CN110369986A - One kind being used for small screw thread pair automatic assembling apparatus - Google Patents
One kind being used for small screw thread pair automatic assembling apparatus Download PDFInfo
- Publication number
- CN110369986A CN110369986A CN201910631469.8A CN201910631469A CN110369986A CN 110369986 A CN110369986 A CN 110369986A CN 201910631469 A CN201910631469 A CN 201910631469A CN 110369986 A CN110369986 A CN 110369986A
- Authority
- CN
- China
- Prior art keywords
- screw
- mounting plate
- slide unit
- screw thread
- thread pair
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
Abstract
The invention patent discloses one kind for small screw thread pair automatic assembling apparatus, belongs to micro parts automatic assembling field.The device includes screw thread pair load module, screw clamping module and bench top module.The control of torque needed for assembly and assembly of the Screw assembly module for small screw thread pair, screw clamping module is for small screws automatic Picking in carrying, bench top module is adjusted for the clamping to be installed to replace the spare parts and pose, screw thread pair load module, screw clamping module and bench top module three's co-ordination in assembling process, the automatic assembling for completing small screw thread pair jointly, does not need manual intervention.Meanwhile screw clamping module can carry out assembling work in the narrow space of deep enough inside parts, help to improve the degree of automation and assembly efficiency.
Description
Technical field
The invention patent belongs to micro parts automatic assembling field, more particularly to a kind of for small screw thread pair automatic assembling
Device.
Background technique
As the microminaturization of engineering goods develops, precision assembly technology also faces new challenges.At present for screw thread
The research of secondary automatic assembly technique is typically directed to the biggish threaded fastener of macro-size, and for the spiral shell of micro part
The research of line automatic assembly technique is also seldom.For the precision assembly of miniature screw-pairs, such as infrared seeker position marker top
The assembly of small screw thread pair in spiral shell mechanical part has multiple threaded holes to need mounting screw on Same Part, at present or main
By being accomplished manually, production efficiency is low, and assembly consistency is poor, and one time adjustment qualification rate is low.Develop advanced small screw thread pair essence
Close automatic assembly technique is to improve the effective approach of assembly efficiency and assembling quality.
Application No. is the patents of CN103157986A, disclose a kind of screw thread pair automatic assembling machine, for the outer of screw thread pair
Thread part and inner thread part Automated assembly, including threaded male component automatic feeding and ranking module, screw thread pair automatic assembling
Module and inner thread part automatic feeding and ranking module, can complete the guiding work of threaded male component, and screw thread pair screws assembly
Work and output finished product work.Application No. is the patents of CN108907691A, disclose a kind of screw thread pair automatic screwing device, can
To be tightened to the screw thread pair on frock clamp.Above-mentioned patent disclosure screw thread pair automatic assembling apparatus is for macro-size
Biggish internal and external threads part development, is not particularly suited for the automatic assembling of small screw thread pair.
Application No. is the patent of CN104259836A, discloses a kind of miniature screw-pairs parts automatic Picking and assembly fills
It sets, is mainly made of finger tightening unit, torque sensor unit and driving unit.Although can be realized oneself of small screw thread pair
It is dynamic to pick up and assemble, but the relatively large sized narrow inside parts of working space that can not extend into of its clamping device are filled
Match, and if there are multiple threaded holes to need mounting screw on some part, this miniature screw-pairs parts automatic Picking and assembly
Device is no longer applicable in.
Summary of the invention
In order to solve the problems in the existing technology, the present invention proposes that a kind of automatic assembling for small screw thread pair fills
It sets, to solve the problems, such as not assembled in the small space of inside parts, and multiple threaded holes on a part can be met
Screw assemble demand.
To achieve the above object, the technical scheme adopted by the invention is that:
A kind of automatic assembling apparatus for small screw thread pair, it includes optics that this, which is used for small screw thread pair automatic assembling apparatus,
Platform 4, and the screw thread pair load module 1, screw clamping module 2 and the bench top module 3 that are mounted on optical platform 4.
Further, the screw thread pair load module 1 includes stepper motor 5, stepper motor mounting plate 6, shaft coupling a7, turns round
Square sensor 8, shaft coupling b9, bearing block 10, Miniature ball bushing guidance set 11, collar 12, spiral shell batch 13, screw thread pair fit drawing die
Block X-axis accurate displacement slide unit 14, screw thread pair load module Y-axis accurate displacement slide unit 15 and vertical type welding base a16.
