CN204976904U - Supply automation of robot operation to follow closely rifle - Google Patents
Supply automation of robot operation to follow closely rifle Download PDFInfo
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- CN204976904U CN204976904U CN201520538931.7U CN201520538931U CN204976904U CN 204976904 U CN204976904 U CN 204976904U CN 201520538931 U CN201520538931 U CN 201520538931U CN 204976904 U CN204976904 U CN 204976904U
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- nail gun
- nail
- nailing
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- Dovetailed Work, And Nailing Machines And Stapling Machines For Wood (AREA)
Abstract
The utility model discloses a supply automation of robot operation to follow closely rifle, including following closely rifle, solenoid valve, robot connecting flange, framework and installing nail rifle elevating gear, nail rifle interval adjusting device, nailing trigger device and the nail counting assembly on this framework. The utility model provides high nailing positioning accuracy is high, has production efficiency height, characteristics that degree of automation is high.
Description
Technical field
The utility model relates to a kind of nailer for robot manipulation, and the making of this nailer insulated case in LNG ship, belongs to automatic processing device technical field.
Background technology
LNG liquified natural gas carrier (LNGC), by insulated case heat-insulation and heat-preservation.Article one, LNG liquified natural gas carrier (LNGC) needs several ten thousand insulated case, and every insulated case needs nailing hundreds of only, and each nail has accurate positioning requirements, nail span dimensional tolerance ± 1mm, and nailer nailing by hand, difficulty meets quality requirement and rhythm of production.
The nail gun that market is sold is mostly manual nail gun, and one man operation one rifle, manually pulls the trigger, the low and accurate location difficulty of efficiency.
Utility model content
The purpose of this utility model is to overcome above-mentioned the deficiencies in the prior art, and be to provide a kind of nailer for robot manipulation, this nailer is applicable to insulated case manufacture, has positioning precision high, and nailing efficiency is high, automaticity advantages of higher.
For realizing above target, the technical solution of the utility model is:
For a robot manipulation's nailer, its feature is, comprises nail gun, magnetic valve, robot connecting flange, framework and is arranged on nail gun lowering or hoisting gear, nail gun spacing adjusting device, nailing flip flop equipment and the nail counting device on this framework;
One end of described robot connecting flange is used for being connected with robot arm, and the other end is connected with framework;
Described nail gun lowering or hoisting gear, comprises nail gun hanger bracket and the lifting line slide rail that is arranged on described mounting and lift cylinder; Described nail gun is arranged on nail gun hanger bracket, this nail gun hanger bracket is arranged on lifting straight line slide, this lifting straight line slide moves up and down on described lifting line slide rail, the piston head of described lift cylinder is connected with described nail gun hanger bracket, and described nail gun is driven by described lift cylinder;
Described nail gun spacing adjusting device, comprise digital AC servo-motor, be arranged on the horizontal line slide rail on described framework, two, the left and right straight line slide that can slide on this horizontal line slide rail, and place from left to right in the horizontal direction three mountings, be positioned on middle mounting and be fixed with shaft coupling, left mounting and right mounting are separately fixed on described left straight line slide and right straight line slide, the two ends, left and right of described shaft coupling connect left-handed ball screw and dextrorotation ball screw respectively, a described left side, right two mountings are separately installed with a left side, right ball nut, described left-handed ball screw is through this left ball nut, described dextrorotation ball screw is through this right ball nut, the axle of described digital AC servo-motor is connected with main synchronous pulley, deceleration synchronization band connect described main synchronous pulley and from synchronous pulley, should be connected from synchronous pulley with described left-handed ball screw,
Described nailing flip flop equipment is arranged on the head of described nail gun, comprise the slide bar, little spring and the trigger that are fixed on described nail gun head from the bottom to top successively, during nailing, the head of described slide bar first contacts plank, make slide bar increase, encounter trigger and make nail gun implement nailing;
Described nail counting device, comprise nail gun add nail guide rail, the left count synchronization belt wheel be connected by count synchronization band and right count synchronization belt wheel, encoder, have slide block Rodless cylinder and be arranged on described nail gun add nail guide rail on ejector pin hook; Described Rodless cylinder is arranged on the right side that nail gun adds nail guide rail, and adds nail guide rail parallel with this nail gun, and described slide block and ejector pin are hooked together and connect, and described right count synchronization belt wheel is connected with encoder, and described ejector pin hook is connected with count synchronization band;
Described magnetic valve is connected with Rodless cylinder with described lift cylinder respectively.
