CN208744114U - Numerical control anury steel-wire screw-socket Fast Installation machine - Google Patents

Abstract

To solve the problems, such as that anury steel-wire screw-socket installation effectiveness is low, installation quality is unstable, the utility model provides a kind of anury steel-wire screw-socket Fast Installation machine, including rack, control panel, mounting assembly, mechanical arm, motion platform.Rack uses gantry structure, control panel is supported by two-freedom bracket, facilitate and adjusts computer angle, mounting assembly is by electronic assembly wrench elevating mechanism and belt conveyor, leather belt driving mechanism, belt aligning mechanism cooperates, electronic assembly wrench is moved up and down by straight line mould group, leather belt driving mechanism does intermittent movement by unilateral bearing and rotary cylinder drive belt, there are six freedom degrees for mechanical arm, the space transmitting to workpiece may be implemented, motion platform is by servo motor, ball-screw and rolling guide composition, the precise motion of motion platform may be implemented.

Description

Numerical control anury steel-wire screw-socket Fast Installation machine

Technical field

The utility model relates to steel-wire screw-socket mounting technique fields, and in particular to be used for anury steel-wire screw-socket Fast Installation Machine.

Background technique

Steel-wire screw-socket is a kind of threaded female fastener, it is the cold-rolling stainless steel silk with high intensity, high-precision, any surface finish A kind of concentric body of spring like internal and external threads being accurately process is mainly used for enhancing and protecting the internal screw thread of low-intensity material, Its principle is that elastic connection is formed between screw and body internal screw thread, eliminates screw thread foozle, improves bonding strength, existing Technology when installing anury steel-wire screw-socket needs that first steel-wire screw-socket is put into assembly wrench, borrow spanner to anury swivel nut into Row position simultaneously anury swivel nut is installed into workpiece because be it is manually installed, installation effectiveness is low, and installation accuracy is poor, therefore Installation effectiveness and precision are to be improved.

Summary of the invention

In view of the deficiencies of the prior art, the utility model provides a kind of anury steel-wire screw-socket Fast Installation machine, and nothing can be improved The installation effectiveness and installation accuracy of tail steel-wire screw-socket.

