CN206536196U - A multi-axis manipulator locking screw machine - Google Patents

Abstract

The utility model discloses a multiaxis manipulator lock screw machine relates to lock screw machine technical field, during the use, pays the first subassembly to remove to the top of waiting to lock the product of paying the screw through multiaxis manipulator mechanism, then Z axle motor drive Z axle screw rod rotates to make the lock pay the first subassembly down to apart from the product suitable distance, the lock is paid the cylinder and is driven the lock and pay the pole down and the driving piece can drive the lock and pay the pole rotation, thereby advance the screw lock in the product. Compared with the prior art, because the utility model discloses a mechanism is paid to Z axle mechanism and lock organically combines with the arm, and the preceding tip of arm is worn to locate by the pole is paid to the lock, and the structure is compacter, and the volume ratio is less, and weight ratio is lighter, greatly reduced manufacturing cost, improved economic benefits.

Description

A multi-axis manipulator locking screw machine

technical field

The utility model relates to the technical field of screw locking, in particular to a multi-axis manipulator screw locking machine.

Background technique

In the assembly process of machinery, electrical appliances and other products, it is often necessary to perform various locking screw operations. The traditional way is to use a manual screwdriver to lock the screw. However, this inefficient manual operation can no longer meet the needs of modern mass production and mechanical automation. Therefore, people have developed a screw machine, which can automatically Conveying screws and locking screws greatly improve production efficiency and meet the needs of modern mass production and assembly. In order to expand the working range of the screw locking machine, many screw locking machines are now combined with multi-axis manipulators to meet the needs of different workbenches for feeding, unloading, and screw locking. However, the combination of the existing screw locking machine and the manipulator is relatively inflexible. Generally, a lock module is added on the periphery of the arm end of the manipulator, and the lock module is suspended outside the front end of the manipulator. In order to realize the function of driving the locking module to lock the screw machine, the structure of the manipulator and the screw machine is very complicated and inconvenient to operate. Due to the relatively large weight of the existing locking module, a heavy-duty manipulator is often required to carry and drive the locking module to move or lock the screw. However, the volume of the heavy-duty manipulator is relatively large, and it takes up a large space during use, and the cost of the heavy-duty manipulator is relatively high, which greatly reduces the economic benefit.

Utility model content

In view of the above-mentioned technical problems in the prior art, the utility model provides a multi-axis manipulator locking screw machine with compact and simple structure, convenient operation and improved economic benefits.

In order to achieve the above object, the utility model provides the following technical solutions:

A multi-axis manipulator locking screw machine is provided, comprising a multi-axis manipulator mechanism, a Z-axis mechanism and a locking mechanism, the multi-axis manipulator mechanism comprising a first manipulator arm and a second manipulator arm, the second manipulator arm comprising an arm seat, and The arm base is connected with the first mechanical arm;

The Z-axis mechanism includes a Z-axis screw rod fixed on the arm base, a nut that fits outside the Z-axis screw rod, and a Z-axis motor that drives the Z-axis screw rod to rotate. The Z-axis motor is fixedly connected to the arm base. The nut is connected with a drive plate;

The lock mechanism includes a lock drive shaft, a lock head assembly, a lock lever (the lock lever and the lock drive shaft can be integrated, that is, the lock lever), and is used to drive the lock drive shaft to move up and down. The locking cylinder and the locking motor (or electric screwdriver) used to drive the locking drive shaft to rotate, the locking screw rod is mounted on the locking head assembly, the locking motor is fixed on the arm base, and the locking drive shaft is mounted on the The front end of the arm base, the locking head assembly is arranged under the arm base, the body of the locking cylinder is connected with the drive plate, and the piston rod of the locking cylinder is connected with the upper end of the locking transmission shaft To drive the lock pay drive shaft to move downward, thereby driving the lock pay batch lever to move up and down.

Wherein, the multi-axis manipulator lock screw machine further includes a mounting base and a connecting rod, the locking head assembly is connected to the mounting base, and the mounting base is fixedly connected to the drive plate through the connecting rod.

Wherein, the arm seat is provided with a through hole for the connecting rod to pass through and a sliding guide structure.

Wherein, the locking head assembly is detachably connected to the mounting base.

Wherein, the lock head assembly is a blowing type lock head assembly or a suction type lock head assembly, and the side of the multi-axis manipulator mechanism is provided with a feeding mechanism for providing screws to the lock head assembly.

