CN107538208B - 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
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- CN107538208B CN107538208B CN201610462808.0A CN201610462808A CN107538208B CN 107538208 B CN107538208 B CN 107538208B CN 201610462808 A CN201610462808 A CN 201610462808A CN 107538208 B CN107538208 B CN 107538208B
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Abstract
The embodiment of the invention discloses a kind of the turn of the screw manipulator and screwing devices.The turn of the screw machinery hand includes mechanical arm, the turn of the screw structure and the feeding structure for screw to be sorted to and oriented 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 slide 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 time-consuming, is designed according to standardized product mode, exempts to debug, and the plug and play as household electrical appliance, main component is easily replaced, and improves product maintenance.
Description
Technical field
The present invention relates to screw locking apparatus for work, in particular to a kind of the turn of the screw manipulator and screwing device.
Background technique
Currently in manufacturings such as numerous electronics, motor, mechanical five metals, toy and computer peripheral products, for workpiece
Combination and fixation, often completed by lock screw, thus screw play the part of in daily life and in industry it is indispensable
Role, and it is widely used in every field.
The lock screw fashion of conventional workpiece, often staff holds electric screwdriver or gas batch, and by manually screw is put into
Locking operation is carried out after screw hole location again.Obviously, the more cumbersome and inefficiency of such operation.It screws when using split type
When machine, electric screwdriver needs to move repeatedly operation in multiple screw hole interdigits, especially cumbersome for this product more for screw,
Such as computor-keyboard etc..
Existing one absorption type automatic screw-driving device is mainly rotating disc type or pneumatic fortune nail type structure, and major defect is such as
Under:
(1) taking nail to twist, nail movement is more and not parallel, and productive temp is slower, in rotating disc type automatic screw-driving device, including
Turntable, electric screwdriver, Z-direction movement mould group and feeding device, electric screwdriver can make upper and lower sliding, operation along Z-direction under movement mould group driving
When, the single screw for entering groove is transported to immediately below electric screwdriver by turntable, and electric screwdriver downlink takes nail, is then risen and is lifted, to turntable
Go to evacuation position, electric screwdriver can downlink carry out twist nail operation.During taking nail due to turntable, electric screwdriver can not downlink twist nail, and
And electric screwdriver takes to need to rise after following closely and goes to evacuation position to turntable, causes electric screwdriver movement discontinuous, operation takes a long time.
(2) automatic screw-driving device is substantially executed according to engineering project mode at present, and field adjustable expends a large amount of manpowers
Material resources；
(3) main component is not easy to replace, and product maintenance is poor.
Summary of the invention
The embodiment of the invention provides a kind of the turn of the screw manipulator and screwing devices, substantially shorten absorption type and twist spiral shell automatically
Silk operation is time-consuming, is designed, and main component is easily replaced according to standardized product mode, improves product maintenance.
First aspect is this application provides a kind of the turn of the screw manipulator, including mechanical arm, the turn of the screw structure and for will
Screw sorts and orients the feeding structure of conveying；The turn of the screw structure, the feeding structure are arranged on the 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 for positioning screw hole position
Vision camera, the guide rail slide block are fixed in first fixed plate, and the electric screwdriver is arranged on the guide rail slide block and can
It is slided up and down along the guide rail slide block, first cylinder is fixed in first fixed plate by the cylinder seat, the view
Feel that camera is fixed on the mechanical arm bottom surface by fixed metal plate.
Optionally, the feeding machanism includes that feeding machine, fixed bottom plate and the second fixed plate, second fixed plate are fixed
In the mechanical arm side, the feeding machine is fixed in second fixed plate by the fixed bottom plate.
Optionally, the feeding machanism further include front end panel, connecting plate, the first Pneumatic slid platform, fortune nailing machine structure, to penetrate pass
Sensor and sensor holder, the front end panel are fixed between the upper and lower plate of the mechanical arm, and first Pneumatic slid platform is fixed
In on the front end panel, the connecting plate is fixed on first Pneumatic slid platform, and the fortune nailing machine structure is fixed on the company
On fishplate bar, the opposite type sensor is fixed on the groove two sides of the fortune nailing machine structure by the sensor holder.
Optionally, the lower end of the electric screwdriver is batch mouth, and the feeding machanism further includes the first pinboard, first switching
Plate is fixed on the mechanical arm bottom surface, and described batch of mouth is fixed on the first pinboard by third fixed plate.
Optionally, the mechanical arm further includes two the second cylinders and positioning briquetting, described two second cylinder difference
It is fixed on the front end panel, the positioning briquetting is connected to below second cylinder.
Optionally, the feeding machanism further includes ejector pin mechanism, the second pinboard and the second Pneumatic slid platform, the ejector pin machine
Structure is fixed on second Pneumatic slid platform by the second pinboard, ejector pin mechanism head face ejector pin entrance.
