CN113146178A - End effector for grabbing and thread assembling and using method thereof - Google Patents
End effector for grabbing and thread assembling and using method thereof Download PDFInfo
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- CN113146178A CN113146178A CN202110416793.5A CN202110416793A CN113146178A CN 113146178 A CN113146178 A CN 113146178A CN 202110416793 A CN202110416793 A CN 202110416793A CN 113146178 A CN113146178 A CN 113146178A
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- electric screwdriver
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- thread
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- 239000012636 effector Substances 0.000 title claims abstract description 38
- 238000000034 method Methods 0.000 title claims abstract description 8
- 230000007246 mechanism Effects 0.000 claims abstract description 24
- 238000009434 installation Methods 0.000 claims abstract description 8
- 230000001360 synchronised effect Effects 0.000 claims description 35
- 230000005540 biological transmission Effects 0.000 claims description 8
- 230000033001 locomotion Effects 0.000 claims description 5
- 230000008859 change Effects 0.000 claims description 3
- 230000002452 interceptive effect Effects 0.000 claims description 3
- 230000007613 environmental effect Effects 0.000 claims 2
- 238000012423 maintenance Methods 0.000 abstract description 3
- 238000013461 design Methods 0.000 abstract description 2
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
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Classifications
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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
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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
-
- 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
-
- 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
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
Abstract
The invention belongs to the field of end effectors of robots, and relates to an end effector for grabbing and thread assembly and a using method thereof. The end effector comprises a supporting component, an electric screwdriver lifting table mechanism, a thread assembling clamp and a shell component. The supporting component plays a role in connecting and supporting all parts of the end effector and comprises a flange connecting disc, a connecting plate and a supporting plate. One side of the flange connecting disc is fixedly connected with the connecting plate, and the other side of the flange connecting disc is matched with the tail end of the mechanical arm and fixed through a bolt. The two connecting plates play roles of connecting and supporting, and two ends of the connecting plates are fixedly connected with the connecting plate and the supporting plate through bolts respectively. The end effector mechanism facing the grabbing and the thread assembling is reasonable in design, simple to install and stable to control, has the functions of thread assembling and workpiece clamping of different specifications, and saves equipment installation space and installation and maintenance cost.
Description
Technical Field
The invention belongs to the field of end effectors of robots, and relates to an end effector for grabbing and thread assembly and a using method thereof.
Background
At present, automation technology is applied to various occasions such as industry, medical treatment, military industry and the like, wherein in order to realize automation of workpiece assembly, a special robot tail end clamping tool is adopted. The special screw thread assembling tool is needed for occasions needing screw thread assembling, and different screwdriver heads or sleeves are needed for occasions needing assembling bolts and nuts with different specifications. The functions of workpiece clamping, thread assembly, screwdriver head replacement and the like are realized by matching a plurality of robots with different end effectors, so that the working space of automatic assembly is large, the fault rate of the whole assembly system is high, and the installation and maintenance costs of the automatic assembly system are increased. In order to improve the integration degree of the automatic assembly end effector and reduce the cost of automatic assembly, the end effector which is used for grabbing and thread assembly is provided.
Disclosure of Invention
Aiming at the prior technical requirements, the invention provides an end effector for grabbing and thread assembling so as to realize the automatic batch head replacement function in the processes of workpiece clamping, thread assembling and assembling. The end effector has the advantages of compact structure and high integration level, effectively improves the efficiency of automatic assembly and reduces the assembly cost.
In order to realize the purpose, the invention is realized by the following technical scheme:
an end effector for grabbing and screw assembling comprises a supporting component, an electric screwdriver lifting platform mechanism, a screw assembling clamp holder and a shell component.
The supporting component plays a role in connecting and supporting all parts of the end effector and comprises a flange connecting disc, a connecting plate and a supporting plate. One side of the flange connecting disc is fixedly connected with the connecting plate, and the other side of the flange connecting disc is matched with the tail end of the mechanical arm and fixed through a bolt. The two connecting plates play roles of connecting and supporting, and two ends of the connecting plates are fixedly connected with the connecting plate and the supporting plate through bolts respectively. The supporting plate is mainly used for fixing the thread assembling clamp holder, a certain number of grooves are machined on the supporting plate, and the position of the thread assembling clamp holder away from the center can be flexibly adjusted.