To realize above-mentioned deficiency, the technical scheme adopted by the utility model to solve the technical problem is as follows: numerical control anury Steel-wire screw-socket Fast Installation machine, including rack are equipped with control panel on the left of the rack, are equipped on rack portal frame Arrangement, the mounting assembly are two sets, are arranged symmetrically about portal frame, mechanical arm, the machinery are equipped on the right side of rack Arm is two sets, is arranged symmetrically about portal frame, is equipped with motion platform right above the fuselage of rack；The control panel includes Rotating seat A, rotating seat A and rack are rigidly connected by bolt, and rotating seat A is connected with L pipe one end by revolute, and by tight Determine screw locking, the L pipe other end is connected with rotating seat B by revolute, and is connected by holding screw, rotating seat B and computer It is rigidly connected by bolt, automation anury swivel nut installation intelligence control system is installed in computer；The mounting assembly packet Include belt conveyor, belt aligning mechanism, fixed plate, electronic assembly wrench elevating mechanism, leather belt driving mechanism；The skin Band conveying mechanism includes belt pulley, and belt pulley is connected with rotary damper output shaft, and the ontology and rack of rotary damper are connected, Guarantee that the belt in driving wheel to belt pulley section is in tension by rotary damper, the through-hole fixed spacing on belt point Cloth inlays anury steel-wire screw-socket in through-hole, and over pulleys carried, belt passes through belt aligning mechanism for winding, pulls into electronic installation Hand elevating mechanism, the anury steel-wire screw-socket on belt are installed on workpiece, and then belt enters leather belt driving mechanism, belt by Driving force effect into guide sleeve, and then enters belt and recycles hopper, and belt can recycle repeatedly；The belt alignment Mechanism includes belt aligning mechanism link block, and the through-hole on belt aligning mechanism link block and fixed plate are connected, belt straightener Long hole on structure link block is connected with sheave seat, and the threaded hole on the left of sheave seat is connected with the long hole on guide groove link block, leads It is connected to slot link block and guide groove, sheave seat sliding slot end and sliding block baffle A are connected, the sliding slot gap of sliding block A and sheave seat Cooperation, sliding block A are connected with cf bearing A by screw pair, and bearing outer ring and the sheave set of cf bearing A is interference fitted, and sliding block is in cunning There is spring power drive in slot, Y-direction pressing force is provided, also guarantees that belt aligning mechanism can be with while realizing that Y-direction displacement limits The belt of different in width is adapted to, and sheave set can be freely rotated, clamping stagnation when belt being avoided to feed, fixed plate is fixed on rack The portal frame of portal frame middle section, fixed plate and rack is rigidly connected using high-strength bolt, guarantees the rigidity of fixed plate；Institute Stating electronic assembly wrench elevating mechanism includes electronic assembly wrench, and electronic assembly wrench is locked by fixing seat, fixing seat and mistake Cab apron is connected, and the slide of transition plates and straight line mould group is connected, and servo motor A is connected by plum coupling A and straight line mould group, directly Line mould group and fixed plate are connected；The leather belt driving mechanism includes rotary cylinder, and the cylinder body and feeding pedestal of rotary cylinder are connected, The rotating disk and unilateral bearing seat of rotary cylinder are connected, and the outer ring of unilateral bearing seat and unilateral bearing is connected by flat key, unidirectionally The outer ring of bearing carries out axial restraint by the hole shoulder and internal circlip of unilateral bearing seat, and unilateral bearing inner ring passes through with axis The inner ring of key connection, unilateral bearing carries out axial restraint, the middle section of axis and drive with check ring by the shaft shoulder and axis of axis Driving wheel is connected by flat key, and driving wheel passes through the shaft shoulder and round nut axial restraint of axis, is uniformly distributed a system in the wheel week of driving wheel Column are raised, and the spacing between through-hole in raised spacing and belt is corresponding, and the axis other end and bearing inner race are interference fitted, bearing Outer ring and feeding pedestal are interference fitted, and the outer ring of bearing is carried out axial solid by the hole shoulder and internal circlip of feeding pedestal Fixed, pinch roller sliding chute seat and feeding pedestal are connected, and the sliding slot and pinch roller space of slider of pinch roller sliding chute seat cooperate, pressure zone skidding Groove seat and sliding block baffle B are connected, and pinch roller sliding block is connected with cf bearing B by screw pair, the outer ring bearing B cf and pinch roller mistake It is full of cooperation, pinch roller sliding block has spring power drive in sliding slot, provides X to pressing force, guarantees through-hole and driving wheel on belt Protrusion engagement, feeding pedestal and link block be connected, and link block and fixed plate are connected, and the through-hole on link block is for adjusting feeding The Y-direction of pedestal is displaced, and adjusting block and fixed plate are connected, and adjusting block passes through the pressure of a screw and the pulling force of another screw, Realize that the Z-direction of link block is displaced fine tuning；The mechanical arm includes shoulder joint, and shoulder joint is connected with rack by having enough to meet the need pair, shoulder joint Section is connected with upper arm by rotation pair, and upper arm is connected with elbow joint by having enough to meet the need pair, and elbow joint is connected with lower arm by rotation pair, Lower arm is connected with wrist joint by having enough to meet the need pair, and wrist joint is connected with hand one and hand two respectively by rotation pair, hand one and hand two-way Rotation pair is crossed to be connected；The motion platform includes X-axis motion platform and Y-axis motion platform, and X-axis motion platform includes servo motor B, servo motor B and motor cabinet A are connected, and motor cabinet A and Y-axis platform are connected, and servo motor B passes through plum coupling B and ball Lead screw A is connected, and ball-screw A is fixed by hold-down support A and support carriers A, and ball-screw A drives feed screw nut, lead screw spiral shell Female to be connected with X-axis platform, X-axis guide rail and Y-axis platform are connected, and X-axis guide rail sliding block and X-axis platform are connected, and step up cylinder and X-axis is flat Platform is connected, and the positioning fixture for different workpieces is fixed on X-axis platform, and Y-axis motion platform includes servo motor C, servo electricity Machine C and motor cabinet B is connected, and motor cabinet B and rack are connected, and servo motor C is connected by plum coupling C with ball-screw B, rolls Ballscrew B is fixed by hold-down support B and support carriers B, and ball-screw B drives feed screw nut, and feed screw nut and Y-axis platform are solid Even, Y-axis guide rail and rack are connected, and Y-axis guide rail sliding block and Y-axis platform are connected.

