CN211218391U - Accurate double-screw bolt mechanism of getting - Google Patents
Accurate double-screw bolt mechanism of getting Download PDFInfo
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- CN211218391U CN211218391U CN201922204218.XU CN201922204218U CN211218391U CN 211218391 U CN211218391 U CN 211218391U CN 201922204218 U CN201922204218 U CN 201922204218U CN 211218391 U CN211218391 U CN 211218391U
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Abstract
The utility model provides a get and put double-screw bolt mechanism accurately relates to precision machining machinery technical field. The accurate stud taking and placing mechanism comprises a mechanical arm for releasing studs, a jig loaded with products and a control device; the jig is provided with a first positioning pin for keeping the position of a stud pre-hole of a product unchanged and an electromagnet for ensuring the smoothness of the product; the control device controls the electromagnet to generate magnetic force; the control device also controls the mechanical arm to place the stud into the stud pre-placing hole of the product. The whole mechanism occupies small area and can be placed between punching machines; when the product is upgraded or the model is switched, the jig is replaced, and the gripper and the feeding device can be directly used after being released, so that the universality is high. Whole operation receives program control, cooperation locating pin and electro-magnet, first location portion and second location portion on the tool reach the double-screw bolt and get effect fast, that the precision is high.
Description
Technical Field
The utility model belongs to the technical field of precision machining machinery technique and specifically relates to indicate an accurate double-screw bolt mechanism of getting.
Background
In the stamping industry, a stud is required to be placed into a stud pre-hole of a product, and then the stud and the product are riveted. The traditional mode is that put into the double-screw bolt of product in the hole is foreseen to the double-screw bolt through artificial mode, because the unilateral strip (0.03mm) only in clearance between double-screw bolt and the product hole, the clearance is less, when the double-screw bolt was placed to the manual work, can manually adjust the compensation and put into the double-screw bolt. If the stud is to be placed in an automatic mechanical mode, the mechanical arm cannot be automatically adjusted, so that the accuracy of the stud taking and placing process needs to be guaranteed, otherwise, the mechanical arm cannot continuously place the stud into the stud pre-placing hole of the product.
SUMMERY OF THE UTILITY MODEL
The utility model discloses the technical problem that will solve is: a mechanism for accurately picking and placing the stud is designed, so that the stud can be placed into a stud pre-placing hole of a product in a full-automatic mode by using a mechanical mode.
In order to solve the technical problem, the utility model discloses a technical scheme be:
a stud accurately taking and placing mechanism comprises a mechanical arm for releasing studs, a jig loaded with a product and a control device; the jig is provided with a first positioning pin for keeping the position of a stud pre-hole of a product unchanged and an electromagnet for ensuring the smoothness of the product; the control device controls the electromagnet to generate magnetic force; the control device also controls the mechanical arm to place the stud into the stud pre-placing hole of the product.
The device further comprises a feeding device, wherein the feeding device comprises a feeding block and a first station, and the feeding block is provided with a stud groove and a first positioning part; the front end of the mechanical arm is provided with a releasing gripper, and the releasing gripper consists of a stud suction nozzle connected with a vacuum negative pressure pipe and a second positioning part matched with the first positioning part; when the feeding block is located at the first station, the second positioning part moves to and is fixed on the first positioning part, and the control device controls the stud suction and discharge nozzle to suck the stud in the stud groove.
Further, the first positioning part is provided with a second positioning pin, and the second positioning part is provided with a circular hole groove; or the first positioning part is provided with a round hole groove, and the second positioning part is provided with a second positioning pin; the second positioning part is inserted into the round hole groove through the second positioning pin and fixed on the first positioning part.
Further, the feeding device further comprises a second station and a first sensor; the first sensor is positioned above the second station; and a stud in the stud groove triggers the control device through the first sensor to control the feeding block to move from the second station to the first station.
Furthermore, the feeding device also comprises a vibrating disc, a stud passage and a discharge hole arranged beside the second station; one end of the stud channel is arranged on the side wall of the vibration disc, and the other end of the stud channel is connected with the discharge hole; when the feeding block is located at the second station, the stud is moved into the stud groove from the discharging hole.
Further, the feeding device also comprises an air cylinder for pushing the feeding block to move.
Furthermore, the feeding device further comprises a sliding groove, and the first station is connected with the second station through the sliding groove.
Further, the releasing grabs are provided with at least two groups, and the feeding device is provided with at least two groups.
Further, a second sensor and a third sensor are arranged on the jig; the product triggers the control device to control the mechanical arm through the second sensor; the stud triggers the control device to control the mechanical arm through the third sensor.
