CN217167379U

CN217167379U - Double-arm screw locking robot

Info

Publication number: CN217167379U
Application number: CN202220807759.0U
Authority: CN
Inventors: 王懋钰; 黄维珍
Original assignee: Shenzhen Hello Robot Technology Co ltd
Current assignee: Shenzhen Hello Robot Technology Co ltd
Priority date: 2022-04-09
Filing date: 2022-04-09
Publication date: 2022-08-12
Anticipated expiration: 2032-04-09

Abstract

The utility model discloses a both arms lock screw robot, the on-line screen storage device comprises a base, the vertical support column that is equipped with on the base, the both sides of support column upper end are equipped with first lock screw mechanism and second lock screw mechanism respectively, second lock screw mechanism is the same with first lock screw mechanism structure. The utility model provides a both arms lock screw robot can use two lock screw mechanisms to work simultaneously, enlarges working range, improves work efficiency.

Description

Double-arm screw locking robot

Technical Field

The utility model relates to an automatic assembly technical field especially relates to a both arms lock screw robot.

Background

The screw connection is a detachable fixed connection, has the advantages of simple structure, reliable connection, convenient disassembly and the like, and is widely applied to the field of product assembly. Usually, in order to tighten the screw, a worker needs to consume a large amount of force when screwing the screw, so that the fatigue strength of the worker is easily increased, and therefore, an electric screwdriver is provided.

Along with the development of mechanical automation, a robot is used in a plurality of existing factories to replace manual work to lock screws, and the screwdriver is driven by a mechanical arm to rotate to the corresponding position of a workpiece to lock the screws. However, the existing robots are generally single-arm, the working range is small, and the assembly efficiency is low. When the size of work piece is great, the mounting hole that needs the lock screw is more, uses single armed robot to assemble, because working range is little, the position of work piece still need be adjusted to the in-process of assembly, complex operation can not assemble a plurality of mounting holes simultaneously moreover, has reduced work efficiency.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a both arms lock screw robot can use two lock screw mechanisms to work simultaneously, enlarges working range, improves work efficiency.

The utility model discloses a technical scheme that both arms lock screw robot adopted is:

a double-arm screw locking robot comprises a base, wherein a support column is vertically arranged on the base, a first screw locking mechanism and a second screw locking mechanism are respectively arranged on two sides of the upper end of the support column, the second screw locking mechanism is the same as the first screw locking mechanism in structure, the first screw locking mechanism comprises a first motor, an adjusting arm, a second motor, a support arm, a third motor, a bottom plate, a lifting cylinder, an electric screwdriver and a suction nozzle, the first motor is fixedly arranged on one side of the upper end of the support column, one end of the adjusting arm is fixedly connected with the output end of the first motor, the support arm is fixedly arranged at one end, far away from the first motor, of the adjusting arm, the second motor is fixedly arranged at one end, close to the adjusting arm, of the support arm, the output end of the second motor is fixedly connected with the adjusting arm, the third motor is fixedly arranged on the support arm, the bottom plate is slidably arranged on the support arm, and far away from one end of the second motor, the third motor is used for driving the bottom plate to move up and down, the lifting cylinder is fixedly arranged on the bottom plate, the electric screwdriver is slidably arranged on one side, away from the supporting arm, of the bottom plate, the lifting cylinder is used for driving the electric screwdriver to move up and down, the suction nozzle is fixedly arranged at the lower end of the bottom plate, and the suction nozzle and the output end of the electric screwdriver are located on the same axis.

As preferred scheme, the vertical mounting panel that is equipped with of regulating arm one end is kept away from to the support arm, the upper and lower end of mounting panel rotates respectively and is equipped with first belt pulley and second belt pulley, just first belt pulley and second belt pulley all are located the mounting panel and keep away from regulating arm one side, the perisporium of first belt pulley and second belt pulley is around being equipped with driving belt, the output fixed connection of first belt pulley and third motor, driving belt's inner wall is equipped with the slider, slider one side and driving belt's inner wall one side fixed connection, the mounting panel is kept away from support arm one side and has been seted up first guide rail, slider and first guide rail sliding connection, the bottom plate is fixed to be located on the slider.

