CN210232168U

CN210232168U - Be used for many joint screws of level machine

Info

Publication number: CN210232168U
Application number: CN201920848465.0U
Authority: CN
Inventors: Yang Liu; 刘洋; Fusen He; 何福森
Original assignee: Shenzhen Keyanxin Electromechanical Equipment Co ltd
Current assignee: Shenzhen Keyanxin Electromechanical Equipment Co ltd
Priority date: 2019-06-06
Filing date: 2019-06-06
Publication date: 2020-04-03
Anticipated expiration: 2029-06-06

Abstract

The utility model discloses a horizontal multi-joint screw machine, which comprises a manipulator base, a first manipulator, a second manipulator, a lifting module and a servo screw machine; the manipulator base is hinged with a first manipulator, and the first manipulator is connected with a first joint drive; the tail end of the first mechanical arm is hinged with a second mechanical arm, and the second mechanical arm is connected with a second joint drive; the second mechanical arm is fixedly connected with a lifting module, and the front end of the lifting module is fixedly connected with a servo screw machine. The utility model discloses a be equipped with first arm, second arm, be connected with the servo screw machine of lift module, replace manual work and traditional screw machine to realize full-automatic flexible screw fastening function, realized quick, high-efficient, low-cost fastening screw's function, satisfied social demand.

Description

Be used for many joint screws of level machine

Technical Field

The utility model relates to a mechanical assembly field specifically is a be used for horizontal many joints screw machine.

Background

With the popularization of automated production in production assembly lines, how to fasten screws on products quickly and efficiently becomes a focus of attention. Most of the existing screw machines adopt truss type structures, so that the equipment efficiency is low, the flexibility is poor, the movement speed is low, and the maintenance cost is high. Some manufacturers combine the existing horizontal multi-joint manipulator and screw machine hanging pieces to form a horizontal multi-joint manipulator screw machine, but the screw machine is based on the hanging piece form, the screwdriver center and the manipulator end effector are not concentric, the number of control coordination links is large, the control difficulty is high, and a 5-axis system formed by the horizontal multi-joint manipulator and the servo screw machine is high in cost.

The utility model provides a many joints of level screw machine adds a coaxial rotatory servo screw machine through many joints of level manipulator, has realized quick, high efficiency, low-cost fastening screw's function, satisfies the social demand.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a be used for many joint screws of level machine to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme:

a horizontal multi-joint screw machine comprises a manipulator base, a first manipulator, a second manipulator, a lifting module and a servo screw machine; the manipulator base is hinged with a first manipulator, and the first manipulator is connected with a first joint drive; the tail end of the first mechanical arm is hinged with a second mechanical arm, and the second mechanical arm is connected with a second joint drive; the second mechanical arm is fixedly connected with a lifting module, and the front end of the lifting module is fixedly connected with a servo screw machine.

As a further aspect of the utility model: the lifting module comprises a base body fixedly connected with the second mechanical arm and a sliding block in sliding connection with the base body, and the sliding block is connected with a lifting module drive for driving the sliding block to move up and down; the sliding block is fixedly connected with the servo screw machine.

As a further aspect of the utility model: the lifting module drives the straight-line screw rod module which is vertically arranged.

As a further aspect of the utility model: the servo screw machine comprises a servo motor and a screw driver connected with the servo motor, and a positioning head is arranged below the screw driver.

As a further aspect of the utility model: the positioning head is communicated with an external feeding machine.

As a further aspect of the utility model: the positioning head is fixedly connected with the sliding block.

As a further aspect of the utility model: the first joint drive comprises a servo motor for driving the first mechanical arm to horizontally rotate, and the servo motor is fixedly connected with the mechanical arm base in a bolt fixing mode.

As a further aspect of the utility model: the second joint drive comprises a servo motor for driving the second mechanical arm to horizontally rotate, and the servo motor is fixedly connected with the second mechanical arm in a bolt fixing mode.

Compared with the prior art, the beneficial effects of the utility model are that: the utility model discloses a be equipped with first arm, second arm, be connected with the servo screw machine of lift module, replace manual work and traditional screw machine to realize full-automatic flexible screw fastening function, realized quick, high-efficient, low-cost fastening screw's function, satisfied social demand.

Drawings

FIG. 1 is a schematic structural view of a horizontal multi-joint screw machine;

fig. 2 is a schematic structural diagram of a servo screw machine used in a horizontal multi-joint screw machine.

In the figure: 100-a robot base; 200-a first robot arm; 300-first joint drive; 400-a second robotic arm; 500-second joint drive; 600-a lifting module; 601-a substrate; 602-a slide block; 700-lifting module driving; 800-servo screw machine; 001-screwdriver; 002-positioning head.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Example 1

Referring to fig. 1-2, in an embodiment of the present invention, a horizontal multi-joint screw machine includes a robot base 100, a first robot arm 200, a second robot arm 400, a lifting module 600, and a servo screw machine 800; the manipulator base 100 is fixedly connected with an external workbench in a bolt fixing mode, the manipulator base 100 is hinged with a first manipulator 200, the first manipulator 200 is connected with a first joint driver 300, the first joint driver 300 comprises a servo motor for driving the first manipulator 200 to horizontally rotate, and the servo motor is fixedly connected with the manipulator base 100 in a bolt fixing mode; the tail end of the first mechanical arm 200 is hinged with a second mechanical arm 400, the second mechanical arm 400 is connected with a second joint driver 500, the second joint driver 500 comprises a servo motor for driving the second mechanical arm 400 to horizontally rotate, and the servo motor is fixedly connected with the second mechanical arm 400 in a bolt fixing mode; the second mechanical arm 400 and the first mechanical arm 200 form a horizontal multi-joint plane two-degree-of-freedom mechanical arm, so that the terminal coordinates can be accurately positioned and maintained at any position in a working space; the second mechanical arm 400 is fixedly connected with a lifting module 600, and the front end of the lifting module 600 is fixedly connected with a servo screw machine 800.

