CN110815293A - Device and method for automatically taking screws - Google Patents
Device and method for automatically taking screws Download PDFInfo
- Publication number
- CN110815293A CN110815293A CN201810900888.2A CN201810900888A CN110815293A CN 110815293 A CN110815293 A CN 110815293A CN 201810900888 A CN201810900888 A CN 201810900888A CN 110815293 A CN110815293 A CN 110815293A
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- screw
- screws
- mechanical arm
- control unit
- clamping groove
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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
- B23P19/007—Picking-up and placing mechanisms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
Abstract
The invention relates to a device and a method for automatically taking screws, wherein the device comprises: the screw arraying machine is provided with a vibration plate, a feed chute and a rotary plate, wherein one end of the feed chute is connected with the vibration plate, the vibration plate is used for conveying screws to move along the feed chute, a plurality of clamping grooves are arranged on the rotary plate, and the other end of the feed chute conveys the screws to the clamping grooves of the rotary plate; the sensor senses whether a screw is in a clamping groove at the front end of the turntable and sends a signal; the mechanical arm selectively takes the screw out of the material clamping groove at the front end; and the control unit receives the signal sent by the sensor and processes the signal, and controls the mechanical arm to take the screw or not according to the signal. According to the device and the method for automatically taking the screws, when the screw arraying machine has abnormal feeding, the control unit controls the mechanical arm not to take the screws, so that the phenomenon that the mechanical arm still takes the screws and then locks the screws when the feeding is abnormal is avoided.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to a device and a method for automatically taking screws, in particular to a device and a method for automatically taking screws, which prevent empty locking.
[ background of the invention ]
Screws are tools used to secure objects and are used in a wide variety of applications. In the prior art, the vacuum degree (which is the degree of rareness of gas in a vacuum state and is measured by a vacuum gauge, and the value read from the vacuum gauge is referred to as the vacuum degree) when the robot takes the screw is used for judging whether the screw is taken, so that the phenomenon of screw lock in the absence of the screw is prevented, for example, the standard setting is-40 to indicate that the screw is taken, if the displayed vacuum degree is-50 (the absolute value is greater than the absolute value of the standard setting value), the robot takes the screw, and if the displayed vacuum value is-20 (the absolute value is less than the absolute value of the standard setting value), the robot does not take the screw.
However, since the mechanical arm for taking the screw needs to be designed into a telescopic structure, the telescopic structure is not completely closed, and vacuum leakage exists to a certain degree, so that the vacuum degree is less and unstable when the screw exists or not, and the judgment is not easy; the standard set value of the vacuum degree is not easy to select, and if the standard set value of the vacuum degree is larger, the screw is still taken when the screw feeding is abnormal, and the phenomenon of empty locking occurs; if the standard set value of the vacuum degree is smaller, when the mechanical arm normally takes the screw, frequent alarm can still be given because the actual vacuum degree value cannot reach the set value. Therefore, the method of determining whether to take the screw by using the vacuum degree is not accurate, and the phenomenon of empty locking when no screw is available cannot be completely avoided.
In view of the above, there is a need to develop an apparatus and a method for automatically taking out screws, so as to overcome the above-mentioned defect that the method for determining whether to take out screws by using vacuum degree is not accurate.
[ summary of the invention ]
Therefore, the present invention is directed to an automatic screw retrieving device, which can accurately determine whether a robot arm retrieves a screw, and completely avoid the idle locking phenomenon when no screw is present.
In order to achieve the above object, the present invention provides an automatic screw removing device, comprising:
the screw arraying machine is provided with a vibration plate, a feed chute and a rotary plate, wherein one end of the feed chute is connected with the vibration plate, the vibration plate is used for conveying screws to move along the feed chute, a plurality of clamping grooves are arranged on the rotary plate, and the other end of the feed chute conveys the screws to the clamping grooves of the rotary plate;
the sensor is fixed above the turntable, senses whether a screw is in a clamping groove at the front end of the turntable or not and sends a signal;
the mechanical arm is arranged on one side of the screw arraying machine and selectively takes screws into the material clamping groove at the front end;
and the control unit receives the signal sent by the sensor and processes the signal, and controls the mechanical arm to take the screw or not according to the signal.
Optionally, four material clamping grooves are formed in the rotary table, and the four material clamping grooves are uniformly arranged along the circumferential direction of the rotary table.
Optionally, the sensor is a fiber optic sensor.