Wherein, the locking motor is provided with a transmission wheel, and the transmission wheel is sleeved on the locking transmission shaft, and the cooperation between the transmission wheel and the locking transmission shaft is the cooperation of the spline shaft and the spline hole, or is polygonal. Slip fit of the shaft with the polygonal hole.

Wherein, the upper end of the locking drive shaft is connected to the locking cylinder through a rotating assembly or a follower mechanism, the rotating assembly includes a cylinder joint, a compression sleeve and a spring, and the cylinder joint is provided with a The recessed part of the socket and the insertion part for the top of the lock transmission shaft to be plugged in, a top rolling ball is arranged between the insertion part and the top of the lock transmission shaft, and the side wall of the insertion part is provided with a snap-fit The locking hole is provided with a side rolling ball, and the lock transmission shaft is provided with a groove, and the side rolling ball is inserted into the groove to support the lock transmission shaft in the longitudinal direction, and the pressure sleeve is sleeved on the outside of the insertion part , the spring is arranged between the pressure sleeve and the cylinder joint; the follow-up mechanism includes a connecting joint, a bearing and a buffer spring, the connecting joint is fixedly connected with the locking cylinder, and the bearing is sleeved on the locking drive shaft In the upper end, the bearing is accommodated in the connecting joint, and the bearing and the connecting joint are flexibly connected in the longitudinal direction, and the two ends of the buffer spring are against the top of the bearing and the connecting joint respectively.

Wherein, a detachment groove is provided on the inner side of the press sleeve, and the press sleeve can move under the action of an external force so that the detachment groove is aligned with the snap-fitting hole so that the side rolling ball can escape from the groove.

Wherein, the multi-axis manipulator lock screw machine also includes a pressing cylinder, the cylinder barrel of which is connected to the mounting seat, and the piston rod of the pressing cylinder can be stretched downwards to press peripheral products.

Wherein, the multi-axis manipulator screw locking machine further includes a detection mechanism for detecting the screw locking depth, and the detection mechanism is connected with the driving plate.

The beneficial effects of the utility model:

A multi-axis manipulator screw locking machine of the utility model, when in use, moves the locking head assembly to the top of the product to be locked by the multi-axis manipulator mechanism, and then the Z-axis motor drives the Z-axis screw to rotate, so that The lock head assembly goes down to an appropriate distance from the product, the lock cylinder drives the lock lever down and the drive part can drive the lock lever to rotate, thereby locking the screw into the product. Compared with the prior art, since the Z-axis mechanism and the locking mechanism of the utility model are organically combined with the mechanical arm, and the locking lever is installed at the front end of the mechanical arm, the structure is relatively compact, the volume is relatively small, and the weight is relatively light. The manufacturing cost is greatly reduced, and the economic benefit is improved.

Description of drawings

Fig. 1 is a schematic structural diagram of a multi-axis manipulator locking screw machine in an embodiment of the present invention.

Fig. 2 is a partial structural perspective view of a multi-axis manipulator locking screw machine in an embodiment of the present invention.

FIG. 3 is a cross-sectional view of FIG. 2 .

Fig. 4 is a structural schematic diagram of a rotating assembly of a multi-axis manipulator locking screw machine in an embodiment of the present invention.

Fig. 5 is a structural schematic diagram of a follower mechanism of a multi-axis manipulator locking screw machine in an embodiment of the present invention.

FIG. 6 is another structural schematic diagram of a multi-axis manipulator locking screw machine in an embodiment of the present invention.

Reference signs:

Multi-axis manipulator mechanism 1, bearing seat 11, first manipulator arm 12, second manipulator arm 13, arm seat 131;

Z-axis mechanism 2, Z-axis screw rod 21, nut 22, Z-axis motor 23, mounting seat 24, connecting rod 25;

Drive board 3;

Lock mechanism 4, lock drive shaft 41, groove 411, lock head assembly 42, blowing lock head assembly 421, suction lock head assembly 422, lock cylinder 43, lock motor 44, lock batch Rod 45, transmission wheel 46;

Rotary assembly 5, cylinder joint 51, recessed part 511, socket part 512, clamping hole 5121, pressure sleeve 52, dismounting groove 521, spring 53, top rolling ball 54, side rolling ball 55;

Follow-up mechanism 50, connecting joint 501, bearing 502, buffer spring 503;

Pressure material cylinder 6;

Testing agency 7;

Feeding mechanism 8.

detailed description

The utility model is described in detail below in conjunction with specific embodiments and accompanying drawings.

