CN206614232U - A kind of robot screw locking machine of band CCD positioning - Google Patents
A kind of robot screw locking machine of band CCD positioning Download PDFInfo
- Publication number
- CN206614232U CN206614232U CN201720393990.9U CN201720393990U CN206614232U CN 206614232 U CN206614232 U CN 206614232U CN 201720393990 U CN201720393990 U CN 201720393990U CN 206614232 U CN206614232 U CN 206614232U
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- robot
- head
- mounting
- mounting bracket
- equiped
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Abstract
The utility model discloses a kind of robot screw locking machine of band CCD positioning, it includes case and bag rack, robot mounting bracket, the case and bag of case and bag rack place plate upper surface and set four screw loaders of case and bag placement region and installing, the robot support frame upper end installing six-joint robot of robot mounting bracket, six-joint robot drive end installing lock screw assembly；Locking screw assembly includes mounting bracket transverse slat, mounting bracket riser, flexible connection head, movable rotation-shaft, servomotor, cylinder mounting seat, Feed servo system cylinder, Feed servo system head, screwdriver mounting head, movable screw batch, CCD industrial cameras；The robot screw locking machine of band CCD positioning is fitted with controller.By said structure design, the utility model has the advantages that novel in structural design, automaticity are high, intelligence degree is high, operating efficiency is high and can be effectively saved cost of labor.
Description
Technical field
The utility model is related to robot application technology field, more particularly to screw is locked by a kind of robot of band CCD positioning
Machine.
Background technology
For case and bag, its Case outer-shell realizes assembly connection with the mode that case and bag inner casing is typically fixed by screw,
And in order to ensure the aesthetics of case and bag outer surface, screw is typically installed from inner side.
Prior art generally realizes that bag lock screw is processed by the way of manual work, inefficiency, cost of labor
It is high.
Utility model content
The purpose of this utility model is to provide a kind of robot of band CCD positioning in view of the shortcomings of the prior art and lock spiral shell
Silk machine, robot screw locking machine novel in structural design, automaticity height, intelligence degree height, the work effect of band CCD positioning
Rate is high, and can be effectively saved cost of labor.
To reach above-mentioned purpose, the utility model is achieved through the following technical solutions.
A kind of robot screw locking machine of band CCD positioning, includes case and bag rack, the machine positioned at case and bag rack side
Device people's mounting bracket, the upper end of case and bag rack is equiped with the case and bag arranged in horizontal cross and places plate, and case and bag place the upper of plate
Surface is provided with case and bag placement region, and the upper surface that case and bag place plate is equiped with four interval cloth in the side of case and bag placement region
The screw loader put；
Robot mounting bracket includes robot mounting seat, is installed in the robot branch of robot mounting seat upper surface
Support, the upper end of robot support frame is equiped with six-joint robot, and the drive end of six-joint robot is equiped with lock screw assembly；
Lock screw assembly includes movable frame, and movable frame includes mounting bracket transverse slat, is screwed on mounting bracket horizontal stroke
Front edge of board portion and with the vertically arranged mounting bracket riser of mounting bracket transverse slat, the rearward end of mounting bracket transverse slat is screwed with flexible connection
Head, the drive end for being flexibly connected head and six-joint robot is connected, and the bottom of mounting bracket riser is rotatably equiped with work
Dynamic rotating shaft, the upper end of mounting bracket riser is screwed with servomotor, and the power output shaft of servomotor drives with movable rotation-shaft to be connected
Connect；
Mounting bracket transverse slat is equiped with cylinder mounting seat in the rear end side of movable rotation-shaft, and cylinder mounting seat is equiped with Feed servo system
Cylinder, the piston rod extension end of Feed servo system cylinder is equiped with Feed servo system head, and the front of Feed servo system head is equiped with spiral shell
Silk batch mounting head, Feed servo system head is rotatably installed in before the rearward end of screwdriver mounting head, screwdriver mounting head
End, which offers inlay card in the screwdriver mounting hole towards open front, the screwdriver mounting hole of screwdriver mounting head, movable screw
Batch, the leading section of movable screw batch extends to the front of screwdriver mounting head, and the core of movable rotation-shaft is complete before and after offering
The rotating shaft installation through-hole run through, the leading section of screwdriver mounting head can be flush-mounted in the rotating shaft peace of movable rotation-shaft with respect to fore-aft travel
Fill in through hole；
Mounting bracket riser is equiped with CCD industrial cameras in the side of movable screw batch, the robot lock spiral shell of band CCD positioning
Silk machine is fitted with controller, and six-joint robot, servomotor, Feed servo system cylinder, CCD industrial cameras are electrical with controller respectively
Connection.