Further, the vertical type welding base a16 is mounted on optical platform 4；The screw thread pair load module X-axis is accurate
Displacement slide unit 14 is mounted on vertical type welding base a16, and the screw thread pair load module Y-axis accurate displacement slide unit 15 is mounted on screw thread
On the mounting surface of secondary load module X-axis accurate displacement slide unit 14, the screw thread pair load module X-axis accurate displacement slide unit 14 and spiral shell
Line pair load module Y-axis accurate displacement slide unit 15 is orthogonal, constitutes XY two degrees of freedom accurate displacement slide unit, together for adjusting
The position of spiral shell batch 13；The stepper motor mounting plate 6 is L-type plate, and horizontal ends are mounted on screw thread pair load module Y-axis accurate displacement
On the mounting surface of slide unit 15, the horizontal ends of motor mounting plate 6 are vertical with screw thread pair load module Y-axis accurate displacement slide unit 15, with
Screw thread pair load module X-axis accurate displacement slide unit 14 is parallel；The stepper motor 5 is mounted on the vertical of stepper motor mounting plate 6
End, the shaft of stepper motor 5 pass through the through-hole of 6 vertical end of stepper motor mounting plate；The one end the shaft coupling a7 and stepper motor 5
Shaft be connected, the other end is connected with the output shaft of torque sensor 8；The torque sensor 8 is mounted on stepper motor installation
On plate 6, for detecting the torque signal when assembly of small screw thread pair；The output of the one end the shaft coupling b9 and torque sensor 8
Axis is connected, and the other end is connect with Miniature ball bushing guidance set 11；The Miniature ball bushing guidance set 11 is mounted on axis
It holds on seat 10；The bearing block 10 is mounted on stepper motor mounting plate 6, is used to support Miniature ball bushing guidance set 11；
Described 12 one end of collar is connected with the free end of Miniature ball bushing guidance set 11, and the other end is connected with spiral shell batch 13；The spiral shell
Line pair load module 1 adjusts the position of spiral shell batch 13 by XY two degrees of freedom accurate displacement slide unit, and drives spiral shell by stepper motor 5
It criticizes 13 rotations and realizes screws installation, while torque is monitored by torque sensor 8.
Further, the screw clamping module 2 includes screw clamping module Z axis accurate displacement slide unit 17, screw clamping
Module Y-axis accurate displacement slide unit 18, screw clamping module X-axis accurate displacement slide unit 19, vertical type welding base b20, mounting plate 21, light
Electric transducer 22, sensor sender block 23, pneumatic clamper limited block 24, linear motor 25, linear motor mounting plate 26, linear bearing
27, screw support mounting plate 28, guiding axis 29, pneumatic clamper mounting plate 30, pneumatic clamper 31, miniature ring flange 32, left gripping finger 33, bearing
34, right gripping finger 35 and screw support 36；The screw clamping module X-axis accurate displacement slide unit 19 is mounted on vertical type welding base b20
On, the screw clamping module Y-axis accurate displacement slide unit 18 is mounted on the installation of screw clamping module X-axis accurate displacement slide unit 19
On face, the screw clamping module Z axis accurate displacement slide unit 17 is mounted on the screw clamping module Y-axis accurate displacement slide unit 18
Mounting surface on, the screw clamping module Z axis accurate displacement slide unit 17,18 and of screw clamping module Y-axis accurate displacement slide unit
Screw clamping module X-axis accurate displacement slide unit 19 is vertical two-by-two, constitutes XYZ three-freedom degree precision together and is displaced slide unit, for adjusting
The position of whole clamped screw is directed at it with the spiral shell in screw thread pair load module 1 batch 13；The screw clamping module Z axis essence
The erecting bed of cantilever design is installed, for installing other equipment on the mounting surface of dense bit shifting slide unit 17；The mounting plate 21 is pacified
On the erecting bed of screw clamping module Z axis accurate displacement slide unit 17；The linear motor mounting plate 26 and pneumatic clamper mounting plate
30 on mounting plate 21；Linear motor 25 is mounted on linear motor mounting plate 26, and the shaft of linear motor 25 passes through straight
Through-hole on line motor mounting plate 26, and be connected on screw support mounting plate 28 by miniature ring flange 32；The screw branch
Supportting dress on mounting plate 28, there are two linear bearings 27；There are two the guiding axis 29 is total, it is slidably mounted on linear bearing 27 respectively
Inner ring on；Described 29 one end of guiding axis is mounted on linear motor mounting plate 26, and the other end is mounted on pneumatic clamper mounting plate 30；
The rotation of linear motor 25 is to drive screw support mounting plate 28 to move on guiding axis 29；The screw support mounting plate 28
It is upper that bearing 34 is housed, it is interference fit between screw support 36 and the inner ring of bearing 34 for mounting screw support 36；The gas
Pawl 31 is mounted on pneumatic clamper mounting plate 30, and left gripping finger 33 and right gripping finger 35 are housed in pneumatic clamper 31, is used for clamp screws；The pneumatic clamper
Limited block 24 is mounted on the opening travel that mounting plate 21 is used to limit pneumatic clamper 31, and pneumatic clamper 31 is avoided to encounter guiding axis 29 when opening
On；The photoelectric sensor 22 is mounted on mounting plate 21；The sensor sender block 23 is mounted on screw support mounting plate 28,
It is used cooperatively with photoelectric sensor 22, for detecting the initial position of screw support 36；The screw clamping module 2 passes through XYZ
Three-freedom degree precision is displaced the accurate control that slide unit and linear motor 25 realize 36 position of screw support jointly.
