CN206811450U - A kind of robot screw fixing machine - Google Patents
A kind of robot screw fixing machine Download PDFInfo
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- CN206811450U CN206811450U CN201720070489.9U CN201720070489U CN206811450U CN 206811450 U CN206811450 U CN 206811450U CN 201720070489 U CN201720070489 U CN 201720070489U CN 206811450 U CN206811450 U CN 206811450U
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Abstract
The utility model discloses a kind of robot screw fixing machine, including workbench, four axle robots, lower camera combination, electric screwdriver combines, middle streamline, first paragraph lifts streamline, 3rd section of lifting streamline, screw feeding machine and lower return wire, four axle robots, lower camera combination, electric screwdriver combines, middle streamline, first paragraph lifts streamline, 3rd section of lifting streamline, screw feeding machine and lower return wire are installed in workbench upper end, lower return wire, first paragraph lifts streamline, middle streamline and the 3rd section of lifting streamline are installed successively, the utility model, using robot screw is played to product, efficiency high.
Description
Technical field
The utility model belongs to the technical field of robot, specially a kind of robot screw fixing machine.
Background technology
Robot is to automatically control being commonly called as machine, and automatically controlling machine includes all simulation human behaviors or thought and mould
Intend the machinery (such as robot dog, Doraemon etc.) of other biological.The definition to robot also has many classification and dispute in the narrow sense,
Some computer programs or even also referred to as robot, in contemporary industry, robot refers to the man-made machine that can perform task automatically
Device, to substitute or assist human work.Highly emulated robot in ideal is advanced integral traffic control opinion, mechano-electronic, meter
Calculation machine and artificial intelligence, materialogy and bionic product, scientific circles are to the research and development of this direction at present, now in factory
It is interior, screw is beaten to products such as circuit boards using manpower, efficiency is low, waste of manpower.
Utility model content
The purpose of this utility model is to provide a kind of robot screw fixing machine, quickly plays screw, save manpower.
In order to solve the above-mentioned technical problem, the technical solution adopted in the utility model is：
A kind of robot screw fixing machine, including the combination of workbench, four axle robots, lower camera combination, electric screwdriver, middle flowing water
Line, first paragraph lifting streamline, the 3rd section of lifting streamline, screw feeding machine and lower return wire, four axle robots, lower phase unit
Conjunction, electric screwdriver combination, middle streamline, first paragraph lifting streamline, the 3rd section of lifting streamline, screw feeding machine and lower return wire
Workbench upper end is installed in, lower return wire, first paragraph lifting streamline, middle streamline and the 3rd section of lifting streamline are successively
Installation, wherein：
Four axle robots are fixed on workbench one end；
Electric screwdriver combination is arranged on four axle robot manipulation ends, and electric screwdriver combination is provided with mobile camera, suction nozzle, light source, mobile phase
Machine aids in four axle robot localizations, and suction nozzle fixes screw when there is suction；
Lower camera combination is made up of camera, camera lens, light source, camera frame and clear glass, and lower camera combination is arranged on four
The axle robot homonymy other end；
Screw feeding machine is fixed between lower camera combination and four axle robots；
Lower return wire is provided with sensor and stops combination, and sensor and stop combination are separately mounted to entering for lower return wire
Material mouth and discharging opening, stop that combination drives raising and lowering by cylinder；
First paragraph lifting streamline, which is provided with, stops combination, stops that combination is arranged on the discharging of first paragraph lifting streamline
Mouthful, and raising and lowering is driven by cylinder；
Feedstock direction is installed on middle streamline discharging opening and has been sequentially installed with inductive switch, binder combination and stop group
Close, stop that combination drives raising and lowering by cylinder, and after product enters middle streamline, stop that combination rises, sense
Inductive switch detection product in-position, binder combination compress product；
3rd section of lifting streamline, which is provided with, stops combination, stops that combination is arranged on the discharging of the 3rd section of lifting streamline
Mouthful.
Further, workbench combines provided with liftout, is connected by upper plate, intermediate support plate, lower supporting plate, cylinder
Part, cylinder, linear bearing, guide pillar and buffer spring are formed, and providing top to larger product makes a concerted effort, and liftout combination is arranged on intermediate flow
The discharge outlet of waterline.