Wherein, the periphery set card of the movable rotation-shaft has driven synchronous pulley, the power output shaft dress of the servomotor
Provided with active synchronization belt wheel, around equipped with drive coordination band between active synchronization belt wheel and driven synchronous pulley.
Wherein, the rearward end of the screwdriver mounting head offers the driving head mounting hole of backward opening, and the feeding is driven
Dynamic head stretches in the driving head mounting hole of screwdriver mounting head and is equiped with axle between Feed servo system head and screwdriver mounting head
Hold, the interior snare of bearing is stuck in the periphery of Feed servo system head, the outer ring of bearing is installed in screwdriver mounting head by elastic collar
Driving head mounting hole in.
Wherein, the leading section of the screwdriver mounting head is provided with mounting head rotation stop plane, the rotating shaft of the movable rotation-shaft
The inwall correspondence mounting head rotation stop plane of installation through-hole is provided with rotating shaft rotation stop plane, and mounting head rotation stop plane is put down with rotating shaft rotation stop
Face is touched.
The beneficial effects of the utility model are：A kind of robot screw locking machine of band CCD positioning described in the utility model,
It includes case and bag rack, robot mounting bracket, the case and bag of case and bag rack place plate upper surface set case and bag placement region and
Install four screw loaders, the robot support frame upper end installing six-joint robot of robot mounting bracket, six-joint robot
Drive end installing lock screw assembly；Locking the movable frame of screw assembly includes mounting bracket transverse slat, mounting bracket riser, and mounting bracket is horizontal
The flexible connection head that plate rearward end spiral shell dress is connected with the drive end of six-joint robot, the installing of mounting bracket riser bottom is by servo electricity
The movable rotation-shaft of machine driving, mounting bracket transverse slat installs cylinder mounting seat, the installing feeding of cylinder mounting seat in movable rotation-shaft rear end side
Drive cylinder, the piston rod extension end installing Feed servo system head of Feed servo system cylinder, Feed servo system head front installing screw
Mounting head is criticized, Feed servo system head is rotatably installed in screwdriver mounting head rearward end, screwdriver mounting head leading section
Inlay card movable screw batch in screwdriver mounting hole, screwdriver mounting head leading section can be flush-mounted in movable rotation-shaft with respect to fore-aft travel
Rotating shaft installation through-hole in；Mounting bracket riser is in movable screw batch side installing CCD industrial cameras, the machine of band CCD positioning
People's screw locking machine is fitted with controller.By said structure design, the utility model has novel in structural design, automaticity
High, intelligence degree is high, operating efficiency is high and can be effectively saved the advantage of cost of labor.
Brief description of the drawings
The utility model is further detailed below with accompanying drawing, but the embodiment in accompanying drawing is not constituted pair
Any limitation of the present utility model.
Fig. 1 is structural representation of the present utility model.
Fig. 2 is the structural representation at another visual angle of the utility model.
Fig. 3 is the structural representation of the present utility model for locking screw assembly.
Fig. 4 is the diagrammatic cross-section of the present utility model for locking screw assembly.
Fig. 5 is the partial structurtes decomposing schematic representation of the present utility model for locking screw assembly.
Include in Fig. 1 into Fig. 5：
1 --- case and bag rack 11 --- case and bag place plate
2 --- robot mounting bracket 21 --- robot mounting seats
22 --- robot support frame 3 --- screw loaders
4 --- six-joint robots 5 --- lock screw assembly
51 --- movable frame 511 --- mounting bracket transverse slats
512 --- mounting bracket risers 52 --- are flexibly connected head
53 --- movable rotation-shaft 531 --- rotating shaft installation through-holes
532 --- rotating shaft rotation stop plane 541 --- servomotors
542 --- driven synchronous pulley 543 --- active synchronization belt wheels
544 --- drive coordination band 551 --- cylinder mounting seats
552 --- Feed servo system cylinder 553 --- Feed servo system heads
56 --- screwdriver mounting head 561 --- screwdriver mounting holes
562 --- driving head mounting hole 563 --- mounting head rotation stop planes
57 --- movable screw batch 58 --- CCD industrial cameras
591 --- bearing 592 --- elastic collars
6 --- case and bag to be processed.