Optionally, the device for automatically taking the screw comprises an alarm unit, the alarm unit is connected with the control unit, and the alarm unit gives an alarm when the mechanical arm waits for more than 30 seconds.
Optionally, the alarm unit is a speaker or an alarm lamp.
Optionally, a vacuum gauge is arranged at the end of the mechanical arm, so that the change of the vacuum degree of the mechanical arm when the mechanical arm takes the screw is tested, and whether the mechanical arm takes the screw or not is judged in an auxiliary manner.
In addition, the invention also provides a method for automatically taking the screw, which comprises the following steps:
a feeding groove of the screw arraying machine conveys screws into a clamping groove of the rotary table;
the sensor senses whether a screw is in a clamping groove at the front end of the turntable or not and sends a signal;
and controlling the mechanical arm to take the screw or not by the control unit according to the signal.
Optionally, when a screw is in the material clamping groove at the front end of the turntable, the control unit controls the mechanical arm to take the screw out of the material clamping groove at the front end.
Optionally, when no screw is in the clamping groove at the front end of the turntable, the control unit controls the mechanical arm to wait.
Optionally, when the mechanical arm waits, the control unit judges whether the waiting time of the mechanical arm exceeds 30 seconds, and the alarm unit alarms when the waiting time of the mechanical arm exceeds 30 seconds.
Compared with the prior art, the device and the method for automatically taking the screws sense whether the screws are arranged at the front end of the rotary table or not by arranging the sensor and send out signals, and the control unit controls whether the mechanical arm takes the screws or not according to the signals, so that the control unit controls the mechanical arm not to take the screws when the screw arraying machine has abnormal feeding, and the phenomenon that the mechanical arm still takes the screws and then locks the screws is avoided when the feeding is abnormal.
[ description of the drawings ]
FIG. 1 is a schematic plan view of a screw aligning machine in the automatic screw taking device according to the present invention.
FIG. 2 is a block diagram of the automatic screw-taking device according to the present invention.
FIG. 3 is a flow chart of the method for automatically taking screws according to the present invention.
FIG. 4 is a flow chart of the method for automatically taking out screws according to the present invention.
[ detailed description ] embodiments
For a further understanding of the objects, effects and technical means of the present invention, reference will now be made to the following detailed description taken in conjunction with the accompanying drawings.
Referring to fig. 1 and 2, fig. 1 is a schematic plan view illustrating a screw arraying machine in an automatic screw taking device according to the present invention, and fig. 2 is a block diagram illustrating the automatic screw taking device according to the present invention. In this embodiment, the device for automatically taking out screws of the present invention includes:
the screw arraying machine 10 is provided with a vibration disc 13, a feed chute 12 and a rotary disc 11, wherein the rotary disc 11 is arranged to be rotatable, one end of the feed chute 12 is connected with the vibration disc 13, the vibration disc 13 is arranged to convey screws to move along the feed chute 12, a plurality of material clamping chutes 14 are arranged on the rotary disc 11, and the screws are conveyed from the other end of the feed chute 12 to the material clamping chutes 14 of the rotary disc 11;
the sensor 20 is fixed above the rotary table 11, senses whether a screw is in the clamping groove 14 at the front end of the rotary table 11 (namely, the position of the rotary table 11 farthest from the feeding groove 12) and sends a signal;
the mechanical arm 30 is arranged on one side of the screw arraying machine 10, and the mechanical arm 30 selectively takes screws from the clamping groove 14 at the front end of the rotary table 11;
the control unit 40 may be disposed in the robot arm 30, the control unit 40 receives the signal sent by the sensor 20 and processes the signal, and the control unit 40 controls whether the robot arm 30 takes the screw according to the signal, specifically: when the sensor 20 senses that a screw is in the clamping groove 14 at the front end of the rotary table 11, the control unit 40 controls the mechanical arm 30 to take the screw from the clamping groove 14 at the front end of the rotary table 11; when the sensor 20 senses that there is no screw in the material clamping groove 14 at the front end of the rotating disc 11, the control unit 40 controls the robot arm 30 to wait without taking a screw.
Wherein, be equipped with four card silo 14 on carousel 11, these four card silo 14 are along carousel 11 circumferencial direction align.
The sensor 20 is an optical fiber sensor, and can more accurately sense whether a screw is in the clamping groove 14 at the front end of the rotary table 11.