Further, the bench top module 3 includes fixed support 37, resilient support 38, bulb lock-screw 39, fixture
Mounting plate 40, precise rotating platform 41 and accurate lifting platform 42；The precision lifting platform 42 is mounted on optical platform 4；The precision
Turntable 41 is mounted on accurate lifting platform 42；The fixture mounting plate 40 is mounted on precise rotating platform 41；The fixed support 37
It is installed on fixture mounting plate 40 with resilient support 38；The bulb lock-screw 39 is in resilient support 38；The essence
Close turntable 41 and accurate lifting platform 42 are used to adjust the position to be installed to replace the spare parts, assemble threaded hole and screw thread pair on to be assembled
13 alignment of spiral shell batch in module 1.
It is provided with groove in the resilient support 38, certain flexibility is made it have, by tightening 39 energy of bulb lock-screw
So that resilient support 38 is generated flexible deformation, part is pressed in fixed support.
Interference connection is all made of between the collar 12 and spiral shell batch 13, collar 12 and Miniature ball bushing guidance set 11,
When Miniature ball bushing guidance set 11 can ensure the assembly of small screw thread pair, spiral shell batch 13 has certain axial displacement.
The invention patent the utility model has the advantages that Screw assembly module 1 for small screw thread pair assembly and assemble needed for torque
Control, for screw clamping module 2 for small screws automatic Picking in carrying, bench top module 3 is used for the folder to be installed to replace the spare parts
Tight and pose adjusts, and screw thread pair load module 1, screw clamping module 2 and 3 three of bench top module coordinate work in assembling process
Make, completes the automatic assembling of small screw thread pair jointly.Screw thread pair load module X precision axial displacement slide unit 14 and stepper motor 5 are matched
It closes to provide screw thread pair assembly required screw, while the linear motor 25 of screw clamping module 2 drives screw support 36,
Guarantee that screw will not be fallen from screw clamping module 2 in assembling process.And screw clamping module 2 can deep enough inside parts
Narrow space in carry out assembling work, additionally can satisfy on a part has multiple threaded holes to need mounting screw
Assembly demand.Effective reduces manual intervention, helps to improve the degree of automation and assembly efficiency and assembling quality.
Detailed description of the invention
Fig. 1 is the overall structure diagram of small screw thread pair automatic assembling apparatus.
Fig. 2 is the screw thread pair load module structural schematic diagram.
Fig. 3 is the screw clamping modular structure schematic diagram.
Fig. 4 is screw clamping module front end retained part top view.
Fig. 5 is screw clamping module front end retained part left view.
Fig. 6 is screw clamping module front end retained part front view.
Fig. 7 is the bench top module structural schematic diagram.
Fig. 8 is the three-dimensional figure of part A.
In figure: 1 screw thread pair load module；2 screw clamping modules；3 bench top modules；4 optical platforms；5 stepper motors；6
Stepper motor mounting plate；7 shaft couplings；8 torque sensors；9 shaft couplings；10 bearing blocks；11 Miniature ball bushing guidance sets；12
Collar；13 spiral shells batch；14 screw thread pair load module X-axis accurate displacement slide units；15 screw thread pair load module Y-axis accurate displacement slide units；
16 vertical type welding base a；17 screw clamping module Z axis accurate displacement slide units；18 screw clamping module Y-axis accurate displacement slide units；19
Screw clamping module X-axis accurate displacement slide unit；20 vertical type welding base b；21 mounting plates；22 photoelectric sensors；23 sensor senders
Block；24 pneumatic clamper limited blocks；25 linear motors；26 linear motor mounting plates；27 linear bearings；28 screw support mounting plates；29
Guiding axis；30 pneumatic clamper mounting plates；31 pneumatic clampers；32 miniature ring flanges；33 left gripping fingers；34 bearings；35 right gripping fingers；36 screw supports；
37 fixed supports；38 resilient support；39 bulb lock-screws；40 fixture mounting plates；41 precise rotating platforms；42 accurate lifting platforms.
Specific embodiment
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
One kind as shown in Figure 1 is used for small screw thread pair automatic assembling apparatus, this is used for small screw thread pair automatic assembling dress
It sets including optical platform 4, and the screw thread pair load module 1, screw clamping module 2 and the workbench that are mounted on optical platform 4
Module 3.
