CN207071788U - A kind of robot for screw locking - Google Patents
A kind of robot for screw locking Download PDFInfo
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- CN207071788U CN207071788U CN201720620722.6U CN201720620722U CN207071788U CN 207071788 U CN207071788 U CN 207071788U CN 201720620722 U CN201720620722 U CN 201720620722U CN 207071788 U CN207071788 U CN 207071788U
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- connecting plate
- robot
- arm
- splined shaft
- electric screwdriver
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- 230000007246 mechanism Effects 0.000 claims abstract description 18
- 230000003139 buffering effect Effects 0.000 claims abstract description 7
- 230000003028 elevating effect Effects 0.000 claims abstract description 7
- 230000001360 synchronised effect Effects 0.000 claims description 9
- 230000009471 action Effects 0.000 claims description 4
- 230000005484 gravity Effects 0.000 claims description 4
- 230000000694 effects Effects 0.000 abstract description 4
- 230000008859 change Effects 0.000 abstract description 3
- 230000006835 compression Effects 0.000 abstract description 3
- 238000007906 compression Methods 0.000 abstract description 3
- 230000006978 adaptation Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- 230000035939 shock Effects 0.000 description 1
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Abstract
It the utility model is related to electronic assembling industry, a kind of robot for screw locking is provided, including it is base, the first arm, the second arm, splined shaft, interior located at the electric screwdriver axle of the splined shaft, elevating mechanism, rotating mechanism and vertical buffer gear for the turn of the screw reaction force being subject to continue buffering to the splined shaft in the vertical direction.Pass through the spring in continued compression state on the vertical buffer gear, so that the connecting plate is persistently by downward elastic force, when the electric screwdriver axle of robot is delivered on connecting plate by upward reaction force, because connecting plate is persistently by spring to down spring, so that connecting plate and the spline housing being attached thereto, electric screwdriver axle is by downward flexible elastic force, so that the screwing force of screw will not change it is stiff, the effect tightened can be more preferable, and due to the flexible downward elastic force of spring, counteract influence of the reaction force to robot arm, improve the precision and service life of arm.
Description
Technical field
It the utility model is related to electronic assembling industry, more particularly to a kind of robot for screw locking.
Background technology
It is frequently necessary to carry out screw locking to circuit board or casing in electronics processing, traditional screw locking mode uses people
Work holds electric screwdriver and locked, and this mode efficiency is low, take more labour cost, locking degree differs；Afterwards using one kind
Robot combination electric screwdriver head carries out auto lock, but the electric screwdriver head of this device is typically directly hung in the robot, increase
The heavy burden of robot, and due to direct Hard link, when robot drives electric screwdriver head contact circuit board, exist hard to circuit board
The risk of extruding.
Utility model content
The purpose of this utility model is to provide a kind of robot for screw locking, extruded with solving existing robot
The problem of circuit board.
The utility model embodiment is achieved in that a kind of robot for screw locking, including：
Base, the base are provided with rotatable first arm, and the described one end of first arm away from the base is set
There is rotatable second arm；
Splined shaft, the splined shaft are arranged in the one end of second arm away from first arm, and can be vertical
Direction lifts；
Electric screwdriver axle, the electric screwdriver axle are built in the splined shaft, and can be with the splined shaft together in vertical direction
Lifting；The lower end of the electric screwdriver axle can be with the various types of driver bits of clamping；
To drive the elevating mechanism of the splined shaft vertical lifting；
To drive the rotating mechanism of the electric screwdriver axle rotation；
And for entering the vertical of row buffering to the turn of the screw reaction force being subject to the splined shaft in the vertical direction
Buffer gear.
Further, the elevating mechanism includes：
The lifting motor being fixed on second arm,
Screw mandrel；
The first synchronous pulley component being connected between the lifting motor and screw mandrel；
The feed screw nut being adapted to the screw mandrel spiral；
The connecting plate being fixedly connected with the splined shaft；
Wherein, the connecting plate is movably set on the feed screw nut by through hole, when the feed screw nut is by institute
Screw mandrel driving is stated when moving downward, the connecting plate is moved downward therewith by Action of Gravity Field.
Further, the vertical buffer gear includes：
Flange is locked, the locking flange is located at the feed screw nut lower end and is fastenedly connected therewith；
Guide rod, one end of the guide rod is through the connecting plate and the locking flange are fixedly linked, the other end is provided with and kept off
Block；
Spring, the spring housing is on the guide rod and between the block and the connecting plate, the spring
Continuous elastic extrudes the connecting plate.