The numerical control anury steel-wire screw-socket Fast Installation machine that the utility model further provides for, mechanical arm is for grabbing wait pacify Fill the workpiece of anury swivel nut and by the workpiece handling to assembly line, but when system identification is to anury swivel nut install failure, machine Tool arm automatically puts workpiece to waste recovery area；Mechanical arm by hand one by after the workpiece grabbing for having installed anury swivel nut, tightly Then the workpiece for not installing anury swivel nut on hand two is put to motion platform, then mechanical arm returns back to assembly line, and hand one will Mounted anury swivel nut is put to assembly line, while hand two grabs the workpiece for not installing anury swivel nut, so circulation repeatedly；It is mechanical Motion path of the arm from assembly line to motion platform calculates optimal fortune by path optimization's algorithm of intelligence control system Dynamic path.

The numerical control anury steel-wire screw-socket Fast Installation machine that the utility model further provides for, electronic assembly wrench have torque Result is simultaneously fed back to intelligence control system in time by test function, and when finding that torque is excessive, mounting head inversely screws out threaded hole, It is installed again after adjusted, throwing away more than 3 times can not install repeatedly, that is, be determined as substandard product, be put by mechanical arm crawl To waste recovery area.

The numerical control anury steel-wire screw-socket Fast Installation machine that the utility model further provides for, step up cylinder for step up to The workpiece of anury swivel nut is installed, and steps up cylinder and step up arm end pressure sensor is installed, pressure sensor is by data feedback To intelligence control system, cylinder clamping power is stepped up by the control of electric pneumatic regulating valve, protection workpiece avoids deforming.

The utility model has the beneficial effects that the motion platform of this anury steel-wire screw-socket Fast Installation machine by servo motor and Ball-screw and precise guide rail transmission realize that the exact position of workpiece is mobile, it is ensured that installation accuracy；Mounting assembly and rack Portal frame passes through high-intensitive swivel nut rigid connection, it is ensured that the rigidity and stability of mounting assembly；Two sets of mounting assemblies and two sets of machines Tool arm is arranged symmetrically about portal frame, and motion platform once positions the synchronous installation, it can be achieved that two workpiece, can be matched simultaneously Two production line work, improve working efficiency；Leather belt driving mechanism realizes the continuous supply of swivel nut, supply precision height and energy consumption It is low；This equipment adapts to the installation of more specification swivel nuts, and realizes intelligentized control method: stepping up cylinder and is determined not by intelligence control system The clamping force size of similar shape workpiece；Electronic assembly wrench passes through intelligence control system automatic identification substandard product and passes through machine The recovery processing of tool arm；Motion platform and mechanical arm determine optimal motion path by intelligence control system；Intelligence control system is logical Input data is crossed, the data include: the quantity of installation swivel nut and the specification of swivel nut needed for workpiece, determine the interval of assembly line Run duration.

Detailed description of the invention

Fig. 1 is the structural schematic diagram of the utility model.

Fig. 2 is the structural schematic diagram of the control panel of the utility model.

Fig. 3 is the structural schematic diagram of the mounting assembly of the utility model.

Fig. 4 is the structural schematic diagram of the belt conveyor of the utility model.

Fig. 5 is the structural schematic diagram of the belt aligning mechanism of the utility model.

Fig. 6 is the structural schematic diagram of the electronic assembly wrench elevating mechanism of the utility model.

Fig. 7 is the structural schematic diagram of the leather belt driving mechanism of the utility model.

Fig. 8 is the structural schematic diagram of the mechanical arm of the utility model.

Fig. 9 is the structural schematic diagram of the motion platform of the utility model.

