CN213592197U

CN213592197U - 6-axis robot device for automatic screw feeding

Info

Publication number: CN213592197U
Application number: CN202021507693.0U
Authority: CN
Inventors: 唐英亮; 陈鹏飞
Original assignee: Suzhou Temai Intelligent Manufacturing Co ltd
Current assignee: Suzhou Temai Intelligent Manufacturing Co ltd
Priority date: 2020-07-27
Filing date: 2020-07-27
Publication date: 2021-07-02
Anticipated expiration: 2030-07-27

Abstract

The utility model discloses a 6-axis robot device for automatic screw feeding, which comprises a 6-axis industrial robot and a feeding mechanism component, wherein the feeding mechanism component is arranged at the execution end of the industrial robot, an upper connecting plate of the feeding mechanism component is fixed on the shaft end surface of a 6 th-axis tool flange shaft of the industrial robot, a rib plate I and a rib plate II are arranged at the lower end of the upper connecting plate, a sliding table cylinder is arranged at the lower end of a lower connecting plate, a fixed plate is arranged below a sliding block of the sliding table cylinder, a photoelectric switch is arranged on the lower end surface of the mounting plate and can detect the existence of a workpiece screw, a clamping jaw II is arranged on the left lower end surface of the fixed plate, a clamping jaw mounting seat is respectively arranged at the moving end of the clamping jaw II, a right clamping jaw arm is arranged on the clamping jaw mounting seat in front, a right left clamping jaw arm is arranged on the clamping jaw mounting seat behind, the left clamping jaw arm and the, and the workpiece screws are conveyed to the mounting position through the sliding table cylinder, so that the automatic feeding of the workpiece screws is completed.

Description

6-axis robot device for automatic screw feeding

Technical Field

The utility model belongs to the technical field of the robot device of screw automatic feeding is relevant, concretely relates to 6 robot devices for screw automatic feeding.

Background

The 6-axis robot device for automatic screw feeding conveys the workpiece screws of the feeding box on the production line to the mounting position through a robot and carries out accurate positioning before mounting. The robot is widely applied in the field of industrial manufacturing, and the robot mainly replaces people to finish large-batch and high-quality work in the mechanical manufacturing industry, such as automobile manufacturing, ship manufacturing, manufacturing of certain household electrical appliances (televisions, refrigerators and washing machines) and the like. Work such as spot welding, arc-welding, spray paint, cutting, electronic assembly and logistics system's transport, packing in the trade automation line such as chemical industry also has the part to be accomplished by the robot, the utility model discloses a robot is special for the nimble automatic manufacturing industry (for example 3C trade) based on the robot, for open structure, is particularly suitable for nimble application, the utility model relates to a mesh mainly used screw automatic feeding.

The device technique of current screw material loading has following problem: many screws still need artifical material loading, or still need artifical location etc. behind the automatic feeding, have aggravated the cost of labor like this, influence the automation and the unity of whole production line to influence production efficiency.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a 6 robot devices for screw automatic feeding to thereby solve traditional screw material loading that proposes in the above-mentioned background art and put the imperfect problem that influences production line production efficiency of function.

In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a 6 axle robot devices for screw automatic feeding, includes industrial robot and feed mechanism subassembly, industrial robot's execution end is equipped with feed mechanism subassembly, industrial robot's installation interface is simple easily to be integrated, the upper junction plate snap-on of feed mechanism subassembly is at the axle terminal surface of industrial robot's 6 th axle tool flange axle.

Preferably, feed mechanism subassembly includes upper junction plate and gusset II, gusset I and gusset II are equipped with to the lower extreme of upper junction plate, gusset I and gusset II's lower terminal surface parallel and level, and the lower connecting plate is equipped with to the parallel and level face, and upper junction plate, gusset I, gusset II, lower connecting plate constitute a firm frame shape mount pad, and four pass through screwed connection fastening, II left end faces of gusset are equipped with clamping jaw I, the removal end of clamping jaw I respectively is equipped with a connecting block, respectively be equipped with a passageway clamping jaw on the connecting block, have the semicircle passageway in two passageway clamping jaws, can form a circular passageway after the combination, and when clamping jaw I tightens up, two semicircles are closed, passageway clamping jaw centre gripping work piece screw, and when clamping jaw I opens, two semicircles open, and the work piece screw falls down. The utility model discloses a clamping jaw, including clamping jaw I, pipe, mounting hole, semicircular channel, the circular channel that agrees with mutually of clamping jaw I left end face can form after the combination with the circular channel of work piece screw in the inside of the clamping jaw that has the connecting plate in the pipe mounting hole of clamping jaw, the screw of locking the notch after the pipe insertion, the dead pipeline of mounting hole tightening lock, the work piece screw is blown from the pipeline and is come through connecting plate internal channel and fall into the circular channel the inside of the passageway clamping jaw.