Further, the rotating mechanism include be fixed on the connecting plate electric rotating machine, be connected to the rotation
The second synchronous pulley component between motor and electric screwdriver axle.
Further, it is provided with spline axle bearing between the splined shaft and second arm.
Further, the inside both ends of the splined shaft set deep groove ball bearing respectively, and the electric screwdriver axle is limited in described
In deep groove ball bearing.
The utility model provides a kind of robot for screw locking, passes through being on the vertical buffer gear
The spring of continued compression state so that the connecting plate is persistently by downward elastic force, when the electric screwdriver axle of robot is by upward
Reaction force when being delivered on connecting plate, because connecting plate is persistently by spring to down spring so that connecting plate and therewith
Connected spline housing, electric screwdriver axle so that the screwing force of screw will not change stiff, are tightened by downward flexible elastic force
Effect can be more preferable.And due to the flexible downward elastic force of spring, influence of the reaction force to robot arm is counteracted, is improved
The precision and service life of arm.
Brief description of the drawings
, below will be to embodiment or prior art in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
The required accompanying drawing used is briefly described in description, it should be apparent that, drawings in the following description are only that this practicality is new
Some embodiments of type, for those of ordinary skill in the art, without having to pay creative labor, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 the utility model embodiments provide the stereogram of the robot for screw locking；
Fig. 2 the utility model embodiments provide the side view of robot；
Fig. 3 is Fig. 2 sectional view.
Embodiment
In order that the purpose of this utility model, technical scheme and advantage are more clearly understood, below in conjunction with accompanying drawing and implementation
Example, the utility model is further elaborated.It should be appreciated that specific embodiment described herein is only explaining
The utility model, it is not used to limit the utility model.
" connected ", " being fixed on " in the present embodiment, " being connected to " can be understood as being directly connected to or fix, and can also deposit
In object placed in the middle.
As shown in figure 1, the utility model embodiment provides a kind of robot 100 for screw locking, including base
110th, what is rotated is arranged on the first arm 120 on the base 110, be arranged on first arm 120 the second of rotation
Arm 130, the splined shaft 140 for being arranged in second arm 130, interior electric screwdriver axle 150 located at the splined shaft 140, to
Drive the elevating mechanism 160 of the vertical lifting of splined shaft 140, driving the rotating mechanism that the electric screwdriver axle 150 rotates
170 and for carrying out continuing the perpendicular of buffering to the turn of the screw reaction force being subject to the in the vertical direction of splined shaft 140
Straight buffer gear 180.
Wherein, second arm 130 is arranged on the one end of first arm 120 away from the base 110；The flower
Key axle 140 is arranged on the one end of second arm 130 away from first arm 120, and can be lifted in vertical direction；It is described
Electric screwdriver axle 150 can together be lifted with the splined shaft 140 in vertical direction and the lower end of the electric screwdriver axle 150 can be with clamping
Various types of driver bits.
Because electric screwdriver axle 150 can be by reaction force during to screw tightening, on the one hand, if not to the anti-work
Exert oneself into not flexible between row buffering, screw and screwed hole and electric screwdriver axle 150, electric screwdriver axle 150 may be twisted screw is stiff
In the screwed hole for entering workpiece, possible defective work piece；On the other hand, reaction force can impact load to robot, and should
After impulsive force passes to arm joint (the second arm), the precision and service life of robot arm can be reduced.
The robot of the present embodiment is by setting vertical buffer gear 180 to greatly reduce damage of the reaction force to robot
Wound and improve screw and tighten effect.
As shown in Figures 2 and 3, the elevating mechanism 160 includes the lifting motor being fixed on second arm 130
161st, screw mandrel 162, be connected between the lifting motor 161 and screw mandrel 162 the first synchronous pulley component 163, with the silk
The feed screw nut 164 of the spiral of bar 162 adaptation, the connecting plate 166 being fixedly connected with the splined shaft 140.Wherein, the connecting plate
166 are movably set on the feed screw nut 164 by through hole (not shown), when the feed screw nut 164 is by the screw mandrel
When 162 drivings move downward, the connecting plate 166 is moved downward therewith by Action of Gravity Field.
Specifically, the vertical buffer gear 180 is elastic construction, including spring 181, guide rod 182, locking flange (figure
Do not mark).Wherein, the locking flange is located at the lower end of feed screw nut 164 and is fastenedly connected therewith；The one of the guide rod 182
Through the connecting plate 166, flange is fixedly linked, the other end is provided with block 181 with the locking at end；The spring 183 is sheathed on
On the guide rod 182 and between the block 181 and the connecting plate 166, the continuous elastic of spring 183 extrudes institute
State connecting plate 166.