Wherein, 1, rack；2, control panel；3, mounting assembly；4, mechanical arm；5, motion platform；6, rotating seat A；7,L Pipe；8, rotating seat B；9, computer；10, belt conveyor；11, belt aligning mechanism；12, fixed plate；13, electronic assembly wrench Elevating mechanism；14, leather belt driving mechanism；15, belt pulley；16, rotary damper；17, belt；18, guide sleeve；19, belt returns Collection hopper；20, guide groove；21, guide groove link block；22, sheave seat；23, belt aligning mechanism link block；24, sliding block baffle A；25, sliding block A；26, cf bearing A；27, sheave set；28, servo motor A；29, plum coupling A；30, straight line mould group；31, mistake Cab apron；32, electronic assembly wrench；33, fixing seat；34, cf bearing B；35, pinch roller；36, pinch roller sliding block；37, pressure zone skidding Groove seat；38, sliding block baffle B；39, rotary cylinder；40, adjusting block；41, link block；42, feeding pedestal；43, unilateral bearing seat； 44, unilateral bearing；45, driving wheel；46, axis；47, bearing；48, shoulder joint；49, upper arm；50, elbow joint；51, lower arm；52, wrist Joint；53, hand one；54, hand two；55, Y-axis platform；56, motor cabinet A；57, servo motor B；58, plum coupling B；59, solid Determine support A；60, ball-screw A；61, X-axis guide rail；62, X-axis guide rail sliding block；63, servo motor C；64, motor cabinet B；65, plum Flower shaft coupling C；66, hold-down support B；67, step up cylinder；68, X-axis platform；69, support carriers A；70, Y-axis guide rail sliding block；71, Y-axis guide rail；72, ball-screw B；73, support carriers B.

