CN209380237U - A kind of automatic nut driving machine with robot interactive - Google Patents
A kind of automatic nut driving machine with robot interactive Download PDFInfo
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- CN209380237U CN209380237U CN201820908825.7U CN201820908825U CN209380237U CN 209380237 U CN209380237 U CN 209380237U CN 201820908825 U CN201820908825 U CN 201820908825U CN 209380237 U CN209380237 U CN 209380237U
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- nut
- clamping jaw
- workpiece
- driving machine
- pneumatic clamping
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Abstract
The utility model discloses a kind of and robot interactive automatic nut driving machine, and structure mainly includes workbench, Pneumatic clamping jaw, clamping jaw bracket, nutting mechanism, Y-axis guide rod, Y-axis electric cylinders, control system.Nutting mechanism includes servomotor, gear reducer, encoder, nut installation mold.When the clamping position of robotic gripper workpiece feeding to Pneumatic clamping jaw, control system controls Pneumatic clamping jaw and opens, clamps and fix workpiece；Control nutting mechanism executes rotation and the concurrent activity that runs up, and wherein servo motor execution rotates forward or backwards, and Y-axis electric cylinders execute upstream or downstream operation, is achieved in nut and tightens or release movement.The utility model can realize that the definite value of nut pre-tightens, and thereby ensure that the test body consistency of postorder pull test, substantially increase the stability of pull test result.It is controlled by the entirety of control system, realizes the raising of working efficiency.
Description
Technical field
The utility model relates to mechanical equipment technical fields, relate more specifically to a kind of automatic stubborn spiral shell with robot interactive
Machine tool.
Background technique
Product of shipping and reselling on another market is widely used in the harbour machineries such as suspender, sling upper rack and superelevation frame as a kind of crucial workpiece and produces
Product are main connection force structures.Generally according to the demand of stress condition, surface processing accuracy and heat treatment to workpiece etc. add
The requirement of work technique is higher, to guarantee workpiece uniform force, increases its tensile strength and torque resistant intensity, while workpiece
Appearance need to shape it is beautiful.
Currently, work station all fronts automatic operating of shipping and reselling on another market, wherein detection is shipped and resell on another market, the mechanical test of workpiece becomes crucial work
Sequence, herein use automatic pull force calculation test mechanism, and stretching mechanical experiment basis, being must be in the end for shipping and reselling on another market workpiece
One nut is installed.
Full-automatic operation is realized for the work station that makes to ship and resell on another market, and realizes the interworking with robot, the data letter of production line
Breathization, nut tighten installation must also automatically complete.This can not only realize the unmanned purpose in production line, additionally it is possible to
The production efficiency of work station is improved, and for making totally digitilized workshop lays good basis for IT application in the future.
CN104625705A discloses a kind of automatic nutting mechanism based on permanent magnet.CN108011275A is disclosed
A kind of full-automatic photovoltaic crimping nut driving machine.CN204366200U discloses a kind of for processing externally threaded processing auxiliary of shipping and reselling on another market
Device.
The prior art including above patent document is not able to satisfy work station of shipping and reselling on another market and realizes all fronts automatic operating
Needs, the application propose a kind of new construction, new process with the automatic nut driving machine of robot interactive and its top nut or unload
Nut method.
Utility model content
The purpose of the utility model is to provide a kind of and robot interactive automatic nut driving machines.With it is existing manually
Nut tightening way is compared, the device of the utility model can fast and efficiently realize workpiece of shipping and reselling on another market full-automatic top nut and
Removing nut carries out pull test, realizes that work station is full-automatic, and production line data is realized in the interworking between robot
Informationization removes artificial participate in.
To achieve the goals above, the utility model, which is used, realizes technical solution with flowering structure:
A kind of automatic nut driving machine with robot interactive, structure specifically include that workbench, Pneumatic clamping jaw, clamping jaw branch
Frame, nutting mechanism, Y-axis guide rod, Y-axis electric cylinders, control system, button box and tri coloured lantern.Wherein each component effect is as follows:
Clamping jaw bracket, nutting mechanism, button box setting are on the table；Tri coloured lantern is arranged on clamping jaw bracket；
Clamping jaw bracket is used to support Pneumatic clamping jaw, including screw rod has material detection optoelectronic switch and clamping jaw cylinder to open position
Magnetic switch；
Pneumatic clamping jaw is used for clamping workpiece；
Nutting mechanism includes servomotor, gear reducer, encoder, nut installation mold, and nut installation mold includes spiral shell
Mother has material detection optoelectronic switch, and nut is placed in nut installation mold, by replacing nut installation mold, realizes workpiece model
Replacement；
Y-axis guide rod and Y-axis electric cylinders complete the movement that ramps of nutting mechanism jointly, realize that nut is run up；
Servo motor is for driving the nut in nutting mechanism to rotate；Speed reducer for adjusting reduction ratio, by motor from
High revolving speed is converted to low speed rotation；Encoder is used to count rotating cycle and count results is fed back to control system；
Control system executes the automation control and automatic running to Pneumatic clamping jaw and nutting mechanism, works as robotic gripper
Workpiece feeding to the clamping position of Pneumatic clamping jaw when, control system controls Pneumatic clamping jaw and opens, clamps simultaneously fixed workpiece；
The concurrent activity that control system control nutting mechanism executes rotation and runs up, wherein servo motor executes just
To or reversely rotate, Y-axis electric cylinders execute upstream or downstream operation, be achieved in nut tighten or release movement.