The three groups of thread assembly holders are fixedly connected to the supporting plate through bolts and cushion blocks respectively, the cushion blocks are used for preventing the bolts at the bottom of the thread assembly holders from interfering with the supporting plate, and the three groups of thread assembly holders are used for performing the tasks of batch head replacement, bolt clamping, workpiece clamping and the like.
The electric screwdriver lifting platform mechanism is used for driving an electric screwdriver to do reciprocating motion and comprises a synchronous belt, a 3M synchronous belt pulley, a flange shaft, a servo motor, a motor connecting piece, a sliding table fixing support, a 2mm lead screw rod, a sliding table sliding rail and a sliding block. The synchronous belt is matched with the 3M synchronous belt wheel to play a transmission role. The 3M synchronous belt pulleys are two in number and are respectively installed on the flange shaft and the 2mm lead screw rod, and the 3M synchronous belt pulley installed on the flange shaft transmits power to the 3M synchronous belt pulley installed on the 2mm lead screw rod through the synchronous belt, so that the 2mm lead screw rod is driven to rotate. The flange shaft is fixed on the servo motor through a bolt and is matched with the 3M synchronous belt pulley simultaneously for outputting the torque of the servo motor. The servo motor is fixed on the sliding table sliding rail through a motor connecting piece and used for outputting torque to drive the lead screw with the lead of 2mm to rotate. One end of the motor connecting piece is fixed on the sliding table sliding rail, and the other end of the motor connecting piece is fixedly connected with the servo motor to play a role in fixing the motor. The sliding table fixing support plays a role in connection and fixation and is fixedly connected with the connecting plate and the sliding table sliding rail through bolts respectively. One end of the 2mm lead screw rod is matched with the 3M synchronous belt wheel, so that the effects of torque transmission and movement direction change are achieved, and the sliding block can move up and down through rotation. The sliding table sliding rail is mainly used for supporting the 2mm lead screw rod and providing restraint for the sliding block, so that the sliding block moves in the direction parallel to the 2mm lead screw rod. The sliding block is driven by a lead screw rod with 2mm and is fixedly connected with the sliding table electric screwdriver connecting piece through a bolt.
The aviation plug seat is fixedly connected with the two connecting plates through bolts, and the middle part of the aviation plug seat is fixedly connected with the aviation plug through bolts and used for fixing the aviation plug. Because the whole end effector facing the grabbing and the thread assembling is provided with 7 servo motors and one electric screwdriver, the connecting wires are various and complicated, and the aviation plug can play a role in facilitating wire connection.
The shell assembly comprises a shell on the shield and a shell under the shield, and plays roles of restraining wires, protecting the electric screwdriver lifting platform mechanism from being interfered by the environment and beautifying the appearance.
A method of using an end effector for gripping and threading, comprising the steps of:
the method comprises the following steps that firstly, the electric screwdriver executes reset operation under the coordination of the electric screwdriver lifting table mechanism, and meanwhile, whether the electric screwdriver reaches a zero point or not is judged according to the current of the servo motor and the feedback value of the encoder.
And secondly, after the electric batch reaches the zero point, driving the electric batch lifting platform mechanism to drive the electric batch to move to a specified position to wait for replacing the batch head through a program.
And thirdly, one of the three groups of thread assembling clampers is responsible for installing and replacing the batch head, and the group of thread assembling clampers grab a proper batch head from the batch head library and install the batch head on the electric batch.
And fourthly, taking a group of bolts in charge of the three groups of thread assembling clampers, taking the bolts by the group of thread assembling clampers, placing the bolts on the batch head of the electric batch, wherein the batch head has magnetism and can adsorb the bolts.