In the present embodiment, the spring 183 is compression spring, and is continuously in compressive state so that the connecting plate 166
Persistently by downward elastic force.
In the present embodiment, the spring 183 is limited on the guide rod 182 by connecting plate 166 and block 181.
In the present embodiment, the connecting plate 166 is respectively by spring 183 to down spring and the feed screw nut 164
Support force is limited on the screw mandrel 162.
When robot needs the turn of the screw, lifting motor 161 drives screw mandrel 162 to rotate by the first timing belt component 163,
The supporter (feed screw nut 164) of connecting plate 166 moves downward therewith, and connecting plate 166 is by Action of Gravity Field, with feed screw nut 164
Move downward, finally realize that spline housing 140 and electric screwdriver axle 150 move downward.When electric screwdriver axle 150 contacts simultaneously with the screw on workpiece
When starting to tighten, electric screwdriver axle 150 when the reaction force is delivered on connecting plate 166, can be made company by upward reaction force
Fishplate bar 166 moves upwards, and because connecting plate 166 is persistently by spring 183 to down spring so that connecting plate 166 and therewith
Connected spline housing 140, electric screwdriver axle 150 by downward flexible elastic force so that the screwing force of screw will not change it is stiff,
The effect tightened can be more preferable.And due to the flexible downward elastic force of spring 183, counteract shadow of the reaction force to robot arm
Ring, improve the precision and service life of arm.
In the present embodiment, the through-hole diameter on the connecting plate 166 is more than the screw mandrel diameter, to ensure the connection
Plate 166 can pass through Gravitational sliding.
Preferably, guide pin bushing (not shown) is additionally provided with the guide rod, the guide pin bushing is located at the connecting plate 166 and the bullet
Between spring 183, when the connecting plate 166 is upward by reaction force, the guide pin bushing can extrude the spring 183
In other embodiments, the vertical buffer gear 180 can also use down-set drawing spring device, but
Now need to consider the relation between the length of spring and the space that connecting plate moves downward.
Specifically, first synchronous pulley component 163 includes the first driving wheel 1631, the first timing belt 1632, first
Driven pulley 1633, first driving wheel 1631 are fixedly connected with the output shaft of the lifting motor 161, the first driven pulley 1633
It is fixedly connected with the screw mandrel 162, the first timing belt 1632 is sheathed on the driven pulley 1633 of the first driving wheel 1631 and first
On.
In one of the embodiments, the installing plate 167 of the fixed lifting motor 161, the installing plate 167 are included
It is fixed on second arm 130, first driving wheel 1631 is located at the installing plate 167 and second arm 130
Between, the lifting motor 161 is located at side of the installing plate 167 away from second arm 130.
In one of the embodiments, bearing (not shown) is provided between the screw mandrel 162 and the installing plate 167.
In the present embodiment, the rotating mechanism 170 includes electric rotating machine 171, the connection being fixed on the connecting plate 166
The second synchronous pulley component 172 between the electric rotating machine 171 and electric screwdriver axle 150.
Specifically, the second synchronous pulley component 172 is driven including the second driving wheel 1721, the second timing belt 1722, second
Wheel 1723；Second driving wheel 1721 is fixedly connected with the output shaft of the electric rotating machine 171, the second driven pulley 1723 and the electricity
Criticize axle 150 to be fixedly connected, second timing belt 1722 is sheathed on the driven pulley 1723 of the second driving wheel 1721 and second.
In one of the embodiments, the second driven pulley 1723 is consolidated with the electric screwdriver axle 150 by expansion sleeve (not shown)
Fixed connection.
As shown in figure 3, it is provided with spline axle bearing 141 between the splined shaft 140 and second arm 130.
The inside both ends of the splined shaft 140 set deep groove ball bearing 142 respectively, and the electric screwdriver axle is limited in the zanjon
In ball bearing 142 so that the electric screwdriver axle 150 is in every dummy status with the splined shaft 140, avoids direct contact with and produces friction
Power.
The robot of the present embodiment promotes connecting plate 166 to be carried out along screw mandrel 162 by the drive screw 162 of lifting motor 161
Lifting is slided, so as to realize the splined shaft 140 being fixedly connected with connecting plate 166, rotating mechanism 170, electric screwdriver axle 150 in vertical side
To motion, realize and contact of the screw with screw hole is positioned；The electric rotating machine 171 of rotating mechanism 170 passes through the second synchronous pulley
Component 172 drives the rotation of electric screwdriver axle 150 to realize tightening for screw.The robot architecture of the present embodiment is simple, and each driving dress
Put with electric screwdriver axle 150 all positioned at (robot interior) on the second arm 130, reduce the heavy burden of robot 100, improve machine
The service life of people.