As preferred scheme, the bottom plate is kept away from support arm one side and has been seted up the second guide rail, the electricity is criticized and is slided and locate on the second guide rail, the below of electricity criticizing is equipped with spacing clamp splice, spacing clamp splice includes first clamp splice and second clamp splice, guide rail one side is located to first clamp splice, the guide rail opposite side is located to the second clamp splice, the second clamp splice passes through adjusting screw and is connected with first clamp splice, just first clamp splice and second clamp splice produce the clamping-force to the both sides of second guide rail respectively, adjusting screw is used for adjusting the clamping-force of first clamp splice and second clamp splice to the second guide rail.

According to the preferable scheme, a connecting rod is fixedly arranged on one side, away from the first clamping block, of the second clamping block, a buffer piece is arranged above the electric screwdriver, and the buffer piece is fixedly connected with the second clamping block through the connecting rod.

As a preferred scheme, two sides of the supporting column are respectively provided with a feeding mechanism, the feeding mechanisms are used for conveying screws, and a first vision sensor is arranged above the feeding mechanisms.

Preferably, a second visual sensor is arranged on one side, far away from the bottom plate, of the electric screwdriver, and the second visual sensor is fixedly connected with a shell of the electric screwdriver.

As a preferred scheme, the lower end of the base is provided with four self-locking rollers which are distributed in a rectangular shape.

As a preferred scheme, the lower end of the base is provided with four positioning seats which are distributed in a rectangular shape, the upper ends of the positioning seats are provided with studs, and the positioning seats are in threaded connection with the base through the studs.

According to the preferable scheme, a cavity is formed in the upper end of the positioning seat, the stud is inserted into the cavity, a rubber pad is arranged at the bottom end of the cavity, and the stud is connected with the bottom end of the cavity through the rubber pad.

The utility model discloses a both arms lock screw robot's beneficial effect is: when the product moves to the station, first lock screw mechanism and second lock screw mechanism can lock the screw operation to the work piece simultaneously, and in operation process, can pass through two first motors of control system control, make first lock screw mechanism and second lock screw mechanism can not take place to interfere, drive the screwdriver and carry out work for only through the single armed robot, not only enlarged working range, can cover the whole surface of work piece, still improved the work efficiency of locking the screw simultaneously. The specific working process of the screw locking mechanism is as follows: first motor drives the regulating arm and rotates, the second motor drives the support arm and rotates, thereby rotate the bottom plate to the top of screw, suction nozzle downstream on the third motor drive bottom plate, treat after inhaling the screw, rotate the suction nozzle to the top of work piece mounting hole again, third motor drive suction nozzle downstream, in the mounting hole is packed into to the screw, the electricity is criticized and is started, criticize the head and keep rotating, the lift cylinder drives the electricity and criticize downstream, lock the screw in the mounting hole, not only can absorb the screw through the suction nozzle, in the mounting hole of the work piece of packing into, can also replace the manual work to accomplish the lock screw operation, the work efficiency is improved, and the working cost is reduced.

Drawings

Fig. 1 is a schematic structural diagram of the dual-arm screw locking robot of the present invention.

Fig. 2 is a schematic structural diagram of the first screw locking mechanism of the dual-arm screw locking robot of the present invention.

Fig. 3 is a schematic structural diagram of the screw locking part of the dual-arm screw locking robot of the present invention.

Fig. 4 is a schematic structural diagram of the double-arm screw locking robot limiting clamping block of the present invention.

Fig. 5 is a cross-sectional view of the positioning seat of the dual-arm screw locking robot of the present invention.