Aluminium alloy batten is arranged on the top that nail gun adds nail guide rail, and batten has two little axles install synchronous pulley, two synchronous pulleys fill a Timing Belt, encoder and below a synchronous pulley are coaxially installed.Timing Belt and ejector pin are hooked together and connect, and ejector pin hook takes a step forward, and Timing Belt also takes a step forward.
Timing Belt drives synchronous pulley to rotate an angle, and encoder is also by the angle that rotation one is identical, and the data of encoder reflect nail gun and add the upper nail quantity of following closely guide rail.
Compared with prior art, the beneficial effects of the utility model are:
1) two nail gun centre-to-centre spacing adjustable ranges are 68mm ~ 120mm, this data letter lid all nail span sizes of insulated case, and example: insulated case nail span minimum dimension is 37mm only need be adjusted to 74mm (integral multiple) two nail gun centre-to-centre spacing.
2) nail gun realizes the adjustment of centre-to-centre spacing automatically, and regulate after having played one group of nail, completing ， No in the process of blunderbuss has pause.
3) movement of nail gun, nail gun centre-to-centre spacing regulate, add the operations such as nail by that several nail gun nailing, nail gun by the manipulation of robot controlling case, realize full-automatic operation.
4) in the utility model, the location of nail gun, displacement nailing are driven by robot arm, and drive flexibly, location is correct.
5) three nail guns nailing simultaneously, or two nail guns nailing simultaneously, or a nail gun nailing, convenient, flexible, namely wink changes.Production efficiency is high.
Accompanying drawing explanation
Fig. 1 is a kind of front view of the automatic nailing for robot manipulation
Fig. 2 is a kind of left view of the automatic nailing for robot manipulation
Fig. 3 is a kind of right view of the automatic nailing for robot manipulation
Fig. 4 is that nailer removes case front view.
Detailed description of the invention
Below in conjunction with drawings and Examples, the utility model is described in further detail.
As shown in Figure 1, Figure 2, Figure 3 shows, Fig. 1 is a kind of front view of the automatic nailing for robot manipulation, and Fig. 2 is a kind of left view of the automatic nailing for robot manipulation, and Fig. 3 is a kind of right view of the automatic nailing for robot manipulation.As shown in the figure, a kind of automatic nailing for robot manipulation comprises nail gun spacing adjusting device, nail gun lowering or hoisting gear, nailing flip flop equipment, nail counting device, robot connecting flange and framework.Robot connecting flange 6 connects with robot arm, and robot arm drives nailer operation, and framework 7 connects with flange 6, framework is installed on nail gun spacing adjusting device, nail gun lowering or hoisting gear, three nail gun lowering or hoisting gears and installs three nailers respectively.When robotic gripper three carries out automatic nailing nail gun 1.Three nail guns can regulate nailing spacing automatically, three can simultaneously nailing nail gun during nailing, and also optional any two nailing, and also optional any one nailing.
As shown in Figure 1, Figure 2, Figure 3 shows, described nail gun spacing adjusting device, is made up of horizontal line slide rail 5, straight line slide 25, left-handed ball screw 14, left-handed ball nut, dextrorotation ball nut 27, shaft coupling 26, digital AC servo-motor 10, Timing Belt 9, synchronous pulley 8 etc.Horizontal line slide rail 5 is arranged on framework 7, mounting 24 is connected with straight line slide 25, left and right two mountings install left and right ball nut, two left and right rotary roll ballscrews are connected by shaft coupling 26, digital AC servo-motor 10 axle installs main synchronous pulley 8, be arranged on left-handed ball screw 14 end from synchronous pulley, two synchronizing wheels 8 are connected by deceleration synchronization band 9.When digital AC servo-motor 10 rotates, the related dynamic ball screw of deceleration synchronization band 9 rotates, and drives left and rightly to revolve ball nut, and that separates in the middle of (or drawing close) to both sides is motionless simultaneously, reaches the object regulating nailing spacing.
As shown in Figure 1, Figure 2, Figure 3 shows, described nail gun lowering or hoisting gear, comprises nail gun hanger bracket 2, lifting line slide rail 33, slide 3, lift cylinder 4.Nail gun 1 is arranged on hanger bracket 2, hanger bracket 2 is arranged on lifting straight line slide 3, lifting line slide rail 33 is arranged on mounting 24, and lift cylinder 4 is also arranged on mounting 24, and the piston head of lift cylinder 4 is connected with hanger bracket 2, three nail guns 1 are driven respectively by three lift cylinders 4, need three nail guns simultaneously nailing time, three lift cylinders eject simultaneously, and three nail guns drop to case surface and nailing simultaneously, as only needed a nail gun nailing, then all the other two lift cylinders are failure to actuate.
