CN111347238A - Cartridge clip type feeding and automatic detection integrated robot mounting device and robot - Google Patents
Cartridge clip type feeding and automatic detection integrated robot mounting device and robot Download PDFInfo
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- CN111347238A CN111347238A CN202010278454.0A CN202010278454A CN111347238A CN 111347238 A CN111347238 A CN 111347238A CN 202010278454 A CN202010278454 A CN 202010278454A CN 111347238 A CN111347238 A CN 111347238A
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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
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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
- B23P19/001—Article feeders for assembling machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- Automatic Assembly (AREA)
Abstract
The invention relates to a robot mounting device integrating cartridge clip type feeding and automatic detection, which comprises a support, wherein a cartridge clip feeding device is arranged on the support; the nut positioning device is arranged on the support and is positioned below the cartridge clip feeding device; the nut lifting and screwing device is arranged on the support; the nut clamping part is connected with the nut lifting and screwing device; the nut lifting and screwing device drives the nut clamping part to move up and down relative to the nut positioning device and to horizontally rotate relative to the nut positioning device; the torque detection device is used for detecting the rotation output torque of the nut lifting screwing device. The robot mounting device integrating the cartridge clip type feeding and the automatic detection realizes cartridge clip type automatic feeding, has a fast feeding rhythm, avoids the problems that a compressor nut cannot be hit to the bottom and the like, avoids reworking operation, and is beneficial to improving the production efficiency; the robot with the robot mounting device integrating the cartridge clip type feeding and the automatic detection is further provided.
Description
Technical Field
The invention relates to the technical field of automatic feeding and mounting equipment, in particular to a robot mounting device and a robot integrating clip type feeding and automatic detection.
Background
Currently, in the field of air conditioner assembly, a robot carries a pneumatic screwdriver to automatically lock a compressor nut. The mode of locking the compressor nut in the operation process is as follows: when a compressor nut is punched, the robot carries a pneumatic screwdriver to take a nut from a material taking position, then moves to a compressor of a production line, and punches the compressor nut on a nut guide post of the compressor. However, the method for locking the compressor nut has low production efficiency and has two aspects:
1. the feeding beat is slow;
2. the quality of the nut for installing the compressor cannot be guaranteed, the nut cannot reach the bottom, and rework operation is needed.
Disclosure of Invention
The invention aims to overcome the problems in the prior art, provides a cartridge clip type feeding and automatic detection integrated robot mounting device which realizes cartridge clip type automatic feeding, has quick feeding rhythm and high production efficiency and can avoid the problems that a compressor nut cannot be driven to the bottom and the like, and also provides a robot with the cartridge clip type feeding and automatic detection integrated robot mounting device.
In order to achieve the purpose, the invention adopts the following scheme:
the utility model provides a robot installation device of cartridge clip formula feed and automated inspection integration, includes the support, robot installation device of cartridge clip formula feed and automated inspection integration still includes:
the cartridge clip feeding device is arranged on the support and is used for conveying the compressor nut by means of gravity;
the nut positioning device is arranged on the support and is positioned below the cartridge clip feeding device;
the nut lifting and screwing device is arranged on the support;
the nut clamping part is connected with the nut lifting and screwing device; the nut lifting and screwing device drives the nut clamping part to move up and down relative to the nut positioning device and horizontally rotate relative to the nut positioning device so as to lock the compressor nut on a nut guide post of the compressor;
and the torque detection device is used for detecting the rotation output torque of the nut lifting screwing device.
Furthermore, a visual system is arranged on the support and is positioned on one side of the nut clamping part.
Further, the cartridge clip supply device comprises:
the cartridge clip storage part is arranged on the support and is used for placing a compressor nut in a matching way;
the feeding guide rail is communicated with the lower end of the cartridge clip storage part and is used for conveying the compressor nut to the nut positioning device by means of gravity;
the feeding switch is arranged on the cartridge clip storage part and is used for limiting the downward sliding of the compressor nut;
and the feeding guide rail is communicated with the upper end of the cartridge clip storage part.