Optionally, the fortune nail mechanism grooves are used to block screw to be twisted and fortune hammers into mouth and enters in vertical direction face ejector pin
Mouthful.
Optionally, ejector pin track, ejector pin track both ends and the ejector pin entrance, batch mouth are set in front of the ejector pin mechanism
Enter to follow closely mouth on the same line.
Optionally, the turn of the screw structure further includes batch mouth briquetting and reset tension spring, and described batch of mouth briquetting is turned by third
Fishplate bar is fixed on the guide rail slide block, and the stubborn mouth that hammers into of batch mouth is located at immediately below screwdriver bit, and screwdriver bit helps set to be fixed on batch mouth briquetting,
Reset tension spring or so is individually fixed on two soket head cap screws on batch mouth.
Second aspect provides a kind of screw tightening device, including the turn of the screw manipulator, workpiece and the overall situation in the embodiment of the present invention
Vision camera, the turn of the screw manipulator are the turn of the screw manipulator as described in any in first aspect.
As can be seen from the above technical solutions, the operation consumption of absorption type automatic screw-driving is greatly shortened in the embodiment of the present invention
When, it is designed according to standardized product mode, exempts to debug, the plug and play as household electrical appliance, main component is easily replaced, and is improved
Product maintenance.
Detailed description of the invention
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 partial region 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.
1, electric screwdriver in the figure, 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 nail
Mechanism, 14, opposite type sensor, 15, sensor holder, the 16, second cylinder, 17, positioning briquetting, the 18, second Pneumatic slid platform, 19, batch
Mouth, 20, third fixed plate, the 21, first pinboard, 22 and 23, front end panel, 24, ejector pin mechanism, the 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 rail
Road, 33, screwdriver bit, 34, screwdriver bit help set, 35, batch mouth briquetting, 36, third pinboard, 37, batch mouth twists and hammer into mouth, 38, interior hexagonal spiral shell
Nail, 39, the turn of the screw manipulator, 40, workpiece, 41, overall Vision camera.
Specific embodiment
The embodiment of the invention provides a kind of the turn of the screw manipulator and screwing devices, substantially shorten absorption type and twist spiral shell automatically
Silk operation is time-consuming, is designed, and main component is easily replaced according to standardized product mode, improves product maintenance.
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without creative efforts
It encloses.
Description and claims of this specification and term " first ", " second ", " third " " in above-mentioned attached drawing
The (if present)s such as four " are to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should manage
The data that solution uses in this way are interchangeable under appropriate circumstances, so that the embodiments described herein can be in addition to illustrating herein
Or the sequence other than the content of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that
Cover it is non-exclusive include, for example, containing the process, method, system, product or equipment of a series of steps or units need not limit
In step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, produce
The other step or units of product or equipment inherently.
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those skilled in the art's every other implementation obtained without creative efforts
Example, shall fall within the protection scope of the present invention.
As shown in Figure 1, the turn of the screw machinery hand includes mechanical arm, the turn of the screw structure and is used for spiral shell in the embodiment of the present invention
Silk sorts and orients the feeding structure of conveying；The turn of the screw structure, the feeding structure are arranged on the mechanical arm；Institute
The turn of the screw structure is stated to include electric screwdriver 1, guide rail slide block 2, the first fixed plate 3, the first cylinder 4, cylinder seat 5 and be used for positioning screw hole position
Vision camera 6, the guide rail slide block 2 is fixed in first fixed plate 3, and the electric screwdriver 1 is arranged in the guide rail slide block 2
It can slide up and down above and along the guide rail slide block 2, first cylinder 4 is fixed on first fixed plate 3 by the cylinder seat 5
On, the vision camera 6 passes through fixed metal plate 7 and is fixed on the mechanical arm bottom surface.
As shown in Fig. 2, the feeding machanism includes feeding machine 8, fixed bottom plate 10 and the second fixed plate 9, described second is solid
Fixed board 9 is fixed on the mechanical arm side, and the feeding machine 8 is fixed on second fixed plate by the fixed bottom plate 10
On 9, when feeding machine 8 need to be safeguarded, entire feeding machanism can be taken from forearm side by dismantling the second fixed plate 9
Out.
As shown in figure 3, the feeding machanism further includes front end panel 22, connecting plate 12, the first Pneumatic slid platform 11, fortune nailing machine
Structure 13, opposite type sensor 14, sensor holder 15, the front end panel 22 is fixed between the upper and lower plate of the mechanical arm, described
First Pneumatic slid platform 11 is fixed on the front end panel, and the connecting plate 12 is fixed on first Pneumatic slid platform 11, institute
It states fortune nailing machine structure 13 to be fixed on connecting plate 12, the opposite type sensor 14 is fixed on the fortune nail by the sensor holder 15
The groove two sides of mechanism 13.