Preferably, the circular channel formed by combining the semicircular channels of the two channel clamping jaws is a stepped hole, the diameter of the upper channel is slightly larger than the nut of the workpiece screw, the position of the nut of the workpiece screw is positioned by the taper hole in the middle, and the diameter of the lower channel is slightly larger than the diameter of the workpiece screw, so that smooth passing and positioning of the workpiece screw are facilitated.

Preferably, the slip table cylinder is equipped with to the lower connecting plate lower extreme down, be equipped with the fixed plate below the slider of slip table cylinder, the terminal surface is equipped with the mounting panel under the fixed plate right side, terminal surface is equipped with photoelectric switch under the mounting panel, the terminal surface is equipped with clamping jaw II under the fixed plate left side, the removal end of clamping jaw II respectively is equipped with a clamping jaw mount pad, in front right clamping jaw arm is equipped with on the clamping jaw mount pad, the back left clamping jaw arm is equipped with on the clamping jaw mount pad, left side clamping jaw arm and the work piece screw that right clamping jaw arm centre gripping fell to send the installation position through the slip table cylinder.

Preferably, the lower end face of the mounting plate is provided with a photoelectric switch, the model of the photoelectric switch is PZ-V31P, the photoelectric switch is an intelligent reflection type photoelectric switch, and the photoelectric switch can detect whether a workpiece screw is in a channel clamping jaw channel or not.

Preferably, left side clamping jaw arm and right clamping jaw arm have semi-circular shoulder hole, and the closed circular passageway that forms, the upper and lower position of ladder face location work piece screw, it slightly is greater than the nut diameter to go up the cylinder diameter, and the screw rod of work piece screw is pressed from both sides tightly by lower cylinder, accomplishes the circumference location, when the slip table cylinder is at the zero bit, and the circular passageway of clamping jaw arm and passageway clamping jaw is coaxial with the axle center about this, when clamping jaw II opens, left clamping jaw arm and right clamping jaw arm separate, and the work piece screw falls, when clamping jaw II tightens up, left clamping jaw arm and right clamping jaw arm are closed, and the work piece screw is located.

Preferably, when the slip table cylinder stretches out, the fixed plate exposes the up end of slip table cylinder and plugs up the circular passageway export in the passageway clamping jaw, and clearance 0.5mm between the two realizes II during operation of clamping jaw, the storage function of passageway clamping jaw.

Preferably, industrial robot is small-size general 6 axle industrial robot, compact structure, and the fuselage is small and exquisite, and effective working range is wide big, and the beat time is short, and easily integration is favorable to improving production speed, reduces equipment occupation space, optimizes the workstation overall arrangement, and various optimization characteristics make the workstation reduce, are favorable to the material processing and the assembly of smallclothes to be used.

Compared with the prior screw feeding device technology, the utility model provides a 6 axle robot devices for screw automatic feeding possesses following beneficial effect:

1. the feeding mechanism component of the utility model is provided with two sets of pneumatic parallel clamping jaw devices, the clamping jaw I mechanism has the functions of workpiece screw primary positioning and material storage, the channel in the channel clamping jaw of the clamping jaw I mechanism can be used for primary positioning of the axle center position of the workpiece screw, and when the clamping jaw II mechanism acts, a workpiece screw is stored in the channel, so that the beat time is reduced; the clamping jaw II mechanism has the function of grabbing the workpiece screw, can perform final positioning on the workpiece screw and can be accurately placed in the mounting hole of the workpiece screw. Therefore, the workpiece screw is placed in the mounting hole without repeated positioning or manual assistance, the takt time and labor of the whole process are reduced, and the production efficiency is improved.