Further, it is all provided with middle streamline, first paragraph lifting streamline, the 3rd section of lifting streamline and lower return wire
There is screw mandrel, rotation regulation screw mandrel produces needs to adapt to products of different specifications.
Further, provided with control device, control device is computer control device, four axle robots of control, lower phase unit
Conjunction, electric screwdriver combination, middle streamline, first paragraph lifting streamline, the 3rd section of lifting streamline, screw feeding machine and lower return wire
Work, lower camera combination coordinate with mobile camera.
Further, first paragraph lifting streamline, the 3rd section of lifting streamline and middle streamline are equipped with inner side flowing water
Line combines and outside pipelined combination.
The beneficial effects of the utility model are：
Using robot screw, efficiency high are beaten to product.
Brief description of the drawings
The utility model is described in further detail with reference to the accompanying drawings and detailed description.
Fig. 1 is the utility model schematic diagram.
Fig. 2 is another schematic diagram of the utility model.
Fig. 3 is the utility model front view.
Fig. 4 is the utility model side view.
Fig. 5 is the utility model top view.
Fig. 6 is lower return wire schematic diagram in the utility model.
Fig. 7 is lower return wire side view in the utility model.
Fig. 8 is lower return wire front view in the utility model.
Fig. 9 is lower return wire top view in the utility model.
Figure 10 is workbench schematic diagram in the utility model.
Figure 11 is workbench side view in the utility model.
Figure 12 is middle streamline schematic diagram in the utility model.
Figure 13 is middle streamline top view in the utility model.
Figure 14 is four axle robot schematic diagrames in the utility model.
Figure 15 is liftout combination diagram in the utility model.
Figure 16 is electric screwdriver combination diagram in the utility model.
Figure 17 is first paragraph streamline schematic diagram in the utility model.
Figure 18 is first paragraph streamline top view in the utility model.
Figure 19 is the 3rd section of streamline schematic diagram in the utility model.
Figure 20 is the 3rd section of streamline top view in the utility model.
Embodiment
Embodiment of the present utility model is described in detail below in conjunction with accompanying drawing, but the utility model can be by right
It is required that the multitude of different ways for limiting and covering is implemented.
As shown in drawings, a kind of robot screw fixing machine, including workbench 1, four axle robots 2, lower camera combination 3, electricity
Criticize combination 4, middle streamline 5, first paragraph lifting streamline 6, the 3rd section of lifting streamline 7, screw feeding machine 8 and lower return wire
9, four axle robots 2, lower camera combination 3, electric screwdriver combination 4, middle streamline 5, first paragraph lifting streamline 6, the 3rd section of lifting
Streamline 7, screw feeding machine 8 and lower return wire 9 are installed in the upper end of workbench 1, lower return wire 9, first paragraph lifting streamline
6th, middle streamline 5 and the 3rd section of lifting streamline 7 are installed successively, and electric screwdriver connection fixture is by four axle robots 2 and electric screwdriver group
To close and 4 connect, during work, after drawing screw by suction nozzle 20, four axle robots 2 are acted, and electric screwdriver component is taken to above product,
Mobile camera 21, which is taken pictures, to be determined to need to lock screw hole position coordinate, the coordinate that four axle robots 2 provide according to camera system on product
Data, drive electric screwdriver that accurately screw is locked on product.
Electric screwdriver combination 4 is by guide pillar, guide rail slide block, electric screwdriver fixture, buffer spring, suction nozzle fixed seat, suction nozzle 20, mobile phase
Machine 21, annular light source and main supporting plate composition, mobile camera, which is taken pictures, determines screw hole position coordinate；When screwing, electric screwdriver combination 4 is whole
Body declines, and the bottom face of suction nozzle 20 drives suction nozzle fixed seat to rise in the presence of product surface resistance, while before electric screwdriver component 4
The screwdriver bit rotation at end, by screw locking on product.