10. A base; 11. a support pillar; 20. a first lock screw mechanism; 21. a first motor; 22. an adjusting arm; 23. a second motor; 24. a support arm; 25. a third motor; 26. a base plate; 27. a lifting cylinder; 28. Electric screwdriver; 29. a suction nozzle; 30. a second screw locking mechanism; 40. mounting a plate; 41. a first pulley; 42. A second pulley; 43. a drive belt; 44. a slider; 50. a second guide rail; 51. a limiting clamping block; 511. A first clamping block; 512. a second clamp block; 52. adjusting screws; 53. a connecting rod; 54. a buffer member; 61. a feeding mechanism; 62. a first vision sensor; 63. a second vision sensor; 70. self-locking rollers; 80. positioning seats; 81. a stud; 82. a rubber pad; 83. a cavity.

Detailed Description

The invention will be further elucidated and described with reference to the following embodiments and drawings in which:

referring to fig. 1 to 3, a dual-arm screw locking robot includes a base 10, a support post 11 is vertically disposed on the base 10, a first screw locking mechanism 20 and a second screw locking mechanism 30 are respectively disposed on two sides of an upper end of the support post 11, the second screw locking mechanism 30 has the same structure as the first screw locking mechanism 20, the first screw locking mechanism 20 includes a first motor 21, an adjusting arm 22, a second motor 23, a support arm 24, a third motor 25, a bottom plate 26, a lifting cylinder 27, a screwdriver 28 and a suction nozzle 29, the first motor 21 is fixedly disposed on one side of the upper end of the support post 11, one end of the adjusting arm 22 is fixedly connected to an output end of the first motor 21, the support arm 24 is fixedly disposed on one end of the adjusting arm 22 away from the first motor 21, the second motor 23 is fixedly disposed on one end of the support arm 24 close to the adjusting arm 22, an output end of the second motor 23 is fixedly connected to the adjusting arm 22, the third motor 25 is fixedly disposed on the support arm 24, the bottom plate 26 is slidably arranged at one end of the supporting arm 24 far away from the adjusting arm 22, the third motor 25 is used for driving the bottom plate 26 to move up and down, the lifting cylinder 27 is fixedly arranged on the bottom plate 26, the electric screwdriver 28 is slidably arranged at one side of the bottom plate 26 far away from the supporting arm 24, the lifting cylinder 27 is used for driving the electric screwdriver 28 to move up and down, the suction nozzle 29 is fixedly arranged at the lower end of the bottom plate 26, and the suction nozzle 29 and the output end of the electric screwdriver 28 are positioned on the same axis.

When the product moves to the station, first lock screw mechanism 20 and second lock screw mechanism 30 can lock the screw operation to the work piece simultaneously, and in operation process, can control two first motors 21 through control system, make first lock screw mechanism 20 and second lock screw mechanism 30 can not take place to interfere, drive the screwdriver 28 and carry out work for only through the single-armed robot, not only enlarged working range, can cover the whole surface of work piece, the work efficiency of locking the screw has still been improved simultaneously. The specific working process of the screw locking mechanism is as follows: the first motor 21 drives the adjusting arm 22 to rotate, the second motor 23 drives the supporting arm 24 to rotate, the bottom plate 26 is rotated to the upper side of the screw, the third motor 25 drives the suction nozzle 29 on the bottom plate 26 to move downwards, after the screw is sucked, the suction nozzle 29 is rotated to the upper side of the workpiece mounting hole, the third motor 25 drives the suction nozzle 29 to move downwards until the screw is installed in the mounting hole, the screwdriver 28 is started, the screwdriver head keeps rotating, the lifting cylinder 27 drives the screwdriver 28 to move downwards, the screw is locked in the mounting hole, the screw can be sucked through the suction nozzle 29 and installed in the mounting hole of the workpiece, the screw locking operation can be completed by replacing manpower, the working efficiency is improved, and the working cost is reduced.

