CN214134812U

CN214134812U - Screw locking robot

Info

Publication number: CN214134812U
Application number: CN202023055038.9U
Authority: CN
Inventors: 万伟鑫; 喻卫杰; 黄建文; 余栋栋
Original assignee: Guangdong Qichuang Intelligent Technology Co ltd
Current assignee: Guangdong Qichuang Intelligent Technology Co ltd
Priority date: 2020-12-17
Filing date: 2020-12-17
Publication date: 2021-09-07
Anticipated expiration: 2030-12-17

Abstract

The utility model belongs to the technical field of automatic screw locking equipment, in particular to a screw locking robot, which comprises a driving mechanism, a screw locking mechanism and a feeding mechanism, wherein the driving mechanism comprises a base, a first mechanical arm and a second mechanical arm, the second mechanical arm is provided with a lifting device, the screw locking mechanism is driven by the lifting device to lift and comprises a batch nozzle and a rotatable batch head, the batch head can be inserted into the batch nozzle in an operation and control manner and can move up and down, the feeding mechanism is connected to the lateral part of the second mechanical arm and comprises a feeder and a first driving device, the feeder is provided with a bin, a material channel and a feeding turntable, the screw is conveyed to the feeding turntable through the material channel, the feeder is driven by the first driving device, the feeding turntable is arranged below the batch nozzle to feed the batch nozzle, the screw locking robot of the utility model does not need to return to take materials after locking one screw, the following feeding mode greatly improves the working efficiency, and the working strength of the robot is reduced, and the service life of the robot is effectively prolonged.

Description

Screw locking robot

Technical Field

The utility model belongs to the technical field of automatic lock screw equipment, specifically be a robot is paid to screw lock.

Background

The screw feeding mode of the existing screw locking robot generally comprises two modes, one mode is that a pipeline connected with a feeding device is arranged on a batch nozzle, screws are conveyed into the batch nozzle through the pipeline, then the screws in the batch nozzle are locked to corresponding installation positions through a batch head, the other mode is that the batch nozzle generates negative pressure through a vacuum generator so as to adsorb the screws on a feeding mechanism, for the former mode, the feeding mode can only be suitable for the screws with the tail length of the screws larger than the head diameter of the screws, otherwise the screws are easy to turn over in the pipeline to change the direction so that the batch head cannot be screwed, for the latter mode, although the requirement on the size of the screws is lower, because the batch nozzle can only adsorb one screw each time, when one screw is locked, the screw needs to return to the feeding mechanism to adsorb another screw again, when the distance between the screw installation position and the feeding mechanism is larger, the time consumed by the reciprocating of the batch nozzle is long, the working efficiency is very low, and the robot needs to move for a long time in a large range and has certain influence on the service life, so that the research and the development of the screw locking robot with the movable bin are very necessary.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome prior art's not enough, provide a bolt lock who possesses portable feed bin pays robot.

In order to solve the technical problem, the utility model discloses a following technical scheme:

the screw locking robot comprises a driving mechanism, a screw locking mechanism and a feeding mechanism, wherein the driving mechanism comprises a base, a first mechanical arm and a second mechanical arm, the first mechanical arm is rotatably connected with the base, the second mechanical arm is rotatably connected with the first mechanical arm, a lifting device is arranged on the second mechanical arm, the screw locking mechanism is connected with the lifting device and driven by the lifting device to move up and down, the screw locking mechanism comprises a batch nozzle and a rotatable batch head, the batch head can be inserted into the batch nozzle in an controlled mode and can move up and down, the feeding mechanism is connected to the side portion of the second mechanical arm and comprises a feeder and a first driving device, the feeder is provided with a bin, a material channel and a feeding turntable, the bin conveys screws to the feeding turntable through the material channel, the feeder is driven by the first driving device, and the feeding turntable can be arranged below the batch nozzle in the controlled mode so as to take materials from the batch nozzle.

Compared with the prior art, the utility model provides a screw lock pays robot can be along with the feeding mechanism of its activity through setting up on the second arm to order about the feeder activity through a drive arrangement, make the material loading carousel arrange in and criticize mouth below and supply to criticize the mouth and get the material, consequently the screw lock pay the mechanism lock a screw after the robot need not return and get the material, work efficiency has been improved widely to the feed mode of this kind of following formula, and reduced the working strength of robot, improve the robot life-span effectively.