Optionally, the lower end of the electric screwdriver is batch mouth 19, and the feeding machanism further includes the first pinboard 21, described first
Pinboard 21 is fixed on the mechanical arm bottom surface, and described batch of mouth 19 is fixed on the first pinboard 21 by third fixed plate 20
On.When batch mouth 19 is replaced, entirely batch mouth module can be taken below forearm by the first pinboard 21 of disassembly
Out.
Optionally, the mechanical arm further includes two the second cylinders 16 and positioning briquetting 17, described two second cylinders
16 are individually fixed on the front end panel 22,23, and the positioning briquetting 17 is connected to 16 lower section of the second cylinder.
As shown in Figure 4, Figure 5, the feeding machanism further includes ejector pin mechanism 24, the second pinboard 25 and the second Pneumatic slid platform
18, the ejector pin mechanism 24 is fixed on 18 on second Pneumatic slid platform by the second pinboard 25,24, the ejector pin mechanism
Portion's face ejector pin entrance 28.
Optionally, 13 groove of fortune nailing machine structure is used to block screw 29 to be twisted and fortune hammers into mouth and pushes away in vertical direction face
Hammer into mouth 28.
Optionally, ejector pin track 32 is set in front of the ejector pin mechanism, 32 both ends of ejector pin track and ejector pin entrance 28 are criticized
Mouth enters to follow closely mouth 31 on the same line.
As shown in fig. 6, the turn of the screw structure further includes batch mouth briquetting 35 and reset tension spring 30, batch mouth briquetting 35 is by turning
Fishplate bar 36 is fixed on guide rail slide block 2, and the stubborn mouth 37 that hammers into of batch mouth is located at immediately below screwdriver bit 33, and screwdriver bit helps set 34 to be fixed on batch mouth pressure
On block 35, reset tension spring 30 or so is individually fixed on two soket head cap screws 38 on batch mouth 19.When screwdriver bit 33 needs to carry out
When replacement, taking-up can be dismantled directly below from batch mouth 19.
The embodiment of the present invention takes nail to twist nail movement simultaneously since electric screwdriver lowering action is coherent without pause, and for nail movement and screwdriver bit
Row has greatly saved operation time-consuming, has greatly improved productive temp, sets simultaneously because carrying out product structure using modularization idea
Meter, component and vulnerable part (such as feeding machine, screwdriver bit, batch mouth), which need to be regularly maintained, can maintain easily, replace, maintainable strong.
As shown in fig. 7, the screwing device includes screw-driving machine the embodiment of the invention also provides a kind of screwing device
Tool hand, workpiece and overall Vision camera, the turn of the screw manipulator are the turn of the screw manipulator of any case among the above.
The embodiment of the present invention is due to carrying out real time position calibration to workpiece using overall Vision camera, using off-line programing side
Formula input substantially screwhole position coordinate, accurately corrects screwhole position coordinate using trick camera, there is no need to workpiece positioning in real time
The ancillary equipments such as device, and debugged without artificial teaching, really realize product plug and play.
The working principle of screwing device of the present invention is described below:
As shown in fig. 7, the present embodiment be the turn of the screw manipulator 39, workpiece 40 is placed in and is locked on station, the station just on
Fang Zhongxin is equipped with overall Vision camera 41, by shooting four side angle of workpiece, determines workpiece general orientation (calibration workpiece coordinate
System), connected applications off-line programming technique inputs 40 screw hole coordinate value of workpiece, determines screw hole approximate location, the turn of the screw manipulator 39
It moves to above screw hole to be locked, opens vision camera 6 and be accurately positioned screwhole position in real time.
As shown in Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, feeding machine 8 at team and individually exports screw permutation, screw 29 to be twisted
Mouth 27 is hammered into fortune, after sensor 14 senses screw 29 completely into fortune nailing machine structure 13, feeding machine 8 stops working, the
One Pneumatic slid platform 11 drives fortune nailing machine structure 13 to be vertically lowered by connecting plate 12, drives screw 29 to ejector pin entrance 28, and at this time the
Two Pneumatic slid platforms 18 drive ejector pin mechanism 24 to enter to follow closely mouth 31 for the push-in batch mouth of screw 29 by the second pinboard 25.
After screw 29 is completely into batch mouth 19, ejector pin mechanism 24 is retreated to original position, is transported nailing machine structure 13 and is risen to original position vertically,
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 electric screwdriver 1 from being locked
Workpiece 40 rotates when attached operation.
First cylinder 4 drives electric screwdriver 1 to be vertically lowered by guide rail slide block 2, and screwdriver bit 33 is twisted by batch mouth hammers into the entrance of mouth 37
Mouth 19 to be criticized, and takes the lead in adsorbing screw 29, subsequent electric screwdriver 1 continues to decline, and drive batch contact batch mouth 19 of mouth briquetting 35 simultaneously to be pressed off,
Electric screwdriver 1 continues to decline and screw 29 is locked to workpiece to correspond on screw hole.