Embodiment
The utility model is illustrated with reference to specific embodiment.
As shown in Figures 1 to 5, a kind of robot screw locking machine of band CCD positioning, includes case and bag rack 1, positioned at case
The robot mounting bracket 2 of the side of bag rack 1, the upper end of case and bag rack 1 is equiped with the case and bag arranged in horizontal cross and put
Plate 11 is put, the upper surface that case and bag place plate 11 is provided with case and bag placement region, and the upper surface that case and bag place plate 11 is placed in case and bag
The side in region is equiped with four spaced apart screw loaders 3.
Wherein, robot mounting bracket 2 includes robot mounting seat 21, is installed in the upper surface of robot mounting seat 21
Robot support frame 22, the upper end of robot support frame 22 is equiped with six-joint robot 4, the drive end of six-joint robot 4
It is equiped with lock screw assembly 5.
Further, lock screw assembly 5 includes movable frame 51, and movable frame 51 includes mounting bracket transverse slat
511st, be screwed on the leading section of mounting bracket transverse slat 511 and with the vertically arranged mounting bracket riser 512 of mounting bracket transverse slat 511, mounting bracket
The rearward end of transverse slat 511 is screwed with flexible connection first 52, is flexibly connected first 52 and is connected with the drive end of six-joint robot 4, is installed
The bottom of frame riser 512 is rotatably equiped with movable rotation-shaft 53, and the upper end of mounting bracket riser 512 is screwed with servo
Motor 541, power output shaft and the drive connection of movable rotation-shaft 53 of servomotor 541.
Further, mounting bracket transverse slat 511 is equiped with cylinder mounting seat 551, cylinder in the rear end side of movable rotation-shaft 53
Mounting seat 551 is equiped with Feed servo system cylinder 552, and the piston rod extension end of Feed servo system cylinder 552 is equiped with Feed servo system
First 553, the front of Feed servo system first 553 is equiped with screwdriver mounting head 56, and Feed servo system first 553 is rotatably installed
In the rearward end of screwdriver mounting head 56, the leading section of screwdriver mounting head 56 offers the screwdriver mounting hole towards open front
561, inlay card has movable screw batch 57, the leading section of movable screw batch 57 in the screwdriver mounting hole 561 of screwdriver mounting head 56
Extend to the front of screwdriver mounting head 56, the core of movable rotation-shaft 53 offer before and after completely through rotating shaft installation through-hole
531, the leading section of screwdriver mounting head 56 can be flush-mounted in the rotating shaft installation through-hole 531 of movable rotation-shaft 53 with respect to fore-aft travel
It is interior.
In addition, mounting bracket riser 512 is equiped with CCD industrial cameras 58 in the side of movable screw batch 57, band CCD positioning
Robot screw locking machine be fitted with controller, six-joint robot 4, servomotor 541, Feed servo system cylinder 552, CCD industry
Camera 58 is electrically connected with controller respectively.
It need to be explained further, servomotor 541 of the present utility model can pass through synchronous belt drive mechanism and movable rotation-shaft 53
Drive connection, specifically：The periphery set card of movable rotation-shaft 53 has driven synchronous pulley 542, the power output shaft of servomotor 541
Active synchronization belt wheel 543 is equiped with, around equipped with drive coordination band between active synchronization belt wheel 543 and driven synchronous pulley 542
544.Certainly, above-mentioned synchronous belt drive mechanism is not constituted to limitation of the present utility model, i.e., servomotor of the present utility model
541 can also pass through gear drive and the drive connection of movable rotation-shaft 53.
For screwdriver mounting head 56 of the present utility model, its one side can turn as movable rotation-shaft 53 is synchronous
It is dynamic, on the other hand can be with respect to movable rotation-shaft 53 and along the activity of rotating shaft installation through-hole 531, to ensure that screwdriver mounting head 56 is moved
The reliability of work, the utility model uses following structure designs, specifically：The leading section of screwdriver mounting head 56 is provided with
Mounting head rotation stop plane 563, the inwall correspondence mounting head rotation stop plane 563 of the rotating shaft installation through-hole 531 of movable rotation-shaft 53 is set
There is rotating shaft rotation stop plane 532, mounting head rotation stop plane 563 is touched with rotating shaft rotation stop plane 532.In view of in screwdriver mounting head
56 with movable rotation-shaft 53 rotate during Feed servo system motor can not rotate, the utility model use following structure designs,
Specifically：The rearward end of screwdriver mounting head 56 offers the driving head mounting hole 562 of backward opening, and Feed servo system first 553 is stretched
Enter to the driving head mounting hole 562 of screwdriver mounting head 56 and installed between Feed servo system first 553 and screwdriver mounting head 56
There is bearing 591, the interior snare of bearing 591 is stuck in the periphery of Feed servo system first 553, and the outer ring of bearing 591 passes through elastic collar 592
It is installed in the driving head mounting hole 562 of screwdriver mounting head 56.