Furthermore, the side part of the second mechanical arm is provided with a mounting frame, the mounting frame is provided with a first guide rail, the feeder is slidably arranged on the first guide rail, the first driving device selectively drives the feeder to be close to or far away from the screw locking mechanism along the first guide rail, so that the feeder is driven to move from the initial position to the position below the batch nozzle of the feeding turntable of the feeder when the screw locking mechanism takes the materials, the screw locking mechanism finishes taking the materials and retreats to the initial position, and the interference with the screw locking mechanism is avoided. Preferably, the mounting frame comprises a mounting plate, the two opposite side faces of the mounting plate are respectively provided with the first driving device and the first guide rail, the first driving device is fixed at the middle part of the mounting plate, the output end of the first driving device is provided with a connecting piece connected with the feeder, the middle part of the mounting plate is provided with a hollow part for the connecting piece to pass through, preferably, the two first guide rails are respectively arranged at two sides of the hollow part, the arrangement mode is compact in structure, the space of the mounting frame is reasonably utilized, and the size of the feeding mechanism is effectively reduced.

Further, feeding mechanism is still including the mount pad of connecting the feeder, the lateral part of mount pad is connected with the first slider with first guide rail sliding connection, first drive arrangement's output and mount pad are connected, set up the mount pad and be convenient for feeding mechanism's assembly, the mount pad can be installed earlier during the installation, then fix the feeder on the mount pad, preferably, the mount pad is enclosed to close by the bottom plate, preceding curb plate and posterior lateral plate and forms, first slider is connected to the posterior lateral plate, bottom plate middle part fretwork sets up, the feeder is fixed before between curb plate and the posterior lateral plate, above-mentioned mount pad simple structure, light in weight.

Furthermore, the screw locking mechanism further comprises a fixing plate, a servo motor and a second driving device, the fixing plate is connected with a lifting device, the second driving device and the batch nozzle are fixedly arranged on the fixing plate, the fixing plate is provided with a second guide rail extending towards the batch nozzle, the servo motor is slidably arranged on the second guide rail through a second sliding block, the batch head is in transmission connection with the output end of the servo motor, the output end of the second driving device is fixedly connected with the servo motor and drives the servo motor to move along the second guide rail, and therefore the batch head is controlled to be inserted into the batch nozzle and move up and down relative to the batch nozzle.

Furthermore, the first driving device and/or the second driving device are/is arranged to be an air cylinder, the air cylinder reacts quickly, and the working efficiency can be improved.

Furthermore, criticize the mouth and connect external vacuum generating device to produce the negative pressure and adsorb the screw, use this kind of mode to adsorb the screw firm reliable, of course, still can replace to set up the magnetism that is used for adsorbing the screw in criticizing the mouth and inhale the structure, such as magnet etc..

Further, the lifting device comprises a screw rod, a nut seat in threaded connection with the screw rod, and a third driving device for driving the screw rod to rotate, the screw locking mechanism is connected with the nut seat, the third driving device drives the screw rod to rotate so as to drive the nut seat to move up and down to drive the screw locking mechanism to lift, after one-time screw locking is completed, the lifting device drives the screw locking mechanism to move up, the first driving device drives the feeder to move towards one side close to the screw locking mechanism so that the feeding turntable is arranged below the batch nozzle, then the lifting device drives the screw locking mechanism to move down to enable the batch nozzle to adsorb screws on the feeding turntable for taking materials, after the materials are taken, the first driving device drives the feeder to return towards one side far away from the screw locking mechanism, then the lifting device drives the screw locking mechanism to continuously move down to the upper side of the screw hole, and then the batch head is driven to move down by the second driving device, meanwhile, the servo motor drives the screwdriver head to rotate so as to lock the screw in the screwdriver mouth into the screw hole, when the locking is completed, the second driving device drives the screwdriver head to move upwards, and meanwhile, the lifting device drives the screw locking mechanism to move upwards to wait for next material taking.

Furthermore, the screw locking robot further comprises a visual assembly connected with the lifting device, and the visual assembly is used for positioning the position of the screw hole.

Drawings

Fig. 1 is a perspective view of a screw locking robot;

FIG. 2 is a perspective view of the screw locking robot;

FIG. 3 is an exploded view of the screw locking robot;

FIG. 4 is a schematic view of the feeder structure;

fig. 5 is a schematic view of the screw locking robot when taking out the screw.

Detailed Description

The following describes embodiments of the present invention with reference to the drawings. In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "head end", "first end", "second end", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.

Referring to fig. 1 and 5, the embodiment provides a screw locking robot, which includes a driving mechanism 100, a screw locking mechanism 200, and a feeding mechanism 300, where the driving mechanism 100 includes a base 13, a first mechanical arm 11, and a second mechanical arm 12, the first mechanical arm 11 is rotatably connected to the base 13, the second mechanical arm 12 is rotatably connected to the first mechanical arm 11, the second mechanical arm 12 is provided with a lifting device 16, the lifting device 16 includes a lead screw, a nut seat in threaded connection with the lead screw, and a third driving device for driving the lead screw to rotate, the screw locking mechanism 200 is connected to the nut seat, and the third driving device drives the lead screw to rotate to drive the nut seat to move up and down, so as to drive the screw locking mechanism 200 to lift.

