CN109623356B - Mechanical arm electric batch module capable of being used for mechanical automatic assembly system - Google Patents

Abstract

The present invention discloses a robot arm electric screwdriver module that can be used in a mechanical automation assembly system, including a servo screw module, a cylinder, a guide rail and a moving plate. A first slider, a second slider and a third slider are arranged between the guide rail and the moving plate. Pre-stressed springs are arranged between the first slider and the second slider and between the first slider and the third slider. An electric screwdriver slide is fixedly connected to the second slider, an electric screwdriver is mounted on the electric screwdriver slide, a nozzle slide is fixedly connected to the third slider, a nozzle slide is fixed to the nozzle slide, a nozzle is fixed to the nozzle slide, the screwdriver head of the electric screwdriver is arranged opposite to the nozzle, the moving plate is fixedly connected to the first slider, and the cylinder drives the moving plate to move up and down along the guide rail. The present invention simplifies the mechanical structure, reduces the weight, reduces the cost, and greatly reduces the size of the mechanical structure by adopting the setting of a cylinder plus a guide rail in the vertical axis electric screwdriver module, so that it can be integrated into the mechanical automation assembly system as a modular screw driving station alone, thereby improving the automation level of the equipment.

Description

A robot arm electric screwdriver module that can be used in mechanical automated assembly systems

Technical Field

The invention relates to the field of mechanical automated assembly, and in particular to a robot arm electric screwdriver module that can be used in a mechanical automated assembly system.

Background Art

At present, there are mature products of automated screw assembly machines on the market. It is necessary to manually place the assembled workpiece in the mold, and then the automated screw assembly machine will screw it. Manual cooperation is required to complete the assembly. This type of machine can only perform screw assembly operations and has a single function. The main structure of the traditional automated screw assembly machine adopts a double column, and the vertical axis electric screwdriver module adopts a motor plus ball screw structure with two guide rails. As a complete machine, it has some problems such as heavy weight, large space structure, and high cost. However, factory automated assembly requires the cooperation of multiple stations to complete, not just one station for screwing. Therefore, for automated assembly machines with small overall size and complicated assembly processes, the automated mechanical structure that can only perform screw assembly is difficult to be integrated into multi-station automated assembly equipment.

Summary of the invention

The object of the present invention is to provide a robot arm electric screwdriver module that can be used in a mechanical automated assembly system to solve the problems raised in the above-mentioned background technology.

The technical solution adopted to solve the above technical problems: a robot arm electric screwdriver module that can be used in a mechanical automated assembly system, comprising a servo screw module, a cylinder is fixed on the servo screw module, a guide rail is provided on one side of the cylinder, a movable plate is provided on the guide rail, a first slider, a second slider and a third slider slidably connected to the guide rail from top to bottom are provided between the guide rail and the movable plate, a pre-compression spring is provided between the first slider and the second slider and between the first slider and the third slider, an electric screwdriver slide seat is fixedly connected to the second slider, an electric screwdriver is installed on the electric screwdriver slide seat through an electric screwdriver fixing seat, a nozzle slide seat is fixedly connected to the third slider, a nozzle slide seat is fixed on the nozzle mounting seat, a screw head of the electric screwdriver is arranged opposite to the nozzle, the movable plate is fixedly connected to the first slider, and the cylinder drives the movable plate to move up and down along the guide rail.

Furthermore, a spring mounting seat is fixedly connected to the first slider, and both ends of the pre-stressed spring between the first slider and the second slider are respectively connected to the spring mounting seat and the electric screwdriver slide seat, and both ends of the pre-stressed spring between the first slider and the third slider are respectively connected to the spring mounting seat and the nozzle slide seat.

Furthermore, a spring guide column is provided at the lower end of the spring mounting seat, a preload spring between the first slider and the second slider is sleeved on the spring guide column, and an opening suitable for inserting the spring guide column is provided on the electric screwdriver slide seat.

Furthermore, a spring connecting tube is provided at the lower end of the spring mounting seat, and the two ends of the pre-stressed spring between the first slider and the third slider are respectively connected to the spring connecting tube and the nozzle slide seat, and a spring guide column is provided at the upper end of the nozzle slide seat, and the pre-stressed spring is sleeved on the spring guide column, and the inner cavity of the spring connecting tube is suitable for the insertion of the spring guide column.