In the course of work, the buffer spring of suction nozzle 20 provides normal pressure and upward cushion effect to suction nozzle 20, enables screw
Normally lock on product, and locking end screw, when electric screwdriver combination 4 rises overally, suction nozzle 20 can return to original state simultaneously.Locking
During screw, in order to prevent electric screwdriver screwdriver bit from by damage of product, electric screwdriver component buffer spring has been installed additional, if screw has been locked
Tightly, electric screwdriver is also working, and in the presence of screw resistance, electric screwdriver fixation kit drives electric screwdriver component 4 to rise overally, and avoids spiral shell
Silk and damage of product.Lower camera combination 3 is made up of camera, camera lens, light source, camera frame and clear glass, and suction nozzle 20 is drawn
Screw take pictures positioning, transfer data to computer and mobile camera data coordinate and analyzed, provided more to four axle robots 2
Accurate operating coordinates.
Lower backflow streamline 9 is by supporting plate, motor combination, front shoe, power transmission shaft, pipeline activity support frame, stop
Combination 10, fixed side, streamline fixing support rack, guide pillar, screw mandrel, conveyer belt composition, when front end, streamline sensor transmits
Product sends signal, stops that combination rises, preparation backgauge, while motor operations, and product is transported to resistance by the belt on streamline
Keep off at combination and stopping, when backend pipeline is ready, can receive product, stop that combination declines, product is let pass, motor work
Make to drive belt that product is sent into hypomere streamline.
First paragraph lifting streamline 6 is by bottom plate, motor combination, feed screw nut combines, linear bearing combines, outer panel, interior
Side plate, power transmission shaft, outside pipelined combination 11, inner side pipelined combination 12, stop combination 10, screw mandrel, guide pillar, belt composition,
The power that motor provides drives two belt operations of streamline, conveying products via power transmission shaft；Transmitted when on the streamline of front end
Product needs to flow into this section of pipelined digital signal, stops that combination rises, product is stopped, when backend pipeline derived signals, it is necessary to
Product conveys past tense, stops that combination declines, and product is let pass, and flows into backend pipeline, and linear bearing is combined as streamline lifting
Lead.
Middle streamline 5 is combined by close front support seat, guide rail slide block, regulation screw mandrel, mobile support base combine, rear support seat
Combination, belt, stop combination 10, binder combination, inductive switch 13, inner side pipelined combination 11, outside pipelined combination 12, horse
Formed up to power combination, when front end, streamline transmits product and sends signal, stops that combination rises, prepares backgauge, while motor work
Make, product is transported at stop combination 10 by the belt on streamline to be stopped, and inductive switch has sensed that material enters in place, binder
Cylinder in combination 16 is pushed, and product is fixed, and waits four axle robots 2 lock screw, after locking end screw, in binder combination 16
Cylinder, which rises, unclamps product, stops that combination declines clearance product, motor combination work, product is sent into hypomere streamline.
Liftout combination 14 by upper plate, intermediate support plate, lower supporting plate, cylinder connection piece, cylinder, linear bearing, guide pillar,
Buffer spring forms, and it is when producing larger product that it, which is acted on, provides top to product and makes a concerted effort.
3rd section of lifting streamline 7 is combined by bottom plate, motor power, feed screw nut combines, linear bearing combines, outside
Plate, interior plate, power transmission shaft, outside pipelined combination, inner side pipelined combination, stop combination 10, screw mandrel, guide pillar, belt composition,
The power that motor provides drives two belt operations of streamline, conveying products via power transmission shaft；Transmitted when on the streamline of front end
Product needs to flow into this section of pipelined digital signal, stops that combination 10 rises, product is stopped, when backend pipeline derived signals, needs
Want product to convey past tense, stop that combination declines, product is let pass, and flows into backend pipeline, and linear bearing is combined as streamline liter
Drop is oriented to, and screw mandrel is equipped with middle streamline 5, first paragraph lifting streamline 6, the 3rd section of lifting streamline 7 and lower return wire 9
15, rotation regulation screw mandrel 15 produces needs to adapt to products of different specifications.