Specifically, please refer to fig. 2, a mounting plate 40 is vertically disposed at an end of the support arm 24 away from the adjustment arm 22, an upper end and a lower end of the mounting plate 40 are respectively provided with a first belt pulley 41 and a second belt pulley 42 in a rotating manner, the first belt pulley 41 and the second belt pulley 42 are both located at an end of the mounting plate 40 away from the adjustment arm 22, a transmission belt 43 is wound around peripheral walls of the first belt pulley 41 and the second belt pulley 42, the first belt pulley 41 is fixedly connected with an output end of the third motor 25, an inner wall of the transmission belt 43 is provided with a slider 44, one side of the slider 44 is fixedly connected with one side of an inner wall of the transmission belt 43, a first guide rail is disposed at an end of the mounting plate 40 away from the support arm 24, the slider 44 is slidably connected with the first guide rail, and the bottom plate 26 is fixedly disposed on the slider 44.

The third motor 25 rotates forward to drive the first belt pulley 41 to rotate, so as to drive the transmission belt 43 to rotate around the peripheral walls of the first belt pulley 41 and the second belt pulley 42, the slide block 44 also moves upward along with the transmission belt 43, so as to drive the bottom plate 26 to move upward, otherwise, the third motor 25 rotates backward to drive the bottom plate 26 to move downward, so as to adjust the heights of the screwdriver 28 and the suction nozzle 29, and complete the operation of locking the screw.

Specifically, referring to fig. 3 and 4, a second guide rail 50 is disposed on one side of the bottom plate 26 away from the support arm 24, the screwdriver 28 is slidably disposed on the second guide rail 50, a limiting clamping block 51 is disposed below the screwdriver 28, the limiting clamping block 51 includes a first clamping block 511 and a second clamping block 512, the first clamping block 511 is disposed on one side of the guide rail, the second clamping block 512 is disposed on the other side of the guide rail, the second clamping block 512 is connected to the first clamping block 511 through an adjusting screw 52, the first clamping block 511 and the second clamping block 512 respectively generate clamping forces on two sides of the second guide rail 50, and the adjusting screw 52 is used for adjusting the clamping forces of the first clamping block 511 and the second clamping block 512 on the second guide rail 50.

The lifting cylinder 27 drives the electric screwdriver 28 to move downwards along the second guide rail 50 until the screwdriver head is inserted into the suction nozzle 29, at the moment, the limiting clamping block 51 is abutted against the electric screwdriver 28 to prevent the electric screwdriver 28 from moving downwards continuously, so that the electric screwdriver 28 is prevented from moving downwards for too long distance to damage products, when the screwdriver head with other length needs to be replaced, the adjusting screw 52 is loosened to reduce the clamping force of the first clamping block 511 and the second clamping block 512 on the second guide rail 50, the limiting clamping block 51 is moved along the second guide rail 50, the limiting clamping block 51 is moved to a corresponding position according to the length of the screwdriver head, and then the first clamping block 511 and the second clamping block 512 are locked on the second guide rail 50 through the adjusting screw 52, so that the screwdriver head with different lengths is suitable for various screwdriver heads, the application range is wide, and the operation is convenient.

Specifically, referring to fig. 3, a connecting rod 53 is fixedly disposed on a side of the second clamping block 512 away from the first clamping block 511, a buffer 54 is disposed above the electric screwdriver 28, and the buffer 54 is fixedly connected to the second clamping block 512 through the connecting rod 53. After the electric screwdriver 28 finishes the screw locking operation, the lifting cylinder 27 drives the electric screwdriver 28 to move upwards, the moving speed of the electric screwdriver 28 is high, and when the electric screwdriver 28 contacts the buffer 54 above, the electric screwdriver 28 stops moving gradually under the action of the buffer 54, so that the impact between the electric screwdriver 28 and a machine table is reduced, and the electric screwdriver 28 is protected.