Simultaneously as the setting of vertical buffer structure 180 so that electric screwdriver axle 150 is during the entire process of to screw tightening
Row buffering persistently is entered to reaction force, reduces the shock loading of robot, the arm joint flexibility of robot is improved and makes
Use the life-span.
Further, since electric screwdriver axle 150 and its drive mechanism are all arranged on the inside of robot 100, structure is simplified, and
It is attractive in appearance, also avoid the scratch to robot or to other workpiece in follow-up use.
In one of the embodiments, in addition to shell 190.
Above content is to combine specific preferred embodiment further detailed description of the utility model, it is impossible to
Assert that specific implementation of the present utility model is confined to these explanations.For the ordinary skill of the utility model art
For personnel, make some equivalent substitutes or obvious modification without departing from the concept of the premise utility, and performance or
Purposes is identical, should all be considered as belonging to the scope of patent protection that the utility model is determined by the claims submitted.
Claims (6)
- A kind of 1. robot for screw locking, it is characterised in that including：Base, the base are provided with rotatable first arm, and the described one end of first arm away from the base is provided with can Second arm of rotation；Splined shaft, the splined shaft are arranged in the one end of second arm away from first arm, and can be in vertical direction Lifting；Electric screwdriver axle, the electric screwdriver axle are built in the splined shaft, and can together be lifted with the splined shaft in vertical direction； The lower end of the electric screwdriver axle can be with the various types of driver bits of clamping；To drive the elevating mechanism of the splined shaft vertical lifting；To drive the rotating mechanism of the electric screwdriver axle rotation；And for entering the vertical buffering of row buffering to the turn of the screw reaction force being subject to the splined shaft in the vertical direction Mechanism.
- 2. robot as claimed in claim 1, it is characterised in that the elevating mechanism includes：The lifting motor being fixed on second arm,Screw mandrel；The first synchronous pulley component being connected between the lifting motor and screw mandrel；The feed screw nut being adapted to the screw mandrel spiral；The connecting plate being fixedly connected with the splined shaft；Wherein, the connecting plate is movably set on the feed screw nut by through hole, when the feed screw nut is by the silk When bar driving moves downward, the connecting plate is moved downward therewith by Action of Gravity Field.
- 3. robot as claimed in claim 2, it is characterised in that the vertical buffer gear includes：Flange is locked, the locking flange is located at the feed screw nut lower end and is fastenedly connected therewith；Guide rod, through the connecting plate, flange is fixedly linked, the other end is provided with block with the locking for one end of the guide rod；Spring, on the guide rod and between the block and the connecting plate, the spring continues the spring housing Elasticity extrudes the connecting plate.
- 4. robot as claimed in claim 3, it is characterised in that the rotating mechanism includes being fixed on the connecting plate Electric rotating machine, the second synchronous pulley component being connected between electric rotating machine and the electric screwdriver axle.
- 5. robot as claimed in claim 1, it is characterised in that be provided with flower between the splined shaft and second arm Key axle bearing.
- 6. robot as claimed in claim 1, it is characterised in that the inside both ends of the splined shaft set deep-groove ball axle respectively Hold, the electric screwdriver axle is limited in the deep groove ball bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720620722.6U CN207071788U (en) | 2017-05-31 | 2017-05-31 | A kind of robot for screw locking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720620722.6U CN207071788U (en) | 2017-05-31 | 2017-05-31 | A kind of robot for screw locking |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207071788U true CN207071788U (en) | 2018-03-06 |
Family
ID=61513682
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720620722.6U Active CN207071788U (en) | 2017-05-31 | 2017-05-31 | A kind of robot for screw locking |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207071788U (en) |
-
2017
- 2017-05-31 CN CN201720620722.6U patent/CN207071788U/en active Active
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 518100 Building 93-1 Xintang Road, Rentian Community, Fuhai Street, Bao'an District, Shenzhen City, Guangdong Province Patentee after: ADTECH (SHENZHEN) TECHNOLOGY Co.,Ltd. Country or region after: China Address before: 518052 room 5-001, majialong Tianxia Industrial Park, Yiyuan Road, Nanshan District, Shenzhen City, Guangdong Province Patentee before: ADTECH (SHENZHEN) TECHNOLOGY Co.,Ltd. Country or region before: China |