Screw thread pair load module 1 as shown in Figure 2 includes stepper motor 5, stepper motor mounting plate 6, shaft coupling a7, torque
Sensor 8, shaft coupling b9, bearing block 10, Miniature ball bushing guidance set 11, collar 12, spiral shell batch 13, screw thread pair load module
X-axis accurate displacement slide unit 14, screw thread pair load module Y-axis accurate displacement slide unit 15 and vertical type welding base a16.The vertical type welding
Seat a16 is mounted on optical platform 4；The screw thread pair load module X-axis accurate displacement slide unit 14 is mounted on vertical type welding base a16
On, the screw thread pair load module Y-axis accurate displacement slide unit 15 is mounted on screw thread pair load module X-axis accurate displacement slide unit 14
On mounting surface, the screw thread pair load module X-axis accurate displacement slide unit 14 and screw thread pair load module Y-axis accurate displacement slide unit 15
It is orthogonal, XY two degrees of freedom accurate displacement slide unit is constituted, together for adjusting the position of spiral shell batch 13；The stepper motor installation
Plate 6 is L-type plate, and horizontal ends are mounted on the mounting surface of screw thread pair load module Y-axis accurate displacement slide unit 15, motor mounting plate 6
Horizontal ends it is vertical with screw thread pair load module Y-axis accurate displacement slide unit 15, with screw thread pair load module X-axis accurate displacement slide unit
14 is parallel；The stepper motor 5 is mounted on the vertical end of stepper motor mounting plate 6, and the shaft of stepper motor 5 passes through stepper motor
The through-hole of 6 vertical end of mounting plate；The one end the shaft coupling a7 is connected with the shaft of stepper motor 5, the other end and torque sensor 8
Output shaft be connected；The torque sensor 8 is mounted on stepper motor mounting plate 6, when for detecting the assembly of small screw thread pair
Torque signal；The one end the shaft coupling b9 is connected with the output shaft of torque sensor 8, and the other end and Miniature ball bushing are oriented to
Component 11 connects；The Miniature ball bushing guidance set 11 is mounted on bearing block 10；The bearing block 10 is mounted on stepping
On motor mounting plate 6, it is used to support Miniature ball bushing guidance set 11；Described 12 one end of collar and Miniature ball bushing are oriented to
The free end of component 11 is connected, and the other end is connected with spiral shell batch 13；The screw thread pair load module 1 passes through XY two degrees of freedom precision position
The position of slide unit adjustment spiral shell batch 13 is moved, and drives 13 rotation of spiral shell batch to realize screw installation by stepper motor 5, while being passed by torque
Sensor 8 monitors torque.
The screw clamping module 2 as shown in Fig. 3,4,5,6 includes screw clamping module Z axis accurate displacement slide unit 17, screw
Self-clamping module Y-axis accurate displacement slide unit 18, screw clamping module X-axis accurate displacement slide unit 19, vertical type welding base b20, mounting plate
21, photoelectric sensor 22, sensor sender block 23, pneumatic clamper limited block 24, linear motor 25, linear motor mounting plate 26, straight
Spool hold 27, screw support mounting plate 28, guiding axis 29, pneumatic clamper mounting plate 30, pneumatic clamper 31, miniature ring flange 32, left gripping finger 33,
Bearing 34, right gripping finger 35 and screw support 36；The screw clamping module X-axis accurate displacement slide unit 19 is mounted on vertical type welding base
On b20, the screw clamping module Y-axis accurate displacement slide unit 18 is mounted on screw clamping module X-axis accurate displacement slide unit 19
On mounting surface, it is sliding that the screw clamping module Z axis accurate displacement slide unit 17 is mounted on the screw clamping module Y-axis accurate displacement
On the mounting surface of platform 18, the screw clamping module Z axis accurate displacement slide unit 17, screw clamping module Y-axis accurate displacement slide unit
18 and screw clamping module X-axis accurate displacement slide unit 19 it is vertical two-by-two, constitute XYZ three-freedom degree precision together and be displaced slide unit, use
The position of clamped screw is adjusted, is directed at it with spiral shell in screw thread pair load module 1 batch 13；The screw clamping module Z
The erecting bed of cantilever design is installed, for installing other equipment on the mounting surface of axis accurate displacement slide unit 17；The mounting plate
21 are mounted on the erecting bed of screw clamping module Z axis accurate displacement slide unit 17；The linear motor mounting plate 26 and pneumatic clamper peace
Loading board 30 is on mounting plate 21；Linear motor 25 is mounted on linear motor mounting plate 26, and the shaft of linear motor 25 is worn
The through-hole on linear motor mounting plate 26 is crossed, and is connected on screw support mounting plate 28 by miniature ring flange 32；The spiral shell
Following closely dress in support mounting plate 28, there are two linear bearings 27；There are two the guiding axis 29 is total, it is slidably mounted on linear axis respectively
It holds in 27 inner ring；Described 29 one end of guiding axis is mounted on linear motor mounting plate 26, and the other end is mounted on pneumatic clamper mounting plate
On 30；The rotation of linear motor 25 is to drive screw support mounting plate 28 to move on guiding axis 29；The screw support peace
Bearing 34 is housed in loading board 28, is interference fit between screw support 36 and the inner ring of bearing 34 for mounting screw support 36；
The pneumatic clamper 31 is mounted on pneumatic clamper mounting plate 30, and left gripping finger 33 and right gripping finger 35 are housed in pneumatic clamper 31, is used for clamp screws；Institute
It states pneumatic clamper limited block 24 and is mounted on the opening travel that mounting plate 21 is used to limit pneumatic clamper 31, avoid pneumatic clamper 31 from encountering when opening and lead
To on axis 29；The photoelectric sensor 22 is mounted on mounting plate 21；The sensor sender block 23 is installed mounted in screw support
It on plate 28, is used cooperatively with photoelectric sensor 22, for detecting the initial position of screw support 36；The screw clamping module 2
The accurate control that slide unit and linear motor 25 realize 36 position of screw support jointly is displaced by XYZ three-freedom degree precision.