Specifically, referring to fig. 1, two sides of the supporting column 11 are respectively provided with a feeding mechanism 61, the feeding mechanism 61 is used for conveying screws, and a first vision sensor 62 is disposed above the feeding mechanism 61. The first vision sensor 62 is disposed corresponding to the feeding mechanism 61, and when detecting that the suction nozzle 29 comes, transmits a signal to the feeding mechanism 61 to convey a screw for the suction nozzle 29 to suck.

Specifically, referring to fig. 1, a second visual sensor 63 is disposed on a side of the electric screwdriver 28 away from the bottom plate 26, and the second visual sensor 63 is fixedly connected to the housing of the electric screwdriver 28. The second vision sensor 63 moves along with the electric screwdriver 28, and when the screw locking operation is performed, the second vision sensor 63 can detect whether the screwdriver head of the electric screwdriver 28 is aligned with the mounting hole of the workpiece or not so as to perform the next operation.

Specifically, referring to fig. 1, the lower end of the base 10 is provided with four self-locking rollers 70, and the four self-locking rollers 70 are distributed in a rectangular shape. The double-arm screw locking robot can not only move to other assembly lines through the self-locking rollers 70, but also be fixed through the four self-locking rollers 70 distributed in a rectangular shape.

Specifically, referring to fig. 1 and 5, the lower end of the base 10 is provided with four positioning seats 80, the four positioning seats 80 are distributed in a rectangular shape, the upper end of the positioning seat 80 is provided with a stud 81, and the positioning seat 80 is in threaded connection with the base 10 through the stud 81. More specifically, the upper end of the positioning seat 80 is provided with a cavity 83, the stud 81 is inserted into the cavity 83, the bottom end of the cavity 83 is provided with a rubber pad 82, and the stud 81 is connected with the bottom end of the cavity 83 through the rubber pad 82.

The positioning seat 80 increases the contact area between the base 10 and the ground, improves the stability of the base 10, and the positioning seat 80 is in threaded connection with the base 10 through the stud 81, so that the height of the base 10 can be conveniently adjusted, and the user requirements can be met; the double-arm screw locking robot can generate vibration during working, and the rubber pad 82 can play a role in shock absorption, so that the stability is improved.

The utility model provides a both arms lock screw robot, when the product moves to the station on, first lock screw mechanism and second lock screw mechanism can lock the screw operation to the work piece simultaneously, and in operation process, can control two first motors through control system, make first lock screw mechanism and second lock screw mechanism can not take place to interfere, drive the electricity through the single-armed robot and criticize and carry out work for only, working range has not only been enlarged, can cover the whole surface of work piece, the work efficiency of lock screw has still been improved simultaneously. The specific working process of the screw locking mechanism is as follows: first motor drives the regulating arm and rotates, the second motor drives the support arm and rotates, thereby rotate the bottom plate to the top of screw, suction nozzle downstream on the third motor drive bottom plate, treat after inhaling the screw, rotate the suction nozzle to the top of work piece mounting hole again, third motor drive suction nozzle downstream, in the mounting hole is packed into to the screw, the electricity is criticized and is started, criticize the head and keep rotating, the lift cylinder drives the electricity and criticize downstream, lock the screw in the mounting hole, not only can absorb the screw through the suction nozzle, in the mounting hole of the work piece of packing into, can also replace the manual work to accomplish the lock screw operation, the work efficiency is improved, and the working cost is reduced.

