CN112059568A - End effector of nut transfer robot - Google Patents
End effector of nut transfer robot Download PDFInfo
- Publication number
- CN112059568A CN112059568A CN202010696722.0A CN202010696722A CN112059568A CN 112059568 A CN112059568 A CN 112059568A CN 202010696722 A CN202010696722 A CN 202010696722A CN 112059568 A CN112059568 A CN 112059568A
- Authority
- CN
- China
- Prior art keywords
- nut
- guide cylinder
- reduction gear
- end effector
- fixed rod
- 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
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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
- 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
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
Abstract
The invention discloses a nut carrying robot end effector which comprises a guide pin, a suction nozzle, a guide cylinder, a reduction gear and a fixed rod, wherein the guide pin is arranged right below the fixed rod, the suction nozzle is arranged at the tail end of the fixed rod, a support is arranged at the top end of the guide cylinder, a motor is arranged on the support, the lower end of the motor is connected with a threaded shell, the reduction gear is arranged in the shell, a first groove is formed in the upper end of the fixed rod, the reduction gear is matched with the first groove, the fixed rod is arranged in the guide cylinder, a second groove is formed in the inner wall of the guide cylinder, a flange is arranged at the upper end of the fixed rod and is arranged in the second groove in the inner wall of the guide cylinder, and a spring. This end effector of nut transfer robot can carry out the center location to the nut, can adjust hexagon nut's direction, avoids appearing the deviation, and easy operation is convenient, has improved work efficiency greatly.
Description
Technical Field
The invention belongs to the technical field of nut carrying robots, and particularly relates to an end effector of a nut carrying robot.
Background
In the existing automatic assembly, a plurality of small parts are mostly automatically installed by a robot. Like a current hexagonal nut commonly used, the robot end effector of carrying this hexagonal nut is mostly a suction pen, utilizes suction pen absorption hexagonal nut, then carries this nut to assigned position through the multidirectional removal of robot. The suction pen in the prior art cannot be used for positioning the central position of the nut, the nut placing position may be deviated, the nut is not round and has certain directionality, and the nut direction after being carried may also be deviated.
Disclosure of Invention
In view of the above problems in the prior art, an object of the present invention is to provide an end effector of a nut handling robot, so as to solve the problem of deviation when the existing end effector is shaken to handle the hexagon nut.
In order to solve the technical problems, the invention adopts the technical scheme that:
the utility model provides a nut transfer robot end effector, is provided with under the dead lever and leads positive round pin, suction nozzle, guide cylinder, reduction gear and dead lever including leading positive round pin, suction nozzle, guide cylinder, reduction gear and dead lever, dead lever end is provided with the suction nozzle, and the top of guide cylinder is provided with the support, and is provided with the motor on the support, the motor lower extreme is connected with the screw shell, the inside reduction gear that is provided with of shell, the dead lever upper end is provided with first recess, and reduction gear and first recess cooperate, the inside dead lever that is provided with of guide cylinder, the guide cylinder inner wall is provided with the second recess, the dead lever upper end is provided with the flange, and the flange setting is in the second recess of guide cylinder inner wall, be provided with the spring on the flange, the both ends of spring.
Furthermore, one end of the pilot pin is conical.
Furthermore, the lower extreme of guide cylinder is provided with the opening, and the opening shape and nut shape phase-match to the opening bore reduces gradually from bottom to top.
Furthermore, the spring is fixedly connected with the flange and the upper wall of the second groove.
Furthermore, first recess is provided with the internal tooth, and the internal tooth cooperatees with reduction gear, the height that highly is greater than reduction gear of first recess.
Furthermore, the inner wall of the threaded shell is provided with teeth, the teeth on the inner wall of the shell are meshed with the outer teeth of the speed reducing gear, and the number of teeth of the threaded shell is greater than that of the speed reducing gear.
Further, the motor is fixedly connected with the support.
Furthermore, the fixed rod and the guide cylinder form a sliding structure.
Further, the support is connected with the guide cylinder through a lock catch.
Has the advantages that: compared with the prior art, the method has the following advantages:
this nut transfer robot end effector can carry out the center location to the nut, can adjust hexagon nut's direction, and when nut skew angle was great, the motor drove the screw thread shell and rotates, and then drives reduction gear and rotates, and reduction gear drives the dead lever again and rotates, rotates the nut as for corresponding the position, makes its opening with the guide cylinder identical, avoids appearing the deviation, and easy operation is convenient, has improved work efficiency greatly.
Drawings
Fig. 1 is a schematic structural view of an end effector of a nut handling robot.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1, the end effector of the nut handling robot of the present application includes a guide pin 1, a suction nozzle 2, a guide cylinder 3, a reduction gear 6 and a fixing rod 10, the guide pin 1 is disposed under the fixing rod 10, the guide pin 1 is fixedly connected to the fixing rod 10, so as to improve connection strength and stability, the guide pin 1 can pass through a hexagon nut to position the hexagon nut, the suction nozzle 1 is disposed at the end of the fixing rod 10, a bracket 11 is disposed at the top end of the guide cylinder 3, and a motor 9 is disposed on the bracket 11, the bracket 11 is fixedly connected to the motor 9, so as to prevent the motor 9 from rotating, a threaded housing 8 is connected to the lower end of the motor 9, the motor 9 rotates to drive the threaded housing 8 to rotate, the reduction gear 6 is disposed inside the housing 8, the reduction gear 6 is a reduction gear ring, the threaded housing 8 drives the reduction gear 6 to move, a first, and reduction gear 6 and first recess 7 cooperate, reduction gear 6 drives dead lever 10 rotatory through first recess 7, 3 inside dead levers 10 that are provided with of guide cylinder, the top of dead lever 10 stretches out guide cylinder 3, 3 inner walls of guide cylinder are provided with the second recess, the dead lever 10 upper end is provided with the flange 4 of round, and flange 4 sets up in the second recess of 3 inner walls of guide cylinder, be provided with spring 5 on the flange 4, the both ends of spring 5 are connected with flange 4 and second recess upper wall respectively, dead lever 10 can slide from top to bottom in guide cylinder 3 at spring 5's effect.
One end of the pilot pin 1 is conical, so that the pilot pin 1 can penetrate through the hexagonal nut to position the hexagonal nut more conveniently.
The lower extreme of guide cylinder 3 is provided with the opening, and the opening shape and hexagonal nut shape phase-match to the opening bore reduces gradually from bottom to top, makes the nut can get into the opening of guide cylinder 3 smoothly, and guide cylinder 3 can mate different opening shapes according to the effect occasion of difference certainly, the extension application occasion.
Spring 5 and flange 4 and second recess upper wall are fixed connection, prevent that spring 5 landing, and stability is higher, does not influence spring 5's effect moreover.
First recess 7 is provided with the internal tooth, and the internal tooth cooperatees with reduction gear 6, and reduction gear 6 is the reduction gear circle, overlaps inside first recess 7, and first recess 7 highly is greater than reduction gear 6's height, when dead lever 10 reciprocated, also can not influence the relation of connection between the dead lever 10 remaining reduction gear 6.
The 8 inner walls of thread shell are provided with the tooth, and the tooth of 8 inner walls of shell meshes with reduction gear 6's external tooth mutually, and the number of teeth of thread shell 8 is greater than reduction gear 6's the number of teeth, and the height that highly is greater than reduction gear 6 of 8 inner walls of thread shell, and when dead lever 10 reciprocated, thread shell 8 highly satisfied the removal about reduction gear 6.
Motor 9 and support 11 are fixed connection, improve joint strength and stability.
The fixing rod 10 and the guide cylinder 3 form a sliding structure, and can move up and down.
Support 11 and guide cylinder 3 are connected through hasp 12, and hasp 12 can make support 11 can dismantle, and when the inside part of support 11 took place to damage, can open hasp 12, dismantles maintenance or change, and when not needing, support and guide cylinder can tightly be locked to hasp 12, and is simple and convenient.
3 openings of guide cylinder are provided with wear-resisting antistatic layer, prevent 3 openings of guide cylinder from using friction after for a long time and producing the error, and adsorption nut is no longer accurate, and the wear-resisting ability of guide cylinder openings department is improved on the one hand in the setting of wear-resisting antistatic layer, and on the other hand can be antistatic, guarantees certainty and life.
The end effector is installed on an industrial robot through a guide cylinder 3 and controlled to move up and down and left and right, when the effector reaches a designated position, the effector starts to move down, a guide pin 1 enters a nut hole to preliminarily position the nut hole, a suction nozzle 2 is a negative pressure suction nozzle, preliminary fixation is realized by adsorbing a nut, the effector continuously moves down, the nut gradually enters a bottom opening of the guide cylinder 3, the shape of the opening is the same as the internal structure of the adsorbed nut, and the inner wall of the bottom opening of the guide cylinder 3 preliminarily guides and rectifies the outer side wall of the nut; when the deviation angle of the nut is large, the motor 9 drives the threaded shell 8 to rotate, further drives the reduction gear 6 to rotate, the reduction gear 6 drives the fixing rod 10 to rotate, and the nut is rotated to the corresponding position to be matched with the opening of the guide cylinder 3.
The present invention provides a nut handling robot end effector concept and method for implementing the same, and the specific application is many, and the above is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, modifications can be made without departing from the principle of the present invention, and these modifications should be considered as the protection scope of the present invention.
Claims (9)
1. The utility model provides a nut transfer robot end effector which characterized in that: comprises a guide pin (1), a suction nozzle (2), a guide cylinder (3), a reduction gear (6) and a fixed rod (10), wherein the guide pin (1) is arranged under the fixed rod (10), the tail end of the fixed rod (10) is provided with the suction nozzle (1), the top end of the guide cylinder (3) is provided with a bracket (11), the bracket (11) is provided with a motor (9), the lower end of the motor (9) is connected with a threaded shell (8), the reduction gear (6) is arranged inside the shell (8), the upper end of the fixed rod (10) is provided with a first groove (7), the reduction gear (6) is matched with the first groove (7), the fixed rod (10) is arranged inside the guide cylinder (3), the inner wall of the guide cylinder (3) is provided with a second groove, the upper end of the fixed rod (10) is provided with a flange (4), and the flange (4) is arranged in the second groove of the inner wall of the, and a spring (5) is arranged on the flange (4), and two ends of the spring (5) are respectively connected with the flange (4) and the upper wall of the second groove.
2. The nut handling robot end effector of claim 1, wherein: one end of the pilot pin (1) is conical.
3. The nut handling robot end effector of claim 1, wherein: the lower end of the guide cylinder (3) is provided with an opening, the shape of the opening is matched with that of the nut, and the caliber of the opening is gradually reduced from bottom to top.
4. The nut handling robot end effector of claim 1, wherein: and the spring (5), the flange (4) and the upper wall of the second groove are fixedly connected.
5. The nut handling robot end effector of claim 1, wherein: first recess (7) are provided with the internal tooth, and the internal tooth cooperatees with reduction gear (6), the height that highly is greater than reduction gear (6) of first recess (7).
6. The nut handling robot end effector of claim 1, wherein: the inner wall of the threaded shell (8) is provided with teeth, the teeth of the inner wall of the shell (8) are meshed with the outer teeth of the reduction gear (6), and the number of teeth of the threaded shell (8) is greater than that of the reduction gear (6).
7. The nut handling robot end effector of claim 1, wherein: the motor (9) is fixedly connected with the bracket (11).
8. The nut handling robot end effector of claim 7, wherein: the fixed rod (10) and the guide cylinder (3) form a sliding structure.
9. The nut handling robot end effector of claim 7, wherein: the support (11) is connected with the guide cylinder (3) through a lock catch (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010696722.0A CN112059568B (en) | 2020-07-17 | 2020-07-17 | Nut transfer robot end effector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010696722.0A CN112059568B (en) | 2020-07-17 | 2020-07-17 | Nut transfer robot end effector |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112059568A true CN112059568A (en) | 2020-12-11 |
| CN112059568B CN112059568B (en) | 2022-05-10 |
Family
ID=73657431
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010696722.0A Active CN112059568B (en) | 2020-07-17 | 2020-07-17 | Nut transfer robot end effector |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112059568B (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH091431A (en) * | 1995-06-14 | 1997-01-07 | Mitsubishi Motors Corp | Socket structure of automatic nut fastener |
| CN1923468A (en) * | 2006-09-08 | 2007-03-07 | 清华大学 | Robot for carrying and piling |
| US20110224622A1 (en) * | 2008-09-09 | 2011-09-15 | Shl Group Ab | Medicament Delivery Device |
| US20130299510A1 (en) * | 2012-05-08 | 2013-11-14 | Honda Motor Co., Ltd. | Nut feeding system |
| CN104097057A (en) * | 2014-06-30 | 2014-10-15 | 上海广为电器工具有限公司 | Automatic nut feeding and locking machine |
| CN206985137U (en) * | 2017-05-05 | 2018-02-09 | 苏州铭美自动化科技有限公司 | A kind of nut adsorbing mechanism |
| CN108972520A (en) * | 2018-08-27 | 2018-12-11 | 青岛海鼎通讯技术有限公司 | A kind of sliding machine hand |
| CN208231795U (en) * | 2017-12-29 | 2018-12-14 | 重庆市灵龙自动化设备有限公司 | Manipulator for pancake rotor assembly |
| CN209831682U (en) * | 2019-04-09 | 2019-12-24 | 亿模塑胶科技(苏州)有限公司 | A suction means for getting material |
| CN210024399U (en) * | 2019-04-17 | 2020-02-07 | 常州宝捷电机制造有限公司 | Nut adsorption rotating mechanism |
| US20200086505A1 (en) * | 2016-10-19 | 2020-03-19 | Shenzhen Ulmt Technology Co., Ltd | Suction device |
| CN210878474U (en) * | 2019-08-12 | 2020-06-30 | 中国铁建高新装备股份有限公司 | Nut tightening device capable of achieving self-positioning |
-
2020
- 2020-07-17 CN CN202010696722.0A patent/CN112059568B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH091431A (en) * | 1995-06-14 | 1997-01-07 | Mitsubishi Motors Corp | Socket structure of automatic nut fastener |
| CN1923468A (en) * | 2006-09-08 | 2007-03-07 | 清华大学 | Robot for carrying and piling |
| US20110224622A1 (en) * | 2008-09-09 | 2011-09-15 | Shl Group Ab | Medicament Delivery Device |
| US20130299510A1 (en) * | 2012-05-08 | 2013-11-14 | Honda Motor Co., Ltd. | Nut feeding system |
| CN104097057A (en) * | 2014-06-30 | 2014-10-15 | 上海广为电器工具有限公司 | Automatic nut feeding and locking machine |
| US20200086505A1 (en) * | 2016-10-19 | 2020-03-19 | Shenzhen Ulmt Technology Co., Ltd | Suction device |
| CN206985137U (en) * | 2017-05-05 | 2018-02-09 | 苏州铭美自动化科技有限公司 | A kind of nut adsorbing mechanism |
| CN208231795U (en) * | 2017-12-29 | 2018-12-14 | 重庆市灵龙自动化设备有限公司 | Manipulator for pancake rotor assembly |
| CN108972520A (en) * | 2018-08-27 | 2018-12-11 | 青岛海鼎通讯技术有限公司 | A kind of sliding machine hand |
| CN209831682U (en) * | 2019-04-09 | 2019-12-24 | 亿模塑胶科技(苏州)有限公司 | A suction means for getting material |
| CN210024399U (en) * | 2019-04-17 | 2020-02-07 | 常州宝捷电机制造有限公司 | Nut adsorption rotating mechanism |
| CN210878474U (en) * | 2019-08-12 | 2020-06-30 | 中国铁建高新装备股份有限公司 | Nut tightening device capable of achieving self-positioning |
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| Publication number | Publication date |
|---|---|
| CN112059568B (en) | 2022-05-10 |
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