Preferably, control system, servo motor, encoder collective effect in automatic nut driving machine, realize determining for nut
Value rotation, definite value are tightened.
Workpiece is to ship and resell on another market workpiece, when robotic gripper ship and resell on another market workpiece feeding to nut driving machine Pneumatic clamping jaw clamping position
When setting, workpiece integrally state in a vertical shape of shipping and reselling on another market, major part is in upper, control system control Pneumatic clamping jaw opening, clamping and fixing swing pin
Workpiece.
The end thread cooperation for the workpiece that nut rotation uplink is clamped with Pneumatic clamping jaw is tightened, according to the screw pitch and circle of screw thread
Number data, determine the Top Runby of nutting mechanism.
Workpiece includes the product type with different parameters, and the parameter includes: clamping length, screw pitch, reach, spiral shell
Female thickness.
The value range of parameter are as follows: clamping length is in 356-482mm, screw pitch 4-5.5mm, reach 57-79mm, spiral shell
Female thickness 50-70.
Screw rod has whether have material in material detection optoelectronic switch detection Pneumatic clamping jaw, and nut has material detection optoelectronic switch detection spiral shell
Whether nut is had in female installation mold, and clamping jaw cylinder opens whether magnetic switch detection Pneumatic clamping jaw in position opens in place.
Automatic nut driving machine according to the present utility model with robot interactive, the definite value that can be realized nut are pre-tightened, are protected
The test body consistency for demonstrate,proving postorder pull test, substantially increases the stability of pull test result.Pass through the whole of control system
Body control realizes the information-based of the equipment such as nut driving machine and robot, tensile testing machine and communicates and interact co-ordination, improves
Working efficiency, and exemplary role is played for subsequent processing workshop informationization promotion and planning.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other spies of the utility model
Sign, objects and advantages will become more apparent upon.
Fig. 1 is the schematic three dimensional views of the nut driving machine of the utility model；
Fig. 2 is the top view of the nut driving machine of the utility model
Fig. 3 is the front view of the nut driving machine of the utility model；
Fig. 4 is the side view of the nut driving machine of the utility model；
Fig. 5 shows workpiece by robot feeding to nut driving machine；
Fig. 6 shows Pneumatic clamping jaw and clamps workpiece；
Fig. 7 shows servo motor and drives nut rotation；
Fig. 8 shows Y-axis electric cylinders and drives nut uplink；
Fig. 9 shows the setting of workpiece product model；
Figure 10 is feeding flow chart of the robot to nut machine；
Figure 11 is feeding flow chart of the robot to nut machine.
Specific embodiment
The technical solution of the utility model is specifically described below in conjunction with Figure of description.
The detailed features and advantage of narration the utility model, content are enough to make in detail in a specific embodiment below
Anyone skilled in the art understand the technology contents of the utility model and implement accordingly, and according to theory disclosed by this specification
Bright book, claim and attached drawing, skilled person readily understands that the relevant purpose of the utility model and advantage.
For the deficiency of existing manually nut tightening way, new installation spiral shell is tightened the utility model proposes a kind of
Female method, this method can quickly, efficiently realize that workpiece of shipping and reselling on another market automatically tightens nut, carry out pull test, and realize work
Make the interworking that station is full-automatic, between realization and robot, realize that production line data is information-based, removes artificial participation.
Fig. 1 shows the schematic three dimensional views of the nut driving machine of the utility model.Fig. 2-4 be shown respectively front view, side view and
Top view.
As shown, the structure of nut driving machine according to the present utility model mainly includes Pneumatic clamping jaw, clamping jaw bracket, twists spiral shell
Parent agency, workbench, Y-axis guide-bar mechanism, Y-axis electric cylinders, control system, button box, tri coloured lantern.Wherein, nutting mechanism is interior
Portion's structure mainly includes servomotor, gear reducer, encoder, nut installation mold.