Furthermore, a guide rail mounting seat is provided between the cylinder and the guide rail, and the guide rail is fixedly connected to the cylinder via the guide rail mounting seat.

Furthermore, hydraulic buffers are provided at the upper and lower ends of the guide rail mounting seat, and the shoulder supports of the two hydraulic buffers are arranged opposite to each other. A limit plate is provided on the movable plate, and the limit plate is located between the two hydraulic buffers.

Furthermore, a guide rail upper limit plate is provided at the upper end of the guide rail, and a guide rail lower limit plate is provided at the lower end of the guide rail.

Furthermore, a piston rod connecting plate is provided on one side of the lower end of the movable plate, and the piston rod connecting plate is fixedly connected to the piston rod of the cylinder.

Furthermore, pressure regulating valves are installed at the two gas circuit interfaces of the cylinder.

Furthermore, the servo screw module is connected to a mounting bracket via bolts.

Beneficial effect: The present invention adopts a cylinder plus a guide rail structure in the vertical axis electric screwdriver module to replace the original motor plus ball screw structure with two guide rails. The mechanical structure is simple, maintenance is convenient, and the weight is light. While reducing costs, the size of the mechanical structure is greatly reduced, so that it can be integrated into the mechanical automation assembly system as a modular screw driving station, thereby improving the degree of automation of the equipment.

BRIEF DESCRIPTION OF THE DRAWINGS

The present invention will be further described below in conjunction with the accompanying drawings and embodiments:

FIG1 is a schematic structural diagram of an embodiment of the present invention;

FIG. 2 is a partial cross-sectional schematic diagram of an embodiment of the present invention.

DETAILED DESCRIPTION

1 and 2 , the present invention is a robot arm electric screwdriver module that can be used in a mechanical automated assembly system, which includes a servo screw module 1, a cylinder 2 is fixed to the servo screw module 1, a guide rail 3 is provided on one side of the cylinder 2, a guide rail mounting seat 18 is provided between the cylinder 2 and the guide rail 3, and the guide rail 3 is fixedly connected to the cylinder 2 via the guide rail mounting seat 18. A movable plate 4 is provided on the guide rail 3, and a first slider 5, a second slider 6 and a third slider 7 which are slidably connected to the guide rail 3 from top to bottom are provided between the guide rail 3 and the movable plate 4, and a pre-compression spring 8 is provided between the first slider 5 and the second slider 6 and between the first slider 5 and the third slider 7. An electric screwdriver slide 9 is fixedly connected to the second slider 6, and an electric screwdriver 11 is mounted on the electric screwdriver slide 9 through an electric screwdriver fixing seat 10. A suction nozzle slide 12 is fixedly connected to the third slider 7, and a suction nozzle 14 is fixed on the suction nozzle slide 12 through a suction nozzle mounting seat 13. The screw head of the electric screwdriver 11 is arranged opposite to the suction nozzle 14. The movable plate 4 is fixedly connected to the first slider 5, and a piston rod connecting plate 23 is provided on one side of the lower end of the movable plate 4. The piston rod connecting plate 23 is fixedly connected to the piston rod of the cylinder 2, and the cylinder 2 drives the movable plate 4 to move up and down along the guide rail 3 through the piston rod connecting plate 23. In addition, the servo screw module 1 is connected to a mounting bracket 25 via bolts, and the robot arm electric screwdriver module is installed on the mechanical automation assembly system via the mounting bracket 25 .

As a preferred embodiment of the present invention, a spring mounting seat 15 is fixedly connected to the first slider 5, and the two ends of the pre-stress spring 8 between the first slider 5 and the second slider 6 are respectively connected to the spring mounting seat 15 and the electric screwdriver slide 9, and the two ends of the pre-stress spring 8 between the first slider 5 and the third slider 7 are respectively connected to the spring mounting seat 15 and the nozzle slide 12. Among them, a spring guide column 16 is provided at the lower end of the spring mounting seat 15, and the pre-stress spring 8 between the first slider 5 and the second slider 6 is sleeved on the spring guide column 16, and the electric screwdriver slide 9 is provided with an opening suitable for the spring guide column 16 to be inserted. In addition, a spring connecting tube 17 is provided at the lower end of the spring mounting seat 15, and the two ends of the pre-stress spring 8 between the first slider 5 and the third slider 7 are respectively connected to the spring connecting tube 17 and the nozzle slide 12, and the upper end of the nozzle slide 12 is provided with a spring guide column 16, and the pre-stress spring 8 is sleeved on the spring guide column 16, and the spring connecting tube 17 is a hollow tube, and the inner cavity of the spring connecting tube 17 is suitable for the spring guide column 16 to be inserted.