Referring to fig. 1 to 3 and 5, the screw locking mechanism 200 includes a fixing plate 21, a servo motor 22, a second driving device 23, a batch head 24 and a batch nozzle 25, the fixing plate 21 is disposed at the end of the second mechanical arm 12 and connected to the nut seat, the batch nozzle 25 is fixedly disposed at the lower end of the fixing plate 21, a second guide rail 26 extending toward the batch nozzle 25 is longitudinally disposed on the fixing plate 21, the servo motor 22 is slidably disposed on the second guide rail 26 through a second slider 27, the batch head 24 is in transmission connection with the output end of the servo motor 22 and is driven by the servo motor 22 to rotate, the second driving device 23 is an air cylinder fixedly disposed at the side of the servo motor 22, and a piston rod of the air cylinder is fixedly connected to the servo motor 22 to drive the servo motor 22 to move along the second guide rail 26, so as to control the batch head 24 to be inserted into the batch nozzle 25 and move.

Referring to fig. 2 to 4, the mounting frame 14 is connected to a side portion of the end of the second robot arm 12, the feeding mechanism 300 is mounted on the mounting frame 14 and includes a first driving device 31 and a movable feeder 32, the feeder 32 is provided with a bin 321, a material channel 322 and a loading turntable 323, the bin 321 sequentially delivers screws to the loading turntable 323 through the material channel 322, the first driving device 31 drives the feeder 32 to move transversely relative to the screw locking mechanism 200, so that the loading turntable 323 can be operatively positioned below the batch nozzle 25 for the batch nozzle 25 to take materials. As a specific configuration, the mounting frame 14 includes a mounting plate 141, a first guide rail 15 is disposed on a side of the mounting plate 141 facing the screw locking mechanism 200, the first driving device 31 is a cylinder disposed on a side of the mounting plate 141 facing away from the screw locking mechanism 200, the feeder 32 is connected to a mounting seat 33, a first slider 17 slidably connected to the first guide rail 15 is connected to a side of the mounting seat 33, the first driving device 31 is disposed in a middle portion of the mounting plate 141, a piston rod thereof is provided with a connecting member 34 connected to the mounting seat 33, a hollow portion 142 for passing the connecting member 34 is disposed in the middle portion of the mounting plate 141, two first guide rails 15 are disposed and respectively disposed on two sides of the hollow portion 142, the configuration is compact, a space of the mounting frame 14 is reasonably utilized, a volume of the feeding mechanism 300 is effectively reduced, and the mounting seat 33 is disposed to facilitate assembly of the feeding mechanism 300, the mounting seat 33 may be installed first, and then the feeder 32 may be fixed to the mounting seat 33.

Referring to fig. 3, the mounting seat 33 is formed by enclosing a bottom plate 331, a front side plate 332 and a rear side plate 333, the rear side plate 333 is connected with the first slider 17, the middle part of the bottom plate 331 is hollowed out, and the feeder 32 is fixed between the front side plate 332 and the rear side plate 333, and the mounting seat 33 has a simple structure and a light weight.

Referring to fig. 5, the batch nozzle 25 is connected to an external vacuum generating device to generate negative pressure to adsorb the screw, and the adsorption of the screw by using the method is firm and reliable, and certainly, a magnetic adsorption structure for adsorbing the screw, such as a magnet, can be arranged in the batch nozzle 25 instead.

Referring to fig. 2, the screw locking robot further includes a vision assembly 400 fixedly disposed on the fixing plate 21, wherein the vision assembly 400 is used for positioning the position of the screw hole.

Referring to fig. 4 and 5, as a specific embodiment, the feeder 32 includes a feeding device 301 and a material dividing device 302, the feeding device 301 includes the bin 321, a material channel 322 and a feeding motor, the material dividing device 302 includes the material loading turntable 323, a material dividing motor for driving the material loading turntable 323 to rotate, and a sensor 35, the material loading turntable 323 is circumferentially provided with a plurality of material holes 36 for loading screws, the bin 321 is provided with a turning device for turning the screws in the bin 321, one end of the material channel 322 extends into the bin 321 for loading screws, the other end is connected to the material loading turntable 323, the feeding motor drives the screws to convey to the material loading turntable 323 along the material channel 322, so that the screws on the material channel 322 are loaded into the material holes 36, the sensor 35 is disposed at a side of the material loading turntable 323 and electrically connected to the feeding motor and the material dividing motor for sensing whether there is material connected to the material holes 36 of the batch nozzle 25, when sensing that there is material, pay-off motor and branch material motor stop, when sensing that there is not the material, pay-off motor and branch material motor start.

