CN214134776U

CN214134776U - Screw locking manipulator

Info

Publication number: CN214134776U
Application number: CN202022481685.XU
Authority: CN
Inventors: 曾胜鹏; 王继业
Original assignee: Jeflon Robot Equipment Suzhou Co ltd
Current assignee: Jeflon Robot Equipment Suzhou Co ltd
Priority date: 2020-10-30
Filing date: 2020-10-30
Publication date: 2021-09-07
Anticipated expiration: 2030-10-30

Abstract

The utility model discloses a screw locking manipulator, which comprises a base, a rotatable big arm is arranged on the base, a rotatable small arm is arranged on the big arm, a locking mechanism which can move vertically and the bottom end of which extends out is arranged in the small arm, the locking mechanism comprises a barrel body, a vertically movable screwdriver head rotating shaft seat is arranged in the barrel body, a spline sleeve which extends out at two ends and the top end and the bottom end of which are respectively connected with a servo motor and a screwdriver head is rotationally arranged in the screwdriver head rotating shaft seat, a suction nozzle is sleeved on the screwdriver head through a bearing, a feeding channel and a feeding channel feeding seat are arranged at the bottom end of the locking mechanism in a penetrating way side by side, a transversely movable material receiving clamping nozzle is arranged at the bottom of the feeding channel, a feeding pipe of which the top is provided with an annular photoelectric sensor through an inlet sleeve is communicated with a blowing type feeder, the blowing type feeder and the annular photoelectric sensor, the material receiving clamping mouth, the servo motor, the batch head rotating shaft seat, the locking mechanism and the big and small arms are all connected with the programmable controller. The utility model provides a how can high-efficient and guarantee the technical problem that the screw was paid to the texture lock.

Description

Screw locking manipulator

Technical Field

The utility model relates to a technical field is paid to the screw lock, concretely relates to lock screw manipulator.

Background

In the prior art, a manual electric screwdriver is usually used for locking a screw, particularly, the screw is manually placed on the electric screwdriver head and then locked by the electric screwdriver, so that the method is obvious, the labor intensity of workers is high, the locking efficiency is low, certain potential safety hazards exist, and the locking quality cannot be guaranteed due to the fact that whether the locking is in place or not is judged completely by manual work.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is to provide a lock screw manipulator to reach workman low in labor strength, the lock is paid efficiently, and operation safety, and can effectively guarantee the lock and pay the purpose of quality.

In order to solve the technical problem, the utility model provides a lock screw manipulator, the on-line screen storage device comprises a base, it sets up and rotatable big arm to rotate to be connected with the level on the base, the other end of big arm is improved level and is rotated and be connected with rotatable forearm, but be equipped with the mechanism is paid to lock of vertical removal in the forearm, the mechanism is paid including the barrel of vertical setting to the lock, there is the first pivot seat of batch that can vertical removal along axial sliding connection in the barrel, batch the spline housing of vertical setting is installed to first pivot seat internal rotation, all stretch out at the both ends of spline housing batch first pivot seat, and the top with install the servo motor transmission at barrel top is connected, and the bottom is connected with batch head downwards, batch overhead suction nozzle that is equipped with through the bearing housing, the bottom of paying the mechanism is stretched out to the lock the forearm and install the feed block that the level set up, vertical penetrating has the pan feeding passageway that sets up side by side along the axial and confession on the feed block the suction material that the suction nozzle passes through It says, be equipped with under the bottom of pan feeding passageway and follow the axial displacement of feed seat connect material double-layered mouth, top intercommunication have the inlet pipe, the cover is equipped with annular photoelectric sensor on the other end of inlet pipe, and the intercommunication has the formula feeder of blowing, blow the formula feeder annular photoelectric sensor connect the material double-layered mouth servo motor first batch head pivot seat the locking mechanism the forearm with the forearm all links to each other with programmable controller.

In a preferred embodiment of the present invention, a first motor is disposed in the base and is connected to the large arm in a transmission manner, and a second motor is disposed in the large arm and is connected to the small arm in a transmission manner.

In a preferred embodiment of the present invention, the first motor and the large arm and the second motor and the small arm are connected by a harmonic reducer.

In a preferred embodiment of the present invention, the speed reducer is a harmonic speed reducer.