A multi-axis manipulator locking screw machine of this embodiment, as shown in Figures 1 to 3, includes a multi-axis manipulator mechanism 1, a Z-axis mechanism 2 and a locking mechanism 4, and the multi-axis manipulator mechanism 1 includes bearing seats connected in sequence 11. The first mechanical arm 12 and the second mechanical arm 13, the second mechanical arm 13 includes an arm base 131, the rear end of the arm base 131 is connected to the first mechanical arm 12; the multi-axis manipulator mechanism 1 can be as shown in the figure The horizontal multi-joint shown in 1 can also be a Cartesian or polar coordinate manipulator mechanism (not shown in the figure), or other multi-axis manipulator mechanisms, all within the scope of protection of the present utility model.

In this embodiment, the Z-axis mechanism 2 includes a Z-axis screw rod 21 whose lower end is fixed to the arm base 131 , a nut 22 that fits on the outside of the Z-axis screw rod 21 , and a Z-axis motor 23 that drives the Z-axis screw rod 21 to rotate. , the Z-axis motor 23 is fixedly connected to the arm base 131 , and the nut 22 is connected to the drive plate 3 .

In this embodiment, the locking mechanism 4 includes a locking transmission shaft 41, a locking head assembly 42, and a locking lever 45 (the locking lever 45 and the locking transmission shaft 41 can be integrated, and the whole body becomes a locking lever) , the locking cylinder 43 for driving the locking transmission shaft 41 to move up and down and the locking motor 44 (or screwdriver, screwdriver including electric batch, wind batch, etc.) for driving the locking transmission shaft 41 to rotate, the locking batch lever 45 The lock head assembly 42 is installed, the lock motor 44 is fixed on the arm base 131, the lock drive shaft 41 is mounted on the front end of the arm base 131, the lock head assembly 42 is arranged under the arm base 131, and the lock cylinder The body of 43 is connected with drive plate 3, and the piston rod of locking cylinder 43 is connected with the upper end of locking transmission shaft 41 to drive locking transmission shaft 41 to move downwards, thereby driving locking and payment approval lever 45 to move up and down. When in use, the locking head assembly 42 is moved to the top of the product to be screwed by the multi-axis manipulator mechanism 1, and then the Z-axis motor 23 drives the Z-axis screw 21 to rotate, so that the locking head assembly 42 moves down to the position away from the product. Appropriate distance, the locking cylinder 43 drives the locking transmission shaft 41 to go down and the locking motor 44 drives the locking lever to rotate, thereby locking the screw into the product. Compared with the prior art, since the Z-axis mechanism 2 and the locking mechanism 4 of the present invention are organically combined with the mechanical arm, the locking transmission shaft 41 is installed at the front end of the mechanical arm, so the structure is relatively compact and the volume is relatively small. The weight is relatively light, which greatly reduces the manufacturing cost and improves the economic benefit.

In this embodiment, the multi-axis manipulator lock screw machine also includes a mounting base 24 and a connecting rod 25, the locking head assembly 42 is connected to the mounting base 24, the mounting base 24 is fixedly connected to the drive plate 3 through the connecting rod 25, and the arm base 131 is provided with a through hole and a sliding guide structure for the connecting rod 25 to pass through. The lock head assembly 42 is detachably connected to the mounting seat 24, and the lock head assembly 42 is a blowing type lock head assembly 421 (as shown in Figure 1) or a suction type lock head assembly 422 (as shown in Figure 6). Type and suction type refer to the way that the screw enters the lock head assembly 42, which will not be repeated here. The side of the multi-axis manipulator mechanism 1 is provided with a feeding mechanism 8 for providing screws to the lock head assembly 42. The blowing type lock The pay head assembly 421 blows the screw into the lock pay head assembly 42 through the pipeline, while the suction lock pay head assembly 422 needs to move the lock pay head assembly 42 to suck the screw back and forth through the mechanical arm.

In this embodiment, the locking motor 44 is provided with a transmission wheel 46, and the transmission wheel 46 is sleeved on the locking transmission shaft 41, and the cooperation between the transmission wheel 46 and the locking transmission shaft 41 is a combination of a spline shaft and a spline hole. Cooperate, or be the sliding fit of polygonal shaft and polygonal hole, purpose is to lock paying motor 44 and can drive lock paying transmission shaft 41 to rotate, and lock paying transmission shaft 41 can vertically slide again.