During utility model works, case and bag 6 to be processed are positioned over the case and bag placement region that case and bag place plate 11, and
The driving of six-joint robot 4 lock screw assembly 5 is moved to the position of screw loader 3 and draws screw by movable screw batch 57 afterwards；
After movable screw batch 57 draws screw, six-joint robot 4 is moved to the inner side of case and bag 6 to be processed by screw assembly 5 is locked, herein
During, the positional information of the collection screw hole of CCD industrial cameras 58 simultaneously sends the positional information of screw hole to controller, control
Device controls six-joint robot 4 to act and causes the alignment screw hole of movable screw batch 57 according to the positional information of screw hole；Treat activity
After the alignment screw hole of screwdriver 57, the action of Feed servo system cylinder 552 and forward pushing tow Feed servo system first 553, screwdriver mounting head
56th, movable screw criticizes 57 and screw is inserted into screw hole, and then controller control servomotor 541 starts, servo electricity
The driving movable rotation-shaft 53 of machine 541 is rotated, and the movable rotation-shaft 53 of rotation drives screwdriver mounting head 56, movable screw to criticize 57 and spiral shell
Silk is rotated, and screw is screwed in screw hole, and then realizes lock screw operation.
It should further be noted that case and bag of the present utility model, which place the upper surface of plate 11, is equiped with four screw loaders 3, each spiral shell
Silk loader 3 can provide different screws, to meet the need for bag lock fills different screws.
Summary situation is understood, by said structure design, and the utility model has novel in structural design, automation journey
Degree is high, intelligence degree is high, operating efficiency is high and can be effectively saved the advantage of cost of labor.
Above content is only preferred embodiment of the present utility model, for one of ordinary skill in the art, according to this reality
With new thought, it will change in specific embodiments and applications, this specification content should not be construed as
To limitation of the present utility model.
Claims (4)
1. a kind of robot screw locking machine of band CCD positioning, it is characterised in that：Include case and bag rack（1）, put positioned at case and bag
Put frame（1）The robot mounting bracket of side（2）, case and bag rack（1）Upper end be equiped with the case and bag arranged in horizontal cross
Place plate（11）, case and bag placement plate（11）Upper surface be provided with case and bag placement region, case and bag place plate（11）Upper surface in
The side of case and bag placement region is equiped with four spaced apart screw loaders（3）；
Robot mounting bracket（2）Include robot mounting seat（21）, be installed in robot mounting seat（21）Upper surface
Robot support frame（22）, robot support frame（22）Upper end be equiped with six-joint robot（4）, six-joint robot（4）'s
Drive end is equiped with lock screw assembly（5）；
Lock screw assembly（5）Include movable frame（51）, movable frame（51）Include mounting bracket transverse slat（511）, spiral shell
Loaded on mounting bracket transverse slat（511）Leading section and with mounting bracket transverse slat（511）Vertically arranged mounting bracket riser（512）, mounting bracket
Transverse slat（511）Rearward end be screwed with flexible connection head（52）, it is flexibly connected head（52）With six-joint robot（4）Drive end connect
Connect, mounting bracket riser（512）Bottom be rotatably equiped with movable rotation-shaft（53）, mounting bracket riser（512）It is upper
End is screwed with servomotor（541）, servomotor（541）Power output shaft and movable rotation-shaft（53）Drive connection；
Mounting bracket transverse slat（511）In movable rotation-shaft（53）Rear end side be equiped with cylinder mounting seat（551）, cylinder mounting seat
（551）It is equiped with Feed servo system cylinder（552）, Feed servo system cylinder（552）Piston rod extension end be equiped with Feed servo system
Head（553）, Feed servo system head（553）Front be equiped with screwdriver mounting head（56）, Feed servo system head（553）Relative it can turn
Screwdriver mounting head is installed in dynamicly（56）Rearward end, screwdriver mounting head（56）Leading section offer spiral shell towards open front
Silk batch mounting hole（561）, screwdriver mounting head（56）Screwdriver mounting hole（561）Interior inlay card has movable screw batch（57）, it is living
Dynamic screwdriver（57）Leading section extend to screwdriver mounting head（56）Front, movable rotation-shaft（53）Core offer before
Afterwards completely through rotating shaft installation through-hole（531）, screwdriver mounting head（56）Leading section can be flush-mounted in respect to fore-aft travel
Movable rotation-shaft（53）Rotating shaft installation through-hole（531）It is interior；
Mounting bracket riser（512）In movable screw batch（57）Side be equiped with CCD industrial cameras（58）, band CCD positioning
Robot screw locking machine is fitted with controller, six-joint robot（4）, servomotor（541）, Feed servo system cylinder（552）、CCD
Industrial camera（58）It is electrically connected with respectively with controller.