Bench top module 3 as shown in Figure 7 includes fixed support 37, resilient support 38, bulb lock-screw 39, fixture peace
Loading board 40, precise rotating platform 41 and accurate lifting platform 42；The precision lifting platform 42 is mounted on optical platform 4；Described accurate turn
Platform 41 is mounted on accurate lifting platform 42；The fixture mounting plate 40 is mounted on precise rotating platform 41；37 Hes of the fixed support
Resilient support 38 is installed on fixture mounting plate 40；The bulb lock-screw 39 is in resilient support 38；The precision
Turntable 41 and accurate lifting platform 42 are used to adjust the position to be installed to replace the spare parts, make the threaded hole and screw thread pair fit drawing die on to be assembled
13 alignment of spiral shell batch on block 1.
The basic procedure that the invention patent executes screw thread pair assembly manipulation is as follows:
Step 1: first propping up the fixed support 37 being placed on bench top module 3 of the part A with threaded hole and elasticity
Between support 38, locked by bulb lock-screw 39.It is filled by screw thread pair load module X-axis accurate displacement slide unit 14, screw thread pair
With module Y-axis accurate displacement slide unit 15, spiral shell batch 13 is driven accurately to be moved to assembly area.Again by precise rotating platform 41 and accurate lifting
Platform 42 adjusts part A upper screwed hole and is aligned with spiral shell batch 13.
Step 2: the pneumatic clamper 31 in screw clamping device 2 drives left gripping finger 33 and right gripping finger 35 to pick up screw, when needing to press from both sides
When holding screw and entering part A internal mounting screws, then screw support 36 is first driven by linear motor 25, it is made to withstand on clamped spiral shell
The end of nail.Again by screw clamping module Z axis accurate displacement slide unit 17, screw clamping module Y-axis accurate displacement slide unit 18 and spiral shell
Nail clip with mold block X-axis accurate displacement slide unit 19 comes the position of adjusting screw, is directed at it with part A upper screwed hole.Finally by spiral shell
Line pair load module X-axis accurate displacement slide unit 14 drives spiral shell batch 13 to enter in the slot of screw, is ready for screw and screws；When zero
Outside part A when mounting screw, then first by screw clamping module Z axis accurate displacement slide unit 17, screw clamping module Y-axis accurate displacement
Slide unit 18 and screw clamping module X-axis accurate displacement slide unit 19 come the position of adjusting screw, make itself and part A upper screwed hole pair
Standard needs for screw support 36 to be put into inside part A at this time, therefore linear motor 25 is needed to drive the mobile spacing of screw support
From, but cannot be contacted with screw.Spiral shell batch 13 is driven to enter screw by screw thread pair load module X-axis accurate displacement slide unit 14 later
Slot in.It finally drives screw support 36 to move a certain distance again by linear motor 25 again, it is made to withstand on the end of clamped screw
End, is ready for screw and screws.
Step 3: pneumatic clamper 31 being opened, screw thread pair load module X-axis accurate displacement slide unit 14 and the cooperation of stepper motor 5 provide
Screw screws required screw, while linear motor 25 drives screw support 36 to move backward corresponding distance, it is ensured that spiral shell
Nail support 36 withstands on the end of screw always, until screw is hung into threaded hole.If there is there is multiple threaded hole needs on part A
Mounting screw, then have precise rotating platform 41 to drive part A rotation respective angles, and the 1-3 that repeats the above steps completes the peace of other screws
Dress.After being installed to all screws, screw thread pair load module 1, screw clamping module 2 and bench top module 3 are returned to
Initial position.
Certainly, above description is also not limited to the example above, technical characteristic of the present invention without description can by or
It is realized using the prior art, details are not described herein；It is not to this that the above examples are only used to illustrate the technical scheme of the present invention
The limitation of invention, describes the invention in detail referring to preferred embodiment, and those skilled in the art should
Understand, the variations, modifications, additions or substitutions that those skilled in the art are made within the essential scope of the present invention
Without departure from spirit of the invention, it also should belong to claims of the invention.