As shown in Figure 1, Figure 2, Figure 3 shows, described nailing flip flop equipment, comprises slide bar 11, little spring 12, trigger 13.Nailing flip flop equipment installs the left side of nailing mouth, and when nail gun declines, when nailing mouth is close to plank, slide bar head first contacts plank, and when nailing mouth contacts plank, the own segment distance that rises of slide bar, the trigger be arranged in iron block encountered by slide bar makes nail gun implement nailing.Nail gun rises, and little spring makes slide bar reset, and no longer triggers nailing.
As shown in Figure 4, described nail counting device, comprises Rodless cylinder 21, count synchronization belt wheel 18, count synchronization band 19, encoder 20.Rodless cylinder 21 is installed as nail gun adds the right side of nail guide rail 17, and with add nail guide rail parallel, the slide block 23 of Rodless cylinder with add the ejector pin hook 22 followed closely on guide rail and connect, before adding nail, the slide block 23 of Rodless cylinder 21 drives ejector pin hook 22 back to adding the tail end following closely guide rail 17.After adding nail, stockless cylinder slipper 23 moves forward, and drives ejector pin hook 22 that nail is pushed forward to position.Ejector pin hook also connects with Timing Belt 19, and Timing Belt 19 is arranged on two synchronous pulleys 18, is positioned at the top that nail gun adds nail guide rail, and encoder 20 and below a synchronous pulley are coaxially installed.During nailing, often play a nail, ejector pin hook 22 advances a distance of following closely, and Timing Belt also advances a distance of following closely.Timing Belt drives synchronous pulley to rotate an angle, and encoder is also by the angle that rotation one is identical, and the data of encoder 20 reflect nail gun and add the nail quantity of following closely on guide rail 17.
Before work, first by robot connecting flange 6, the utility model nailer is connected with robot arm, robot controlling cable access magnetic valve 15 and digital AC servo-motor 10, tracheae access magnetic valve 15, lift cylinder 4 and Rodless cylinder 21, and added nail gun 1.
During work, robot arm takes the utility model nailer above first position of having an injection to, and drives digital AC servo-motor 10, levelling three nail gun centre-to-centre spacing, robot arm is nailer vertical depression, slide bar 11 trigger flip-flops 13, nail gun 1 completes a nailing, and robot arm mentions nailer, move to above second position of having an injection, align three nail gun centre-to-centre spacing (if needs), press down, complete second time nailing
When encoder 20 data display nail number is less than below 50, robot controller can go in nailing gap, and " adding nail station " adds nail automatically.
It should be noted last that, above embodiment is only in order to illustrate the technical solution of the utility model and unrestricted, although be described in detail the utility model with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can modify to the technical scheme of utility model or equivalent replacement, and not departing from the spirit and scope of technical solutions of the utility model, it all should be encompassed in the middle of right of the present utility model.
Claims (1)
1. the nailer for robot manipulation, it is characterized in that, the nail gun lowering or hoisting gear, nail gun spacing adjusting device, nailing flip flop equipment and the nail counting device that comprise nail gun (1), magnetic valve (15), robot connecting flange (6), framework (7) and be arranged on this framework (7);
One end of described robot connecting flange is used for being connected with robot arm, and the other end is connected with framework;
Described nail gun lowering or hoisting gear, comprises nail gun hanger bracket (2) and the lifting line slide rail (33) that is arranged on described mounting (24) and lift cylinder (4); Described nail gun (1) is arranged on nail gun hanger bracket (2), this nail gun hanger bracket (2) is arranged in lifting straight line slide (3), this lifting straight line slide (3) moves up and down on described lifting line slide rail (33), the piston head of described lift cylinder (4) is connected with described nail gun hanger bracket (2), and described nail gun (1) is driven by described lift cylinder (4);