Furthermore, at least two positioning blocks for limiting the position of a product are arranged on the edge of each edge of the jig; the jig is also provided with at least two supporting columns for supporting the product, the number of the electromagnets is at least four, and the supporting columns and the electromagnets are equal in height and are uniformly distributed below the product; the number of the first positioning pins is at least two, the number of the second sensors is at least two, and the first positioning pins and the second sensors are both positioned below the product; and one third sensor is arranged below each stud pre-hole.
The beneficial effects of the utility model reside in that: the whole mechanism occupies small area and can be placed between punching machines; when the product is upgraded or the model is switched, the jig is replaced, and the gripper and the feeding device can be directly used after being released, so that the universality is high. Whole operation receives program control, cooperation locating pin and electro-magnet, first location portion and second location portion on the tool reach the double-screw bolt and get effect fast, that the precision is high.
Drawings
The following detailed description of the specific structure of the present invention with reference to the accompanying drawings
Fig. 1 is a three-dimensional structure diagram of a stud accurately picking and placing mechanism of the present invention;
fig. 2 is a detailed view of a jig of a mechanism for accurately picking and placing studs of the present invention;
fig. 3 is a state diagram of the feeding block of the stud bolt accurately picking and placing mechanism of the present invention at the first station;
fig. 4 is a state diagram of the feeding block of the accurate stud bolt taking and placing mechanism of the present invention at the second station;
fig. 5 is a detailed view of a releasing gripper of the stud accurately picking and placing mechanism of the present invention;
the device comprises a product 1, a jig 2, an electromagnet 21, a first positioning pin 22, a positioning block 23, a supporting column 24, a second sensor 25, a third sensor 26, a mechanical arm 3, a release gripper 4, a second positioning part 41, a stud suction nozzle 42, a feeding device 5, a vibrating disc 51, a stud channel 52, a discharge port 53, a first sensor 54, a sliding groove 55, a sliding groove 56, a feeding block 561, a first positioning part and a stud groove 562.
Detailed Description
The utility model discloses the most crucial design lies in: the positions of the stud pre-holes on the product are always kept unchanged, and the relative positions of the studs taken by the mechanical arm and the mechanical arm are kept unchanged.
In order to further explain the feasibility of the concept of the present invention, the technical contents, structural features, objects and effects thereof according to the present invention will be described in detail below with reference to the accompanying drawings.
Example 1
Referring to fig. 1 and 2, a stud precisely picking and placing mechanism includes a mechanical arm 3 for releasing studs, a tool 2 loaded with a product 1, and a control device; the jig 2 is provided with a first positioning pin 22 for keeping the position of a stud pre-hole of a product unchanged and an electromagnet 21 for ensuring the smoothness of the product; the control device controls the electromagnet 21 to generate magnetic force; the control device also controls the mechanical arm 3 to place the studs into the stud pre-placing holes of the product 1.
The product 1 is a core plate containing an iron core, and after the pre-processing treatment, the corners of the product 1 are easy to tilt up. The electromagnet 21 generates magnetic force to fix the plane of the product 1 on the same horizontal plane. The first positioning pin 22 is used for fixing the product 1, so that the horizontal deviation of the position of the product 1 after the product 1 is placed on the jig 2 is avoided. Namely, the electromagnet 21 and the first positioning pin 22 are fixed, so that the position of the stud pre-hole on the product is always kept unchanged. After a positioning hole matched with the first positioning pin 22 on the product 1 is fixed on the first positioning pin 22, the control device controls the electromagnet 21 to be electrified to generate magnetic force to suck the product 1, and then the mechanical arm 3 starts to put a stud into a stud pre-placing hole of the product 1; after all studs are placed, the control device cancels power supply to the electromagnet 21, the magnetic force disappears, and the product 1 can be easily taken down from the jig 2. The detailed position of the stud pre-placing hole of the product 1 is preset in the control device, and the control device controls the mechanical arm 3 to place the stud into the stud pre-placing hole according to the setting.
Example 2
On the basis of embodiment 1, please refer to fig. 3, the precise stud taking and placing mechanism further includes a feeding device 5, the feeding device 5 includes a feeding block 56 and a first station, the feeding block 56 is provided with a stud groove 562 and a first positioning portion 561; the front end of the mechanical arm 3 is provided with a releasing gripper 4, and the releasing gripper 4 consists of a stud suction nozzle 42 connected with a vacuum negative pressure pipe and a second positioning part 41 matched with the first positioning part 561; when the feeding block 56 is located at the first station, the second positioning portion 41 moves to and is fixed on the first positioning portion 561, and the control device controls the stud suction and discharge nozzle 42 to suck the stud in the stud groove 562.
The releasing gripper 4 sucks the stud at a specific position through positioning, and ensures that the stud is positioned at the same position of the releasing gripper 4 every time, so that the releasing gripper 4 can accurately place the stud into the stud pre-placing hole.