Claims (3)
1. one kind is used for small screw thread pair automatic assembling apparatus, which is characterized in that this is used for small screw thread pair automatic assembling apparatus
Including optical platform (4), and be mounted on optical platform (4) screw thread pair load module (1), screw clamping module (2) and
Bench top module (3)；
The screw thread pair load module (1) includes stepper motor (5), stepper motor mounting plate (6), shaft coupling a (7), torque biography
Sensor (8), shaft coupling b (9), bearing block (10), Miniature ball bushing guidance set (11), collar (12), spiral shell batch (13), screw thread
Secondary load module X-axis accurate displacement slide unit (14), screw thread pair load module Y-axis accurate displacement slide unit (15) and vertical type welding base a
(16)；
The vertical type welding base a (16) is mounted on optical platform (4)；The screw thread pair load module X-axis accurate displacement slide unit
(14) it is mounted on vertical type welding base a (16), the screw thread pair load module Y-axis accurate displacement slide unit (15) is mounted on screw thread pair
On the mounting surface of load module X-axis accurate displacement slide unit (14), the screw thread pair load module X-axis accurate displacement slide unit (14) with
Screw thread pair load module Y-axis accurate displacement slide unit (15) is orthogonal, constitutes XY two degrees of freedom accurate displacement slide unit together, is used to
Adjust the position of spiral shell batch (13)；The stepper motor mounting plate (6) is L-type plate, and horizontal ends are mounted on screw thread pair load module Y-axis
On the mounting surface of accurate displacement slide unit (15), the horizontal ends and screw thread pair load module Y-axis accurate displacement of motor mounting plate (6) are sliding
Platform (15) is vertically, parallel with screw thread pair load module X-axis accurate displacement slide unit (14)；The stepper motor (5) is mounted on stepping
The vertical end of motor mounting plate (6), the shaft of stepper motor (5) pass through the through-hole of stepper motor mounting plate (6) vertical end；It is described
(7) one end shaft coupling a is connected with the shaft of stepper motor (5), and the other end is connected with the output shaft of torque sensor (8)；It is described
Torque sensor (8) is mounted on stepper motor mounting plate (6), for detecting the torque signal when assembly of small screw thread pair；Institute
It states (9) one end shaft coupling b to be connected with the output shaft of torque sensor (8), the other end and Miniature ball bushing guidance set (11)
Connection；The Miniature ball bushing guidance set (11) is mounted on bearing block (10)；The bearing block (10) is mounted on stepping
On motor mounting plate (6), it is used to support Miniature ball bushing guidance set (11)；Described collar (12) one end and Miniature ball serve as a contrast
The free end for covering guidance set (11) is connected, and the other end is connected with spiral shell batch (13)；The screw thread pair load module (1) passes through XY bis-
Freedom degree accurate displacement slide unit adjusts the position of spiral shell batch (13), and drives spiral shell batch (13) rotation to realize spiral shell by stepper motor (5)
Nail installation, while torque is monitored by torque sensor (8)；
The screw clamping module (2) includes screw clamping module Z axis accurate displacement slide unit (17), screw clamping module Y-axis essence
Dense bit moves slide unit (18), screw clamping module X-axis accurate displacement slide unit (19), vertical type welding base b (20), mounting plate (21), light
Electric transducer (22), sensor sender block (23), pneumatic clamper limited block (24), linear motor (25), linear motor mounting plate
(26), linear bearing (27), screw support mounting plate (28), guiding axis (29), pneumatic clamper mounting plate (30), pneumatic clamper (31), miniature
Ring flange (32), left gripping finger (33), bearing (34), right gripping finger (35) and screw support (36)；The screw clamping module X-axis essence
Dense bit moves slide unit (19) and is mounted on vertical type welding base b (20), screw clamping module Y-axis accurate displacement slide unit (18) installation
On the mounting surface of screw clamping module X-axis accurate displacement slide unit (19), the screw clamping module Z axis accurate displacement slide unit
(17) it is mounted on the mounting surface of the screw clamping module Y-axis accurate displacement slide unit (18), the screw clamping module Z axis essence
Dense bit moves slide unit (17), screw clamping module Y-axis accurate displacement slide unit (18) and screw clamping module X-axis accurate displacement slide unit
(19) vertical two-by-two, constitute XYZ three-freedom degree precision together and be displaced slide unit, for adjusting the position of clamped screw, make its with
Spiral shell batch (13) alignment in screw thread pair load module (1)；The mounting surface of the screw clamping module Z axis accurate displacement slide unit (17)
On the erecting bed of cantilever design is installed, for installing other equipment；The mounting plate (21) is mounted on screw clamping module Z axis
On the erecting bed of accurate displacement slide unit (17)；The linear motor mounting plate (26) and pneumatic clamper mounting plate (30) are mounted in mounting plate