Further, the nut clamping part is a nut screwing magnetic sleeve matched with the compressor nut.
Further, the nut positioning device includes:
the positioning driver is arranged on the support;
the nut positioning clamp is connected with the positioning driver; the positioning driver drives the nut positioning belt to press the compressor nut to ascend to the lower port of the nut clamping part;
the pushing driver is arranged on the support and is positioned below the feeding guide rail;
the material pushing plate is connected with the material pushing driver; the material pushing driver can drive the material pushing plate to move towards the interior of the nut positioning clamp so as to push the compressor nut to the interior of the nut positioning clamp.
Furthermore, the feeding guide rail is an arc guide rail groove which is matched with the compressor nut and extends along the rear end of the nut positioning clamp.
Further, the nut lifting and screwing device comprises:
the rotary tightening device is arranged on the support;
a lifting guide connected to a lower end of the rotary tightening tool; the lifting guider is provided with a telescopic rod; the telescopic rod is connected with the nut clamping part; the lifting guider drives the nut clamping part to move up and down relative to the nut positioning device through the telescopic rod;
the rotary tightening device drives the lifting guide and the nut clamping part to synchronously horizontally rotate relative to the nut positioning device.
Furthermore, a guide rod is arranged between the nut clamping part and the telescopic rod; the support is sleeved on a guide branch part on the guide rod; the guide rod moves up and down relative to the guide branch part.
Furthermore, a flange plate is arranged on the top end face of the support.
The invention also provides a robot, which comprises the robot mounting device integrating the cartridge clip type feeding and the automatic detection.
Compared with the prior art, the invention has the following advantages:
according to the cartridge clip type feeding and automatic detection integrated robot mounting device, the cartridge clip type feeding device, the nut positioning device, the nut lifting and screwing device, the nut clamping part and the torque detection device are combined, so that the processes of conveying, positioning, clamping, screwing, detecting and the like of the compressor nut are completed, the cartridge clip type automatic feeding is realized, the feeding beat is prevented from being slow, the automation is high, and the production efficiency is high; meanwhile, the torque detection device is additionally arranged and used for detecting the rotating output torque of the nut lifting and screwing device, whether the compressor nut is hit to the end or not is determined by detecting whether the rotating output torque is qualified or not, the compressor nut is unqualified and continuously screwed until the output torque is qualified, the quality of installing the compressor nut is guaranteed, the problems that the compressor nut cannot be hit to the end and the like are avoided, reworking operation can be avoided, and the production efficiency is improved.
Drawings
The present application will be described in further detail with reference to the following drawings and detailed description.
Fig. 1 is a perspective view 1 of a robot mounting device of the present invention in which cartridge feed and automatic inspection are integrated.
Fig. 2 is a perspective view 2 of the cartridge feed and automatic inspection integrated robot mounting apparatus of the present invention.
Fig. 3 is a partial perspective view of the magazine and feed switch of the present invention.
Fig. 4 is a partial perspective view of the nut positioning device of the present invention.
Fig. 5 is a partial perspective view of the nut gripper according to the present invention for suction-gripping a compressor nut.
The figure includes:
the device comprises a support 1, a cartridge clip feeding device 2, a cartridge clip storing part 21, a feeding guide rail 22, a feeding switch 23, a feeding guide rail 24, a nut positioning device 3, a positioning driver 31, a nut positioning clip 32, a pushing driver 33, a pushing plate 34, a nut lifting and screwing device 4, a rotary tightening device 41, a lifting guide 42, a telescopic rod 421, a nut clamping part 5, a torque detection device 6, a vision system 7, a guide rod 8, a guide branch part 9, a flange 10 and a compressor nut 11.
Detailed Description
The present application is further described in conjunction with the following examples.
Referring to fig. 1 to 5, a robot mounting device integrating cartridge clip type feeding and automatic detection comprises a support 1, a cartridge clip feeding device 2, a nut positioning device 3, a nut lifting and screwing device 4, a nut clamping part 5 and a torque detection device 6. The cartridge clip feeding device 2 is arranged on the support 1 and is used for conveying the compressor nut 11 by means of gravity; the nut positioning device 3 is arranged on the support 1 and is positioned below the cartridge clip feeding device 2; the nut lifting and screwing device 4 is arranged on the support 1; the nut clamping part 5 is connected with the nut lifting and screwing device 4; the nut lifting and screwing device 4 drives the nut clamping part 5 to move up and down relative to the nut positioning device 3 and horizontally rotate relative to the nut positioning device 3 so as to lock the compressor nut 11 on a nut guide post of the compressor; the torque detection device 6 is used for detecting the rotation output torque of the nut lifting screwing device 4. Storing the compressor nuts 11 in the cartridge clip feeding device 2 by using a vibrating disc, and storing a certain amount of the compressor nuts 11 in the cartridge clip feeding device 2; when the compressor nut 11 needs to be placed on a compressor, the cartridge clip feeding device 2 is switched on by electrifying, and the compressor nut 11 is conveyed to the nut positioning device 3 under the action of gravity; the nut positioning device 3 adjusts and positions the compressor nut 11 to adjust the compressor nut 11 to a set position; the nut lifting and screwing device 4 drives the nut clamping part 5 to move downwards relative to the nut positioning device 3, clamp the compressor nut 11 and then move out of the nut positioning device 3 upwards; after the robot installation device integrating the cartridge clip type feeding and automatic detection is placed above a compressor, a nut lifting and screwing device 4 drives a nut clamping part 5 to drive a compressor nut 11 to move downwards, so that the compressor nut 11 is aligned and matched with a nut guide pillar of the compressor, and then the compressor nut 11 is driven to rotate by the driving nut clamping part 5, so that the compressor nut 11 is fixed on the compressor; meanwhile, the torque detection device 6 detects the rotation output torque of the nut lifting screwing device 4, determines whether the compressor nut 11 is driven to the end or not by detecting whether the rotation output torque is qualified or not, and continues to screw if the rotation output torque is unqualified until the output torque is qualified. The torque detection device 6 is a rotation torque sensor, and is used for monitoring the rotation output torque of the nut lifting screwing device 4, so as to ensure that the rotation output torque of the nut lifting screwing device 4 meets the process requirements.
The robot installation device integrating cartridge clip type feeding and automatic detection is combined with a cartridge clip feeding device 2, a nut positioning device 3, a nut lifting and screwing device 4, a nut clamping part 5 and a torque detection device 6 to complete the processes of conveying, positioning, clamping, screwing, detecting and the like of a compressor nut 11, so that cartridge clip type automatic feeding is realized, the feeding beat is avoided being slow, the automation is high, and the production efficiency is high; meanwhile, the torque detection device 6 is additionally arranged and used for detecting the rotating output torque of the nut lifting screwing device 4, whether the compressor nut 11 is driven to the end or not is determined by detecting whether the rotating output torque is qualified or not, the compressor nut 11 is not qualified and continues to be screwed until the output torque is qualified, the quality of installing the compressor nut 11 is guaranteed, the problems that the compressor nut 11 is not driven to the end and the like are avoided, reworking operation can be avoided, and the production efficiency is improved.
And a visual system 7 positioned on one side of the nut clamping part 5 is arranged on the support 1. The position of a nut guide post of the compressor is identified through a vision system 7, the coordinates of the nut guide post of the compressor are transmitted to a robot, the robot carries the robot mounting device integrating the cartridge clip type feeding and automatic detection to the position of the nut guide post of the compressor according to the coordinates, and the compressor nut 11 is in accurate butt joint with the nut guide post of the compressor so as to be screwed conveniently; and then, the device is combined with the torque detection device 6, the quality of installing the compressor nut 11 is guaranteed, the problems that the compressor nut 11 cannot be completely installed and the like are avoided, the reworking operation can be avoided, and the improvement of the production efficiency is facilitated.
Preferably, the nut gripping part 5 is a nut tightening magnetic sleeve matched with the compressor nut 11. Conventional compressor nut 11 is generally made by iron, presss from both sides portion 5 through pressing from both sides the nut and sets to have magnetism, simultaneously, cooperatees with compressor nut 11, presss from both sides portion 5 when the nut and cooperatees the cover and establish on compressor nut 11, under magnetic effect, can lock fixed compressor nut 11, the magnetic adsorption compressor nut 11 of being convenient for to take out compressor nut 11 fast, accelerate the feed beat, accomplish compressor nut 11's locking fixed, provide production efficiency. Of course, the female clamping screw may be a nut made of a magnet to screw the magnetic sleeve; the magnetic sleeve can also be screwed down for the nut made of the electromagnet, and the electromagnetic adsorption larger than the compressor nut 11 is completed by electrifying, so that the compressor nut 11 can be taken out quickly.
The magazine feeder 2 includes a magazine stocker 21, a feed rail 22, a feed switch 23, and a feed rail 24. The cartridge clip storage part 21 is arranged on the support 1 and is used for placing the compressor nut 11 in a matching way; the feeding guide rail 22 is communicated with the lower end of the cartridge clip storing part 21 and is used for conveying the compressor nut 11 to the nut positioning device 3 by means of gravity; the feeding switch 23 is arranged on the cartridge clip storing part 21 and used for limiting the downward sliding of the compressor nut 11; the feed guide rail 24 is communicated with the upper end of the magazine storage portion 21. Vibrating the compressor nut 11 into the feed rail 24 using a vibrating disk; the compressor nut 11 slides into the cartridge magazine 21 from the upper end of the feed rail 24, and at this time, the feed switch 23 is in a closed state; when the supply switch 23 is closed, the upper edge of the supply switch 23 abuts against the boss part of the compressor nut 11 to form a limit, so that the compressor nut 11 is placed on the supply switch 23 and cannot slide downwards. After the feeding switch 23 is turned on, the limiting of the compressor nut 11 is released, and the compressor nut slides down along the feeding guide rail 24 and slides into the nut positioning device 3; meanwhile, the diameter of the flat gasket of the compressor nut 11 is far larger than that of the boss part of the compressor nut 11, so that the boss parts of the adjacent compressor nuts 11 form a fixed interval, and when one compressor nut 11 slides downwards, the upper edge of the feed switch 23 can instantly block between the bosses of the adjacent compressor nuts 11 to finish blocking and limiting.
Of course, the magazine storage portion 21 can be in the shape of different shapes, and the shape design is carried out according to the requirement, such as the strip-shaped magazine storage portion 21, the drum magazine storage portion and the like.
In the present embodiment, the nut positioning device 3 includes a positioning driver 31, a nut positioning clip 32, a pushing driver 33, and a pushing plate 34. Wherein, the positioning driver 31 is arranged on the support 1; the nut positioning clamp 32 is connected with the positioning driver 31; the nut positioning clamp 32 is matched with the compressor nut 11 to limit the displacement of the compressor and play a role in positioning. The positioning driver 31 drives the nut positioning clamp 32 to drive the compressor nut 11 to ascend to the lower port of the nut clamping part 5; the pushing driver 33 is arranged on the support 1 and is positioned below the feeding guide rail 22; the material pushing plate 34 is connected with the material pushing driver 33; the pushing driver 33 can drive the pushing plate 34 to move into the nut positioning clamp 32 for pushing the compressor nut 11 into the nut positioning clamp 32. After the compressor nut 11 slides down to the end of the feeding guide rail 22, the positioning driver 31 drives the material pushing plate 34 to push the compressor nut 11 into the nut positioning clamp 32; then the positioning driver 31 drives the nut positioning clamp 32 to drive the compressor nut 11 to ascend and move to the lower port of the nut clamping part 5; after the nut gripper 5 takes out the compressor nut 11, the positioning driver 31 drives the nut positioning gripper 32 to return.
Preferably, the supply rail 22 is a circular arc rail groove that is engaged with the compressor nut 11 and extends along the rear end of the nut positioning clip 32. The arc guide rail groove is used as the feeding guide rail 22 and is matched with the compressor nut 11, so that the compressor nut 11 can slide down to the rear end of the nut positioning clamp 32 conveniently, and the problem that the arc guide rail groove is too large and the cost is increased is avoided. Through setting up the circular arc guide rail groove, help gliding compressor nut 11 to the rear end of nut positioning clamp 32, reduce the central point of nut positioning clamp 32 and put and compressor nut 11's distance for compressor nut 11 gets into in the nut positioning clamp 32, save time, improvement production efficiency.
The nut lifting screw device 4 includes a rotary runner 41 and a lifting guide 42. Wherein, the rotary tightening device 41 is arranged on the support 1; a lifting guide 42 is connected to a lower end of the rotary screw 41; the lifting guide 42 has a telescopic rod 421; the telescopic rod 421 is connected with the nut clamping part 5; the lifting guide 42 drives the nut clamping part 5 to move up and down relative to the nut positioning device 3 through the telescopic rod 421; the rotary tightening unit 41 drives the elevation guide 42 and the nut gripper 5 to synchronously horizontally rotate with respect to the nut positioning device 3. When the compressor nut 11 is in the nut positioning clamp 32, the lifting guide 42 drives the nut clamping part 5 to move downwards relative to the nut positioning clamp 32, the nut clamping part 5 magnetically adsorbs and clamps the compressor nut 11, and then the lifting guide 42 drives the nut clamping part 5 to move upwards out of the nut positioning clamp 32; after the robot installation device integrating the cartridge clip type feeding and the automatic detection is displaced above a compressor, the lifting guide 42 drives the nut clamping part 5 to drive the compressor nut 11 to move downwards, so that the compressor nut 11 is aligned and matched with a nut guide post of the compressor, and then the nut clamping part 5 is driven by the rotary tightening device 41 to drive the compressor nut 11 to rotate, so that the compressor nut 11 is fixed on the compressor, the installation of the compressor nut 11 is completed, the automation is high, and the production efficiency is high.
Preferably, a guide rod 8 is arranged between the nut clamping part 5 and the telescopic rod 421; the support 1 is sleeved on a guide branch part 9 on the guide rod 8; the guide rod 8 moves up and down with respect to the guide branch 9. By providing the guide rod 8 and the guide branch portion 9 between the nut gripping portion 5 and the telescopic rod 421, it is possible to improve the stability of the up-and-down movement of the nut gripping portion 5.
The top end face of the support 1 is provided with a flange plate 10. The flange plate 10 is arranged on the top end face of the support 1, so that the robot mounting device integrating the cartridge clip type feeding and automatic detection can be conveniently and quickly mounted and fixed on a robot.
The invention also provides a robot, which comprises the robot mounting device integrating the cartridge clip type feeding and the automatic detection. Specifically, the robot is provided with a manipulator, and the robot mounting device integrating the cartridge clip type feeding and the automatic detection is arranged on the manipulator. The manipulator can drive the robot mounting device integrating the clamp type feeding and the automatic detection to move and rotate in any direction. The robot installation device integrating the cartridge clip type feeding and the automatic detection can realize cartridge clip type automatic feeding, avoids slow feeding rhythm, is high in automation and high in production efficiency, helps to guarantee the quality of installing the compressor nut 11, avoids the problems that the compressor nut 11 cannot be completely knocked, can avoid reworking operation, and helps to improve the production efficiency.
The application of the robot installation device integrating the cartridge clip type feeding and the automatic detection on the robot has the following working principle:
firstly, vibrating a compressor nut 11 into a feeding guide rail 24 by using a vibrating disk; the compressor nuts 11 slide from the upper end of the feed rail 24 into the magazine portion 21, at which time the feed switch 23 is in the closed state, and a certain number of compressor nuts 11 are in the magazine.
And secondly, recognizing the position of a nut guide post of the compressor through a vision system 7, transmitting the coordinates of the nut guide post of the compressor to a robot, and carrying the robot installation device integrating the cartridge clip type feeding and automatic detection to the position of the nut guide post of the compressor by the robot according to the coordinates.
Thirdly, in the process that the robot moves to the position of the nut guide post of the compressor, the feeding switch 23 is turned on, the limit of the compressor nut 11 is released, one compressor nut 11 is released, the compressor nut 11 slides downwards to the tail end of the feeding guide rail 22, and the positioning driver 31 drives the material pushing plate 34 to push the compressor nut 11 to the nut positioning clamp 32.
Fourthly, the positioning driver 31 drives the nut positioning clamp 32 to drive the compressor nut 11 to ascend and move to the lower port of the nut clamping part 5; the nut clamp 5 magnetically attracts and clamps the compressor nut 11.
And fifthly, under the driving of the robot, the robot mounting device integrating the cartridge clip type feeding and the automatic detection moves to the position above a nut guide post of the compressor, the lifting guide 42 drives the nut clamping part 5 to drive the compressor nut 11 to move downwards, so that the compressor nut 11 is aligned and matched with the nut guide post of the compressor, and then the rotary tightening device 41 drives the nut clamping part 5 to drive the compressor nut 11 to rotate, so that the compressor nut 11 is fixed on the compressor, and the mounting of the compressor nut 11 is completed.
And sixthly, detecting the rotation output torque of the nut lifting screwing device 4 by the torque detection device 6, determining whether the compressor nut 11 is driven to the end by detecting whether the rotation output torque is qualified, and continuing screwing if the rotation output torque is unqualified until the output torque is qualified.
And seventhly, returning to the second step by the robot, and identifying the position of the nut guide post of the next compressor, so as to repeat the steps.
The robot installation device integrating cartridge clip type feeding and automatic detection is combined with a cartridge clip feeding device 2, a nut positioning device 3, a nut lifting and screwing device 4, a nut clamping part 5 and a torque detection device 6 to complete the processes of conveying, positioning, clamping, screwing, detecting and the like of a compressor nut 11, so that cartridge clip type automatic feeding is realized, the feeding beat is avoided being slow, the automation is high, and the production efficiency is high; meanwhile, the torque detection device 6 is additionally arranged and used for detecting the rotating output torque of the nut lifting screwing device 4, whether the compressor nut 11 is driven to the end or not is determined by detecting whether the rotating output torque is qualified or not, the compressor nut 11 is not qualified and continues to be screwed until the output torque is qualified, the quality of installing the compressor nut 11 is guaranteed, the problems that the compressor nut 11 is not driven to the end and the like are avoided, reworking operation can be avoided, and the production efficiency is improved.
The robot installation device integrating the cartridge clip type feeding and the automatic detection is not limited to the material of the compressor nut 11, but also can be applied to other materials, and the setting of the robot installation device integrating the cartridge clip type feeding and the automatic detection is changed according to the shape, the size, the specification and the like of the material, so that the material can be applicable to the functions of procedures such as conveying, positioning, clamping, screwing, detection and the like the compressor nut 11.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the protection scope of the present application, and although the present application is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the present application without departing from the spirit and scope of the technical solutions of the present application.
Claims (10)
1. The utility model provides a robot installation device of cartridge clip formula feed and automated inspection integration, includes the support, its characterized in that still includes:
the cartridge clip feeding device is arranged on the support and is used for conveying the compressor nut by means of gravity;
the nut positioning device is arranged on the support and is positioned below the cartridge clip feeding device;
the nut lifting and screwing device is arranged on the support;
the nut clamping part is connected with the nut lifting and screwing device; the nut lifting and screwing device drives the nut clamping part to move up and down relative to the nut positioning device and horizontally rotate relative to the nut positioning device so as to lock the compressor nut on a nut guide post of the compressor;
and the torque detection device is used for detecting the rotation output torque of the nut lifting screwing device.
2. The integrated cartridge feeding and automatic inspection robot mounting apparatus of claim 1, wherein a vision system is provided on the support at a side of the nut gripper.
3. The integrated clip feed and automatic test robot mounting apparatus of claim 1, wherein the clip feed apparatus comprises:
the cartridge clip storage part is arranged on the support and is used for placing a compressor nut in a matching way;
the feeding guide rail is communicated with the lower end of the cartridge clip storage part and is used for conveying the compressor nut to the nut positioning device by means of gravity;
the feeding switch is arranged on the cartridge clip storage part and is used for limiting the downward sliding of the compressor nut;
and the feeding guide rail is communicated with the upper end of the cartridge clip storage part.
4. The integrated clip-on feeding and automated inspection robot mounting apparatus of claim 1, wherein the nut gripper is a nut tightening magnetic sleeve that mates with a compressor nut.
5. The integrated clip-on feeding and automated inspection robot mounting apparatus of claim 3, wherein the nut positioning means comprises:
the positioning driver is arranged on the support;
the nut positioning clamp is connected with the positioning driver; the positioning driver drives the nut positioning belt to press the compressor nut to ascend to the lower port of the nut clamping part;
the pushing driver is arranged on the support and is positioned below the feeding guide rail;
the material pushing plate is connected with the material pushing driver; the material pushing driver can drive the material pushing plate to move towards the interior of the nut positioning clamp so as to push the compressor nut to the interior of the nut positioning clamp.
6. The integrated clip-on feeding and automatic detecting robot installation device of claim 5, wherein the feeding guide rail is a circular arc guide rail groove matched with the compressor nut and extending along the rear end of the nut positioning clip.
7. The integrated clip-on feeding and automated inspection robot mounting apparatus of claim 1, wherein the nut lifting and screwing device comprises:
the rotary tightening device is arranged on the support;
a lifting guide connected to a lower end of the rotary tightening tool; the lifting guider is provided with a telescopic rod; the telescopic rod is connected with the nut clamping part; the lifting guider drives the nut clamping part to move up and down relative to the nut positioning device through the telescopic rod;
the rotary tightening device drives the lifting guide and the nut clamping part to synchronously horizontally rotate relative to the nut positioning device.
8. The integrated clip-type feeding and automatic detecting robot installation device according to claim 7, wherein a guide rod is arranged between the nut clamping part and the telescopic rod; the support is sleeved on a guide branch part on the guide rod; the guide rod moves up and down relative to the guide branch part.
9. The integrated clip-on feeding and automatic detecting robot installation device according to claim 1, wherein a flange is provided on the top end surface of the support.
10. Robot, characterized in that it comprises a robot mounting device integrating cartridge feed and automatic detection according to any of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010278454.0A CN111347238A (en) | 2020-04-10 | 2020-04-10 | Cartridge clip type feeding and automatic detection integrated robot mounting device and robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010278454.0A CN111347238A (en) | 2020-04-10 | 2020-04-10 | Cartridge clip type feeding and automatic detection integrated robot mounting device and robot |
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| CN111347238A true CN111347238A (en) | 2020-06-30 |
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| CN202010278454.0A Pending CN111347238A (en) | 2020-04-10 | 2020-04-10 | Cartridge clip type feeding and automatic detection integrated robot mounting device and robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111982191A (en) * | 2020-08-11 | 2020-11-24 | 苏州市艾西依钣金制造有限公司 | Automatic detection assembly line for precise metal plate cabinet body |
| CN114952247A (en) * | 2022-04-22 | 2022-08-30 | 苏州市百诺塑胶有限责任公司 | Automatic nut assembling machine |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111982191A (en) * | 2020-08-11 | 2020-11-24 | 苏州市艾西依钣金制造有限公司 | Automatic detection assembly line for precise metal plate cabinet body |
| CN114952247A (en) * | 2022-04-22 | 2022-08-30 | 苏州市百诺塑胶有限责任公司 | Automatic nut assembling machine |
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