2. The industrial robot of the utility model has the model ABB IRB1200-7/0.7, a ground type, a load of 7Kg, a maximum stroke of 703mm and a repeated positioning precision of +/-0.02 mm; the industrial robot is small-size general 6 industrial robot, and every axle is by solitary motor drive, and each axle moves around the axis, compact structure, the fuselage is small and exquisite, and effective working range is wide big, and the beat time is short, easily integrates, is favorable to improving production speed, reduces equipment occupation space, optimizes the workstation overall arrangement, and is fast, and the precision is high, can more efficient work.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description, do not constitute a limitation of the invention, in which:

fig. 1 is a schematic front view of a 6-axis robot device for automatic screw feeding according to the present invention;

fig. 2 is a schematic view of a loading state of a loading mechanism assembly of a 6-axis robot device for automatic loading of screws according to the present invention;

in the figure: 1. an industrial robot; 2. a feeding mechanism assembly; 201. a lower connecting plate; 202. a rib plate I; 203. an upper connecting plate; 204. a rib plate II; 205. a clamping jaw I; 206. connecting blocks; 207. A connecting plate; 208. a channel jaw; 209. a sliding table cylinder; 210. a photoelectric switch; 211. mounting a plate; 212. a fixing plate; 213. a clamping jaw II; 214. a clamping jaw mounting seat; 215. a pipeline; 216. A left jaw arm; 217. a right jaw arm; 218. a workpiece screw;

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.

Serial number	Model/figure number	Product name	Brand/material	Number of	Description/surface treatment
						1	ABB IRB1200-7/0.7	Industrial robot	ABB	1
2	1074-845-005-000	Feeding mechanism component		1

TABLE 1 Serial number list of the structure of FIG. 1

TABLE 2 Serial number list of the structure of FIG. 2

Referring to fig. 1-2, the present invention provides a technical solution: the utility model provides a 6 axle robot devices for screw automatic feeding, includes industrial robot 1 and feed mechanism subassembly 2, and industrial robot 1's execution end is equipped with feed mechanism subassembly 2, and the end face of the axle of 6 th axle tool flange axle of industrial robot 1 is fixed to feed mechanism subassembly 2's upper junction plate 203, upper junction plate 203 is industrial robot 1 and feed mechanism subassembly 2's connecting piece.

A6-axis robot device for automatic screw feeding is characterized in that a feeding mechanism component 2 comprises an upper connecting plate 203 and a rib plate II 204, the lower end of the upper connecting plate 203 is provided with a rib plate I202 and a rib plate II 204, the rib plate I202 and the rib plate II 204 are arranged on a lower connecting plate 201, the upper connecting plate 203, the rib plate I202, the rib plate II 204 and the lower connecting plate 201 form a stable mounting seat, the left end face of the rib plate II 204 is provided with a clamping jaw I205, the moving ends of the clamping jaw I205 are respectively provided with a connecting block 206, the connecting blocks 206 are respectively provided with a channel clamping jaw 208, the left end face of the clamping jaw I205 is provided with a connecting plate 207, a pipeline 215 is arranged on the lower connecting plate 201, the pipeline 215 is inserted into a mounting hole with a notch of the connecting plate 207, and a workpiece screw 218 blown from the pipeline 215 falls into.

A6-axis robot device for automatic screw feeding is characterized in that a sliding table cylinder 209 is installed at the lower end of a lower connecting plate 201, a fixing plate 212 is installed on a sliding block of the sliding table cylinder 209, an installation plate 211 is installed on the right lower end face of the fixing plate 212, a photoelectric switch 210 is installed on the lower end face of the installation plate 211, whether a workpiece screw 218 exists in a channel of a channel clamping jaw 208 or not can be detected, a clamping jaw II 213 is installed on the left lower end face of the fixing plate 212, a clamping jaw installation seat 214 is installed at the moving end of each clamping jaw II 213, a right clamping jaw arm 217 is installed on the clamping jaw installation seat 214 in front, a left clamping jaw arm 216 is installed on the clamping jaw installation seat 214 in back, the left clamping jaw arm 216 and the right clamping jaw arm 217 are closed to clamp the fallen workpiece screw 218, the grabbing function of the clamping jaws II is achieved, semicircular.