In the utility model discloses a preferred embodiment, be equipped with along the axial in the forearm with the mount pad that the barrel is side by side, the mount pad with the relative face of barrel is gone up the vertical linear guide that is equipped with to rotate and install parallel position in linear guide side top and rotatable ball, ball go up the screw thread cover be equipped with linear guide sliding connection's guide block, the barrel is connected on the guide block.

In a preferred embodiment of the present invention, a third motor connected to the ball screw is disposed on the mounting seat on a surface facing away from the cylinder.

In a preferred embodiment of the present invention, the inner wall of the barrel is vertically connected with a pair of symmetrical locking cylinders disposed on both sides of the spline housing, and the piston rod of the locking cylinder is connected with the top transmission of the bit rotating shaft seat.

In a preferred embodiment of the present invention, a barometer is disposed on the arm and is in communication with the locking cylinder.

In a preferred embodiment of the present invention, the material feeding seat is transversely provided with a pair of symmetrically arranged material moving cylinders on the side wall consistent with the axial direction of the material feeding seat, and the material moving cylinders are in transmission connection with the material receiving clamping jaws.

In a preferred embodiment of the present invention, a negative pressure gauge is further disposed on the small arm and is communicated with the suction nozzle.

The utility model has the advantages that: the locking mechanism can be vertically arranged in the small arm, the small arm can be horizontally connected to the large arm in a rotating mode, the large arm can be horizontally connected to the base in a rotating mode, the large arm and the small arm can enable the locking mechanism to automatically move to the locking position under the control of the programmable controller, screws in the blowing type feeder can automatically move to the screwdriver head of the locking mechanism through a blowing and sucking combined material taking mode, and finally the screws are locked in place under the action of the servo motor and the locking cylinder, so that the technical effect of locking the screws in a high-efficiency and quality-guaranteeing mode is achieved. Compared with the prior art, the locking device has the advantages of low labor intensity of workers, high locking efficiency and safe operation, and can effectively ensure the locking quality.

Drawings

Fig. 1 is a schematic structural diagram of the present invention;

FIG. 2 is a schematic structural view of the feed tube and a portion of the housing of the present invention with the small arm removed;

FIG. 3 is a schematic structural view of the housing, feed tube and cartridge body of the present invention with the small arms removed;

the reference numbers in the figures illustrate: 1. the automatic feeding device comprises a base, 2, a large arm, 3, a small arm, 4, a barrel, 5, a batch head rotating shaft seat, 6, a spline sleeve, 7, a servo motor, 8, a batch head, 9, a suction nozzle, 10, a feeding seat, 11, a feeding channel, 12, a suction channel, 13, a material receiving clamping nozzle, 14 feeding pipes, 15 and an annular photoelectric sensor.

Detailed Description

The present invention is further described with reference to the following drawings and specific embodiments so that those skilled in the art can better understand the present invention and can implement the present invention, but the embodiments are not to be construed as limiting the present invention.

Referring to fig. 1, 2 and 3: a screw locking manipulator comprises a base 1, a horizontally arranged and rotatable big arm 2 is rotatably connected to the base 1, a rotatable small arm 3 is rotatably connected to the other end of the big arm 2, a vertically movable locking mechanism is arranged in the small arm 3, the locking mechanism comprises a vertically arranged barrel 4, a vertically movable screwdriver head rotating shaft seat 5 is slidably connected to the barrel 4 along the axial direction, a vertically arranged spline sleeve 6 is rotatably installed in the screwdriver head rotating shaft seat 5, two ends of the spline sleeve 6 extend out of the screwdriver head rotating shaft seat 5, the top end of the spline sleeve is in transmission connection with a servo motor 7 installed at the top of the barrel 4, the bottom end of the screwdriver head 8 is downwards connected with a screwdriver head 8, a suction nozzle 9 is sleeved on the screwdriver head 8 through a bearing, the bottom end of the locking mechanism extends out of the small arm 3 and is provided with a horizontally arranged material supply seat 10, a feeding channel 11 and a material suction channel 12 for the suction nozzle 9 to pass through are vertically penetrated through, a material receiving clamping nozzle 13 capable of moving along the axial direction of the feeding seat 10 is arranged right below the bottom of the feeding channel 11, the top of the feeding channel is communicated with a feeding pipe 14, the other end of the feeding pipe 14 is sleeved with an annular photoelectric sensor 15 and communicated with a blowing type feeder (not shown in the drawing), and the blowing type feeder, the annular photoelectric sensor 15, the material receiving clamping nozzle 13, the servo motor 7, the batch head rotating shaft seat 5, the locking mechanism, the small arm 3 and the large arm 2 are all connected with a programmable controller (not shown in the drawing). In the embodiment, the locking mechanism can be moved to the locking position through the matching of the large arm 2 and the small arm 3 under the control of the programmable controller, the screws in the blowing feeder can be automatically moved to the batch head 8 of the locking mechanism through a blowing and sucking combined material taking mode, and finally the screws are locked under the action of the servo motor 7 and the movable batch head rotating shaft seat 5.