(21) on；Linear motor (25) is mounted on linear motor mounting plate (26), and the shaft of linear motor (25) passes through linear motor
Through-hole on mounting plate (26), and be connected on screw support mounting plate (28) by miniature ring flange (32)；The screw branch
Supportting dress on mounting plate (28), there are two linear bearing (27)；There are two the guiding axis (29) is total, it is slidably mounted on straight line respectively
In the inner ring of bearing (27)；Described guiding axis (29) one end is mounted on linear motor mounting plate (26), and the other end is mounted on gas
On pawl mounting plate (30)；Linear motor (25) rotation is to drive screw support mounting plate (28) to move up in guiding axis (29)
It is dynamic；Bearing (34) are housed on the screw support mounting plate (28), for mounting screw support (36), screw support (36) and axis
It holds between the inner ring of (34) as interference fit；The pneumatic clamper (31) is mounted on pneumatic clamper mounting plate (30), and pneumatic clamper is equipped on (31)
Left gripping finger (33) and right gripping finger (35) are used for clamp screws；The pneumatic clamper limited block (24) is mounted on mounting plate (21) and is used to
The opening travel for limiting pneumatic clamper (31) avoids pneumatic clamper (31) from encountering on guiding axis (29) when opening；The photoelectric sensor (22)
It is mounted on mounting plate (21)；The sensor sender block (23) is on screw support mounting plate (28), with photoelectric sensor
(22) it is used cooperatively, for detecting the initial position of screw support (36)；The screw clamping module (2) is free by XYZ tri-
Degree accurate displacement slide unit and linear motor (25) realize the accurate control of screw support (36) position jointly；
The bench top module (3) includes fixed support (37), resilient support (38), bulb lock-screw (39), fixture installation
Plate (40), precise rotating platform (41) and accurate lifting platform (42)；The precision lifting platform (42) is mounted on optical platform (4)；Institute
Precise rotating platform (41) is stated to be mounted on accurate lifting platform (42)；The fixture mounting plate (40) is mounted on precise rotating platform (41)；
The fixed support (37) and resilient support (38) are installed on fixture mounting plate (40)；Bulb lock-screw (39) dress
On resilient support (38)；The precise rotating platform (41) and accurate lifting platform (42) are used to adjust the position to be installed to replace the spare parts, make
Threaded hole on to be assembled is aligned with the spiral shell on screw thread pair load module (1) batch (13).
2. a kind of automatic assembling apparatus for small screw thread pair according to claim 1, which is characterized in that the elasticity
It is provided with groove in support (38), certain flexibility is made it have, can make to flexibly support by tightening bulb lock-screw (39)
(38) flexible deformation is generated, part is pressed in fixed support.
3. a kind of automatic assembling apparatus for small screw thread pair according to claim 1 or 2, which is characterized in that described
Interference is all made of between collar (12) and spiral shell batch (13), collar (12) and Miniature ball bushing guidance set (11) to connect, it is miniature
When ball bushing guiding assembly (11) can ensure the assembly of small screw thread pair, spiral shell batch (13) has certain axial displacement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910631469.8A CN110369986B (en) | 2019-07-12 | 2019-07-12 | Automatic assembling device for micro thread pair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910631469.8A CN110369986B (en) | 2019-07-12 | 2019-07-12 | Automatic assembling device for micro thread pair |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110369986A true CN110369986A (en) | 2019-10-25 |
| CN110369986B CN110369986B (en) | 2020-11-13 |
Family
ID=68252964
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910631469.8A Active CN110369986B (en) | 2019-07-12 | 2019-07-12 | Automatic assembling device for micro thread pair |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110369986B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111098252A (en) * | 2020-01-07 | 2020-05-05 | 大连理工大学 | Height-adjustable's small-size frame subassembly modular fixture |
| CN112344884A (en) * | 2020-10-16 | 2021-02-09 | 大连理工大学 | Coaxiality and clearance measuring device for frame assembly |
| CN114850855A (en) * | 2022-05-09 | 2022-08-05 | 西北工业大学 | Automatic leveling device and method for actuating cylinder body |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0879670A1 (en) * | 1995-11-24 | 1998-11-25 | Tadahiro Ohmi | Tightening device |
| CN104259836A (en) * | 2014-07-24 | 2015-01-07 | 大连理工大学 | Automatic picking and assembly device of tiny thread pair parts |
| CN204771488U (en) * | 2015-07-09 | 2015-11-18 | 深圳市联懋塑胶有限公司 | Can screw automatically device of screw |
| JP2016078204A (en) * | 2014-10-21 | 2016-05-16 | 富士通株式会社 | Conveyance device of fastening member |
| CN105643257A (en) * | 2014-11-14 | 2016-06-08 | 中国航空工业第六八研究所 | Pretension force control device for automatic assembling of micro-miniature thread pairs |
| CN206811451U (en) * | 2017-03-04 | 2017-12-29 | 安徽智联投资集团有限公司 | A kind of automatic lock screw robot arm device |
| CN108406248A (en) * | 2018-02-06 | 2018-08-17 | 大连理工大学 | A kind of system structure of micro devices assembly equipment |