A6-axis robot device for automatic feeding of screws is characterized in that a left clamping jaw arm 216 and a right clamping jaw arm 217 are provided with semicircular stepped holes, a closed circular channel is formed to be matched with a workpiece screw 218, when a sliding table cylinder 209 is at a zero position, the circular channel and the circular channel of a channel clamping jaw 208 are coaxial, the workpiece screw 218 falling from the channel clamping jaw 208 can be received, a photoelectric switch 210 detects that the workpiece screw 218 falls into the left clamping jaw arm 216 and the right clamping jaw arm 217, a clamping jaw II 213 is tightened to drive the left clamping jaw arm 216 and the right clamping jaw arm 217 to be closed to clamp the workpiece screw, the sliding table cylinder 209 extends out, a fixing plate 212 exposes the upper end face of the sliding table cylinder 209 to block an outlet of the circular channel in the channel clamping jaw 208, a workpiece screw 218 is blown from a pipeline, the sliding table cylinder 209 is waited to retract, a pipeline mounting hole of a lower connecting plate 207 is provided with a slot, so that the pipeline 215 is easily inserted, the mounting holes reduce the locked pipeline, the workpiece screw 218 blows from the pipeline 215 to fall into the channel clamping jaw 208 through a channel communicated with the pipeline 215 in the lower connecting plate 207, the left clamping jaw arm 216 and the right clamping jaw arm 217 are provided with semicircular stepped holes matched with the nut part of the workpiece screw 218 in a radial direction, a circular channel is formed by closing and matched with the workpiece screw 218, and when the sliding table cylinder 209 is in a zero position, the circular channel is coaxial with the circular channel of the channel clamping jaw 208.

The utility model discloses a theory of operation and use flow: the utility model discloses install the back, novel a 6 robot device for screw automatic feeding mainly comprises industrial robot 1 and feed mechanism subassembly 2, industrial robot 1 receives program command control execution end and stops at initial position, industrial robot 2 stops at initial position through upper junction plate 203 control feed mechanism subassembly 2, work piece screw 218 begins to blow from pipeline 215, manage 215, in lower connecting plate 207 passageway falls into passageway clamping jaw 208, the initial state of clamping jaw I205 was tightened up this moment, passageway clamping jaw 208 is closed, circular passageway in the passageway clamping jaw 208 and the coaxial heart of passageway in the lower connecting plate 207. At this time, the sliding table cylinder 210 below the lower connecting plate 201 is retracted, the fixing plate 212 is mounted on the sliding block of the sliding table cylinder 210, the clamping jaw ii 213 is mounted on the fixing plate 212, the execution end of the clamping jaw ii 213 is opened at this time, so that the circular channels of the left clamping jaw arm 216 and the right clamping jaw arm 217 are coaxial with the channel in the channel clamping jaw 208, when the workpiece screw 218 in the channel clamping jaw 208 is positioned, the screw part of the workpiece screw 218 can be accurately inserted into the circular channels of the left clamping jaw arm 216 and the right clamping jaw arm 217, after the screw part of the workpiece screw 218 is inserted into the circular channels of the left clamping jaw arm 216 and the right clamping jaw arm 217, the photoelectric switch 210 detects the workpiece screw 218, the clamping jaw i 205 is opened, the workpiece screw 218 completely falls down, the nut end faces of the workpiece screw 218 are positioned on the circular channel surfaces of the left clamping jaw arm 216 and the right clamping jaw arm 217, the clamping jaw arm 216 and the, the sliding table cylinder 209 begins to extend, the industrial robot 1 begins to act to drive the feeding mechanism component 2 to reach a workpiece screw 218 to an installation position, after the workpiece screw reaches the installation position, the clamping jaw II 213 opens, the workpiece screw 218 falls into a hole of the installation position, and due to the fact that the workpiece screw 218 is completely positioned and the industrial robot 1 accurately positions the installation position, the workpiece screw can quickly and accurately fall into the installation hole without repeatedly aligning the hole for many times. When the sliding table cylinder 209 extends, the upper end face of the fixing plate 212 exposed out of the sliding table cylinder 209 blocks the circular channel outlet in the channel clamping jaw 208, and at this time, the pipeline 215 can blow out the next workpiece screw 218 and store the next workpiece screw in the channel clamping jaw 208 to wait for the next action. When the workpiece screw 218 falls into the mounting hole, the photoelectric switch 210 detects that the workpiece screw 218 is absent, the sliding table cylinder 209 retracts, the industrial robot 1 moves to the next mounting position, and the second feeding is started.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A6 axle robot device for screw automatic feeding, includes industrial robot (1) and feed mechanism subassembly (2), its characterized in that: the automatic feeding mechanism is characterized in that a feeding mechanism component (2) is arranged at the executing tail end of the industrial robot (1), an upper connecting plate (203) of the feeding mechanism component (2) is fixed on the shaft end face of a 6 th shaft tool flange shaft of the industrial robot (1), and the upper connecting plate (203) is a connecting piece of the industrial robot (1) and the feeding mechanism component (2).