In a preferred embodiment of the present invention, the large arm 2 and the small arm 3 achieve the rotatable technical effect through the following connection structure: the base 1 is internally provided with a first motor in transmission connection with the big arm 2, the big arm 2 is internally provided with a second motor in transmission connection with the small arm 3, and the first motor and the big arm 2 as well as the second motor and the small arm 3 are in transmission connection through a speed reducer.

In a preferred embodiment of the present invention, the speed reducer is a harmonic speed reducer, and the moment, inertia and stability of the movement of the large arm 2 and the small arm 3 are ensured by the arrangement.

In a preferred embodiment of the present invention, the locking mechanism achieves the technical effect of being vertically movable by the following connecting structure: be equipped with the mount pad side by side with barrel 4 along the axial in forearm 3, the mount pad is vertical on the face relative with barrel 4 is equipped with linear guide to rotate and install parallel position in linear guide side top and rotatable ball, the threaded cover is equipped with the guide block with linear guide sliding connection on the ball, barrel 4 connects on the guide block, be equipped with the third motor of being connected with ball transmission on the mount pad on deviating from the face with barrel 4.

In a preferred embodiment of the present invention, the bit spindle base 5 can be vertically moved through the following connecting structure: the inner wall of the barrel 4 is vertically connected with a pair of locking cylinders symmetrically arranged at two sides of the spline housing 6, and piston rods of the locking cylinders are in transmission connection with the top of the bit rotating shaft seat 5.

In a preferred embodiment of the present invention, the small arm 3 is provided with a barometer connected to the locking cylinder, so that the thrust received by the bit 8 can be easily known.

In a preferred embodiment of the present invention, the material receiving clamping mouth 13 can move along the axial direction of the material feeding base 10 through the following connecting structure: the material feeding base 10 is transversely provided with a pair of symmetrically arranged material moving cylinders on the side wall consistent with the axial direction of the material feeding base, and the material moving cylinders are in transmission connection with the material receiving clamping mouths 13.

In a preferred embodiment of the present invention, the small arm 3 is further provided with a negative pressure gauge communicated with the suction nozzle 9, so that the suction force applied to the screw can be easily known.

The working principle is as follows: when the feeding device is used, the programmable controller controls the starting of the first motor, the first motor rotates to drive the large arm 2 to swing, when the large arm 2 swings to a specified angle, the programmable controller controls the closing of the first motor and simultaneously controls the starting of the second motor, the second motor rotates to drive the small arm 3 to swing, when the small arm 3 swings to a specified angle, the programmable controller controls the closing of the second motor and simultaneously controls the starting of the third motor, the third motor rotates to drive the rotation of the ball screw, the ball screw rotates to drive the locking mechanism to vertically move, when the locking mechanism vertically moves to a locking position, the programmable controller controls the closing of the third motor and simultaneously controls the annular photoelectric sensor 15, when the annular photoelectric sensor 15 detects that the screw of the blowing type feeder blows to the receiving clamping nozzle 13, the receiving clamping nozzle 13 is controlled to move to the position below the feeding channel 11, and the screw enters the receiving clamping nozzle 13 from the feeding pipe 14, the programmable controller controls the material receiving clamping mouth 13 to move to the lower part of the material absorbing channel 12, then the programmable controller controls the locking cylinder to move vertically downwards, the locking cylinder drives the suction nozzle 9 to move downwards through the batch head rotating shaft seat 5, the spline housing 6 and the batch head 8 in sequence, in the downward movement process, the suction nozzle 9 sucks and props up the material receiving clamping nozzle 13 and sucks a screw, at the moment, the programmable controller controls the material receiving clamping nozzle 13 to reset, when the batch head 8 contacts the screw, the programmable controller starts the servo motor 7, the screw is locked under the action of the servo motor 7 and the movable batch head rotating shaft seat 5, in the locking process, the programmable controller compares the monitored locking force of the servo motor 7 with a preset value, once the locking force reaches the preset value, the locking is finished, the programmable controller controls the servo motor 7 to stop moving, the locking cylinder returns to the initial position, and the steps after the use are repeated until the locking screw is not needed.