Example 2

The lifting module 600 comprises a base 601 fixedly connected with the second mechanical arm 400 and a slider 602 slidably connected with the base 601, the slider 602 is connected with a lifting module driver 700 for driving the slider 602 to move up and down, and specifically, the lifting module driver 700 is a vertically arranged linear screw rod module; the sliding block 602 is fixedly connected with the servo screw machine 800, so as to drive the servo screw machine 800 to move up and down; servo screw 800 includes servo motor and the screwdriver 001 of being connected with servo motor, and screwdriver 001 below is equipped with location head 002, and location head 002 and outside feed machine intercommunication realize the feed of screw, location head 002 and slider 602 fixed connection.

The utility model discloses a theory of operation: a user fixes a horizontal multi-joint screw machine on an assembly workbench, a workpiece needing to be assembled to fasten screws is fixed on the assembly workbench through a jig, at the moment, the tail end of the horizontal multi-joint screw machine is dragged to move to the position above a screw hole, point positions (x, y) are recorded, a z axis is adjusted to descend a screwdriver to a screw fastening position, a z value is recorded, and the corresponding (x, y, z) is used as the screw fastening position.

The user will fasten the point location record of screw in proper order, selects the mode of screw fastening, through first arm drive 300 and second arm drive 500, links first arm 200 and second arm 400, can pinpoint screwdriver 001 to the screw hole top, and the screw blows to the locating head 002 through the feeder, and servo screw machine 800 drives the screwdriver 001 rotatory, and Z axle lead screw drive slider moves down simultaneously, feeds quick fastening screw. When the fastening screw reaches the set torque, the Z-axis lead screw rotates reversely, the servo screw machine 800 and the screwdriver 001 are withdrawn, and the fastening of the current hole site is completed.

Subsequent hole sites are fastened in sequence according to the method, due to the linkage of the first-stage mechanical arm and the second-stage mechanical arm, the whole screw fastening process is high in speed and precision, the Z-axis feeding and the position positioning can be combined under the condition that no barrier exists, and the screw holes and the fastening screws can be positioned more quickly.

The following are specifically mentioned: the first joint drive and the second joint drive which comprise the servo motor are in the prior art; the first mechanical arm, the second mechanical arm and the servo screw machine connected with the lifting module are innovation points of the application; through being equipped with first arm, second arm, being connected with the servo screw machine of lift module, replace artifical and traditional screw machine to realize full-automatic flexible screw fastening function, realized quick, high-efficient, the low-cost function of fastening the screw, satisfy social demand.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. A horizontal multi-joint screw machine comprises a manipulator base (100), a first manipulator (200), a second manipulator (400), a lifting module (600) and a servo screw machine (800); the manipulator is characterized in that the manipulator base (100) is hinged with a first manipulator (200), and the first manipulator (200) is connected with a first joint drive (300); the tail end of the first mechanical arm (200) is hinged with a second mechanical arm (400), and the second mechanical arm (400) is connected with a second joint drive (500); the second mechanical arm (400) is fixedly connected with a lifting module (600), and the front end of the lifting module (600) is fixedly connected with a servo screw machine (800).

2. The horizontal multi-joint screw machine as claimed in claim 1, wherein the lifting module (600) comprises a base body (601) fixedly connected with the second mechanical arm (400) and a slide block (602) slidably connected with the base body (601), and the slide block (602) is connected with a lifting module drive (700) for driving the slide block (602) to move up and down; the sliding block (602) is fixedly connected with the servo screw machine (800).

3. The machine according to claim 2, characterized in that said lifting module drive (700) is a vertically arranged linear screw module.

4. The horizontal articulated screw machine according to claim 1, characterized in that the servo screw machine (800) comprises a servo motor and a screw driver (001) connected with the servo motor, a positioning head (002) is arranged below the screw driver (001).

5. A machine for horizontal articulated screws according to claim 4, characterized in that said positioning head (002) communicates with an external feeding machine.

6. The machine according to claim 4, characterised in that said positioning head (002) is fixedly connected to the slide (602).

7. The horizontal multi-joint screw machine as claimed in claim 1, wherein the first joint driver (300) comprises a servo motor for driving the first robot arm (200) to rotate horizontally, and the servo motor is fixedly connected with the robot base (100) in a bolt fixing manner.

8. The horizontal multi-joint screw machine as claimed in claim 1, wherein the second joint driver (500) comprises a servo motor for driving the second mechanical arm (400) to rotate horizontally, and the servo motor is fixedly connected with the second mechanical arm (400) in a bolt fixing manner.