Specific embodiment

Numerical control anury steel-wire screw-socket Fast Installation machine as shown in Figures 1 to 9, including rack 1, the left side of the rack 1 Control panel 2 is installed, mounting assembly 3 is installed, the mounting assembly is two sets, about portal frame on rack (1) portal frame It being arranged symmetrically, the right side of rack 1 is equipped with mechanical arm 4, and the mechanical arm 4 is two sets, it is arranged symmetrically about portal frame, machine 1 Motion platform 5 is installed right above fuselage；The control panel 2 includes rotating seat A6, and rotating seat A6 and rack 1 pass through bolt Rigid connection, rotating seat A6 are connected with 7 one end of L pipe by revolute, and are locked by holding screw, 7 other end of L pipe and rotation Seat B8 is connected by revolute, and is connected by holding screw, and rotating seat B8 and computer 9 are rigidly connected by bolt, in computer 9 Automation anury swivel nut installation intelligence control system is installed；The mounting assembly 3 includes belt conveyor 10, belt school Straight mechanism 11, fixed plate 12, electronic assembly wrench elevating mechanism 13, leather belt driving mechanism 14；The belt conveyor 10 Including belt pulley 15, belt pulley 15 is connected with 16 output shaft of rotary damper, and the ontology and rack 1 of rotary damper 16 are connected, Guarantee that the belt 17 in driving wheel 45 to 15 section of belt pulley is in tension by rotary damper 16, the through-hole on belt 17 Fixed spacing is distributed, and is inlayed anury steel-wire screw-socket in through-hole, is wrapped on belt pulley 15, and belt 17 passes through belt aligning mechanism 11, Into electronic assembly wrench elevating mechanism 13, the anury steel-wire screw-socket on belt 17 is installed on workpiece, and then belt 17 enters Leather belt driving mechanism 14, belt 17 is driven power effect, into guide sleeve 18, and then enters belt and recycles hopper 19, belt 17 can recycle repeatedly；The belt aligning mechanism 11 includes belt aligning mechanism link block 23, and belt aligning mechanism connects The through-hole and fixed plate 12 connect on block 23 is connected, and the long hole on belt aligning mechanism link block 23 is connected with sheave seat 22, sheave The threaded hole in 22 left side of seat is connected with the long hole on guide groove link block 21, and guide groove link block 21 and guide groove 20 are connected, slot 22 sliding slot end of wheel seat and sliding block baffle A24 are connected, the sliding slot clearance fit of sliding block A25 and sheave seat 22, sliding block A25 and cf axis It holds A26 to be connected by screw pair, 27 interference fit of bearing outer ring and sheave set of cf bearing A26, sliding block A25 has bullet in sliding slot Spring force driving, provides Y-direction pressing force, also guarantees that belt aligning mechanism 11 is adapted to not while realizing that Y-direction displacement limits With the belt 17 of width, and sheave set 27 can be freely rotated, and clamping stagnation when belt 17 being avoided to feed, fixed plate 12 is fixed on rack The portal frame of 1 portal frame middle section, fixed plate 12 and rack 1 is rigidly connected using high-strength bolt, guarantees fixed plate 12 Rigidity；The electronic assembly wrench elevating mechanism 13 includes electronic assembly wrench 32, and electronic assembly wrench 32 passes through fixing seat 33 lockings, fixing seat 33 and transition plates 31 are connected, and the slide of transition plates 31 and straight line mould group 30 is connected, and servo motor A28 passes through Plum coupling A29 and straight line mould group 30 are connected, and straight line mould group 30 and fixed plate 12 are connected；The leather belt driving mechanism 14 includes Rotary cylinder 39, the cylinder body and feeding pedestal 42 of rotary cylinder 39 are connected, the rotating disk and unilateral bearing seat 43 of rotary cylinder 39 It is connected, unilateral bearing seat 43 is connect with the outer ring of unilateral bearing 44 by flat key, and the outer ring of unilateral bearing 44 passes through unilateral bearing The hole shoulder and internal circlip of seat 43 carry out axial restraint, and 44 inner ring of unilateral bearing is connected by key with axis 46, unilateral bearing 44 inner ring carries out axial restraint with check ring by the shaft shoulder and axis of axis 46, and middle section and the driving wheel 45 of axis 46 pass through Flat key connection, driving wheel 45 pass through the shaft shoulder and round nut axial restraint of axis 46, the wheel week of driving wheel 45 are uniformly distributed a series of Protrusion, the spacing between through-hole in raised spacing and belt 17 is corresponding, and 46 other end of axis and 47 inner ring of bearing are interference fitted, 47 outer ring of bearing and feeding pedestal 42 are interference fitted, and the outer ring of bearing 47 passes through the hole shoulder and internal circlip of feeding pedestal 42 Axial restraint is carried out, pinch roller sliding chute seat 37 and feeding pedestal 42 are connected, the sliding slot and pinch roller sliding block of pinch roller sliding chute seat 37 36 clearance fits, pinch roller sliding chute seat 37 and sliding block baffle B38 are connected, and pinch roller sliding block 36 and cf bearing B34 pass through screw pair It is connected, the outer ring bearing B34 cf and pinch roller 35 are interference fitted, and pinch roller sliding block 36 has spring power drive in sliding slot, provides X To pressing force, guarantee that the through-hole on belt 17 is engaged with the protrusion of driving wheel 45, feeding pedestal 42 and link block 41 are connected, connection Block 41 and fixed plate 12 are connected, and the through-hole on link block 41 is used to adjust the Y-direction displacement of feeding pedestal 42, adjusting block 40 and fixed Plate 12 is connected, and adjusting block 40 realizes that the Z-direction displacement of link block 41 is micro- by the pressure of a screw and the pulling force of another screw It adjusts；The mechanical arm 4 includes shoulder joint 48, and shoulder joint 48 is connected with rack 1 by having enough to meet the need pair, and shoulder joint 48 passes through with upper arm 49 Rotation pair is connected, and upper arm 49 is connected with elbow joint 50 by having enough to meet the need pair, and elbow joint 50 is connected with lower arm 51 by rotation pair, lower arm 51 are connected with wrist joint 52 by having enough to meet the need pair, and wrist joint 52 is connected with hand 1 and hand 2 54 respectively by rotation pair, hand 1 It is connected with hand 2 54 by rotation pair；The motion platform 5 includes X-axis motion platform and Y-axis motion platform, X-axis motion platform Including servo motor B 57, servo motor B 57 and motor cabinet A56 are connected, and motor cabinet A56 and Y-axis platform 55 are connected, servo motor B57 is connected by plum coupling B58 with ball-screw A60, and ball-screw A60 passes through hold-down support A59 and support carriers A69 Fixed, ball-screw A60 drives feed screw nut, and feed screw nut and X-axis platform 68 are connected, and X-axis guide rail 61 and Y-axis platform 55 are solid Even, X-axis guide rail sliding block 62 and X-axis platform 68 are connected, and step up cylinder 67 and X-axis platform 68 is connected, be fixed with needle on X-axis platform 68 To the positioning fixture of different workpieces, Y-axis motion platform includes servo motor C(63), servo motor C63 and motor cabinet B64 are connected, Motor cabinet B64 and rack 1 are connected, and servo motor C63 is connected by plum coupling C65 with ball-screw B72, ball-screw B72 is fixed by hold-down support B66 and support carriers B73, and ball-screw B72 drives feed screw nut, feed screw nut and Y-axis platform 55 are connected, and Y-axis guide rail 71 and rack 1 are connected, and Y-axis guide rail sliding block 70 and Y-axis platform 55 are connected.