Example 3
On the basis of embodiment 2, please refer to fig. 5, the first positioning portion 561 is provided with a second positioning pin, and the second positioning portion 41 is provided with a circular hole groove; or the first positioning part 561 is provided with a circular hole groove, and the second positioning part 41 is provided with a second positioning pin; the second positioning portion 41 is fixed to the first positioning portion 561 by inserting the second positioning pin into the circular hole groove.
Through setting up second locating pin and the circular hole groove structure that corresponds the matching, guarantee to release and get tongs 4 and absorb the double-screw bolt after realizing accurate positioning.
Example 4
On the basis of embodiment 2 or embodiment 3, referring to fig. 3 and fig. 4, the feeding device 5 further includes a second station and a first sensor 54; the first sensor 54 is located above the second station; the stud in the stud slot 562 triggers the control device via the first sensor 54 to control the movement of the upper block 56 from the second station to the first station.
Through first sensor 54, the time of arm work is controlled to the accuracy, guarantees to release simultaneously that gripping hand 4 will certainly absorb and obtain the double-screw bolt, avoids grabbing empty.
Example 5
On the basis of embodiment 4, please refer to fig. 4, the feeding device 5 further includes a vibrating disk 51, a stud passage 52, and a discharge port 53 disposed beside the second station; one end of the stud channel 52 is arranged on the side wall of the vibration disc 51, and the other end of the stud channel is connected with the discharge hole 53; when the upper block 56 is in the second station, the stud is moved from the discharge port 53 into the stud groove 562.
The vibrating disk 51 generates thrust in the vibrating process, so that the stud moves towards the discharge port 53 along the stud channel 52, and the discharge port 53 pushes the stud to the stud groove 562. When the stud groove 562 faces the discharge port 53, the studs can enter the stud groove 562 from the discharge port 53, and only one stud can enter the stud groove 562 at a time. When the studs move to the discharge port 53 on the stud channel 52, the studs are vertically arranged one by one, and directly sucked away by the stud suction nozzle 42 after entering the stud groove 562.
Example 6
On the basis of embodiment 5, the feeding device 5 further comprises an air cylinder for pushing the feeding block 56 to move. The upper block 56 is reciprocated between the first station and the second station by the urging of the air cylinder.
Example 7
On the basis of embodiment 6, the feeding device 5 further includes a sliding groove 55, and the first station is connected with the second station through the sliding groove 55. After the studs enter the stud grooves 562, when the feeding block 56 slides along the sliding grooves 55 to leave the second station, the discharge port 53 is dislocated with the stud grooves 562, the studs of the discharge port 53 are blocked by other parts of the feeding block 56, and the studs cannot leave the discharge port 53 until the stud grooves 562 face the discharge port 53 again.
Example 8
On the basis of embodiment 7, the releasing grippers 4 are provided with at least two groups, and the feeding device 5 is provided with at least two groups. The multi-group releasing gripper 4 and the feeding device 5 matched with the releasing gripper 4 are arranged, and the double-screw bolt releasing gripper is suitable for taking and placing double-screw bolts of different models.
Example 9
On the basis of embodiments 5 to 8, the jig 2 is further provided with a second sensor 25 and a third sensor 26; the product 1 triggers the control device to control the mechanical arm 3 through the second sensor 25; the stud triggers the control device to control the robot arm 3 via the third sensor 26. The product 1 is put into the jig 2 by other working manipulators, and the mechanical arm 3 can be triggered to start picking up the studs and putting the studs into the stud pre-holes only when the product 1 is completely put into the jig 2 by the second sensor 25. After the stud is placed in the stud pre-hole, the third sensor 26 can trigger the control device to control the robot arm 3.
Example 10
On the basis of the embodiment 9, at least two positioning blocks 23 for limiting the position of the product 1 are further arranged on the edge of each edge of the jig 2; the jig 2 is also provided with at least two support columns 24 for supporting products, the number of the electromagnets 21 is at least four, and the support columns 24 are equal to the number of the electromagnets 21 and are uniformly distributed below the products 1; at least two first positioning pins 22 are arranged, at least two second sensors 25 are arranged, and the first positioning pins 22 and the second sensors 25 are both positioned below the product; and one third sensor 26 is arranged below each stud pre-hole.
The positioning block 23 facilitates other working manipulators to accurately place the product 1 into the jig 2, the supporting column 24 and the electromagnet 21 support the product 1 together, and the electromagnet 21 ensures that the product 1 is on the same supporting plane. Only if all the second sensors 25 touch the product plane does the control device judge that the product 1 is correctly placed in the jig 2. Each third sensor 26 corresponds to one stud, and the control device judges that the mechanical arm 3 finishes the operation of putting all studs into the product 1 only when the third sensors 26 below all stud pre-holes contact the studs. Each third sensor 26 does not interfere with each other. The second sensor 25 and the third sensor 26 are both metal proximity sensors. The number and position of the third sensors 26 are set according to actual processed products. Different products are suitable for different jigs, so after the processing product changes, the corresponding jig needs to be replaced.