It should be finally noted that the above embodiments are only intended to illustrate the technical solutions of the present invention, and not to limit the scope of the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the present invention can be modified or replaced with equivalents without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A double-arm screw locking robot is characterized by comprising a base, wherein a support column is vertically arranged on the base, a first screw locking mechanism and a second screw locking mechanism are respectively arranged on two sides of the upper end of the support column, the second screw locking mechanism is the same as the first screw locking mechanism in structure, the first screw locking mechanism comprises a first motor, an adjusting arm, a second motor, a support arm, a third motor, a bottom plate, a lifting cylinder, an electric screwdriver and a suction nozzle, the first motor is fixedly arranged on one side of the upper end of the support column, one end of the adjusting arm is fixedly connected with the output end of the first motor, the support arm is fixedly arranged at one end, far away from the first motor, of the adjusting arm, the second motor is fixedly arranged at one end, close to the adjusting arm, of the support arm, the output end of the second motor is fixedly connected with the adjusting arm, the third motor is fixedly arranged on the support arm, the bottom plate is slidably arranged on the support arm, far away from one end of the adjusting arm, the third motor is used for driving the bottom plate to move up and down, the lifting cylinder is fixedly arranged on the bottom plate, the electric screwdriver is slidably arranged on one side, away from the supporting arm, of the bottom plate, the lifting cylinder is used for driving the electric screwdriver to move up and down, the suction nozzle is fixedly arranged at the lower end of the bottom plate, and the suction nozzle and the output end of the electric screwdriver are located on the same axis.

2. The double-arm screw locking robot as claimed in claim 1, wherein a mounting plate is vertically arranged at one end of the support arm, which is far away from the adjusting arm, the upper end and the lower end of the mounting plate are respectively provided with a first belt pulley and a second belt pulley in a rotating manner, the first belt pulley and the second belt pulley are both located at one side of the mounting plate, which is far away from the adjusting arm, the peripheral walls of the first belt pulley and the second belt pulley are wound with a transmission belt, the first belt pulley is fixedly connected with the output end of a third motor, the inner wall of the transmission belt is provided with a sliding block, one side of the sliding block is fixedly connected with one side of the inner wall of the transmission belt, one side of the mounting plate, which is far away from the support arm, is provided with a first guide rail, the sliding block is slidably connected with the first guide rail, and the bottom plate is fixedly arranged on the sliding block.

3. The double-arm screw locking robot according to claim 1, wherein a second guide rail is arranged on one side of the bottom plate, which is far away from the support arm, the screwdriver is slidably arranged on the second guide rail, a limiting clamping block is arranged below the screwdriver, the limiting clamping block comprises a first clamping block and a second clamping block, the first clamping block is arranged on one side of the guide rail, the second clamping block is arranged on the other side of the guide rail, the second clamping block is connected with the first clamping block through an adjusting screw, the first clamping block and the second clamping block respectively generate clamping force on two sides of the second guide rail, and the adjusting screw is used for adjusting the clamping force of the first clamping block and the second clamping block on the second guide rail.

4. The double-arm screw locking robot as claimed in claim 3, wherein a connecting rod is fixedly arranged on the second clamping block at a side away from the first clamping block, and a buffer member is arranged above the screwdriver and fixedly connected with the second clamping block through the connecting rod.

5. The double-arm screw locking robot as claimed in claim 1, wherein two sides of the supporting column are respectively provided with a feeding mechanism, the feeding mechanism is used for conveying screws, and a first vision sensor is arranged above the feeding mechanism.

6. The double-arm screw locking robot as recited in claim 1, wherein a second visual sensor is disposed on a side of the electric screwdriver away from the base plate, and the second visual sensor is fixedly connected to a housing of the electric screwdriver.

7. The dual-arm screw locking robot as claimed in claim 1, wherein four self-locking rollers are provided at the lower end of the base, and the four self-locking rollers are arranged in a rectangular shape.

8. The dual-arm screw locking robot of claim 1, wherein four positioning seats are arranged at the lower end of the base, the four positioning seats are distributed in a rectangular shape, and a stud is arranged at the upper end of each positioning seat, and the positioning seats are in threaded connection with the base through the studs.

9. The double-arm screw locking robot as claimed in claim 8, wherein a cavity is formed in an upper end of the positioning seat, the stud is inserted into the cavity, a rubber pad is arranged at a bottom end of the cavity, and the stud is connected with the bottom end of the cavity through the rubber pad.