And fifthly, one of the three groups of thread assembling clampers is responsible for auxiliary fixation of the workpiece, and the group of thread assembling clampers clamps the workpiece and simultaneously aligns the threaded hole of the workpiece with the bolt on the screwdriver head of the electric screwdriver.
And sixthly, keeping the workpiece fixed, starting the electric screwdriver to rotate the bolt, and simultaneously driving the electric screwdriver to move by the electric screwdriver lifting platform mechanism until the bolt is screwed tightly, so that the thread assembling task is finished.
The end effector for grabbing and screw assembling can be used as a three-finger manipulator besides a screw assembling function, and can be used for clamping workpieces with larger volumes.
The invention has the beneficial effects that:
the end effector mechanism facing the grabbing and the thread assembling is reasonable in design, simple to install and stable to control, has the functions of thread assembling and workpiece clamping of different specifications, and saves equipment installation space and installation and maintenance cost.
Drawings
FIG. 1 is an overall view of an end effector facing the grasping and thread assembly;
FIG. 2 is an exploded view of the end effector facing the grasping and threading assembly;
FIG. 3 is an isometric view of a screwdriver lift table mechanism;
FIG. 4 is an exploded front view of the electric batch elevating platform mechanism;
FIG. 5 is a rear view of an exploded view of the electric screwdriver lift mechanism;
FIG. 6 is a schematic view of an end effector used as a three finger gripper.
In the figure: 1, connecting a flange; 2, a shield upper shell; 3, connecting a plate; 4, a shield lower shell; 5, cushion blocks; 6, supporting plates; 7, assembling a clamp by screw threads; 8, synchronous belts; 93M synchronous pulley; 10 a flange shaft; 11, electric batching; 12 a servo motor; 13 motor connecting piece; 14 a sliding table fixing support; 15, an aviation plug; a lead screw rod of 162 mm; 17 sliding table sliding rails; 18 an aircraft plug receptacle; 19 a slide block; 20 slip table electricity criticize the connecting piece.
Detailed Description
In order to further explain the technical scheme of the invention, the invention is explained in detail in the following with reference to the attached drawings.
As shown in fig. 1-5, an end effector for gripping and screw assembling mainly comprises a support assembly, a screw driver 11, a screw driver lifting platform mechanism, a screw assembling gripper 7 and a shell assembly. The supporting assembly comprises a flange connecting disc 1, a connecting plate 3 and a supporting plate 6; the electric screwdriver lifting platform mechanism comprises a synchronous belt 8, a 3M synchronous belt wheel 9, a flange shaft 10, a servo motor 12, a motor connecting piece 13, a sliding platform fixing support 14, a 2mm lead screw rod 16, a sliding platform sliding rail 17 and a sliding block 19. The housing assembly includes a shroud upper housing 2 and a shroud lower housing 4.
Countersunk holes are uniformly distributed in the middle of the flange connection disk 1 and are fixedly connected with the two connection plates 3 through bolts, and through holes are uniformly distributed in the edge of the flange connection disk 1 and are used for being fixed with the tail end of the mechanical arm through bolts. The connecting plates 3 are two in total, in order to save installation space, the connecting plates 3 are of a Z-shaped structure and mainly play a role in connection and support, two ends of the connecting plates are fixedly connected with the connecting plate 1 and the support plate 6 through bolts respectively, and threaded holes are tapped in the middles of the connecting plates and used for fixing the sliding table fixing support 14 and the aviation plug seat 18. The supporting plate 6 mainly plays a role in fixing and supporting the three groups of fixed thread assembling clampers 7, the middle part of the supporting plate is cut off so that the screwdriver 11 can penetrate through the supporting plate, a certain number of grooves are distributed in the supporting plate 6, the positions of the thread assembling clampers 7 away from the center can be flexibly adjusted, and meanwhile, the thread passing grooves can be used as wires of the servo motor 12.
