CN107891264B - A kind of automatic locking apparatus of industrial robot - Google Patents
A kind of automatic locking apparatus of industrial robot Download PDFInfo
- Publication number
- CN107891264B CN107891264B CN201711020846.1A CN201711020846A CN107891264B CN 107891264 B CN107891264 B CN 107891264B CN 201711020846 A CN201711020846 A CN 201711020846A CN 107891264 B CN107891264 B CN 107891264B
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- CN
- China
- Prior art keywords
- bull stick
- pusher
- slide
- sliding slot
- industrial robot
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Classifications
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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
- B23P19/04—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
- 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
- B23P19/006—Holding or positioning the article in front of the applying tool
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
Abstract
The invention discloses a kind of automatic locking apparatus of industrial robot, including pedestal, pedestal is equipped with sliding slot, slide is equipped in sliding slot, slide is equipped with axle sleeve, bull stick is equipped in axle sleeve, the inner hollow of bull stick and be equipped with material chamber, one end of bull stick is equipped with bull stick gear, slide is equipped with bull stick motor, the shaft of bull stick motor is equipped with motor gear, motor gear is engaged with bull stick gear, slide is equipped with material-pulling device, material-pulling device includes the pusher cylinder being arranged on slide, the output end face material chamber of pusher cylinder, pusher sliding slot is equipped between pusher cylinder output end and bull stick, feeding seat is equipped in pusher sliding slot, feeding seat is connected with the output end of pusher cylinder, feeding seat is equipped with pusher set, charging ram is equipped in pusher set, it is equipped between bull stick and charging ram and sets material device, bolt can be locked automatically, reduce work intensity , lock securely, while can rapidly replace bolt automatically, save manpower, quickening locks speed.
Description
Technical field
The present invention relates to industrial technical field of the electromechanical equipment, the automatic locking apparatus of specially a kind of industrial robot.
Background technique
Industrial robot is multi-joint manipulator or multivariant installations towards industrial circle, it can hold automatically
Row work is a kind of machine that various functions are realized by self power and control ability.It can receive mankind commander, can also
To run according to the program of preparatory layout, modern industrial robot can also be according to the principle program of artificial intelligence technology formulation
Action.
Industrial automation is one of the important prerequisite of industry 4.0, wherein system application, intelligent production technology and industry system
Make, be not a kind of simple production process, but the communication exchange of product and machine, product come tell machine this how to do.
Since manual operation is not only at high cost, but also the consistency of product is not high enough, and efficiency is relatively low, there is artifact, influences to produce
The quality of product.In order to realize that industrial automation is manually operated generally using smart machine using industrial robot substitution,
Not only make the high production efficiency of product, but also the consistency of product is good, difference is small or indifference, while product is high-quality.
But there is shortcomings once for the prior art:
(1) in the prior art, screw generally is carried out to product by man-hour manually hand-held hand screwdriver or electric screw driver
It locks, during locking, is locked if it is with hand screwdriver, general operation personnel labor intensity is big, and locks not enough
Tightly, and locked according to the strength size of operator, be easy to cause lock it is insecure；
(2) bolt is often locked in existing locking apparatus and just needs shutdown operation, and replacement installation bolt is time-consuming to take
Power.
Summary of the invention
In order to overcome the shortcomings of prior art, the present invention provides one kind can lock bolt automatically, and it is strong to reduce work
Degree locks securely, while can quickly replace the automatic locking apparatus of industrial robot of installation bolt automatically, to solve to carry on the back
The problem of scape technology proposes.
The technical solution adopted by the present invention to solve the technical problems is: a kind of automatic locking apparatus of industrial robot,
Including pedestal, the pedestal is equipped with sliding slot, is equipped with slide in the sliding slot, and the slide is equipped with axle sleeve, in the axle sleeve
Equipped with bull stick, the inner hollow of the bull stick and be equipped with material chamber, between the bull stick and axle sleeve be equipped with bearing, the two of the bull stick
End stretch out axle sleeve, and bull stick stretch out axle sleeve wherein one end be equipped with bull stick gear, the slide be equipped with bull stick motor, described turn
The shaft of bar motor is equipped with motor gear, and the motor gear is engaged with bull stick gear；
The slide is equipped with material-pulling device, and the material-pulling device includes the pusher cylinder being arranged on slide, described to push away
The output end face material chamber for expecting cylinder is equipped with pusher sliding slot, the pusher sliding slot between the pusher cylinder output end and bull stick
Interior to be equipped with feeding seat, the feeding seat is connected with the output end of pusher cylinder, and the feeding seat is equipped with pusher set, the pusher
It is equipped with charging ram in set, is equipped with bearing between the pusher set and charging ram, is equipped between the bull stick and charging ram and sets material dress
It sets.
