Utility model content
To solve the above problems, the utility model provides a kind of energy reply complicated assembly work, and multiple works can be covered
Position, completes multinomial assembly work, and articulated robot equipment is used in a kind of convenient assembling of loading and unloading.
The technical scheme that the utility model is used is:Articulated robot equipment, including workbench, institute are used in one kind assembling
State workbench and the articulated robot for mobile material and the locking machine device people for locked screw, the multi-joint are installed
Robot includes the first arm and the second arm, and the both sides of the articulated robot are provided with charging tray mobile device, the locking machine
Device people side is provided with multi-track tray device and screw feeding device, and the locking machine device people is connected with screw feeding device.
Wherein, first arm and the second arm are mounted on clamping jaw or sucker.
Wherein, the locking machine device people includes mounting bracket, and the mounting bracket is provided with the linear module of Y-axis, the linear mould of Y-axis
Group is slidably fitted with z axis module, and the z axis module is provided with locking machine structure.
Wherein, the locking machine structure includes supporting plate, the first driver element, the second driver element, sliding unit and screw
Chuck, first driver element is installed on supporting plate, and second driver element is installed on sliding unit, the sliding unit
Be slidably mounted on supporting plate and with the first driver element drive connection, the second driver element drive connection has batch bar, described
Criticize bar and be arranged in screw chuck.
Wherein, the multi-track tray device includes the first track and the second track, first track and the second track
Positioning charging tray is slidably connected, first track or the second track are provided with the limit for limiting positioning charging tray moving range
Hyte part.
Wherein, the charging tray mobile device includes feed mechanism, cutting agency and Ting Liao mechanisms, and the feed mechanism is set
Above cutting agency, the feed end of the Ting Liao mechanisms is docked with the feed end of cutting agency, the feed mechanism and blanking
Mechanism includes material lift unit, and the material lift unit is respectively arranged at the both sides of feed mechanism and cutting agency.
Wherein, the material lift unit includes Y-axis component and Z axis component, and the Y-axis component includes Y-axis cylinder and Y-axis is slided
Rail, the Z axis component includes Z axis cylinder, installing plate and material lift plate, and the installing plate is slidably connected to Y-axis slide rail, the Y-axis
The output end of cylinder is connected with installing plate.
Wherein, it is provided with support unit below the cutting agency.
Wherein, the Ting Liao mechanisms include being connected with lifting air below support frame and positioning cylinder, the Ting Liao mechanisms
Cylinder, support frame as described above includes side plate and bottom plate, and the positioning cylinder is arranged at the side of side plate, and the lift cylinder is installed on work
Make platform, the output shaft of lift cylinder is connected with bottom plate, the bottom plate is connected with some guide pillars, the workbench, which is offered, leads
Hole, the guide pillar is arranged in guide hole.
The beneficial effects of the utility model are:
The utility model station sets reasonable, and articulated robot can cover multiple stations, and working range is wide, adapts to more
Complicated assembling action, instead of artificial, reduces production cost, the charging tray mobile device that the both sides of articulated robot are set is distinguished
Feeding and blanking are carried out, loading and unloading are circulated, operating efficiency is higher, and lock pair is tightened screw and realized by locking machine device people, without
Manually, carry out material positioning by multi-track tray device to move, further improve operating efficiency.
Embodiment
The utility model is further described below in conjunction with accompanying drawing.
As shown in Fig. 1~2, articulated robot equipment, including workbench 1 are used in one kind assembling, and workbench 1, which is provided with, to be used for
The articulated robot 2 of mobile material and the locking machine device people 3 for locked screw, the both sides of articulated robot 2 are provided with
Charging tray mobile device 4, the side of locking machine device people 3 is provided with multi-track tray device 5 and screw feeding device 6, locking machine device people 3
It is connected with screw feeding device 6, articulated robot 2 includes the first arm 21 and the second arm 22, and the first arm 21 and the second arm 22 are equal
Clamping jaw 23 is installed.The utility model station sets reasonable, and articulated robot 2 can cover multiple stations, and working range is wide, energy
More complicated assembling action is adapted to, instead of artificial, production cost is reduced, the charging tray that the both sides of articulated robot 2 are set is moved
Device 4 carries out feeding and blanking respectively, forms circulation, and operating efficiency is higher, and lock pays that to tighten screw real by locking machine device people 3
It is existing, without artificial, material positioning is carried out by multi-track tray device 5 and moved, operating efficiency is further improved.
Locking machine device people 3 as shown in Figure 3 includes mounting bracket 31, and the mounting bracket 31 is provided with the linear module 32 of Y-axis, Y-axis line
Property module 32 is slidably fitted with z axis module 33, and z axis module 33 is provided with locking machine structure 34, and locking machine structure 34 passes through Y
Axis module 32 and z axis module 33 are moved, and moving range is wide, and mobile efficiency high, assembling more facilitates, adapted to
Various sizes of product.
Locking machine structure 34 includes supporting plate 341, the first driver element 342, the second driver element 343, the and of sliding unit 344
Screw chuck 345, the first driver element 342 is installed on supporting plate 341, and the second driver element 343 is installed on sliding unit 344,
Sliding unit 344 be slidably mounted on supporting plate 341 and with the drive connection of the first driver element 342, the second driver element 343 drives
Batch bar 346 is connected with, batch bar 346 is arranged in screw chuck 345, the first driver element 342 driving sliding unit 344 is moved
It is dynamic, batch bar 346 is stretched out or is retracted while being installed on the second driver element 343 movement of sliding unit 344, when batch bar 346 is stretched
When going out, the work of the second driver element 343 rotates batch bar 346, and screw is tightened with material, and it is good to tighten effect, moves efficiency high.