The thread assembly clamp holders 7 are three groups in total and are fixedly connected to the supporting plate 6 through bolts and the cushion blocks 5 respectively, the cushion blocks 5 enable the thread assembly clamp holders 7 and the supporting plate 6 to leave certain gaps for preventing the bolts at the bottom of the thread assembly clamp holders 7 from interfering with the supporting plate 6 and penetrating through a lead of the servo motor 12, and the three groups of thread assembly clamp holders 7 are controlled by an embedded hardware platform to realize functions of batch head replacement, bolt clamping, workpiece clamping and the like.
The synchronous belt 8 and the 3M synchronous belt wheel 9 are matched to play a transmission role, and when the 2mm lead screw 16 abnormally stops running suddenly, the synchronous belt can avoid collision and abrasion caused by mechanical matching, and the safety of the system is improved. The 3M synchronous belt pulleys 9 are two in number and are respectively installed on the flange shaft 10 and the 2mm lead screw 16, the 3M synchronous belt pulleys are used for reducing the occupied volume of a transmission structure while accurate transmission is achieved, the 3M synchronous belt pulleys 9 installed on the flange shaft 10 transmit power to the 3M synchronous belt pulleys 9 installed on the 2mm lead screw 16 through synchronous belts 8, and therefore the 2mm lead screw 16 is driven to rotate. Through holes are evenly distributed on the circumference of the flange shaft 10 and can be fixed on a servo motor 12 through bolts, and a boss matched with the 3M synchronous belt pulley 9 is processed in the middle of the flange shaft and used for transmitting the torque of the servo motor 12. Servo motor 12 is integrated as an organic whole with driver and motor, and small in size easily controls, and servo motor 12 passes through motor connecting piece 13 to be fixed on slip table slide rail 17, drives 2mm helical pitch lead screw 16 through the output torque and rotates, and then makes the electricity criticize 11 and remove. The motor connecting piece 13 is a right-angle connecting piece processed by using aluminum alloy, one end of the motor connecting piece is fixed on the sliding table slide rail 17 through a bolt, and the other end of the motor connecting piece is fixedly connected with the servo motor 12 to play a role in fixing the motor. The sliding table fixing support 14 plays a role in connection and fixation and is fixedly connected with the connecting plate 3 and the sliding table sliding rail 17 through bolts respectively. The lead screw 16 with 2mm lead is supported by a bearing on the sliding table slide rail 17, one end of the lead screw is matched with the 3M synchronous belt pulley 9, the effects of torque transmission and movement direction change are achieved, and meanwhile the output torque of the servo motor 12 can be amplified. The sliding table slide rail 17 is machined by steel for ensuring the strength, is mainly used for supporting the lead screw 16 with the lead of 2mm, provides restraint for the sliding block 19 and enables the sliding block 19 to move along the direction parallel to the lead screw 16 with the lead of 2 mm. The sliding block 19 is made of steel materials, is fixedly connected with the sliding table electric screwdriver connecting piece 20 through bolts and moves in the direction parallel to the 2mm lead screw 16.
The aviation plug 15 adopts a 12-core plug, so that wires are easy to manage, and a 485 communication line and a power line of the electric screwdriver 11 and the servo motor 12 are connected to the electric cabinet. The aviation plug seat 18 is of an I-shaped structure, is arranged between the two connecting plates 3 and is used for fixing the aviation plug 15.
Because there is no strength requirement and the weight of the whole end effector is reduced, the upper shield shell 2 and the lower shield shell 4 are made of resin materials, two of the upper shield shell 2 and two of the lower shield shell 4 are respectively arranged, and the two upper shield shells 2 are provided with butt holes for aerial plug wiring.