It is empty that installation is equipped with as a preferred technical solution of the present invention, between the lower end surface and sliding slot bottom surface of the slide
Gap, the sliding slot bottom are set there are two lead screw bracket, are connected with ball-screw, the ball between lead screw bracket described in two
One end of lead screw is connected with spindle motor, and the ball-screw is equipped with feed screw nut seat, the feed screw nut seat and slide
Bottom is connected.
As a preferred technical solution of the present invention, the diameter of the charging ram is less than the width of material chamber.
As a preferred technical solution of the present invention, the material device of setting includes the mounting rack being arranged on slide, institute
State mounting rack be equipped with it is discoid set charging tray, it is described set charging tray and be connected with set material motor.
As a preferred technical solution of the present invention, the charging tray of setting is between bull stick and charging ram.
As a preferred technical solution of the present invention, it is described set circumferentially be uniformly provided on charging tray it is several with material chamber section phase
Same material placing hole.
As a preferred technical solution of the present invention, the charging ram and material chamber are located in a straight line, and the straight line
Across the motion profile of material placing hole.
As a preferred technical solution of the present invention, bolt, the head shape of the bolt are equipped in the material placing hole
It is identical as the shape of material placing hole, and the screw rod face material chamber of bolt.
Compared with prior art, the beneficial effects of the present invention are:
(1) in the present invention, the position that bull stick alignment is needed to squeeze into bolt sets material motor driven and sets rotation of disc, makes
The material chamber of material placing hole alignment bull stick is obtained, the output end of pusher cylinder stretches out, and moves feeding seat in pusher sliding slot, drives pusher
Bar is mobile, charging ram push bolt to be moved to material is intracavitary so that the front end of the mobile bull stick of bolt, bull stick motor driven motor tooth
Wheel rotation, drives bull stick gear engaged with motor gear to rotate, so that bar rotation, due to the head shape and material chamber of bolt
Shape it is identical, when bar rotation, bolt follows rotation, at the same time, spindle motor drive ball screw turns so that silk
Thick stick nut seat is mobile, so that slide be driven to move in sliding slot, is then driven into bolt, and realization locks bolt automatically, reduces
Work intensity, locks securely；
(2) in the present invention, after the completion of bolt is squeezed into, pusher cylinder is shunk, and for charging ram from intracavitary withdrawal is expected, charging ram is complete
It is complete withdraw after, set material motor driven and set rotation of disc so that next material placing hole alignment material chamber, thus realize bolt it is automatic more
It changes, saves manpower, and the replacement process used time is short, to accelerate the speed locked automatically.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is fixing clearance structural schematic diagram of the invention；
Fig. 3 is material-pulling device structural schematic diagram of the invention.
In figure: 1- pedestal；2- sliding slot；3- slide；4- axle sleeve；5- bull stick；6- expects chamber；7- bull stick gear；8- bull stick motor；
9- motor gear；10- material-pulling device；11- pusher cylinder；12- pusher sliding slot；13- feeding seat；14- pusher set；15- charging ram；
16- sets material device；17- fixing clearance；18- lead screw bracket；19- ball-screw；20- spindle motor；21- feed screw nut seat；22-
Mounting rack；23- sets charging tray；24- sets material motor；25- material placing hole；26- bolt.
Specific embodiment
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, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The explanation of following embodiment be with reference to attached drawing, can be to the specific embodiment implemented to the example present invention.
The direction and position term that the present invention is previously mentioned, for example, "upper", " in ", "lower", "front", "rear", "left", "right", "inner", "
Outside ", " side " etc. is only direction and position with reference to annexed drawings.Therefore, the direction and position term used is to illustrate
And understand the present invention, rather than to limit the present invention.