Product processing flow is as follows：
1st, product is placed into first paragraph streamline 6, material is moved to middle streamline 5 by first paragraph streamline 6；
2nd, middle streamline 5 stops that material is blocked in combination, while inductive switch 13 detects material, and middle streamline 5 stops
Only feeding, lifting liftout combine 14 cylinders and clamp material, positioning of being taken pictures on the mobile CCD of four axle robots 2 drive to product, and four
Axle robot 2 drives electric screwdriver to take screw to screw feeding machine 8；
3rd, the motion of four axle robots 2 drives electric screwdriver to formulate screw locking on screw hole in product, all lock screw work
All complete, product is unclamped in liftout combination 14, and the stop combination 10 of middle streamline 5 declines, and middle streamline 5, which is run, send product
To hypomere streamline；
4th, the 3rd section of inductive switch 13 of streamline 7 detects product, and the 3rd section of streamline 7 stops that combination 10 rises and block production
Product, the 3rd section of streamline 7 stop feeding, and entire lowering, reach with lower return wire 9 typically high position when stop；
5th, the 3rd section of streamline 7 is inverted, and sends product back to lower return wire 9, while lower return wire 9 is run, now lower to flow back
The inductive switch 13 of line 9 detects product, and lower return wire 9 stops that combination 10 rises, and lower return wire 9 stops, and blocks material；
If the 6, first paragraph streamline 6 is now stopped at lower return wire 9, lower return wire 9 stops that combination 10 declines, under
Return wire 9 is run, and product is sent on first paragraph streamline 6, the reversion operation of first paragraph streamline 6, and stops that combination 10 rises,
It is out of service when inductive switch 13 detects product, and first paragraph streamline 6 rises overally, reach among streamline 5 it is identical
Highly stop；
7th, the product completed, the product for needing to process, when on middle streamline 5 without product, first paragraph flowing water are replaced with
Product is sent into middle streamline, such iterative cycles by the main story of line 6.
Above-described the utility model embodiment, the restriction to scope of protection of the utility model is not formed, it is any
Made within spirit of the present utility model and principle modifications, equivalent substitutions and improvements etc., should be included in the utility model
Claims within.
Claims (5)
1. a kind of robot screw fixing machine, it is characterised in that including workbench, four axle robots, lower camera combination, electric screwdriver group
Conjunction, middle streamline, first paragraph lifting streamline, the 3rd section of lifting streamline, screw feeding machine and lower return wire, four axle machines
People, lower camera combination, electric screwdriver combination, middle streamline, first paragraph lifting streamline, the 3rd section of lifting streamline, screw feed
Machine and lower return wire are installed in workbench upper end, and lower return wire, first paragraph lifting streamline, middle streamline and the 3rd section rise
Drop streamline is installed successively, wherein：
Four axle robots are fixed on workbench one end；
Electric screwdriver combination is arranged on four axle robot manipulation ends, and electric screwdriver combination is provided with mobile camera, suction nozzle, light source, and mobile camera is auxiliary
Four axle robot localizations are helped, suction nozzle fixes screw when there is suction；
Lower camera combination is made up of camera, camera lens, light source, camera frame and clear glass, and lower camera combination is arranged on four axle machines
Device people's homonymy other end；
Screw feeding machine is fixed between lower camera combination and four axle robots；
Lower return wire is provided with sensor and stops combination, and sensor is separately mounted to the charging aperture of lower return wire with stop combination
And discharging opening, stop that combination drives raising and lowering by cylinder；
First paragraph lifting streamline, which is provided with, stops combination, stops that combination is arranged on the discharging opening of first paragraph lifting streamline, and
And raising and lowering is driven by cylinder；
Feedstock direction is installed on middle streamline discharging opening to be sequentially installed with inductive switch, binder combination and stop combination, stopped
Combination drives raising and lowering by cylinder, and after product enters middle streamline, stops that combination rises, inductive switch inspection
Product in-position is surveyed, binder combination compresses product；
3rd section of lifting streamline, which is provided with, stops combination, stops that combination is arranged on the discharging opening of the 3rd section of lifting streamline.
A kind of 2. robot screw fixing machine according to claim 1, it is characterised in that workbench combines provided with liftout, by
Upper plate, intermediate support plate, lower supporting plate, cylinder connection piece, cylinder, linear bearing, guide pillar and buffer spring are formed, to larger
Product provides top and made a concerted effort, discharge outlet of the liftout combination installed in middle streamline.
3. a kind of robot screw fixing machine according to claim 1, it is characterised in that middle streamline, first paragraph upwelling and down-welling
Screw mandrel is equipped with waterline, the 3rd section of lifting streamline and lower return wire, rotation adjusts screw mandrel to adapt to products of different specifications
Production needs.