The above embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. Equivalent substitutes or changes made by the technical personnel in the technical field on the basis of the utility model are all within the protection scope of the utility model. The protection scope of the present invention is subject to the claims.

Claims

1. A screw locking manipulator is characterized by comprising a base, wherein a horizontally arranged and rotatable large arm is rotatably connected to the base, a rotatable small arm is rotatably connected to the other end of the large arm in a horizontal manner, a vertically movable locking mechanism is arranged in the small arm, the locking mechanism comprises a vertically arranged barrel, a vertically movable screwdriver head rotating shaft seat is connected to the barrel in a sliding manner along the axial direction, a vertically arranged spline sleeve is rotatably mounted in the screwdriver head rotating shaft seat, the two ends of the spline sleeve extend out of the screwdriver head rotating shaft seat, the top end of the spline sleeve is in transmission connection with a servo motor mounted at the top of the barrel, a screwdriver head is connected to the bottom end of the screwdriver head downwards, a suction nozzle is sleeved on the screwdriver head through a bearing sleeve, the bottom end of the locking mechanism extends out of the small arm and is provided with a horizontally arranged material supply seat, a feeding channel and a material sucking channel are vertically penetrated through the material supply seat, the feeding channel is arranged side by side along the axial direction, and the suction nozzle passes through the material suction channel, be equipped with under the bottom of pan feeding passageway and follow the axial displacement's of feed seat connect material clamp mouth, top intercommunication have the inlet pipe, the cover is equipped with annular photoelectric sensor on the other end of inlet pipe, and the intercommunication has the formula feeder of blowing, the formula feeder of blowing annular photoelectric sensor connect material clamp mouth servo motor first pivot seat of wholesale the locking mechanism the forearm with the forearm all links to each other with programmable controller.

2. The screw locking manipulator according to claim 1, wherein a first motor is provided in the base and is in transmission connection with the large arm, and a second motor is provided in the large arm and is in transmission connection with the small arm.

3. The screw locking manipulator of claim 2, wherein the first motor and the large arm and the second motor and the small arm are in transmission connection through a speed reducer.

4. The screw locking manipulator of claim 3, wherein the reducer is a harmonic reducer.

5. A screw locking manipulator according to claim 1, wherein a mounting seat is axially provided in the arm alongside the barrel, a linear guide is vertically provided on a surface of the mounting seat opposite to the barrel, a rotatable ball screw is rotatably mounted above the linear guide in parallel, a guide block slidably connected to the linear guide is provided on the ball screw, and the barrel is connected to the guide block.

6. The screw locking manipulator according to claim 5, wherein a third motor in transmission connection with the ball screw is arranged on the mounting seat on the surface opposite to the cylinder.

7. The screw locking manipulator according to claim 1, wherein a pair of locking cylinders symmetrically arranged on two sides of the spline housing are vertically connected to the inner wall of the barrel, and a piston rod of each locking cylinder is in transmission connection with the top of the batch head rotating shaft seat.

8. The screw locking manipulator of claim 7, wherein the small arm is provided with a barometer communicated with the locking cylinder.

9. The screw locking manipulator according to claim 1, wherein the material feeding base is provided with a pair of symmetrically arranged material moving cylinders on the side wall corresponding to the axial direction of the material feeding base, and the material moving cylinders are in transmission connection with the material receiving clamping jaws.

10. The screw locking manipulator according to claim 1, wherein a negative pressure gauge is further provided on the small arm and communicates with the suction nozzle.