Described nail gun spacing adjusting device, comprise digital AC servo-motor (10), be arranged on the horizontal line slide rail (5) on described framework (7), can upper two, the left and right straight line slide (25) slided of this horizontal line slide rail (5), and place from left to right in the horizontal direction three mountings (24), be positioned on middle mounting and be fixed with shaft coupling (26), left mounting and right mounting are separately fixed on described left straight line slide and right straight line slide, the two ends, left and right of described shaft coupling (26) connect left-handed ball screw (14) and dextrorotation ball screw (16) respectively, a described left side, right two mountings are separately installed with a left side, right ball nut (27), described left-handed ball screw (14) is through this left ball nut, described dextrorotation ball screw (16) is through this right ball nut, the axle of described digital AC servo-motor (10) is connected with main synchronous pulley (8), deceleration synchronization band (9) connect described in main synchronous pulley (8) and from synchronous pulley, should be connected from synchronous pulley with described left-handed ball screw (14),
Described nailing flip flop equipment is arranged on the head of described nail gun (1), comprise the slide bar (11), little spring (12) and the trigger (13) that are fixed on described nail gun (1) head from the bottom to top successively, during nailing, the head of described slide bar (11) first contacts plank, make slide bar increase, encounter trigger and make nail gun implement nailing;
Described nail counting device, comprise nail gun add nail guide rail (17), the left count synchronization belt wheel be connected by count synchronization band (19) and right count synchronization belt wheel (18), encoder (20), have slide block (23) Rodless cylinder (21) and be arranged on described nail gun and add the ejector pin hook (22) followed closely on guide rail (17); Described Rodless cylinder (21) is arranged on the right side that nail gun adds nail guide rail (17), and add nail guide rail parallel with this nail gun, described slide block (23) connects with ejector pin hook (22), described right count synchronization belt wheel (18) is connected with encoder (20), and described ejector pin hook (22) is connected with count synchronization band (19);
Described magnetic valve (15) is connected with Rodless cylinder (21) with described lift cylinder (4) respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520538931.7U CN204976904U (en) | 2015-07-22 | 2015-07-22 | Supply automation of robot operation to follow closely rifle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520538931.7U CN204976904U (en) | 2015-07-22 | 2015-07-22 | Supply automation of robot operation to follow closely rifle |
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| Publication Number | Publication Date |
|---|---|
| CN204976904U true CN204976904U (en) | 2016-01-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201520538931.7U Active CN204976904U (en) | 2015-07-22 | 2015-07-22 | Supply automation of robot operation to follow closely rifle |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105058526A (en) * | 2015-07-22 | 2015-11-18 | 沪东中华造船(集团)有限公司 | Automatic nail gun operated by robot |
| CN106564106A (en) * | 2016-10-17 | 2017-04-19 | 苏州科维新型包装有限公司 | Multiple-gun nailing device |
| CN106564107A (en) * | 2016-10-17 | 2017-04-19 | 苏州科维新型包装有限公司 | Wood pallet production device |
| CN108098693A (en) * | 2016-11-25 | 2018-06-01 | 上汽通用五菱汽车股份有限公司 | Pneumatic gun for coiling nail semi-automatic operation mechanism |
| CN113580286A (en) * | 2021-07-30 | 2021-11-02 | 沪东中华造船(集团)有限公司 | Nail gun guide rail positioning device for installing setting nails of automatic nail gun |
| CN113580289A (en) * | 2021-07-30 | 2021-11-02 | 沪东中华造船(集团)有限公司 | Nail stacking and pushing device for automatic nail gun |
-
2015
- 2015-07-22 CN CN201520538931.7U patent/CN204976904U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105058526A (en) * | 2015-07-22 | 2015-11-18 | 沪东中华造船(集团)有限公司 | Automatic nail gun operated by robot |
| CN106564106A (en) * | 2016-10-17 | 2017-04-19 | 苏州科维新型包装有限公司 | Multiple-gun nailing device |
| CN106564107A (en) * | 2016-10-17 | 2017-04-19 | 苏州科维新型包装有限公司 | Wood pallet production device |
| CN108098693A (en) * | 2016-11-25 | 2018-06-01 | 上汽通用五菱汽车股份有限公司 | Pneumatic gun for coiling nail semi-automatic operation mechanism |
| CN108098693B (en) * | 2016-11-25 | 2024-03-15 | 上汽通用五菱汽车股份有限公司 | Semi-automatic operating mechanism of pneumatic coil nail gun |
| CN113580286A (en) * | 2021-07-30 | 2021-11-02 | 沪东中华造船(集团)有限公司 | Nail gun guide rail positioning device for installing setting nails of automatic nail gun |
| CN113580289A (en) * | 2021-07-30 | 2021-11-02 | 沪东中华造船(集团)有限公司 | Nail stacking and pushing device for automatic nail gun |
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| GR01 | Patent grant |