As shown in Figure 4, the upper end of the locking transmission shaft 41 is connected with the locking cylinder 43 through the rotating assembly 5. The rotating assembly 5 includes a cylinder joint 51, a pressure sleeve 52 and a spring 53. The concave portion 511 connected to the cylinder 43 and the plug-in portion 512 for plugging the top of the lock transmission shaft 41, a top rolling ball 54 is arranged between the plug-in portion 512 and the top of the lock transmission shaft 41, the side wall of the plug-in portion 512 A snapping hole 5121 is provided, and a side rolling ball 55 is arranged at the snapping hole 5121. The lock transmission shaft 41 is provided with a groove 411, and the side rolling ball 55 sinks into the groove 411 to hold the lock transmission shaft 41 longitudinally. The pressure sleeve 52 is set on the outside of the socket part 512, and the spring 53 is arranged between the pressure sleeve 52 and the cylinder joint 51; wherein, the inner side of the pressure sleeve 52 is provided with a dismounting groove 521, and the pressure sleeve 52 can move under the action of an external force so that The dismounting groove 521 is aligned with the locking hole 5121 so that the side rolling ball 55 can disengage from the groove 411 .

Or, as shown in Figure 5, the upper end of the locking transmission shaft 41 is connected with the locking cylinder 43 through the follow-up mechanism 50. The follow-up mechanism includes a connecting joint 501, a bearing 502 and a buffer spring 503, and the connecting joint 501 is connected to the locking cylinder 43. The cylinder 43 is fixedly connected, the bearing 502 is sleeved on the upper end of the locking transmission shaft 41, the bearing 502 is accommodated in the connecting joint 501, the bearing 502 and the connecting joint 501 are flexibly connected in the longitudinal direction, and the two ends of the buffer spring 503 are against the bearing 502 respectively The top and connecting joint 501. Realize the connection of locking transmission shaft 41 and locking cylinder 43 by the above two methods, locking cylinder 43 can be quickly connected with locking transmission shaft 41, and the rotation of locking rotating shaft will not drive locking cylinder 43 to rotate, Lock pays cylinder 43 and can drive lock pay transmission shaft 41 to move up and down again.

In this embodiment, the multi-axis manipulator lock screw machine also includes a pressing cylinder 6, the cylinder barrel of which is connected to the mounting seat 24, and the piston rod of the pressing cylinder 6 can be stretched downward to compress peripheral products, After the screw is locked, the product may be driven when the locking screw 45 is lifted, which affects the subsequent locking screw, so the pressing cylinder 6 is used to press the product to avoid displacement of the product.

In this embodiment, the multi-axis manipulator screw locking machine also includes a detection mechanism 7 for detecting the screw locking depth, the detection mechanism 7 is connected to the drive plate 3, and the detection mechanism 7 is a floating lock sensor. When locking, the locking cylinder 43 is pressed down, and the pull rod of the floating lock sensor is pressed down. When the floating lock is locked, the sensor displays the actual locking depth of the screw according to the actual pressing position, and judges after comparing with the correct setting value. Whether the screw locking depth is in place, and the screwdriver or locking motor 44 has a torque signal output when locking the screw to detect whether the locking torque meets the requirements, which can guarantee the locking quality of each screw.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present utility model, rather than limiting the protection scope of the present utility model. Although the utility model has been described in detail with reference to the preferred embodiments, those skilled in the art Personnel should understand that the technical solution of the utility model can be modified or equivalently replaced without departing from the essence and scope of the technical solution of the utility model.

Claims (10)