Clamping jaw bracket, nutting mechanism, button box setting are on the table.Tri coloured lantern is arranged on clamping jaw bracket.Clamping jaw
Bracket is used to support Pneumatic clamping jaw, including screw rod has material detection optoelectronic switch and clamping jaw cylinder to open position magnetic switch.Pneumatically
Clamping jaw is used for clamping workpiece.Nut installation mold includes that nut has material detection optoelectronic switch, and nut is placed on nut installation mold
In.
The basic functional principle of nut driving machine according to the present utility model is as follows:
Robotic gripper workpiece feeding to nut driving machine Pneumatic clamping jaw clamping position, Pneumatic clamping jaw open, clamp simultaneously
Fixed workpiece；Wherein, clamping jaw bracket is used to support Pneumatic clamping jaw；
Servo motor drives the nut rotation in nutting mechanism, and speed reducer adjusts reduction ratio, and motor is turned from high revolving speed
It is changed to low speed rotation, encoder is mainly used for counting rotating cycle, and feeds back to control system, and several component collective effects are real
The definite value rotation of existing nut；
Y-axis guide-bar mechanism and Y-axis electric cylinders complete the vertical motion of nutting mechanism jointly, and completion nut runs up dynamic
Make；
By replacing nut installation mold, realizes the purpose of quick-replaceable product type, it is compatible to reach Multiple Type product
The demand of production；
Control system completes the automation control and automatic running of all operating processes, realize nut driving machine rotation with upwards
The concurrent activity of operation；
After workpiece and nut are tightened, by robot pneumatic clamping jaw grabbing workpiece to drawing force testing inspection machine, mechanics is carried out
Test；
After the completion of mechanical test, robot pneumatic clamping jaw grabbing workpiece is passed at the Pneumatic clamping jaw of nut driving machine, gas
Dynamic clamping jaw is opened, clamped and fixed workpiece；
Control system control servo motor executes reverse rotation, and Y-axis electric cylinders execute downward movement, realizes removing nut movement；
Nutting mechanism runs to operating position and postpones stopping downlink, robot pneumatic clamping jaw grabbing workpiece to next work
Sequence.
Illustrate the specific workflow of this device with reference to the accompanying drawing.
Fig. 5 shows workpiece by robot feeding to nut driving machine.Fig. 6 shows Pneumatic clamping jaw and clamps workpiece.
As shown in figure 5, clamping workpiece of shipping and reselling on another market, the folder of the Pneumatic clamping jaw of feeding to nut driving machine by the Pneumatic clamping jaw of robot
Fetch bit is set, and workpiece major part is in upper, whole state in a vertical shape.
After the Pneumatic clamping jaw of nut body clamps workpiece, the Pneumatic clamping jaw of robot unclamps workpiece, and moves to next station
Or waiting station, as shown in Figure 6.
The servo motor that Fig. 7 shows nut driving machine drives the schematic diagram of nut rotation.Fig. 8 shows the Y-axis electricity of nut driving machine
The schematic diagram of cylinder drive nut uplink.
As shown in fig. 7, the servo motor in nut driving machine works, drives nut body axially to run, make nut therein
It rotates with it.
As shown in figure 8, the Y-axis electric cylinders in nut driving machine work, drives nut body to run up along guide rod, make therein
Nut is run up with it.
The end thread cooperation of the rotation and uplink of nut, the workpiece of shipping and reselling on another market clamped with Pneumatic clamping jaw is tightened, according to spiral shell
The data such as the circle number of line and screw pitch, determine the distance of nut body uplink.
By above step, the nut for workpiece of completing to ship and resell on another market tightens movement, and certifiable ship and resell on another market workpiece and nut are tightened
Circle number is certain, this improves the next step, the i.e. stability and consistency of pull test to a certain extent.
Fig. 9 shows the workpiece data of workpiece model with corresponding parameter
Before nut driving machine operation, the selection of product type setting and classification is executed.
It, can typing workpiece model and its corresponding parameter in workpiece data column by man-machine interface.It is right as shown in Fig. 9
Answering parameter includes: clamping length, screw pitch, reach, nut thickness.Clamping length refer to the top surface of clamping to screw thread bottom surface away from
From；Screw pitch refers to the distance of thread；Reach refers to ship and resell on another market on screw thread length distance；Nut thickness refers to the thickness of setting nut
Degree.
After confirming that parameter setting is errorless, workpiece model is selected in workpiece data order, is just generated in workpiece data column
Corresponding data.