As shown in figure 4, multi-track tray device 5 includes the first track and the second track, the first track and the second track are equal
Positioning charging tray 51 is slidably connected, the first track is provided with the limit assembly for limiting the positioning moving range of charging tray 51,
As shown in figure 5, charging tray mobile device 4 includes feed mechanism 41, cutting agency 42 and Ting Liao mechanisms 43, feed mechanism
41 are arranged at the top of cutting agency 42, and the feed end of Ting Liao mechanisms 43 is docked with the feed end of cutting agency 42, feed mechanism 41
Include material lift unit 44 with cutting agency 42, the material lift unit 44 is respectively arranged at the two of feed mechanism 41 and cutting agency 42
Side, by feed mechanism 41, cutting agency 42 and Ting Liao mechanisms 43 formation interior circulation, makes feeding blanking carry out in order, material lift list
Member 44 lifts static charging tray when charging tray is moved, and the charging tray for being loaded with material is sent to Ting Liao mechanisms 43 by conveyer belt,
Or sky charging tray is moved to the lower section of static empty charging tray, and the stackable multiple charging trays of material lift unit 44, without manually continuing loading and unloading,
Artificial input is reduced, production efficiency is improved.
As shown in Fig. 5~7, material lift unit 44 includes Y-axis component 441 and Z axis component 442, and Y-axis component 441 includes Y-axis gas
Cylinder 441A and Y-axis slide rail 441B, Z axis component 442 includes Z axis cylinder 442A, installing plate 442b and material lift plate 442c, installing plate
442b is slidably connected to Y-axis slide rail 441B, and Y-axis cylinder 441A output end is connected with installing plate 442b, simple in construction, makes charging tray
Quick outflow and inflow, ordered stacks charging tray improve operating efficiency.
The lower section of cutting agency 42 is provided with support unit 45, reduces charging tray to the pressure of conveyer belt, prevents charging tray from crossing multiple pressure
The excessive damage caused to conveyer belt of power, improves equipment stability in use.
Ting Liao mechanisms 43 include support frame and positioning cylinder 431, and the lower section of Ting Liao mechanisms 43 is connected with lift cylinder 432,
Support frame includes side plate 433 and bottom plate 434, and positioning cylinder 431 is arranged at the side of side plate 433, and lift cylinder 432 is installed on work
Make platform 1, the output shaft of lift cylinder 432 is connected with bottom plate 434, and bottom plate 434 is connected with some guide pillars 435, and workbench 1 is opened up
There is guide hole, guide pillar 435 is arranged in guide hole, and Ting Liao mechanisms 43 are provided with lift cylinder 432, enable support frame and positioning cylinder 431
Lifted, docked respectively with the discharge end of feed mechanism 41 and the feed end of cutting agency 42, mobile efficiency high.
Job step of the present utility model is:
As shown in Fig. 1~7,
1st, multiple the first charging trays for being loaded with material are positioned over the side feed mechanism 41 of articulated robot 2, by multiple skies
The second charging tray be positioned over the feed mechanism 41 of the opposite side of articulated robot 2, lift cylinder 432 rises to Ting Liao mechanisms 43
With the position of the level of feed mechanism 41, the material lift plate 442c of material lift unit 44 moves the sky stretched into above the first charging tray of bottom
Gap, other first charging trays are lifted, and make conveyer belt that the first charging tray of bottom is sent into feed mechanism 41 and Ting Liao mechanisms
First charging tray is moved to default position, the locking positioning of positioning cylinder 431 by the position of 43 handing-over, the conveyer belt of Ting Liao mechanisms 43
First charging tray, completes feeding, at the same time, and the feed mechanism 41 of the opposite side of articulated robot 2 is by identical step by sky
The second charging tray be moved to Ting Liao mechanisms 43.
2nd, the first arm 21 of articulated robot 2 is placed into positioning charging tray 51 by the gripping material of clamping jaw 23 and assembled,
Then positioning charging tray 51 is moved to predeterminated position, and screw feeding device 6 is fed screw to locking machine device people 3, passes through locking machine device
The progress lock of people 3, which is paid, tightens screw completion assembling, and the material clamp of assembling number is got the second charging tray by the second arm 22, when the second charging tray dress
After full with substance, Ting Liao mechanisms 43 are moved to the position with the level of cutting agency 42 by lift cylinder 432, and material lift unit 44 is by blanking
Charging tray in mechanism 42 is lifted, and the second charging tray is moved to the bottom and is stacked, after the material clamp in the first charging tray takes,
Equally, the first charging tray is moved to cutting agency 42 by identical step and completes stacking.
Embodiment described above only expresses several embodiments of the present utility model, and it describes more specific and detailed,
But therefore it can not be interpreted as the limitation to the utility model the scope of the claims.It should be pointed out that for the common of this area
For technical staff, without departing from the concept of the premise utility, various modifications and improvements can be made, these all belong to
In protection domain of the present utility model.Therefore, the protection domain of the utility model patent should be determined by the appended claims.