2. The 6-axis robot device for automatic loading of screws of claim 1, characterized in that: the feeding mechanism component (2) comprises an upper connecting plate (203) and a rib plate II (204), the lower end of the upper connecting plate (203) is provided with a rib plate I (202) and a rib plate II (204), the rib plate I (202) and the rib plate II (204) are arranged on a lower connecting plate (201), the upper connecting plate (203), the rib plate I (202), the rib plate II (204) and the lower connecting plate (201) form a stable mounting seat, the four parts are connected and fastened through screws, the left end face of the rib plate II (204) is provided with a clamping jaw I (205), the moving ends of the clamping jaws I (205) are respectively provided with a connecting block (206), the connecting block (206) is respectively provided with a channel clamping jaw (208), the two channel clamping jaws (208) are internally provided with semicircular channels, a circular channel matched with a workpiece screw (218) can be formed after combination, the left end face of the clamping jaw I (205) is provided with a connecting plate, the pipeline (215) is arranged on the lower connecting plate (201), the pipeline mounting hole of the connecting plate (207) is provided with a notch, so that the pipeline (215) is easy to insert, the pipeline (215) is inserted and then locked with a screw of the notch, the mounting hole is reduced to lock the pipeline, and the workpiece screw (218) is blown through the pipeline (215) and falls into the channel clamping jaw (208) through a channel communicated with the pipeline (215) in the connecting plate (207).

3. A 6-axis robotic device for automatic loading of screws as defined in claim 2, wherein: lower connecting plate (201) lower extreme is equipped with slip table cylinder (209), fixed plate (212) are equipped with below the slider of slip table cylinder (209), fixed plate (212) lower right terminal surface is equipped with mounting panel (211), mounting panel (211) lower terminal surface is equipped with photoelectric switch (210), can detect whether work piece screw (218) have in passageway clamping jaw (208) the passageway, fixed plate (212) lower left terminal surface is equipped with clamping jaw II (213), clamping jaw II (213) respectively are equipped with one clamping jaw mount pad (214) in the removal end of clamping jaw II (213), and is preceding right clamping jaw arm (217) are equipped with on clamping jaw mount pad (214), and is the back left clamping jaw arm (216) is equipped with on clamping jaw mount pad (214), left side clamping jaw arm (216) and right clamping jaw arm (217) centre gripping work piece screw (218) that fall down to send the installation position to through slip table cylinder (209).

4. A 6-axis robotic device for automatic loading of screws as defined in claim 3, wherein: the left clamping jaw arm (216) and the right clamping jaw arm (217) are provided with semicircular stepped holes which are matched with the nut part of the workpiece screw (218) in the opposite direction, a circular channel is formed by closing the semicircular stepped holes and matched with the workpiece screw (218), and when the sliding table cylinder (209) is at a zero position, the circular channel and the circular channel of the channel clamping jaw (208) are coaxial.

5. A 6-axis robotic device for automatic loading of screws as defined in claim 2, wherein: the industrial robot (1) is an ABB IRB1200-7/0.7 model, a ground type, a load of 7Kg, a maximum stroke of 703mm and a repeated positioning precision of +/-0.02 mm, and the industrial robot (1) is a small-sized universal 6-axis industrial robot.