As a preferred embodiment of the present invention, hydraulic buffers 19 are provided at the upper and lower ends of the guide rail mounting seat 18, and the shoulder supports of the two hydraulic buffers 19 are arranged opposite to each other. A limit plate 20 is provided on the movable plate 4, and the limit plate 20 is located between the two hydraulic buffers 19. Specifically, the hydraulic buffer 19 is installed on the guide rail mounting seat 18 through the hydraulic buffer mounting seat, and the distance between the two hydraulic buffers 19 and the limit plate 20 can be adjusted by adjusting the position of the hydraulic buffer 19 on the hydraulic buffer mounting seat to meet different working conditions and production requirements. The piston rod of the cylinder 2 will push the movable plate 4 to move vertically downward in a straight line, and the limit plate 20 installed on the movable plate 4 will collide with the upper and lower hydraulic buffers 19, so that the cylinder 2 is buffered and decelerated to a stop, and the cylinder 2 is prevented from colliding with the piston rod under a large pressure, thereby playing a certain degree of protection.

As a preferred embodiment of the present invention, a guide rail upper limit plate 21 is provided at the upper end of the guide rail 3, and a guide rail lower limit plate 22 is provided at the lower end of the guide rail 3. Both the upper limit plate 21 and the lower limit plate 22 are fixed to the guide rail 3 by bolts, which can prevent each slider from detaching from the guide rail 3 during the sliding process.

As a preferred embodiment of the present invention, pressure regulating valves 24 are installed at the two gas circuit interfaces of the cylinder 2, and the pressure regulating valves 24 can be used to adjust the up and down running speed of the electric screwdriver module to meet different production requirements.

As a preferred embodiment of the present invention, the electric screwdriver fixing seat 10 includes two relatively arranged semi-fixed seats with grooves, the two semi-fixed seats are fastened or loosened by bolts, and the grooves on the two semi-fixed seats form a clamping cavity for clamping the electric screwdriver 11.

The working principle of the present invention is as follows:

The servo screw module 1 drives the vertical electric screwdriver shaft module to move horizontally to the horizontal position of picking up or discharging materials. Since the parts installed on the first slider 5 and the parts installed on the second slider 6 and the parts installed on the first slider 5 and the parts installed on the third slider 7 are all equipped with pre-stressed pre-stressed springs 8, that is, the first slider 5 and the second slider 6 can slide relative to each other, and the first slider 5 and the third slider 7 can also slide relative to each other. Due to the presence of the pre-stressed spring 8, the piston rod of the cylinder 2 will drive all the parts installed on the three sliders to move downward together. When the suction nozzle 14 moves downward to contact the surface of the workpiece, the third slider 7 is stationary, and the pre-stressed spring 8 between the first slider 5 and the third slider 7 begins to compress, and the cylinder 2 continues to drive all the parts installed on the first slider 5 and the second slider 6 to move downward together. When the screwdriver head of the electric screwdriver 11 presses the screw to the surface of the workpiece, the pre-stressed spring 8 between the first slider 5 and the second slider 6 begins to compress, and the electric screwdriver 11 starts to rotate to perform the screwing operation. After being compressed for a certain distance, the first slider 5 stops moving downward under the action of the hydraulic buffer 19 and the limit plate 20, completing the screw driving operation and returning to its original position.

The present invention adopts a cylinder plus a guide rail structure in the vertical axis electric screwdriver module to replace the original motor plus ball screw structure with two guide rails. The mechanical structure is simple, maintenance is convenient, and the weight is light. While reducing the cost, the size of the mechanical structure is greatly reduced, so that it can be integrated into the mechanical automation assembly system as a modular screw driving station alone, thereby improving the automation level of the equipment. Whether it is air blowing or air suction, it does not affect its use.

The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in the technical field without departing from the purpose of the present invention.