Further, the mechanical arm 4 be used for grab anury swivel nut to be installed workpiece and by the workpiece handling extremely Assembly line, but when system identification is to anury swivel nut install failure, mechanical arm 4 automatically puts workpiece to waste recovery area；It is mechanical Arm 4, by after the workpiece grabbing for having installed anury swivel nut, and then will not install anury swivel nut by hand 1 on hand 2 54 Workpiece is put to motion platform, and then mechanical arm 4 returns back to assembly line, and hand 1 puts mounted anury swivel nut to flowing water Line, while hand 2 54 grabs the workpiece for not installing anury swivel nut, so circulation repeatedly；Mechanical arm 4 is 5 from assembly line to motion platform Motion path optimal motion path is calculated by path optimization's algorithm of intelligence control system.

Further, the electronic assembly wrench 32 has torsion-testing function and result is fed back to intelligent control in time System, when finding that torque is excessive, mounting head inversely screws out threaded hole, installs again after adjusted, throws away repeatedly more than 3 times It can not install, that is, be determined as substandard product, be put by the crawl of mechanical arm 4 to waste recovery area.

Further, the workpiece for stepping up cylinder 67 and being used to step up anury swivel nut to be installed, and step up cylinder 67 and add Tight arm end is equipped with pressure sensor, and pressure sensor feeds data back to intelligence control system, is adjusted by electric pneumatic Valve control steps up 67 clamping force of cylinder, and protection workpiece avoids deforming.

Further, the motion platform 5 of the anury steel-wire screw-socket Fast Installation machine passes through servo motor and ball wire Thick stick and precise guide rail transmission realize that the exact position of workpiece is mobile, it is ensured that installation accuracy；Gantry of mounting assembly 3 and rack 1 Frame passes through high-intensitive swivel nut rigid connection, it is ensured that the rigidity and stability of mounting assembly；Two sets of mounting assemblies 3 and two sets of mechanical arms 4 are arranged symmetrically about portal frame, and motion platform once positions the synchronous installation, it can be achieved that two workpiece, can match two simultaneously The work of production line, improves working efficiency；Leather belt driving mechanism 14 realizes the continuous supply of swivel nut, supply precision height and energy consumption It is low；This equipment adapts to the installation of more specification swivel nuts, and realizes intelligentized control method: stepping up cylinder 67 and is determined by intelligence control system The clamping force size of different shape workpiece；Electronic assembly wrench 32 passes through intelligence control system automatic identification substandard product and leads to Cross the recovery processing of mechanical arm 4；Motion platform 5 and mechanical arm 4 determine optimal motion path by intelligence control system；Intelligent control For system by input data, the data include: the quantity of installation swivel nut and the specification of swivel nut needed for workpiece, determine assembly line The intermittent movement time.

It is obvious to a person skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, And without departing substantially from the spirit or essential attributes of the utility model, it can realize in other specific forms practical It is novel.Therefore, in all respects, the present embodiments are to be considered as illustrative and not restrictive, this is practical Novel range is indicated by the appended claims rather than the foregoing description, it is intended that the equivalent requirements of the claims will be fallen in All changes in meaning and scope are embraced therein.

Moreover, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should It considers the specification as a whole, the technical solutions in the embodiments can also be by appropriately combined, formation those skilled in the art The other embodiments that member is understood that.

Claims (4)

1. numerical control anury steel-wire screw-socket Fast Installation machine, including rack (1), control panel is installed on the left of the rack (1) (2), it is equipped with mounting assembly (3) on rack (1) portal frame, the mounting assembly is two sets, is arranged symmetrically about portal frame, machine It is equipped on the right side of frame (1) mechanical arm (4), the mechanical arm (4) is two sets, is arranged symmetrically about portal frame, the machine of rack (1) Motion platform (5) are installed right above body, it is characterised in that:

The control panel (2) includes rotating seat A(6), rotating seat A(6) and rack (1) pass through bolt be rigidly connected, rotation Seat A(6) it is connected with L pipe (7) one end by revolute, and locked by holding screw, L manages (7) other end and rotating seat B(8) By revolute be connected, and by holding screw connect, rotating seat B(8) and computer (9) pass through bolt rigid connection, computer (9) Automation anury swivel nut installation intelligence control system is inside installed；The mounting assembly (3) includes belt conveyor (10), Belt aligning mechanism (11), fixed plate (12), electronic assembly wrench elevating mechanism (13), leather belt driving mechanism (14)；Described Belt conveyor (10) includes belt pulley (15), and belt pulley (15) is connected with rotary damper (16) output shaft, damping due to rotation The ontology of device (16) and rack (1) are connected, and guarantee driving wheel (45) to belt pulley (15) section by rotary damper (16) Belt (17) is in tension, the through-hole fixed spacing distribution on belt (17), inlays anury steel-wire screw-socket in through-hole, is wrapped in On belt pulley (15), belt (17) passes through belt aligning mechanism (11), into electronic assembly wrench elevating mechanism (13), belt (17) the anury steel-wire screw-socket on is installed on workpiece, then belt (17) enter leather belt driving mechanism (14), belt (17) by To driving force effect, into guide sleeve (18), and then enter belt recycling hopper (19), belt (17) can recycle benefit repeatedly With；The belt aligning mechanism (11) includes belt aligning mechanism link block (23), on belt aligning mechanism link block (23) Through-hole and fixed plate (12) are connected, and the long hole on belt aligning mechanism link block (23) is connected with sheave seat (22), sheave seat (22) threaded hole on the left of is connected with the long hole on guide groove link block (21), and guide groove link block (21) and guide groove (20) are solid Even, sheave seat (22) sliding slot end and sliding block baffle A(24) it is connected, sliding block A(25) sliding slot clearance fit with sheave seat (22), Sliding block A(25) be connected with cf bearing A(26) by screw pair, cf bearing A(26) bearing outer ring match with sheave set (27) interference Close, sliding block A(25) there is spring power drive in sliding slot, Y-direction pressing force is provided, is also guaranteed while realizing that Y-direction displacement limits Belt aligning mechanism (11) is adapted to the belt (17) of different in width, and sheave set (27) can be freely rotated, and avoid belt (17) clamping stagnation when feeding, fixed plate (12) are fixed on the portal frame middle section of rack (1), fixed plate (12) and rack (1) Portal frame is rigidly connected using high-strength bolt, guarantees the rigidity of fixed plate (12)；The electronic assembly wrench elevating mechanism It (13) include electronic assembly wrench (32), electronic assembly wrench (32) is locked by fixing seat (33), fixing seat (33) and transition Plate (31) is connected, and the slide of transition plates (31) and straight line mould group (30) is connected, servo motor A(28) pass through plum coupling A (29) it is connected with straight line mould group (30), straight line mould group (30) and fixed plate (12) are connected；The leather belt driving mechanism (14) includes Rotary cylinder (39), the cylinder body of rotary cylinder (39) and feeding pedestal (42) are connected, the rotating disk of rotary cylinder (39) and unidirectional Bearing block (43) is connected, and unilateral bearing seat (43) is connect with the outer ring of unilateral bearing (44) by flat key, unilateral bearing (44) Outer ring carries out axial restraint, unilateral bearing (44) inner ring and axis by the hole shoulder and internal circlip of unilateral bearing seat (43) (46) it being connected by key, the inner ring of unilateral bearing (44) carries out axial restraint with check ring by the shaft shoulder and axis of axis (46), The middle section of axis (46) is connect with driving wheel (45) by flat key, and driving wheel (45) passes through the shaft shoulder and round nut axis of axis (46) To fixation, it is uniformly distributed a series of protrusions the wheel week of driving wheel (45), between the through-hole in raised spacing and belt (17) Spacing is corresponding, and axis (46) other end and bearing (47) inner ring are interference fitted, and bearing (47) outer ring is matched with feeding pedestal (42) interference It closes, the outer ring of bearing (47) carries out axial restraint, pinch roller sliding slot by the hole shoulder and internal circlip of feeding pedestal (42) Seat (37) and feeding pedestal (42) are connected, the sliding slot and pinch roller sliding block (36) clearance fit of pinch roller sliding chute seat (37), pressure zone Take turns sliding chute seat (37) and sliding block baffle B(38) it is connected, pinch roller sliding block (36) is connected with cf bearing B(34) by screw pair, Cf bearing B(34) outer ring and pinch roller (35) are interference fitted, and pinch roller sliding block (36) has spring power drive in sliding slot, provides X To pressing force, guarantee that the through-hole on belt (17) is engaged with the protrusion of driving wheel (45), feeding pedestal (42) and link block (41) It is connected, link block (41) and fixed plate (12) are connected, and the through-hole on link block (41) is used to adjust the Y-direction position of feeding pedestal (42) It moving, adjusting block (40) and fixed plate (12) are connected, and adjusting block (40) passes through the pressure of a screw and the pulling force of another screw, Realize that the Z-direction of link block (41) is displaced fine tuning；The mechanical arm (4) includes shoulder joint (48), and shoulder joint (48) and rack (1) are logical It is secondary connected to cross turnover, shoulder joint (48) is connected with upper arm (49) by rotation pair, and upper arm (49) and elbow joint (50) pass through turnover Pair is connected, and elbow joint (50) is connected with lower arm (51) by rotation pair, and lower arm (51) is connected with wrist joint (52) by having enough to meet the need pair, Wrist joint (52) is connected with hand one (53) and hand two (54) respectively by rotation pair, and hand one (53) and hand two (54) pass through rotation pair It is connected；The motion platform (5) includes X-axis motion platform and Y-axis motion platform, and X-axis motion platform includes servo motor B (57), servo motor B (57) and motor cabinet A(56) it is connected, motor cabinet A(56) it is connected with Y-axis platform (55), servo motor B (57) pass through plum coupling B(58) it is connected with ball-screw A(60), ball-screw A(60) pass through hold-down support A(59) and branch Support support A(69) fixed, ball-screw A(60) driving feed screw nut, feed screw nut and X-axis platform (68) are connected, X-axis guide rail (61) it is connected with Y-axis platform (55), X-axis guide rail sliding block (62) and X-axis platform (68) are connected, and step up cylinder (67) and X-axis platform (68) it is connected, the positioning fixture for different workpieces is fixed on X-axis platform (68), Y-axis motion platform includes servo motor C (63), servo motor C(63) it is connected with motor cabinet B(64), motor cabinet B(64) it is connected with rack (1), servo motor C(63) it is logical Cross plum coupling C(65) it is connected with ball-screw B(72), ball-screw B(72) pass through hold-down support B(66) and support carriers B(73) fixed, ball-screw B(72) driving feed screw nut, feed screw nut and Y-axis platform (55) are connected, Y-axis guide rail (71) and machine Frame (1) is connected, and Y-axis guide rail sliding block (70) and Y-axis platform (55) are connected.