The parameter of each model workpiece is saved into system, when needing the data of certain model workpiece, is directly adjusted from system
With as shown in figure 8, being the parameter of lower No. 1 workpiece of auto state.
Nut driving machine explained below using the utility model executes the process of top nut.
A) nut driving machine presses " starting " button under the selection state of top nut, in the case where automatic work, twists spiral shell
Machine tool can issue the signal of " feeding request " to host computer, clamp the Pneumatic clamping jaw that workpiece of shipping and reselling on another market is put into nut driving machine by robot
Place postbacks " feeding in place " notification signal to nut driving machine afterwards in place；Figure 11 shows the feeding mistake of robot to nut driving machine
Journey.
B) nut driving machine obtains " feeding in place " signal and screw rod has material detection optoelectronic switch to detect material signal,
Pneumatic clamping jaw clamping is shipped and resell on another market workpiece, and " robot withdraws request " signal is issued after clamping, after the Pneumatic clamping jaw release of robot from
It opens and postbacks " robot has left " notification signal；
C) nut has whether material detection optoelectronic switch detection nut installation mould has material, is placed with nut in nut installation mold
When, nut has material detection optoelectronic switch to detect material signal；
D) nut driving machine starts automatic running according to the parameter set in man-machine interface:
Elevating mechanism is begun to ramp up, and when rising to nutting start bit, rotating mechanism is pressed and the matched speed of the rate of climb
Degree starts to rotate, until rotating mechanism stops after nut is screwed to desired position, elevating mechanism is begun to decline, until dropping to
Stop and issue the signal of " discharging request " when start bit；
E) notification signal of " feeding in place ", nut driving machine are postbacked when the Pneumatic clamping jaw of robot, which clamps, ships and resell on another market workpiece
Clamping jaw unclamps, and " clamping jaw cylinder opens position " magnetic switch issues " request is withdrawn in discharging " signal after detecting opening signal；
F) robot pneumatic clamping jaw clamps workpiece discharging taking-up of shipping and reselling on another market, and starts the cycle over after taking-up from step a).
Removing nut technical process according to the present utility model is as follows:
A) nut driving machine presses " starting " button under the selection state of removing nut, under automatic working condition, twists spiral shell
Machine tool can issue the signal of " feeding request " to host computer, be put into nut driving machine with the workpiece of shipping and reselling on another market of nut by robot clamping
Pneumatic clamping jaw at, postback " feeding in place " notification signal afterwards in place to nut driving machine.
B) nut driving machine obtains " feeding in place " signal and " screw rod has material, and " detection optoelectronic switch has detected material letter
Number, Pneumatic clamping jaw clamps workpiece of shipping and reselling on another market, and " robot withdraws request " signal is issued after clamping, after the Pneumatic clamping jaw of robot unclamps
It leaves and postbacks " robot has left " notification signal；
C) nut has material detection optoelectronic switch to detect without signal is expected, does not have nut in nut installation mold；
D) nut driving machine starts automatic running according to the parameter set in the HMI of machine interface:
Elevating mechanism is begun to ramp up, and when rising to removing nut start bit, the positive and negative rotation of rotating mechanism (makes nut for several times
Into in carrier) after start to reversely rotate until elevating mechanism declines until drop to starting by with the matched speed of decrease speed
Stop and issue the signal of " discharging request " when position；
E) notification signal of " feeding in place " is postbacked when robot pneumatic clamping jaw, which clamps, ships and resell on another market workpiece, nut driving machine
Pneumatic clamping jaw unclamps, and after " clamping jaw cylinder opens position " magnetic switch detects opening signal, issues " request is withdrawn in discharging " signal；
F) Pneumatic clamping jaw of robot clamps workpiece discharging taking-up of shipping and reselling on another market, and starts the cycle over after taking-up from step a).
The utility model can realize that the definite value of nut pre-tightens, and thereby ensure that the test body consistency of postorder pull test,
Substantially increase the stability of pull test result.Controlled by the entirety of control system, realize nut driving machine and robot,
The information-based of the equipment such as tensile testing machine communicates and interacts co-ordination, improves work efficiency, and believe for following process workshop
Breathization is promoted and planning plays exemplary role.The utility model is small with investment, takes up an area less, is easy to operate, time saving and energy saving
Beneficial effect.
The utility model has been successfully applied to the workpiece production line of shipping and reselling on another market of port machinery equipment.