1. A multi-axis manipulator locking screw machine, characterized in that it includes a multi-axis manipulator mechanism (1), a Z-axis mechanism (2) and a locking mechanism (4), and the multi-axis manipulator mechanism (1) includes a first A mechanical arm (12) and a second mechanical arm (13), the second mechanical arm (13) includes an arm base (131), and the arm base (131) is connected to the first mechanical arm (12); The Z-axis mechanism (2) includes a Z-axis screw rod (21) fixed on the arm base, a nut (22) fit and sleeved outside the Z-axis screw rod, and a Z-axis screw rod (21) that drives the rotation of the Z-axis The shaft motor (23), the Z-axis motor (23) is fixedly connected with the arm base (131), and the nut (22) is connected with a drive plate (3); The locking mechanism (4) includes a locking lever, a locking head assembly (42), a locking cylinder (43) for driving the locking lever to move up and down, and a driving member (44) for driving the locking lever to rotate , the driver (44) is fixed on the arm base (131), the lock head assembly (42) is arranged under the arm base (131), and the lock lever is passed through the front end of the arm base (131) and inserted into the lock The pay head assembly (42), the body of the lock pay cylinder (43) is connected with the drive plate (3), the lock pay cylinder (43) is connected with the upper end of the lock pay lever to drive the lock pay lever Move up and down to lock the screw. 2. A multi-axis manipulator locking screw machine according to claim 1, characterized in that: the driving part (44) is a locking motor or a screwdriver. 3. A multi-axis manipulator lock screw machine according to claim 1, characterized in that: the lock lever includes a lock drive shaft (41) and a lock lever (45), and the lock lever (45) wears Set in the lock head assembly (42), the lock drive shaft (41) passes through the front end of the arm seat (131), the piston rod of the lock cylinder (43) and the lock drive shaft (41) The upper end is connected to drive the lock pay drive shaft (41) to move up and down, thereby driving the lock pay batch lever (45) to move up and down. 4. A multi-axis manipulator lock screw machine according to claim 1, characterized in that: the multi-axis manipulator lock screw machine also includes a mounting seat (24) and a connecting rod (25), and the lock head assembly ( 42) is connected with the installation seat (24), and the installation seat (24) is fixedly connected with the driving plate (3) through the connecting rod (25). 5. The multi-axis manipulator lock screw machine according to claim 4, characterized in that: the arm base (131) is provided with a through hole and a sliding guide structure for the connecting rod (25) to pass through. 6. A multi-axis manipulator locking screw machine according to claim 4, characterized in that: the locking head assembly (42) is detachably connected to the mounting base (24), and the locking head assembly ( 42) is a blowing-type locking head assembly or a suction-type locking head assembly, and the side of the multi-axis manipulator mechanism (1) is provided with a feeding mechanism (8) for supplying screws to the locking head assembly (42). 7. A multi-axis manipulator locking screw machine according to claim 1, characterized in that: the driving member (44) is provided with a transmission wheel (46), and the transmission wheel (46) is sheathed on the locking lever , and the cooperation between the drive wheel (46) and the locking lever is the cooperation of the spline shaft and the spline hole, or the sliding fit of the polygon shaft and the polygon hole. 8. A multi-axis manipulator locking screw machine according to claim 1, characterized in that: the upper end of the locking lever is connected to the locking cylinder through a rotating assembly (5) or a follower mechanism (50). (43) connection, the rotating assembly (5) includes a cylinder joint (51), a pressure sleeve (52) and a spring (53), and the cylinder joint (51) is provided with a recessed part for connecting with the locking cylinder (43) ( 511) and the insertion part (512) for plugging in the top of the lock payment rod, a top rolling ball (54) is arranged between the insertion part (512) and the top of the lock payment rod, and the insertion part The side wall of (512) is provided with a clamping hole (5121), the clamping hole is provided with a side rolling ball (55), the locking lever is provided with a groove (411), and the side rolling ball (55) is inserted into the groove (411) to support the locking rod in the longitudinal direction, the pressure sleeve (52) is sleeved on the outside of the insertion part (512), and the spring (53) is arranged between the pressure sleeve (52) and the cylinder joint ( 51); the follow-up mechanism (50) includes a connection joint (501), a bearing (502) and a buffer spring (503), the connection joint (501) is fixedly connected with the locking cylinder (43), and the bearing ( 502) is socketed on the upper end of the locking rod, the bearing (502) is accommodated in the connecting joint (501), the bearing (502) is flexibly connected to the connecting joint (501) in the longitudinal direction, and the buffer spring (503) The ends rest against the top of the bearing (502) and the connection fitting (501) respectively. 9. A multi-axis manipulator locking screw machine according to claim 4, characterized in that: the multi-axis manipulator locking screw machine also includes a pressing cylinder (6), and the cylinder barrel of the pressing cylinder (6) is in contact with the The above-mentioned mounting seat (24) is connected, and the piston rod of the pressing material cylinder (6) can stretch and compress the peripheral products downward. 10. A multi-axis manipulator locking screw machine according to claim 1, characterized in that: the multi-axis manipulator locking screw machine also includes a detection mechanism (7) for detecting the screw locking depth, the detection mechanism ( 7) Connect with the drive board (3).