Referring to fig. 1, 4 and 5, the working principle of the present invention is as follows: when the locking of the screw is completed once, the lifting device 16 drives the screw locking mechanism 200 to move upwards, the first driving device 31 drives the feeder 32 to move towards the side close to the screw locking mechanism 200, so that the feeding turntable 323 is arranged below the batch nozzle 25, then the lifting device 16 drives the screw locking mechanism 200 to move downwards, so that the batch nozzle 25 adsorbs the screw on the feeding turntable 323 for taking the material, after the material is taken, the first driving device 31 drives the feeder 32 to return towards the side far away from the screw locking mechanism 200, then the lifting device 16 drives the screw locking mechanism 200 to move downwards continuously to the upper part of the screw hole, then the batch head 24 is driven to move downwards by the second driving device 23, the batch head 24 is driven to rotate by the servo motor 22 to lock the screw in the batch nozzle 25 into the screw hole, after the locking is completed, the batch head 24 is driven to move upwards by the second driving device 23, and the screw locking mechanism 200 is driven to move upwards by the lifting device 16, waiting for the next material taking, and circulating the steps.

Compared with the prior art, the utility model provides a screw locking robot can be along with the feeding mechanism 300 of its activity through setting up on second arm 12 to order about feeder 32 activity through first drive arrangement 31, make material loading carousel 323 arrange in and criticize mouth 25 below and supply to criticize mouth 25 and get the material, consequently the robot need not return and get the material after screw locking mechanism 200 has locked a screw, the work efficiency has been improved widely to the feeding mode of this kind of following formula, and reduced the working strength of robot, improve the robot life-span effectively.

Variations and modifications to the above-described embodiments may occur to those skilled in the art, in light of the above teachings and teachings. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the present invention should fall within the protection scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.

Claims

1. A screw locking robot, comprising:

the driving mechanism comprises a base, a first mechanical arm and a second mechanical arm, the first mechanical arm is rotatably connected with the base, the second mechanical arm is rotatably connected with the first mechanical arm, and the second mechanical arm is provided with a lifting device;

the screw locking mechanism is connected with the lifting device and comprises a batch nozzle and a rotatable batch head, and the batch head can be inserted into the batch nozzle in an operation and control manner and can move up and down;

connect in the feeding mechanism of second arm lateral part, feeding mechanism includes feeder and first drive arrangement, the feeder is equipped with feed bin, material way and material loading carousel, the feed bin passes through the material way to material loading carousel carries the screw, the feeder by first drive arrangement drives, so that material loading carousel can be controlled arrange in criticize the mouth below, for criticize the mouth and get the material.

2. The screw locking robot according to claim 1, wherein a mounting frame is disposed at a side of the second mechanical arm, a first guide rail is disposed on the mounting frame, the feeder is slidably disposed on the first guide rail, and the first driving device selectively drives the feeder to approach or depart from the screw locking mechanism along the first guide rail.

3. The screw locking robot as claimed in claim 2, wherein the mounting frame includes a mounting plate, the first driving device and the first guide rail are respectively disposed on two opposite sides of the mounting plate, the first driving device is fixed in the middle of the mounting plate, a connecting member connected to the feeder is disposed at an output end of the first driving device, and a hollow portion for the connecting member to pass through is disposed in the middle of the mounting plate.

4. The screw locking robot as claimed in claim 2, wherein the feeding mechanism further comprises a mounting base connected to the feeder, a first slider slidably connected to the first rail is connected to a side of the mounting base, and an output end of the first driving device is connected to the mounting base.

5. The screw locking robot according to claim 4, wherein the mounting seat is formed by enclosing a bottom plate, a front side plate and a rear side plate, the rear side plate is connected with the first sliding block, and the middle of the bottom plate is hollowed out.

6. The screw locking and paying robot according to any one of claims 1 to 5, wherein the screw locking and paying mechanism further comprises a fixing plate, a servo motor and a second driving device, the fixing plate is connected with the lifting device, the second driving device and the screwdriver nozzle are fixedly arranged on the fixing plate, the fixing plate is provided with a second guide rail extending towards the screwdriver nozzle, the servo motor is slidably arranged on the second guide rail through a second sliding block, the screwdriver head is in transmission connection with an output end of the servo motor, and an output end of the second driving device is fixedly connected with the servo motor.

7. A screw locking robot as claimed in claim 6, wherein the first drive means and/or the second drive means are provided as pneumatic cylinders.

8. A screw locking robot as claimed in any one of claims 1 to 5, wherein the batch nozzle is connected to an external vacuum generating device to generate negative pressure to attract screws.

9. The screw locking robot according to any one of claims 1 to 5, wherein the lifting device includes a screw shaft, a nut holder screwed to the screw shaft, and a third driving device for driving the screw shaft to rotate, and the screw locking mechanism is connected to the nut holder.

10. The screw locking robot according to any one of claims 1 to 5, further comprising a vision component connected to the lifting device, the vision component being configured to locate a position of the screw hole.