Finally it is pointed out that although the utility model is described with reference to current specific embodiment, this skill
Those of ordinary skill in art field it should be appreciated that more than embodiment be intended merely to illustrate the utility model, and not use
As the restriction to the utility model, various equivalent variations can also be made without departing from the concept of the premise utility
Or replacement, therefore, as long as this will be all fallen in the variation of above-described embodiment, modification in the spirit of the utility model
In the Claims scope of utility model.
Claims (7)
1. a kind of with robot interactive automatic nut driving machine, be characterized in that, the automatic nut driving machine include: workbench,
Pneumatic clamping jaw, clamping jaw bracket, nutting mechanism, Y-axis guide rod, Y-axis electric cylinders, control system, button box and tri coloured lantern, in which:
Clamping jaw bracket, nutting mechanism, button box setting are on the table；Tri coloured lantern is arranged on clamping jaw bracket；
Clamping jaw bracket is used to support Pneumatic clamping jaw, including screw rod has material detection optoelectronic switch and clamping jaw cylinder to open position magnetism
Switch；
Pneumatic clamping jaw is used for clamping workpiece；
Nutting mechanism includes servomotor, gear reducer, encoder, nut installation mold；
Nut installation mold includes that nut has material detection optoelectronic switch, and nut is placed in nut installation mold, by replacing spiral shell
Female installation mold realizes the replacement of workpiece model；
Y-axis guide rod and Y-axis electric cylinders complete the movement that ramps of nutting mechanism jointly, realize that nut is run up；
Servo motor is for driving the nut in nutting mechanism to rotate；Speed reducer turns for adjusting reduction ratio, by motor from height
Speed is converted to low speed rotation；Encoder is used to count rotating cycle and count results is fed back to control system；
Control system executes the automation control and automatic running to Pneumatic clamping jaw and nutting mechanism；
When the clamping position of the workpiece feeding of robotic gripper to Pneumatic clamping jaw, control system controls Pneumatic clamping jaw and opens, presss from both sides
Tight and fixed workpiece；
Control system control nutting mechanism executes rotation and the concurrent activity that runs up, wherein servo motor execute it is positive or
Reversely rotate, Y-axis electric cylinders execute upstream or downstream operation, be achieved in nut tighten or release movement.
2. automatic nut driving machine as described in claim 1, it is characterised in that: control system, servo in automatic nut driving machine
Motor, encoder collective effect realize that the definite value rotation of nut, definite value are tightened.
3. automatic nut driving machine as described in claim 1, it is characterised in that: the workpiece is characterized similar, adjoining dimensions
Ship and resell on another market workpiece, when robotic gripper ship and resell on another market workpiece feeding to the clamping position of the Pneumatic clamping jaw of nut driving machine when, workpiece of shipping and reselling on another market
Whole state in a vertical shape, major part is in upper, control system control Pneumatic clamping jaw opening, clamping and fixing swing pin workpiece.
4. automatic nut driving machine as described in claim 1, it is characterised in that: the work that nut rotates uplink and Pneumatic clamping jaw clamps
The end thread cooperation of part is tightened, and according to the screw pitch of screw thread and circle number data, determines the Top Runby of nutting mechanism.
5. automatic nut driving machine as described in claim 1, it is characterised in that: the workpiece includes the product with different parameters
Model, the parameter include: clamping length, screw pitch, reach, nut thickness.
6. automatic nut driving machine as claimed in claim 5, it is characterised in that: the value range of the parameter are as follows: clamping length
In 356-482mm, screw pitch 4-5.5mm, reach 57-79mm, nut thickness 50-70.
7. automatic nut driving machine as described in claim 1, it is characterised in that: screw rod has material detection optoelectronic switch detection pneumatic clamps
Whether material is had in pawl, and nut has in material detection optoelectronic switch detection nut installation mold whether have nut, and clamping jaw cylinder opens position
Whether magnetic switch detection Pneumatic clamping jaw opens in place.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820908825.7U CN209380237U (en) | 2018-06-12 | 2018-06-12 | A kind of automatic nut driving machine with robot interactive |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820908825.7U CN209380237U (en) | 2018-06-12 | 2018-06-12 | A kind of automatic nut driving machine with robot interactive |
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| CN209380237U true CN209380237U (en) | 2019-09-13 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108422186A (en) * | 2018-06-12 | 2018-08-21 | 上海振华重工电气有限公司 | With the automatic nut driving machine of robot interactive and its top nut or removing nut method |
-
2018
- 2018-06-12 CN CN201820908825.7U patent/CN209380237U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108422186A (en) * | 2018-06-12 | 2018-08-21 | 上海振华重工电气有限公司 | With the automatic nut driving machine of robot interactive and its top nut or removing nut method |
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