2. numerical control anury steel-wire screw-socket Fast Installation machine according to claim 1, it is characterised in that: the mechanical arm (4) for grabbing the workpiece of anury swivel nut to be installed and by the workpiece handling to assembly line, but when system identification to anury spiral shell When covering install failure, mechanical arm (4) automatically puts workpiece to waste recovery area；Mechanical arm (4) will have been installed by hand one (53) After the workpiece grabbing of good anury swivel nut, and then the workpiece for not installing anury swivel nut on hand two (54) is put to motion platform, so Mechanical arm (4) returns back to assembly line afterwards, and hand one (53) puts mounted anury swivel nut to assembly line, while hand two (54) is grabbed The workpiece for not installing anury swivel nut is taken, is so recycled repeatedly；Mechanical arm (4) from assembly line to motion platform (5) motion path, By path optimization's algorithm of intelligence control system, optimal motion path is calculated.

3. numerical control anury steel-wire screw-socket Fast Installation machine according to claim 1, it is characterised in that: the electronic installation Spanner (32) has torsion-testing function and result is fed back to intelligence control system in time, when finding that torque is excessive, mounting head It is reverse to screw out threaded hole, it is installed again after adjusted, throwing away more than 3 times can not install repeatedly, that is, it is determined as substandard product, It is put by mechanical arm (4) crawl to waste recovery area.

4. numerical control anury steel-wire screw-socket Fast Installation machine according to claim 1, it is characterised in that: described steps up cylinder (67) pressure sensor is installed for stepping up the workpiece of anury swivel nut to be installed, and step up cylinder (67) to step up arm end, presses Force snesor feeds data back to intelligence control system, steps up cylinder (67) clamping force by the control of electric pneumatic regulating valve, protects Nurse's part avoids deforming.