The electric batch 11 executes the reset operation under the coordination of the electric batch lifting platform mechanism, and simultaneously judges whether the electric batch 11 reaches the zero point or not according to the current of the servo motor 12 and the feedback value of the encoder. After the electric screwdriver 11 reaches zero point, the electric screwdriver 11 is driven by the program to move to a specified position to wait for replacing the screwdriver head through the electric screwdriver lifting platform mechanism. One of the three sets of screw thread assembly holders 7 is responsible for the installation and replacement of the batch head, and the appropriate batch head is picked from the batch head library by the screw thread assembly holders and installed on the electric batch 11. And one of the three groups of thread assembling clampers 7 is responsible for clamping bolts, and the group of thread assembling clampers clamps the bolts and places the bolts inside the head of the electric screwdriver 11. One of the three sets of screw thread assembling clamps 7 is responsible for auxiliary fixing of the workpiece, and the screw thread assembling clamps clamp the workpiece and align the threaded hole of the workpiece with the bolt on the screwdriver head of the electric screwdriver 11. And (3) keeping the workpiece fixed, starting the electric screwdriver 11 to rotate the bolt, and simultaneously driving the electric screwdriver 11 to move by the electric screwdriver lifting platform mechanism until the bolt is screwed tightly, so that the thread assembly task is finished.
An end effector facing grabbing and thread assembling is provided with three groups of thread assembling clamps 7, each group of thread assembling clamps 7 can be used as a two-finger clamping claw to clamp a workpiece with a small size, meanwhile, the three groups of thread assembling clamps 7 are mutually matched to be used as a three-finger manipulator, and the function of grabbing the workpiece facing the end effector facing grabbing and thread assembling to be used as the three-finger manipulator is shown in fig. 6.
The above-mentioned embodiments only express the embodiments of the present invention, but not should be understood as the limitation of the scope of the invention patent, it should be noted that, for those skilled in the art, many variations and modifications can be made without departing from the concept of the present invention, and these all fall into the protection scope of the present invention.
Claims (9)
1. The end effector for grabbing and screw assembling is characterized by comprising a supporting component, an electric screwdriver (11), an electric screwdriver lifting table mechanism, a screw assembling clamp holder (7) and a shell component;
the supporting component plays a role in connecting and supporting all parts of the end effector and comprises a flange connecting disc (1), a connecting plate (3) and a supporting plate (6); one side of the flange connecting disc (1) is fixedly connected with the connecting plate (3), and the other side of the flange connecting disc is matched with the tail end of the mechanical arm and is fixed through a bolt; the two connecting plates (3) play roles of connecting and supporting, and two ends of the connecting plates are fixedly connected with the connecting plate (1) and the supporting plate (6) through bolts respectively;
the thread assembly clamp holders (7) are divided into three groups and fixedly connected to the support plate (6) through bolts and cushion blocks (5), and the cushion blocks (5) are used for preventing the bolts at the bottom of the thread assembly clamp holders (7) from interfering with the support plate (6);
the electric screwdriver lifting platform mechanism is used for driving an electric screwdriver (11) to do reciprocating motion and comprises a synchronous belt (8), a 3M synchronous belt wheel (9), a flange shaft (10), a servo motor (12), a motor connecting piece (13), a sliding table fixing support (14), a 2mm lead screw rod (16), a sliding table sliding rail (17) and a sliding block (19);
the synchronous belt (8) is matched with the 3M synchronous belt wheel (9) to play a transmission role; the number of the 3M synchronous belt wheels (9) is two, the two 3M synchronous belt wheels are respectively arranged on the flange shaft (10) and the 2mm lead screw rod (16), and the 3M synchronous belt wheels (9) arranged on the flange shaft (10) transmit power to the 3M synchronous belt wheels (9) arranged on the 2mm lead screw rod (16) through a synchronous belt (8), so that the 2mm lead screw rod (16) is driven to rotate; the flange shaft (10) is fixed on the servo motor (12) through a bolt, is matched with the 3M synchronous belt pulley (9) and is used for outputting the torque of the servo motor (12); the servo motor (12) is fixed on the sliding table sliding rail (17) through a motor connecting piece (13) and is used for outputting torque to drive a lead screw (16) with a lead of 2mm to rotate; one end of the motor connecting piece (13) is fixed on the sliding table sliding rail (17), and the other end of the motor connecting piece is fixedly connected with the servo motor (12) to play a role in fixing the motor; the sliding table fixing support (14) plays a role in connection and fixation and is fixedly connected with the connecting plate (3) and the sliding table sliding rail (17) through bolts respectively; one end of the lead screw rod (16) with the lead of 2mm is matched with the 3M synchronous belt pulley (9) to play a role in torque transmission and movement direction change, and the slide block (19) can move up and down through rotation;
the aviation plug seat (18) is fixedly connected with the two connecting plates (3) through bolts, and the middle part of the aviation plug seat is fixedly connected with the aviation plug (15) through bolts and used for fixing the aviation plug (15); because the whole end effector facing the grabbing and the thread assembling is provided with 7 servo motors (12) and an electric screwdriver (11), the connecting wires are various and complicated, and the aviation plug (15) can play a role in facilitating wire connection.