The device for automatically taking the screws comprises an alarm unit, the alarm unit is connected with the control unit 40, when the mechanical arm 30 waits for more than 30 seconds, the alarm unit gives an alarm, so that the worker can timely find abnormality, and the working efficiency is improved.
Wherein, the alarm unit is a loudspeaker or an alarm lamp.
The vacuum gauge may be disposed at an end of the robot 30, and the vacuum degree change of the robot 30 when taking the screw is tested to assist in determining whether the robot 30 takes the screw, for example, the standard setting value may be set to a value that is easy to reach (the absolute value of the standard setting value may be set to a smaller value), so that the actual value of the vacuum degree easily reaches the setting value, and the auxiliary function is performed.
Therefore, the device for automatically taking out the screws senses whether the screws exist at the front end of the rotary table 11 or not by arranging the sensor 20 and sends out signals, and the control unit 40 controls whether the mechanical arm 30 takes out the screws or not according to the signals, so that when the screw arraying machine 10 has abnormal material supply, the control unit 40 controls the mechanical arm 30 not to take out the materials, and the phenomenon that the mechanical arm 30 still takes out the materials and then locks the screws to be empty is avoided when the abnormal material supply occurs.
Referring to fig. 3 and 4, fig. 3 is a flow chart illustrating the method for automatically taking out the screw according to the present invention, and fig. 4 is a flow chart illustrating the method for automatically taking out the screw according to the present invention in a preferred embodiment. The invention also provides a method for automatically taking the screw, which comprises the following steps:
step S100: a feeding groove 12 of the screw arraying machine 10 conveys screws into a material clamping groove 14 of a rotary disc 11;
step S200: the sensor 20 senses whether a screw is in the material clamping groove 14 at the front end of the turntable 11 and sends a signal;
step S300: the control unit 40 controls the robot 30 to take out the screw according to the signal.
More specifically, in a preferred embodiment, the method for automatically taking out a screw of the present invention comprises the following steps:
step S100: a feeding groove 12 of the screw arraying machine 10 conveys screws into a material clamping groove 14 of a rotary disc 11;
step S200: the sensor 20 senses whether a screw is in the material clamping groove 14 at the front end of the turntable 11 and sends a signal;
step S301: when a screw is in the clamping groove 14 at the front end of the rotary table 11, the rotary table 11 stops rotating, and the control unit 40 controls the mechanical arm 30 to take the screw from the clamping groove 14 at the front end of the rotary table 11;
step S302: when no screw is arranged in the clamping groove 14 at the upper front end of the rotary table 11, the rotary table 11 rotates, and the control unit controls the mechanical arm 30 to wait;
step S303: when the robot arm 30 waits, the control unit 40 determines whether the waiting time of the robot arm 30 exceeds 30 seconds;
step S304: and when the time exceeds 30 seconds, the alarm unit alarms. If the time does not exceed 30 seconds, the sensor 20 senses that a screw is in the card slot 14 at the front end of the rotating disc 11, the operation returns to step S301, the rotating disc 11 stops rotating, and the control unit 40 controls the robot arm 30 to take the screw out of the card slot 14 at the front end of the rotating disc 11.
In summary, according to the device and the method for automatically taking out screws of the present invention, when the screw arraying machine 10 has a feeding abnormality, the control unit 40 controls the robot arm 30 not to take out the material, so as to avoid the phenomenon that the robot arm 30 still takes out the material when the feeding abnormality occurs, and then the screw is locked without lock.
It should be noted that the present invention is not limited to the above embodiments, and any simple modification, equivalent change and modification made to the above embodiments by those skilled in the art based on the technical solution of the present invention fall within the protection scope of the present invention.
Claims (10)
1. An automatic get device of screw, its characterized in that includes:
the screw arraying machine is provided with a vibration plate, a feed chute and a rotary plate, wherein one end of the feed chute is connected with the vibration plate, the vibration plate is used for conveying screws to move along the feed chute, a plurality of clamping grooves are arranged on the rotary plate, and the other end of the feed chute conveys the screws to the clamping grooves of the rotary plate;
the sensor is fixed above the turntable, senses whether a screw is in a clamping groove at the front end of the turntable or not and sends a signal;
the mechanical arm is arranged on one side of the screw arraying machine and selectively takes screws into the material clamping groove at the front end;
and the control unit receives the signal sent by the sensor and processes the signal, and controls the mechanical arm to take the screw or not according to the signal.