Embodiment:
As depicted in figs. 1 and 2, the present invention provides a kind of automatic locking apparatus of industrial robot, including pedestal 1, institutes
It states pedestal 1 and is equipped with sliding slot 2, be equipped with fixing clearance 17,2 bottom of sliding slot between 2 bottom surface of lower end surface and sliding slot of the slide 3
Portion is set there are two lead screw bracket 18, is connected with ball-screw 19, the ball-screw 19 between lead screw bracket 18 described in two
One end be connected with spindle motor 20, the ball-screw 19 is equipped with feed screw nut seat 21, the feed screw nut seat 21 with it is sliding
The bottom of seat 3 is connected；
As shown in Figure 1, in the present invention, slide 3 is equipped in the sliding slot 2, the slide 3 is equipped with axle sleeve 4, the axis
Equipped with bull stick 5, the inner hollow of the bull stick 5 and equipped with material chamber 6 in set 4, bearing, institute are equipped between the bull stick 5 and axle sleeve 4
Axle sleeve 4 is stretched out at the both ends for stating bull stick 5, and wherein one end of the stretching axle sleeve 4 of bull stick 5 is equipped with bull stick gear 7, sets on the slide 3
There is bull stick motor 8, the shaft of the bull stick motor 8 is equipped with motor gear 9, and the motor gear 9 is engaged with bull stick gear 7；
As shown in figures 1 and 3, in the present invention, the slide 3 is equipped with material-pulling device 10, and the material-pulling device 10 wraps
The pusher cylinder 11 being arranged on slide 3 is included, the output end face material chamber 6 of the pusher cylinder 11, the pusher cylinder 11 is defeated
It is equipped with pusher sliding slot 12 between outlet and bull stick 5, is equipped with feeding seat 13, the feeding seat 13 and pusher in the pusher sliding slot 12
The output end of cylinder 11 is connected, and the feeding seat 13 is equipped with pusher set 14, is equipped with charging ram 15 in the pusher set 14, described
Bearing is equipped between pusher set 14 and charging ram 15, the diameter of the charging ram 15 is less than the width of material chamber 6；
Material device 16 is set as shown in Figure 1, being equipped in the present invention, between the bull stick 5 and charging ram 15, it is described to set material dress
Setting 16 includes the mounting racks 22 that are arranged on slide 3, the mounting rack 22 be equipped with it is discoid set charging tray 23, it is described to set charging tray
23 are connected with and set material motor 24, the charging tray 23 of setting positioned at bull stick 5 and charging ram 15 between, it is described set on charging tray 23 it is circumferential uniform
Equipped with several material placing holes 25 identical with material 6 section of chamber, the charging ram 15 and material chamber 6 are located in a straight line, and the straight line
Across the motion profile of material placing hole 25, bolt 26, the head shape and material placing hole of the bolt 26 are equipped in the material placing hole 25
25 shape is identical, and the screw rod face material chamber 6 of bolt 26.
In conclusion the main characteristic of the invention lies in that:
(1) in the present invention, the position that the alignment of bull stick 5 is needed to squeeze into bolt 26 sets the material driving of motor 24 and sets charging tray 23
Rotation, so that material placing hole 25 is directed at the material chamber 6 of bull stick 5, the output end of pusher cylinder 11 stretches out, and makes feeding seat 13 in pusher sliding slot
It is moved in 12, drives charging ram 15 mobile, charging ram 15 pushes bolt 26 to be moved in material chamber 6, so that bolt 26 moves bull stick 5
Front end, 8 driving motor gear 9 of bull stick motor rotation, drive engage with motor gear 9 bull stick gear 7 rotation so that turn
Bar 5 rotates, and since the head shape of bolt 26 is identical as the material shape of chamber 6, when bull stick 5 rotates, bolt 26 follows rotation, with
This simultaneously, spindle motor 20 drives ball-screw 19 to rotate, so that feed screw nut seat 21 is mobile, to drive slide 3 in sliding slot 2
Bolt 26 is then driven by interior movement, is realized and is locked bolt 26 automatically, is reduced work intensity, is locked securely；
(2) in the present invention, after the completion of bolt 26 is squeezed into, pusher cylinder 11 is shunk, and charging ram 15 is withdrawn out of material chamber 6,
After charging ram 15 is withdrawn completely, sets the material driving of motor 24 and set the rotation of charging tray 23, so that the alignment material chamber 6 of next material placing hole 25, from
And realize the automatic replacement of bolt 26, manpower is saved, and the replacement process used time is short, to accelerate the speed locked automatically.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (8)
1. a kind of automatic locking apparatus of industrial robot, it is characterised in that: including pedestal (1), the pedestal (1), which is equipped with, to be slided
Slot (2), the sliding slot (2) is interior to be equipped with slide (3), and the slide (3) is equipped with axle sleeve (4), and bull stick is equipped in the axle sleeve (4)
(5), the inner hollow of the bull stick (5) and it is equipped with material chamber (6), it is described equipped with bearing between the bull stick (5) and axle sleeve (4)
Axle sleeve (4) are stretched out at the both ends of bull stick (5), and bull stick (5) stretches out the wherein one end of axle sleeve (4) equipped with bull stick gear (7), the cunning
Seat (3) is equipped with bull stick motor (8), and the shaft of the bull stick motor (8) is equipped with motor gear (9), the motor gear (9)
It is engaged with bull stick gear (7)；
The slide (3) is equipped with material-pulling device (10), and the material-pulling device (10) includes the pusher gas being arranged on slide (3)
Cylinder (11), the output end face material chamber (6) of the pusher cylinder (11), pusher cylinder (11) output end and bull stick (5) it
Between be equipped with pusher sliding slot (12), feeding seat (13), the feeding seat (13) and pusher cylinder are equipped in the pusher sliding slot (12)
(11) output end is connected, and the feeding seat (13) is equipped with pusher set (14), and charging ram is equipped in the pusher set (14)
(15), it is equipped with bearing between the pusher set (14) and charging ram (15), is equipped with and sets between the bull stick (5) and charging ram (15)
Expect device (16).
2. a kind of automatic locking apparatus of industrial robot according to claim 1, it is characterised in that: the slide (3)
Lower end surface and sliding slot (2) bottom surface between be equipped with fixing clearance (17), sliding slot (2) bottom is set there are two lead screw bracket
(18), it is connected with ball-screw (19) between lead screw bracket (18) described in two, one end connection of the ball-screw (19)
Have spindle motor (20), the ball-screw (19) is equipped with feed screw nut seat (21), the feed screw nut seat (21) and slide
(3) bottom is connected.
3. a kind of automatic locking apparatus of industrial robot according to claim 1, it is characterised in that: the charging ram
(15) diameter is less than the width of material chamber (6).
4. a kind of automatic locking apparatus of industrial robot according to claim 1, it is characterised in that: described to set material device
It (16) include the mounting rack (22) being arranged on slide (3), the mounting rack (22) sets charging tray (23), institute equipped with discoid
It states to set charging tray (23) and be connected with to set and expects motor (24).
5. a kind of automatic locking apparatus of industrial robot according to claim 4, it is characterised in that: described to set charging tray
(23) between bull stick (5) and charging ram (15).
6. a kind of automatic locking apparatus of industrial robot according to claim 4 or 5, it is characterised in that: described to set material
Several material placing holes (25) identical with material chamber (6) section are circumferentially uniformly provided on disk (23).
7. a kind of automatic locking apparatus of industrial robot according to claim 6, it is characterised in that: the charging ram
(15) it is located in a straight line with material chamber (6), and this passes straight through the motion profile of material placing hole (25).
8. a kind of automatic locking apparatus of industrial robot according to claim 7, it is characterised in that: the material placing hole
(25) bolt (26) are equipped in, the head shape of the bolt (26) is identical as the shape of material placing hole (25), and bolt (26)
Screw rod face material chamber (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711020846.1A CN107891264B (en) | 2017-10-26 | 2017-10-26 | A kind of automatic locking apparatus of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711020846.1A CN107891264B (en) | 2017-10-26 | 2017-10-26 | A kind of automatic locking apparatus of industrial robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107891264A CN107891264A (en) | 2018-04-10 |
| CN107891264B true CN107891264B (en) | 2019-04-09 |
Family
ID=61803851
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711020846.1A Active CN107891264B (en) | 2017-10-26 | 2017-10-26 | A kind of automatic locking apparatus of industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107891264B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI815274B (en) * | 2022-01-12 | 2023-09-11 | 台達電子工業股份有限公司 | Quick-changing system for automatically changing screwdriver and quick-changing method for the same |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2537135B2 (en) * | 1994-02-10 | 1996-09-25 | 有限会社新城製作所 | Piercing nut driving device |
| US6631827B2 (en) * | 2002-03-01 | 2003-10-14 | Fabristeel Products, Inc. | Fastener feed and installation head |
| CN103386606B (en) * | 2013-07-08 | 2015-10-28 | 广西大学 | A kind ofly automatically can feed the Safe screw assembly equipment with synchronous workpiece loading and unloading |
| CN203779086U (en) * | 2013-10-31 | 2014-08-20 | 珠海格力电器股份有限公司 | Automatic screw locking device for motor supports |
| CN204954314U (en) * | 2015-04-17 | 2016-01-13 | 浙江正泰建筑电器有限公司 | Nut fastener |
| CN204800258U (en) * | 2015-06-12 | 2015-11-25 | 李先信 | Automatic beat screw device |
| CN205008828U (en) * | 2015-08-03 | 2016-02-03 | 深圳市华一自动化设备有限公司 | Screw of IR -CUT subassembly send eager lock to attach device |
| CN205869934U (en) * | 2016-08-09 | 2017-01-11 | 苏州托玛斯自动化科技有限公司 | Automatic locking attaches device for industrial robot |
-
2017
- 2017-10-26 CN CN201711020846.1A patent/CN107891264B/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI815274B (en) * | 2022-01-12 | 2023-09-11 | 台達電子工業股份有限公司 | Quick-changing system for automatically changing screwdriver and quick-changing method for the same |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107891264A (en) | 2018-04-10 |
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