by guide rail slide block 2, and screwdriver bit 33 twists nail by batch mouth
Entrance 37 enters batch mouth 19, and takes the lead in adsorbing screw 29, and subsequent electric screwdriver 1 continues to decline, and drives batch mouth
The contact batch mouth 19 of briquetting 35 is simultaneously pressed off, and electric screwdriver 1 continues to decline and screw 29 is locked into workpiece pair
Answer on screw.
Detailed Jie has been carried out to a kind of the turn of the screw manipulator provided by the present invention and screwing device above
Continue, for those of ordinary skill in the art, according to the thought of the embodiment of the present invention, in specific embodiment party
There will be changes in formula and application, in summary, this specification content should not be construed as to this
The limitation of invention.
Claims (10)
1. a kind of the turn of the screw manipulator, it is characterised in that including mechanical arm, the turn of the screw structure and be used for
Screw is sorted and orients the feeding structure of conveying；The turn of the screw structure, the feeding structure are arranged on
On the mechanical arm；The turn of the screw structure includes electric screwdriver, guide rail slide block, the first fixed plate, first
Cylinder, cylinder seat and the vision camera for positioning screw hole position, the guide rail slide block are fixed on described first
In fixed plate, the electric screwdriver is arranged on the guide rail slide block and can slided up and down along the guide rail slide block,
First cylinder is fixed in first fixed plate by the cylinder seat, and the vision camera passes through solid
Determine metal plate to be fixed on the mechanical arm bottom surface.
2. manipulator according to claim 1, it is characterised in that the feeding machanism includes feed
Machine, fixed bottom plate and the second fixed plate, second fixed plate are fixed on the mechanical arm side, institute
Feeding machine is stated to be fixed in second fixed plate by the fixed bottom plate.
3. manipulator according to claim 2, it is characterised in that before the feeding machanism also includes
Supporting plate, connecting plate, the first Pneumatic slid platform, fortune nailing machine structure, opposite type sensor and sensor holder, it is described
Front end panel is fixed between the upper and lower plate of the mechanical arm, and first Pneumatic slid platform is fixed on described
On front end panel, the connecting plate is fixed on first Pneumatic slid platform, and the fortune nailing machine structure is fixed on
On the connecting plate, the opposite type sensor is fixed on the recessed of the fortune nailing machine structure by the sensor holder
Groove both sides.
4. manipulator according to claim 3, it is characterised in that the lower end of the electric screwdriver is batch mouth,
The feeding machanism also includes the first pinboard, and first pinboard is fixed on the mechanical arm bottom surface,
Described batch of mouth is fixed on the first pinboard by the 3rd fixed plate.
5. according to any described manipulator in claims 1 to 3, it is characterised in that the manipulator
Arm also includes two the second cylinders and positioning briquetting, and described two second cylinders are individually fixed in the preceding branch
On fagging, the positioning briquetting is connected to below second cylinder.
6. according to the manipulator described in claim 5, it is characterised in that the feeding machanism also includes
Ejector pin mechanism, the second pinboard and the second Pneumatic slid platform, the ejector pin mechanism is fixed by the second pinboard
In on second Pneumatic slid platform, ejector pin mechanism head face ejector pin entrance.
7. manipulator according to claim 6, it is characterised in that the fortune nail mechanism grooves are used for
Block screw to be twisted and fortune hammers into mouth in vertical direction face ejector pin entrance.
8. the manipulator according to claim 6 or 7, it is characterised in that in front of the ejector pin mechanism
If ejector pin track, the ejector pin track both ends enter to follow closely mouth on the same line with the ejector pin entrance, batch mouth.
9. manipulator according to claim 8, it is characterised in that the turn of the screw structure also includes
Mouth briquetting and reset tension spring are criticized, described batch of mouth briquetting is fixed on the guide rail slide block by the 3rd pinboard,
Criticize the stubborn mouth that hammers into of mouth to be located at immediately below screwdriver bit, screwdriver bit helps set to be fixed on batch mouth briquetting, reset tension spring or so
It is individually fixed on two soket head cap screws on batch mouth.
10. a kind of screw tightening device, it is characterised in that regarded including the turn of the screw manipulator, workpiece and the overall situation
Feel camera, the turn of the screw manipulator is the turn of the screw manipulator as described in any in claim 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610462808.0A CN107538208B (en) | 2016-06-23 | 2016-06-23 | A kind of the turn of the screw manipulator and screwing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610462808.0A CN107538208B (en) | 2016-06-23 | 2016-06-23 | A kind of the turn of the screw manipulator and screwing device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107538208A true CN107538208A (en) | 2018-01-05 |
| CN107538208B CN107538208B (en) | 2019-04-30 |
Family
ID=60960675
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610462808.0A Active CN107538208B (en) | 2016-06-23 | 2016-06-23 | A kind of the turn of the screw manipulator and screwing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107538208B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111015191A (en) * | 2019-12-04 | 2020-04-17 | 邓小青 | Automatic disassembling machine for batch screws |
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|---|---|---|---|---|
| JPS60118429A (en) * | 1983-11-30 | 1985-06-25 | Mita Ind Co Ltd | Part gripping device |
| CN201702561U (en) * | 2010-06-23 | 2011-01-12 | 昆山广禾电子科技有限公司 | Automatic screw locking machine |
| JP2014124765A (en) * | 2012-12-27 | 2014-07-07 | Nitto Seiko Co Ltd | Automatic thread fastening device |
| CN203993058U (en) * | 2014-07-08 | 2014-12-10 | 昆山道润电子有限公司 | A kind of lock screw device |
| CN204123065U (en) * | 2014-09-04 | 2015-01-28 | 昆山富新立伟自动化科技有限公司 | A kind of automatic locking screw machine |
| CN105436877A (en) * | 2015-12-30 | 2016-03-30 | 苏州博众精工科技有限公司 | Full-automatic screw tightening mechanism |
-
2016
- 2016-06-23 CN CN201610462808.0A patent/CN107538208B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60118429A (en) * | 1983-11-30 | 1985-06-25 | Mita Ind Co Ltd | Part gripping device |
| CN201702561U (en) * | 2010-06-23 | 2011-01-12 | 昆山广禾电子科技有限公司 | Automatic screw locking machine |
| JP2014124765A (en) * | 2012-12-27 | 2014-07-07 | Nitto Seiko Co Ltd | Automatic thread fastening device |
| CN203993058U (en) * | 2014-07-08 | 2014-12-10 | 昆山道润电子有限公司 | A kind of lock screw device |
| CN204123065U (en) * | 2014-09-04 | 2015-01-28 | 昆山富新立伟自动化科技有限公司 | A kind of automatic locking screw machine |
| CN105436877A (en) * | 2015-12-30 | 2016-03-30 | 苏州博众精工科技有限公司 | Full-automatic screw tightening mechanism |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111015191A (en) * | 2019-12-04 | 2020-04-17 | 邓小青 | Automatic disassembling machine for batch screws |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107538208B (en) | 2019-04-30 |
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