Claims (7)

1. A robot arm electric screwdriver module that can be used in a mechanical automated assembly system, characterized in that it comprises a servo screw module (1), a cylinder (2) is fixed to the servo screw module (1), a guide rail (3) is provided on one side of the cylinder (2), a movable plate (4) is provided on the guide rail (3), a first slider (5), a second slider (6) and a third slider (7) are provided between the guide rail (3) and the movable plate (4), and a first slider (5), a second slider (6) and a third slider (7) are slidably connected to the guide rail (3) from top to bottom, and a first slider (5) and a second slider (6) and a third slider (7) are provided between the first slider (5) and the second slider (6) and between the first slider (5) and the third slider A preload spring (8) is provided between the two blocks (7); an electric screwdriver slide seat (9) is fixedly connected to the second slider (6); an electric screwdriver (11) is mounted on the electric screwdriver slide seat (9) via an electric screwdriver fixing seat (10); a suction nozzle slide seat (12) is fixedly connected to the third slider (7); a suction nozzle (14) is fixedly connected to the suction nozzle slide seat (12) via a suction nozzle mounting seat (13); the screw head of the electric screwdriver (11) is arranged opposite to the suction nozzle (14); the movable plate (4) is fixedly connected to the first slider (5); the cylinder (2) drives the movable plate (4) to move up and down along the guide rail (3) The first slider (5) is fixedly connected with a spring mounting seat (15), the two ends of the pre-stressed spring (8) between the first slider (5) and the second slider (6) are respectively connected with the spring mounting seat (15) and the electric screwdriver slide seat (9), the two ends of the pre-stressed spring (8) between the first slider (5) and the third slider (7) are respectively connected with the spring mounting seat (15) and the nozzle slide seat (12), the lower end of the spring mounting seat (15) is provided with a spring guide column (16), the pre-stressed spring (8) between the first slider (5) and the second slider (6) is sleeved on the spring guide column (16), and the pre-stressed spring (8) between the first slider (5) and the second slider (6) is sleeved on the spring guide column (16). The guide column (16) is disposed on the electric screwdriver slide (9) and is provided with an opening suitable for inserting the spring guide column (16). The lower end of the spring mounting seat (15) is provided with a spring connecting tube (17). The two ends of the preload spring (8) between the first slider (5) and the third slider (7) are respectively connected to the spring connecting tube (17) and the nozzle slide (12). The upper end of the nozzle slide (12) is provided with a spring guide column (16). The preload spring (8) is sleeved on the spring guide column (16). The inner cavity of the spring connecting tube (17) is suitable for inserting the spring guide column (16). 2. According to claim 1, the robot arm electric screwdriver module that can be used for a mechanical automated assembly system is characterized in that a guide rail mounting seat (18) is provided between the cylinder (2) and the guide rail (3), and the guide rail (3) is fixedly connected to the cylinder (2) via the guide rail mounting seat (18). 3. According to claim 2, the robot arm electric screwdriver module that can be used for a mechanical automated assembly system is characterized in that: a hydraulic buffer (19) is provided at the upper and lower ends of the guide rail mounting seat (18), and the shoulder supports of the two hydraulic buffers (19) are arranged opposite to each other, and a limit plate (20) is provided on the movable plate (4), and the limit plate (20) is located between the two hydraulic buffers (19). 4. The robot arm electric screwdriver module that can be used in a mechanical automated assembly system according to claim 1 is characterized in that: an upper guide rail limit plate (21) is provided at the upper end of the guide rail (3), and a lower guide rail lower limit plate (22) is provided at the lower end of the guide rail (3). 5. The robot arm electric screwdriver module that can be used in a mechanical automated assembly system according to claim 1 is characterized in that a piston rod connecting plate (23) is provided on one side of the lower end of the movable plate (4), and the piston rod connecting plate (23) is fixedly connected to the piston rod of the cylinder (2). 6. The robot arm electric screwdriver module that can be used in a mechanical automated assembly system according to claim 1, characterized in that pressure regulating valves (24) are installed at the two gas path interfaces of the cylinder (2). 7. The robot arm electric screwdriver module that can be used in a mechanical automated assembly system according to any one of claims 1 to 6, characterized in that the servo screw module (1) is connected to a mounting bracket (25) by bolts.