| CN108581469A (en) * | 2018-05-10 | 2018-09-28 | 大连理工大学 | A kind of locking device and assembly method for micro parts automatic assembling |
| CN109108596A (en) * | 2018-08-22 | 2019-01-01 | 大连理工大学 | Accurate axle hole matching component automatic assembling apparatus and method |
| CN208391435U (en) * | 2018-05-15 | 2019-01-18 | 周澳辉 | A kind of small screws automatic screwing device |
| CN109514222A (en) * | 2018-12-18 | 2019-03-26 | 大连理工大学 | A kind of across the scale part automatic assembling apparatus and method of weak rigid frame formula structure |
-
2019
- 2019-07-12 CN CN201910631469.8A patent/CN110369986B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0879670A1 (en) * | 1995-11-24 | 1998-11-25 | Tadahiro Ohmi | Tightening device |
| CN104259836A (en) * | 2014-07-24 | 2015-01-07 | 大连理工大学 | Automatic picking and assembly device of tiny thread pair parts |
| JP2016078204A (en) * | 2014-10-21 | 2016-05-16 | 富士通株式会社 | Conveyance device of fastening member |
| CN105643257A (en) * | 2014-11-14 | 2016-06-08 | 中国航空工业第六八研究所 | Pretension force control device for automatic assembling of micro-miniature thread pairs |
| CN204771488U (en) * | 2015-07-09 | 2015-11-18 | 深圳市联懋塑胶有限公司 | Can screw automatically device of screw |
| CN206811451U (en) * | 2017-03-04 | 2017-12-29 | 安徽智联投资集团有限公司 | A kind of automatic lock screw robot arm device |
| CN108406248A (en) * | 2018-02-06 | 2018-08-17 | 大连理工大学 | A kind of system structure of micro devices assembly equipment |
| CN108581469A (en) * | 2018-05-10 | 2018-09-28 | 大连理工大学 | A kind of locking device and assembly method for micro parts automatic assembling |
| CN208391435U (en) * | 2018-05-15 | 2019-01-18 | 周澳辉 | A kind of small screws automatic screwing device |
| CN109108596A (en) * | 2018-08-22 | 2019-01-01 | 大连理工大学 | Accurate axle hole matching component automatic assembling apparatus and method |
| CN109514222A (en) * | 2018-12-18 | 2019-03-26 | 大连理工大学 | A kind of across the scale part automatic assembling apparatus and method of weak rigid frame formula structure |
Non-Patent Citations (3)
| Title |
|---|
| 王伟: "微小零件自动检测与装配控制软件研究", 《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》 * |
| 迟勇臻: "集成换接式工具的微小零件精密装配系统研制", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
| 邓重威: "微小惯性器件精密装配系统作业执行模块研究", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111098252A (en) * | 2020-01-07 | 2020-05-05 | 大连理工大学 | Height-adjustable's small-size frame subassembly modular fixture |
| CN111098252B (en) * | 2020-01-07 | 2021-05-11 | 大连理工大学 | Height-adjustable's small-size frame subassembly modular fixture |
| CN112344884A (en) * | 2020-10-16 | 2021-02-09 | 大连理工大学 | Coaxiality and clearance measuring device for frame assembly |
| CN112344884B (en) * | 2020-10-16 | 2022-01-04 | 大连理工大学 | Coaxiality and clearance measuring device for frame assembly |
| CN114850855A (en) * | 2022-05-09 | 2022-08-05 | 西北工业大学 | Automatic leveling device and method for actuating cylinder body |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110369986B (en) | 2020-11-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110369986A (en) | One kind being used for small screw thread pair automatic assembling apparatus | |
| CN104690479B (en) | Framework monoblock type special fixture | |
| CN206967481U (en) | A kind of five axle assembly manipulators of the High Precision Automatic kludge of camera lens | |
| CN207753584U (en) | A kind of motor magnetic tile assembly system | |
| CN110919339A (en) | High-precision screw locking and positioning device | |
| CN115816060A (en) | Visual auxiliary assembly system for graphite assembly | |
| CN207359097U (en) | A kind of mechanical arm tail end instrument automatic quick changing device | |
| CN214350747U (en) | Screw locking machine capable of automatically adsorbing screw combination | |
| CN114474110A (en) | Flexible clamping structure of manipulator and application of flexible clamping structure in quick-change device | |
| CN208662557U (en) | Multi-panel mechanical grip mechanism | |
| CN103846603A (en) | Novel automatic welding and turning clamp | |
| CN203804466U (en) | Novel automatic welding overturning fixture | |
| CN209289282U (en) | A kind of SCARA robot | |
| CN208496243U (en) | A kind of accurate positioning assembly device based on machine vision | |
| US20230142682A1 (en) | Process system of follower fixture for tank moving support and automatic processing production line thereof | |
| CN108994821A (en) | A kind of SCARA robot of both arms | |
| CN109648161A (en) | Synchro converter ring fixture, Vehicle Processing chuck assembly and lathe processing equipment | |
| CN214561843U (en) | Manipulator with many specifications built-in fitting functions of location and installation | |
| CN114714073A (en) | Nut fixing and mounting equipment and nut fixing and mounting method | |
| CN203680314U (en) | Robot grabbing hand of vehicle oil filter base assembling line | |
| CN209477831U (en) | A kind of posture apparatus for correcting of automatic production line workpiece | |
| CN210967775U (en) | Rubber ring turntable type assembling machine | |
| CN209063088U (en) | A kind of SCARA robot of both arms | |
| CN104723159B (en) | A kind of bent axle detent mechanism for robot automatic loading/unloading | |
| CN209919373U (en) | CNC workpiece positioning device and machine tool using same |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |