CN113020958A - Six-axis robot device for automatic screw feeding - Google Patents
Six-axis robot device for automatic screw feeding Download PDFInfo
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- CN113020958A CN113020958A CN202110224265.XA CN202110224265A CN113020958A CN 113020958 A CN113020958 A CN 113020958A CN 202110224265 A CN202110224265 A CN 202110224265A CN 113020958 A CN113020958 A CN 113020958A
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- 230000007246 mechanism Effects 0.000 claims abstract description 29
- 238000009434 installation Methods 0.000 claims description 10
- 238000004519 manufacturing process Methods 0.000 abstract description 15
- 238000000034 method Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 3
- 230000002349 favourable effect Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000003466 welding Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000011982 device technology Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000004806 packaging method and process Methods 0.000 description 1
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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
- B23P19/007—Picking-up and placing mechanisms
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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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
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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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a six-axis robot device for automatic screw feeding, which comprises a six-axis industrial robot and a feeding mechanism component, wherein the feeding mechanism component is arranged at the execution tail end of the industrial robot, and an upper connecting plate of the feeding mechanism component is fixed on the axial end surface of a sixth axis tool flange shaft of the industrial robot; the second clamping jaw mechanism has the function of grabbing the workpiece screw, can carry out the final positioning of workpiece screw, and in the accurate mounting hole of placing the workpiece screw, the workpiece screw is placed at the mounting hole and does not need many times location or artifical supplementary like this, reduces the takt time and the manual work of whole process, improves production efficiency.
Description
Technical Field
The invention belongs to the technical field related to a robot device for automatic screw feeding, and particularly relates to a six-axis robot device for automatic screw feeding.
Background
The six-axis robot device for automatic screw feeding carries workpiece screws in a feeding box on a production line to an installation position through a robot and carries out accurate positioning before installation, the robot is widely applied in the field of industrial manufacturing, the robot mainly replaces people to finish large-batch and high-quality work in the mechanical manufacturing industry, such as automobile manufacturing, ship manufacturing, manufacturing of certain household electrical appliances and the like, and the robot also partially finishes the work of spot welding, arc welding, spray painting, cutting, electronic assembly, carrying and packaging of a logistics system in the automatic production line of the chemical industry and the like.
The device technique of current screw material loading has following problem: many screws still need artifical material loading, or still need artifical location etc. behind the automatic feeding, have aggravated the cost of labor like this, influence the automation and the unity of whole production line to influence production efficiency.
Disclosure of Invention
The invention aims to provide a six-axis robot device for automatic screw feeding, which aims to solve the problem that the production efficiency of a production line is influenced due to the incomplete function of a traditional screw feeding device in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a six robot device for screw automatic feeding, includes industrial robot and feed mechanism subassembly, industrial robot's execution end is equipped with feed mechanism subassembly, industrial robot's installation interface is simple easily to be integrated, the upper junction plate snap-on of feed mechanism subassembly is at industrial robot's the axle terminal surface of sixth axle tool flange axle.
Preferably, the feeding mechanism component comprises an upper connecting plate and a second rib plate, a first rib plate and a second rib plate are arranged at the lower end of the upper connecting plate, the lower end faces of the first rib plate and the second rib plate are parallel and level, a lower connecting plate is arranged on the parallel and level face, the upper connecting plate, the first rib plate, the second rib plate and the lower connecting plate form a stable frame-shaped mounting seat, the first rib plate and the second rib plate are connected and fastened through screws, a first clamping jaw is arranged on the left end face of the second rib plate, a connecting block is respectively arranged at the moving end of the first clamping jaw, a channel clamping jaw is respectively arranged on each connecting block, a semicircular channel is arranged in each two channel clamping jaws, a circular channel can be formed after combination, when the first clamping jaw is tightened, the two semicircles are closed, the channel clamping jaws clamp workpiece screws, when the first clamping jaw is opened, the two semicircles are opened, the pipeline is installed on the installation block, a groove is formed in a pipeline installation hole of the installation block, a screw of the groove is locked after the pipeline is inserted into the groove, the installation hole is used for tightening and locking the pipeline, and the workpiece screw is blown from the pipeline and falls into a circular channel inside the channel clamping jaw through an internal channel of the installation block.
Preferably, the circular channel formed by combining the semicircular channels of the two channel clamping jaws is a stepped hole, the diameter of the upper channel is slightly larger than the nut of the workpiece screw, the position of the nut of the workpiece screw is positioned by the taper hole in the middle, and the diameter of the lower channel is slightly larger than the diameter of the workpiece screw, so that smooth passing and positioning of the workpiece screw are facilitated.
Preferably, the slip table cylinder is equipped with to the lower connecting plate lower extreme down, be equipped with the fixed plate below the slider of slip table cylinder, the terminal surface is equipped with the mounting panel under the fixed plate right side, terminal surface is equipped with photoelectric switch under the mounting panel, the second clamping jaw is equipped with to the terminal surface under the fixed plate left side, the removal end of second clamping jaw respectively is equipped with a clamping jaw mount pad, right clamping jaw arm is equipped with on the clamping jaw mount pad in front, left clamping jaw arm is equipped with on the clamping jaw mount pad in the back, left side clamping jaw arm and the work piece screw that right clamping jaw arm centre gripping fell to send the installation position through the slip table cylinder.
Preferably, the lower end face of the mounting plate is provided with a photoelectric switch, the model of the photoelectric switch is PZ-V31P, the photoelectric switch is an intelligent reflection type photoelectric switch, and the photoelectric switch can detect whether a workpiece screw is in a channel clamping jaw channel or not.
Preferably, left side clamping jaw arm and right clamping jaw arm have semi-circular shoulder hole, and the closed circular passageway that forms, the upper and lower position of ladder face location work piece screw, it slightly is greater than the nut diameter to go up the cylinder diameter, and the screw rod of work piece screw is pressed from both sides tightly by lower cylinder, accomplishes the circumference location, when the slip table cylinder is at the zero position, and the circular passageway of clamping jaw arm and passageway clamping jaw is coaxial with the axle center about this, when the second clamping jaw opens, left clamping jaw arm and right clamping jaw arm separate, and the work piece screw falls, when the second clamping jaw tightens up, left clamping jaw arm and right clamping jaw arm are closed, and the work piece screw is located.
Preferably, when the slip table cylinder stretches out, the fixed plate exposes the up end of slip table cylinder and plugs up the circular passageway export in the passageway clamping jaw, and clearance 0.5mm between the two realizes the second clamping jaw during operation, the storage function of passageway clamping jaw.
Preferably, the industrial robot is a small-size general six-axis industrial robot, compact structure, the fuselage is small and exquisite, effective working range is wide big, the beat time is short, easily integrated, be favorable to improving production speed, reduce equipment occupation space, optimize the workstation overall arrangement, various optimization characteristics make the workstation reduce, are favorable to the material processing and the assembly of smallclothes to be used.
Compared with the prior screw feeding device technology, the invention provides a six-axis robot device for automatic screw feeding, which has the following beneficial effects:
1. the feeding mechanism component is provided with two sets of pneumatic parallel clamping jaw devices, the first clamping jaw mechanism has the functions of initially positioning and storing the workpiece screw, a channel in a channel clamping jaw of the first clamping jaw mechanism can initially position the axis position of the workpiece screw, and one workpiece screw is stored in the channel when the second clamping jaw mechanism acts, so that the takt time is reduced; the second clamping jaw mechanism has the function of grabbing the workpiece screw, can carry out the final positioning of workpiece screw, and in the accurate mounting hole of placing the workpiece screw, the workpiece screw is placed at the mounting hole and does not need many times location or artifical supplementary like this, reduces the takt time and the manual work of whole process, improves production efficiency.
2. The industrial robot has the model ABB IRB1200-7/0.7, a ground type, a load of 7Kg, a maximum stroke of 703mm and a repeated positioning precision of +/-0.02 mm; the industrial robot is small-size general six industrial robot, and every axle is by solitary motor drive, and each axle moves around the axis, compact structure, the fuselage is small and exquisite, and effective working range is wide big, and the beat time is short, easily integrates, is favorable to improving production speed, reduces equipment occupation space, optimizes the workstation overall arrangement, and is fast, and the precision is high, can more efficient work.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention without limiting the invention in which:
fig. 1 is a schematic front view of a six-axis robot device for automatic screw feeding according to the present invention;
FIG. 2 is a schematic view of a loading state of a loading mechanism assembly of a six-axis robot device for automatic loading of screws according to the present invention;
FIG. 3 is a schematic diagram of a left-view structural emptying state of a feeding mechanism assembly of a six-axis robot device for automatic screw feeding according to the present invention;
FIG. 4 is a sequence number list of the structure of FIG. 1 according to the present invention;
fig. 5 is a list of numbers in the structure of fig. 2 and 3 according to the present invention.
Illustration of the drawings: 1. an industrial robot; 2. a feeding mechanism assembly; 201. a lower connecting plate; 202. a first rib plate; 203. an upper connecting plate; 204. a second rib plate; 205. a first jaw; 206. connecting blocks; 207. Mounting blocks; 208. a channel jaw; 209. a sliding table cylinder; 210. a photoelectric switch; 211. mounting a plate; 212. a fixing plate; 213. a second jaw; 214. a clamping jaw mounting seat; 215. a pipeline; 216. a left jaw arm; 217. a right jaw arm; 218. and (5) workpiece screws.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-5, the present invention provides a technical solution: the utility model provides a six-axis robot device for screw automatic feeding, includes industrial robot 1 and feed mechanism subassembly 2, and industrial robot 1's execution end is equipped with feed mechanism subassembly 2, and the end face of the sixth axle tool flange axle of industrial robot 1 is fixed to feed mechanism subassembly 2's upper junction plate 203, and upper junction plate 203 is industrial robot 1 and feed mechanism subassembly 2's connecting piece.
A six-axis robot device for automatic screw feeding is characterized in that a feeding mechanism component 2 comprises an upper connecting plate 203 and a second rib plate 204, a first rib plate 202 and a second rib plate 204 are mounted at the lower end of the upper connecting plate 203, the first rib plate 202 and the second rib plate 204 are mounted on a lower connecting plate 201, the upper connecting plate 203, the first rib plate 202, the second rib plate 204 and the lower connecting plate 201 form a stable mounting seat, a first clamping jaw 205 is mounted on the left end face of the second rib plate 204, a connecting block 206 is mounted at the moving end of the first clamping jaw 205, a channel clamping jaw 208 is mounted on each connecting block 206, a mounting block 207 is mounted on the left end face of the first clamping jaw 205, a pipeline 215 is mounted on the mounting block 207, the pipeline 215 is inserted into a mounting hole with a notch of the mounting block 207, and a workpiece screw 218 blown from the pipeline 215 falls into the channel clamping jaw 208 through a channel communicated with the pipeline 215 in the mounting block.
A six-axis robot device for automatic screw feeding is characterized in that a sliding table cylinder 209 is mounted at the lower end of a lower connecting plate 201, a fixing plate 212 is mounted on a sliding block of the sliding table cylinder 209, a mounting plate 211 is mounted on the right lower end face of the fixing plate 212, a photoelectric switch 210 is mounted on the lower end face of the mounting plate 211, whether a workpiece screw 218 exists in a channel of a channel clamping jaw 208 or not can be detected, a second clamping jaw 213 is mounted on the left lower end face of the fixing plate 212, a clamping jaw mounting seat 214 is mounted at the moving end of each second clamping jaw 213, a right clamping jaw arm 217 is mounted on the clamping jaw mounting seat 214 in front, a left clamping jaw arm 216 is mounted on the clamping jaw mounting seat 214 in back, the left clamping jaw arm 216 and the right clamping jaw arm 217 are.
A six-axis robot device for automatic screw feeding is characterized in that a left clamping jaw arm 216 and a right clamping jaw arm 217 are provided with semicircular stepped holes and are closed to form a circular channel which is matched with a workpiece screw 218, when a sliding table cylinder 209 is at a zero position, the circular channel and the circular channel of a channel clamping jaw 208 are coaxial, the workpiece screw 218 falling from the channel clamping jaw 208 can be received, a photoelectric switch 210 detects that the workpiece screw 218 falls into the left clamping jaw arm 216 and the right clamping jaw arm 217, a second clamping jaw 213 is tightened to drive the left clamping jaw arm 216 and the right clamping jaw arm 217 to be closed, the workpiece screw 218 is clamped, the sliding table cylinder 209 extends out, a fixing plate 212 exposes out of the upper end face of the sliding table cylinder 209 to block an outlet of the circular channel in the channel clamping jaw 208, the workpiece screw 218 is blown out from a pipeline 215, and the sliding table cylinder 209 is.
The working principle and the using process of the invention are as follows: after the six-axis robot device is installed, the novel six-axis robot device for automatic screw feeding mainly comprises an industrial robot 1 and a feeding mechanism component 2. The industrial robot 1 receives a program command to control the execution end to stop at the initial position, the industrial robot 1 controls the feeding mechanism assembly 2 to stop at the initial position through the upper connecting plate 203, the workpiece screw 218 starts to blow from the pipeline 215 and falls into the channel clamping jaw 208 through the pipeline 215 and the mounting block 207, the initial state of the first clamping jaw 205 is tightened, the channel clamping jaw 208 is closed, the circular channel in the channel clamping jaw 208 is coaxial with the channel in the mounting block 207, the sliding table air cylinder 209 below the lower connecting plate 201 is retracted, the sliding table air cylinder 209 is provided with the fixing plate 212, the fixing plate 212 is provided with the second clamping jaw 213, the execution end of the second clamping jaw 213 is opened, the circular channel of the left clamping jaw arm 216 and the right clamping jaw arm 217 is coaxial with the channel in the channel clamping jaw 208, and when the workpiece screw 218 in the channel clamping jaw 208 is positioned, the screw part of the workpiece screw 218 can be accurately inserted into the circular channel of the left clamping jaw arm 216 and the right clamping jaw arm 217 After the screw portion of the workpiece screw 218 is inserted into the circular channels of the left jaw arm 216 and the right jaw arm 217, the photoelectric switch 210 detects the workpiece screw 218, the first jaw 205 is opened, the workpiece screw 218 completely falls off, the step surfaces of the circular channels of the left jaw arm 216 and the right jaw arm 217 position the nut end surface of the workpiece screw 218, the second jaw 213 starts to tighten, the left jaw arm 216 and the right jaw arm 217 clamp the workpiece screw 218, the sliding table cylinder 209 starts to extend, the industrial robot 1 starts to act, the feeding mechanism component 2 is driven to reach a mounting position of the workpiece screw 218, after the mounting position is reached, the second jaw 213 opens, the workpiece screw 218 falls into a hole of the mounting position, and due to the complete positioning of the workpiece screw 218 and the accurate positioning of the mounting position by the industrial robot 1, the workpiece screw 218 can quickly and accurately fall into the mounting hole without repeatedly aligning the holes. When the sliding table cylinder 209 extends, the fixing plate 212 exposes out of the upper end face of the sliding table cylinder 209 to block the circular channel outlet in the channel clamping jaw 208, at this time, the pipeline 215 can blow out the next workpiece screw 218 to be stored in the channel clamping jaw 208 to wait for the next action, after the workpiece screw 218 falls into the mounting hole, the photoelectric switch 210 detects that the workpiece screw 218 is absent, the sliding table cylinder 209 retracts, and the industrial robot 1 moves to the next mounting position to start the second feeding.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. The utility model provides a six-axis robot device for screw automatic feeding, includes industrial robot (1) and feed mechanism subassembly (2), the execution end of industrial robot (1) is equipped with feed mechanism subassembly (2), its characterized in that: and an upper connecting plate (203) of the feeding mechanism component (2) is fixed on the shaft end face of a sixth shaft tool flange shaft of the industrial robot (1), and the upper connecting plate (203) is a connecting piece of the industrial robot (1) and the feeding mechanism component (2).
2. The six-axis robotic device for automatic loading of screws of claim 1, wherein: the feeding mechanism component (2) comprises an upper connecting plate (203) and a second rib plate (204), wherein a first rib plate (202) and a second rib plate (204) are installed at the lower end of the upper connecting plate (203), the first rib plate (202) and the second rib plate (204) are installed on a lower connecting plate (201), the upper connecting plate (203), the first rib plate (202), the second rib plate (204) and the lower connecting plate (201) form a stable installation seat, the upper connecting plate (203), the first rib plate (202), the second rib plate (204) and the lower connecting plate (201) are connected and fastened through screws, a first clamping jaw (205) is installed on the left end face of the second rib plate (204), a connecting block (206) is installed at the moving end of the first clamping jaw (205), a channel clamping jaw (208) is installed on each connecting block (206), and a semicircular channel is arranged in each channel clamping jaw (208), semicircular channels in the two channel clamping jaws (208) can form a circular channel matched with a workpiece screw (218) after being combined, a mounting block (207) is installed on the left end face of the first clamping jaw (205), a pipeline (215) is installed on the mounting block (207), and a notch is formed in a pipeline mounting hole of the mounting block (207).
3. The six-axis robotic device for automatic loading of screws of claim 2, wherein: lower connecting plate (201) lower extreme is equipped with slip table cylinder (209), fixed plate (212) are equipped with below the slider of slip table cylinder (209), mounting panel (211) are equipped with to the lower terminal surface of fixed plate (212) one end, photoelectric switch (210) are equipped with to terminal surface under mounting panel (211), second clamping jaw (213) are equipped with to the terminal surface under fixed plate (212) a left side, a clamping jaw mount pad (214) respectively is equipped with to the removal end of second clamping jaw (213), right clamping jaw arm (217) are equipped with on preceding clamping jaw mount pad (214), left clamping jaw arm (216) are equipped with on clamping jaw mount pad (214) of back, left side clamping jaw arm (216) and right clamping jaw arm (217) all with work piece screw (218) clamping.
4. A six-axis robotic device for automatic loading of screws as defined in claim 3, wherein: the left clamping jaw arm (216) and the right clamping jaw arm (217) are provided with semicircular stepped holes matched with the nut part of the workpiece screw (218), a circular channel is formed by closing the semicircular stepped holes and matched with the workpiece screw (218), and when the sliding table cylinder (209) is at a zero position, the circular channel and the circular channel of the channel clamping jaw (208) are coaxial.
5. The six-axis robotic device for automatic loading of screws of claim 1, wherein: the type of the industrial robot (1) is ABBIRB1200-7/0.7, the industrial robot is placed on the ground, the load is 7Kg, the maximum stroke is 703mm, and the repeated positioning precision is +/-0.02 mm; the industrial robot (1) is a small universal six-axis industrial robot (1), each axis being driven by a separate motor, the respective axis being moved about an axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110224265.XA CN113020958A (en) | 2021-03-01 | 2021-03-01 | Six-axis robot device for automatic screw feeding |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110224265.XA CN113020958A (en) | 2021-03-01 | 2021-03-01 | Six-axis robot device for automatic screw feeding |
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| CN113020958A true CN113020958A (en) | 2021-06-25 |
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| CN202110224265.XA Pending CN113020958A (en) | 2021-03-01 | 2021-03-01 | Six-axis robot device for automatic screw feeding |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114192875A (en) * | 2021-12-27 | 2022-03-18 | 宝钢湛江钢铁有限公司 | High-speed circular saw material loading robot clamp |
| CN114671243A (en) * | 2022-05-30 | 2022-06-28 | 福建（泉州）哈工大工程技术研究院 | Screw bullet pad combination charging equipment |
| CN115246085A (en) * | 2022-08-24 | 2022-10-28 | 广东豪特曼智能机器有限公司 | Peripheral grinding machine blade overturning and positioning device and control method thereof |
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| CN213592197U (en) * | 2020-07-27 | 2021-07-02 | 苏州特斯迈智能制造股份有限公司 | 6-axis robot device for automatic screw feeding |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114192875A (en) * | 2021-12-27 | 2022-03-18 | 宝钢湛江钢铁有限公司 | High-speed circular saw material loading robot clamp |
| CN114671243A (en) * | 2022-05-30 | 2022-06-28 | 福建（泉州）哈工大工程技术研究院 | Screw bullet pad combination charging equipment |
| CN115246085A (en) * | 2022-08-24 | 2022-10-28 | 广东豪特曼智能机器有限公司 | Peripheral grinding machine blade overturning and positioning device and control method thereof |
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