2. a kind of robot screw locking machine of band CCD positioning according to claim 1, it is characterised in that：The activity turns
Axle（53）Periphery set card have driven synchronous pulley（542）, the servomotor（541）Power output shaft be equiped with it is actively same
Walk belt wheel（543）, active synchronization belt wheel（543）With driven synchronous pulley（542）Between around equipped with drive coordination band（544）.
3. a kind of robot screw locking machine of band CCD positioning according to claim 2, it is characterised in that：The screwdriver
Mounting head（56）Rearward end offer the driving head mounting hole of backward opening（562）, the Feed servo system head（553）Stretch to
Screwdriver mounting head（56）Driving head mounting hole（562）Interior and Feed servo system head（553）With screwdriver mounting head（56）Between
It is equiped with bearing（591）, bearing（591）Interior snare be stuck in Feed servo system head（553）Periphery, bearing（591）Outer ring lead to
Cross elastic collar（592）It is installed in screwdriver mounting head（56）Driving head mounting hole（562）It is interior.
4. a kind of robot screw locking machine of band CCD positioning according to claim 3, it is characterised in that：The screwdriver
Mounting head（56）Leading section be provided with mounting head rotation stop plane（563）, the movable rotation-shaft（53）Rotating shaft installation through-hole
（531）Inwall correspondence mounting head rotation stop plane（563）It is provided with rotating shaft rotation stop plane（532）, mounting head rotation stop plane（563）
With rotating shaft rotation stop plane（532）Touch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720393990.9U CN206614232U (en) | 2017-04-15 | 2017-04-15 | A kind of robot screw locking machine of band CCD positioning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720393990.9U CN206614232U (en) | 2017-04-15 | 2017-04-15 | A kind of robot screw locking machine of band CCD positioning |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206614232U true CN206614232U (en) | 2017-11-07 |
Family
ID=60223573
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720393990.9U Expired - Fee Related CN206614232U (en) | 2017-04-15 | 2017-04-15 | A kind of robot screw locking machine of band CCD positioning |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206614232U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107813130A (en) * | 2017-11-24 | 2018-03-20 | 苏州弘瀚自动化科技有限公司 | One kind lock screw device |
| CN108990409A (en) * | 2018-07-23 | 2018-12-11 | 东莞理工学院 | A kind of visual automatic detection device |
| CN113399992A (en) * | 2021-07-01 | 2021-09-17 | 湖南炬神电子有限公司 | Novel six auto-screwdriving machines of robotic arm |
| CN115008563A (en) * | 2022-06-14 | 2022-09-06 | 长沙智能机器人研究院有限公司 | Full-automatic coding nail machine |
-
2017
- 2017-04-15 CN CN201720393990.9U patent/CN206614232U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107813130A (en) * | 2017-11-24 | 2018-03-20 | 苏州弘瀚自动化科技有限公司 | One kind lock screw device |
| CN108990409A (en) * | 2018-07-23 | 2018-12-11 | 东莞理工学院 | A kind of visual automatic detection device |
| CN108990409B (en) * | 2018-07-23 | 2020-11-10 | 浙江科镭仕科技有限公司 | Automatic vision detection device |
| CN113399992A (en) * | 2021-07-01 | 2021-09-17 | 湖南炬神电子有限公司 | Novel six auto-screwdriving machines of robotic arm |
| CN115008563A (en) * | 2022-06-14 | 2022-09-06 | 长沙智能机器人研究院有限公司 | Full-automatic coding nail machine |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171107 Termination date: 20200415 |