2. A gripping-oriented and screw-threaded end effector as claimed in claim 1, characterized in that said supporting plate (6) is provided with a number of grooves for fixing the screw-threaded assembly gripper (7) and for adjusting the position of the screw-threaded assembly gripper (7) from the centre.
3. A gripping-oriented and screw-assembled end effector as claimed in claim 1 or 2, characterized in that the slide (19) is driven by a 2mm lead screw (16) and bolted to a slip electric screwdriver connection (20).
4. A grip-oriented and screw-assembled end effector as claimed in claim 1 or 2, wherein the housing assembly comprises a shield upper housing (2) and a shield lower housing (4) serving to restrain wires, protect the electric batch lift mechanism from environmental interference, and to provide aesthetic appearance.
5. A grip-oriented and screw-assembled end effector as claimed in claim 3, wherein the housing assembly comprises a shield upper housing (2) and a shield lower housing (4) serving to restrain wires, protect the electric batch lift mechanism from environmental interference, and provide an aesthetic appearance.
6. A gripper-oriented and screw-assembled end effector as claimed in claim 1, 2 or 5, characterized in that the batch head (11) has magnetically attractable bolts.
7. A gripper-oriented and screw-assembled end effector as claimed in claim 3, characterized in that the batch head (11) has magnetically attractable bolts.
8. A gripper-oriented and screw-assembled end effector as claimed in claim 4, characterized in that the batch head (11) has magnetically attractable bolts.
9. The use method of an end effector facing grabbing and screwing assembly according to any one of claims 1-5, comprising the following steps:
firstly, the electric screwdriver (11) executes reset operation under the coordination of the electric screwdriver lifting table mechanism, and simultaneously judges whether the electric screwdriver (11) reaches a zero point or not according to the current of the servo motor and the feedback value of the encoder;
secondly, after the electric screwdriver (11) reaches the zero point, driving the electric screwdriver lifting platform mechanism through a program to drive the electric screwdriver (11) to move to a specified position to wait for replacing a screwdriver head;
thirdly, one of the three groups of thread assembling clampers (7) is responsible for batch head installation and replacement, and the group of thread assembling clampers grab proper batch heads from a batch head library and install the batch heads on the electric batch (11);
fourthly, one of the three groups of thread assembling clampers (7) is responsible for clamping bolts, and the group of thread assembling clampers clamps the bolts and places the bolts on the head of the electric screwdriver (11);
fifthly, one of the three groups of thread assembling clampers (7) is in charge of auxiliary fixation of the workpiece, the group of thread assembling clampers clamps the workpiece, and simultaneously, the threaded hole of the workpiece is aligned with the bolt on the screwdriver head of the electric screwdriver (11);
and sixthly, keeping the workpiece fixed, starting the electric screwdriver (11) to rotate the bolt, and simultaneously driving the electric screwdriver (11) to move by the electric screwdriver lifting platform mechanism until the bolt is screwed tightly, so that the thread assembling task is finished.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110416793.5A CN113146178B (en) | 2021-04-19 | 2021-04-19 | End effector for grabbing and thread assembling and using method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110416793.5A CN113146178B (en) | 2021-04-19 | 2021-04-19 | End effector for grabbing and thread assembling and using method thereof |
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| CN113146178A true CN113146178A (en) | 2021-07-23 |
| CN113146178B CN113146178B (en) | 2022-07-12 |
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| CN113146178B (en) | 2022-07-12 |
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Granted publication date: 20220712 |