In summary, the utility model provides a mechanism for accurately picking and placing the stud, the whole mechanism occupies small area and can be placed between punching machines; when the product is upgraded or the model is switched, the jig is replaced, and the gripper and the feeding device can be directly used after being released, so that the universality is high. The feeding block of the feeding device achieves the purpose of providing one stud at a time in a staggered mode. The arm receives first sensor, second sensor and third sensor touch-control, cooperates locating pin and electro-magnet, first location portion and second location portion on the tool, reaches the double-screw bolt and gets effect that the speed is fast, the precision is high.
The first … … and the second … … are only used for name differentiation and do not represent how different the importance and position of the two are.
The above only is the embodiment of the present invention, not limiting the patent scope of the present invention, all the equivalent structures or equivalent processes that are used in the specification and the attached drawings or directly or indirectly applied to other related technical fields are included in the patent protection scope of the present invention.
Claims (10)
1. A stud accurately taking and placing mechanism is characterized by comprising a mechanical arm for releasing studs, a jig loaded with a product and a control device; the jig is provided with a first positioning pin for keeping the position of a stud pre-hole of a product unchanged and an electromagnet for ensuring the smoothness of the product; the control device controls the electromagnet to generate magnetic force; the control device also controls the mechanical arm to place the stud into the stud pre-placing hole of the product.
2. The stud precise taking and placing mechanism according to claim 1, further comprising a feeding device, wherein the feeding device comprises a feeding block and a first station, and the feeding block is provided with a stud groove and a first positioning part; the front end of the mechanical arm is provided with a releasing gripper, and the releasing gripper consists of a stud suction nozzle connected with a vacuum negative pressure pipe and a second positioning part matched with the first positioning part; when the feeding block is located at the first station, the second positioning part moves to and is fixed on the first positioning part, and the control device controls the stud suction and discharge nozzle to suck the stud in the stud groove.
3. The stud bolt accurately taking and placing mechanism according to claim 2, wherein the first positioning part is provided with a second positioning pin, and the second positioning part is provided with a round hole groove; or the first positioning part is provided with a round hole groove, and the second positioning part is provided with a second positioning pin; the second positioning part is inserted into the round hole groove through the second positioning pin and fixed on the first positioning part.
4. The stud precise taking and placing mechanism according to any one of claims 2 or 3, wherein the feeding device further comprises a second station and a first sensor; the first sensor is positioned above the second station; and a stud in the stud groove triggers the control device through the first sensor to control the feeding block to move from the second station to the first station.
5. The stud bolt accurately taking and placing mechanism according to claim 4, wherein the feeding device further comprises a vibrating disc, a stud passage and a discharge hole arranged beside the second station; one end of the stud channel is arranged on the side wall of the vibration disc, and the other end of the stud channel is connected with the discharge hole; when the feeding block is located at the second station, the stud is moved into the stud groove from the discharging hole.
6. The stud mechanism of claim 5, wherein the loading device further comprises a cylinder for pushing the loading block to move.
7. The stud mechanism of claim 6, wherein the loading device further comprises a sliding groove, and the first station is connected with the second station through the sliding groove.
8. The stud bolt mechanism of claim 7, wherein the release grippers are provided in at least two groups and the loading device is provided in at least two groups.
9. The stud precise taking and placing mechanism according to any one of claims 5 to 8, wherein the jig is further provided with a second sensor and a third sensor; the product triggers the control device to control the mechanical arm through the second sensor; the stud triggers the control device to control the mechanical arm through the third sensor.
10. The stud picking and placing mechanism according to claim 9, wherein at least two positioning blocks for limiting the position of the product are further arranged on the edge of each edge of the jig; the jig is also provided with at least two supporting columns for supporting the product, the number of the electromagnets is at least four, and the supporting columns and the electromagnets are equal in height and are uniformly distributed below the product; the number of the first positioning pins is at least two, the number of the second sensors is at least two, and the first positioning pins and the second sensors are both positioned below the product; and one third sensor is arranged below each stud pre-hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922204218.XU CN211218391U (en) | 2019-12-10 | 2019-12-10 | Accurate double-screw bolt mechanism of getting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922204218.XU CN211218391U (en) | 2019-12-10 | 2019-12-10 | Accurate double-screw bolt mechanism of getting |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211218391U true CN211218391U (en) | 2020-08-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922204218.XU Active CN211218391U (en) | 2019-12-10 | 2019-12-10 | Accurate double-screw bolt mechanism of getting |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211218391U (en) |
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2019
- 2019-12-10 CN CN201922204218.XU patent/CN211218391U/en active Active
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