A kind of the turn of the screw manipulator provided by the present invention and screwing device are described in detail above, for this
The those skilled in the art in field, thought according to an embodiment of the present invention, have change in specific embodiments and applications
Become place, in conclusion the contents of this specification are not to be construed as limiting the invention.
Claims (9)
1. a kind of the turn of the screw manipulator, which is characterized in that including mechanical arm, the turn of the screw structure and for sorting and determining screw
To the feeding structure of conveying；
The turn of the screw structure, the feeding structure are arranged on the mechanical arm, and the feeding machanism includes feeding machine, consolidates
Determine bottom plate and the second fixed plate, second fixed plate is fixed on the mechanical arm side, and the feeding machine passes through described solid
Determine bottom plate to be fixed in second fixed plate, the feeding machanism is safeguarded by dismantling second fixed plate；
The feeding machanism further includes the first Pneumatic slid platform and the second Pneumatic slid platform, passes through first Pneumatic slid platform and the second gas
Screw to be twisted is sent to designated position by dynamic slide unit；
The turn of the screw structure includes electric screwdriver, guide rail slide block, the first fixed plate, the first cylinder, cylinder seat and is used for positioning screw hole position
The vision camera set；
The guide rail slide block is fixed in first fixed plate, and the electric screwdriver is arranged on the guide rail slide block and can be along described
Guide rail slide block slides up and down；
First cylinder is fixed in first fixed plate by the cylinder seat, and it is solid that the vision camera passes through fixed metal plate
It is scheduled on the mechanical arm bottom surface.
2. manipulator according to claim 1, which is characterized in that the feeding machanism further include front end panel, connecting plate,
First Pneumatic slid platform, fortune nailing machine structure, opposite type sensor and sensor holder, the front end panel is fixed on the mechanical arm,
Between lower plate, first Pneumatic slid platform is fixed on the front end panel, and the connecting plate is fixed on first aerodynamic slide
On platform, the fortune nailing machine structure is fixed on the connecting plate, and the opposite type sensor is fixed on described by the sensor holder
Transport the groove two sides of nailing machine structure.
3. manipulator according to claim 2, which is characterized in that the lower end of the electric screwdriver is batch mouth, the feeding machanism
It further include the first pinboard, first pinboard is fixed on the mechanical arm bottom surface, and described batch of mouth passes through third fixed plate
It is fixed on the first pinboard.
4. manipulator according to claim 1 or 2, which is characterized in that the mechanical arm further includes two the second cylinders
And positioning briquetting, described two second cylinders are individually fixed on front end panel, the positioning briquetting is connected to second gas
Below cylinder.
5. manipulator according to claim 4, which is characterized in that the feeding machanism further includes ejector pin mechanism, second
Pinboard and the second Pneumatic slid platform, the ejector pin mechanism is fixed on second Pneumatic slid platform by the second pinboard, described
Ejector pin mechanism head face ejector pin entrance.
6. manipulator according to claim 5, which is characterized in that fortune nail mechanism grooves are for blocking screw to be twisted and fortune nail
Entrance is in vertical direction face ejector pin entrance.
7. manipulator according to claim 5 or 6, which is characterized in that ejector pin track is set in front of the ejector pin mechanism, it is described
Ejector pin track both ends and the ejector pin entrance, batch mouth enter to follow closely mouth on the same line.
8. manipulator according to claim 7, which is characterized in that the turn of the screw structure further includes batch mouth briquetting and reset
Tension spring, described batch of mouth briquetting are fixed on the guide rail slide block by third pinboard, and batch mouth, which is twisted, to be hammered under mouth is located at screwdriver bit just
Side, screwdriver bit help set to be fixed on batch mouth briquetting, and reset tension spring or so is individually fixed on two soket head cap screws on batch mouth.
9. a kind of screw tightening device, which is characterized in that including the turn of the screw manipulator, workpiece and overall Vision camera, the stubborn spiral shell
Silk manipulator is the turn of the screw manipulator as described in any in claim 1 to 8.
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 CN107538208A (en) | 2018-01-05 |
| CN107538208B true 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 |
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| CN (1) | CN107538208B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110900174B (en) * | 2019-11-19 | 2024-06-14 | 嘉善富亿德塑胶有限公司 | Automatic screw equipment with adjustable angle |
| CN111015191B (en) * | 2019-12-04 | 2021-09-24 | 苏州普轮电子科技有限公司 | Automatic disassembling machine for batch screws |
Family Cites Families (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 |
| CN105436877B (en) * | 2015-12-30 | 2017-10-20 | 苏州博众精工科技有限公司 | A kind of Full automatic screw lock adhering mechanism |
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2016
- 2016-06-23 CN CN201610462808.0A patent/CN107538208B/en active Active
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