4. a kind of robot screw fixing machine according to claim 1, it is characterised in that provided with control device, control device is
Computer control device, control four axle robots, lower camera combination, electric screwdriver combination, middle streamline, first paragraph lift streamline,
3rd section of lifting streamline, screw feeding machine and the work of lower return wire, lower camera combination coordinate with mobile camera.
A kind of 5. robot screw fixing machine according to claim 1, it is characterised in that first paragraph lifting streamline, the 3rd section
Lifting streamline and middle streamline are equipped with inner side pipelined combination and outside pipelined combination.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720070489.9U CN206811450U (en) | 2017-01-19 | 2017-01-19 | A kind of robot screw fixing machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720070489.9U CN206811450U (en) | 2017-01-19 | 2017-01-19 | A kind of robot screw fixing machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206811450U true CN206811450U (en) | 2017-12-29 |
Family
ID=60751283
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720070489.9U Active CN206811450U (en) | 2017-01-19 | 2017-01-19 | A kind of robot screw fixing machine |
Country Status (1)
| Country | Link |
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| CN (1) | CN206811450U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108237400A (en) * | 2018-04-17 | 2018-07-03 | 深圳市广晟德科技发展有限公司 | A kind of automatic package system of four axis robots |
| CN108247314A (en) * | 2018-02-09 | 2018-07-06 | 苏州意锐聚自动化设备有限公司 | A kind of display rear cover screw locking machine |
| CN108356508A (en) * | 2018-02-08 | 2018-08-03 | 广东利迅达机器人系统股份有限公司 | The automated assembling equipment of driver control plate |
| CN108838668A (en) * | 2018-09-21 | 2018-11-20 | 昆山迈致治具科技有限公司 | A kind of automatic locking screw machine |
| CN108861410A (en) * | 2018-08-08 | 2018-11-23 | 河源市松健机器人有限公司 | A kind of flexible automatic production line |
| CN110961903A (en) * | 2019-12-27 | 2020-04-07 | 中国电子科技集团公司第十三研究所 | Automatic screw locking system and method |
| CN112475841A (en) * | 2020-11-23 | 2021-03-12 | 上海微波技术研究所（中国电子科技集团公司第五十研究所） | Automatic assembly system for steel wire thread insert |
-
2017
- 2017-01-19 CN CN201720070489.9U patent/CN206811450U/en active Active
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108356508A (en) * | 2018-02-08 | 2018-08-03 | 广东利迅达机器人系统股份有限公司 | The automated assembling equipment of driver control plate |
| CN108356508B (en) * | 2018-02-08 | 2019-10-18 | 广东利迅达机器人系统股份有限公司 | The automated assembling equipment of driver control plate |
| CN108247314A (en) * | 2018-02-09 | 2018-07-06 | 苏州意锐聚自动化设备有限公司 | A kind of display rear cover screw locking machine |
| CN108237400A (en) * | 2018-04-17 | 2018-07-03 | 深圳市广晟德科技发展有限公司 | A kind of automatic package system of four axis robots |
| CN108861410A (en) * | 2018-08-08 | 2018-11-23 | 河源市松健机器人有限公司 | A kind of flexible automatic production line |
| CN108861410B (en) * | 2018-08-08 | 2020-11-17 | 河源市松健机器人有限公司 | Flexible automatic production line |
| CN108838668A (en) * | 2018-09-21 | 2018-11-20 | 昆山迈致治具科技有限公司 | A kind of automatic locking screw machine |
| CN108838668B (en) * | 2018-09-21 | 2023-10-03 | 昆山迈致治具科技有限公司 | Automatic screw locking machine |
| CN110961903A (en) * | 2019-12-27 | 2020-04-07 | 中国电子科技集团公司第十三研究所 | Automatic screw locking system and method |
| CN110961903B (en) * | 2019-12-27 | 2021-06-15 | 中国电子科技集团公司第十三研究所 | Automatic screw locking system and method |
| CN112475841A (en) * | 2020-11-23 | 2021-03-12 | 上海微波技术研究所（中国电子科技集团公司第五十研究所） | Automatic assembly system for steel wire thread insert |
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