2. The automatic screw taking device as claimed in claim 1, wherein the turntable is provided with four clamping grooves, and the four clamping grooves are uniformly arranged along the circumferential direction of the turntable.
3. The automated screw removal device of claim 1, wherein the sensor is a fiber optic sensor.
4. The automatic screw taking device according to claim 1, wherein the automatic screw taking device comprises an alarm unit, the alarm unit is connected with the control unit, and the alarm unit alarms when the mechanical arm waits for more than 30 seconds.
5. The automatic screw taking device according to claim 4, wherein the alarm unit is a speaker or an alarm lamp.
6. The automatic screw taking device as claimed in claim 1, wherein a vacuum gauge is arranged at the end of the robot arm to test the change of the vacuum degree when the robot arm takes the screw, so as to assist in judging whether the robot arm takes the screw.
7. A method for automatically taking screws is characterized by comprising the following steps:
a feeding groove of the screw arraying machine conveys screws into a clamping groove of the rotary table;
the sensor senses whether a screw is in a clamping groove at the front end of the turntable or not and sends a signal;
and controlling the mechanical arm to take the screw or not by the control unit according to the signal.
8. The method for automatically taking out screws as claimed in claim 7, wherein the control unit controls the robot arm to take out screws from the front clamping groove when screws are in the front clamping groove on the turntable.
9. The method for automatically taking out the screws as claimed in claim 7, wherein the control unit controls the robot arm to wait when no screws are in the clamping groove at the front end of the turntable.
10. The method for automatically taking out the screw according to claim 9, wherein when the mechanical arm waits, the control unit judges whether the waiting time of the mechanical arm exceeds 30 seconds, and the alarm unit alarms when the waiting time exceeds 30 seconds.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810900888.2A CN110815293A (en) | 2018-08-09 | 2018-08-09 | Device and method for automatically taking screws |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810900888.2A CN110815293A (en) | 2018-08-09 | 2018-08-09 | Device and method for automatically taking screws |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110815293A true CN110815293A (en) | 2020-02-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810900888.2A Pending CN110815293A (en) | 2018-08-09 | 2018-08-09 | Device and method for automatically taking screws |
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| CN (1) | CN110815293A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202369071U (en) * | 2011-10-24 | 2012-08-08 | 赫比（上海）通讯科技有限公司 | Automatic feeding machine |
| CN203236198U (en) * | 2013-04-09 | 2013-10-16 | 佛山市中格威电子有限公司 | Full-automatic screw locking machine for radiator |
| CN103910197A (en) * | 2014-03-18 | 2014-07-09 | 深圳市策维科技有限公司 | Screw distributor and distribution method thereof |
| CN104062452A (en) * | 2014-07-04 | 2014-09-24 | 朱飞虎 | Screw detecting machine |
| CN206580227U (en) * | 2016-11-28 | 2017-10-24 | 山东汇川汽车部件有限公司 | Automatic charging supervising device |
| CN108145430A (en) * | 2017-12-16 | 2018-06-12 | 杨舒枝 | A kind of automation equipment for assembling motor vehicle lower swing arm |
| CN207534324U (en) * | 2017-10-24 | 2018-06-26 | 浙江深科自动化科技有限公司 | Adjusting screw automatic charging and assembling equipment |
-
2018
- 2018-08-09 CN CN201810900888.2A patent/CN110815293A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202369071U (en) * | 2011-10-24 | 2012-08-08 | 赫比（上海）通讯科技有限公司 | Automatic feeding machine |
| CN203236198U (en) * | 2013-04-09 | 2013-10-16 | 佛山市中格威电子有限公司 | Full-automatic screw locking machine for radiator |
| CN103910197A (en) * | 2014-03-18 | 2014-07-09 | 深圳市策维科技有限公司 | Screw distributor and distribution method thereof |
| CN104062452A (en) * | 2014-07-04 | 2014-09-24 | 朱飞虎 | Screw detecting machine |
| CN206580227U (en) * | 2016-11-28 | 2017-10-24 | 山东汇川汽车部件有限公司 | Automatic charging supervising device |
| CN207534324U (en) * | 2017-10-24 | 2018-06-26 | 浙江深科自动化科技有限公司 | Adjusting screw automatic charging and assembling equipment |
| CN108145430A (en) * | 2017-12-16 | 2018-06-12 | 杨舒枝 | A kind of automation equipment for assembling motor vehicle lower swing arm |
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