CN217965758U

CN217965758U - Four-axis SCARA robot inclined locking screw machine

Info

Publication number: CN217965758U
Application number: CN202221931345.5U
Authority: CN
Inventors: 颜波; 陈进得
Original assignee: Gerun Intelligent Equipment Shenzhen Co ltd
Current assignee: Gerun Intelligent Equipment Shenzhen Co ltd
Priority date: 2022-07-26
Filing date: 2022-07-26
Publication date: 2022-12-06
Anticipated expiration: 2032-07-26

Abstract

The utility model relates to a four-axis SCARA robot slope lock attaches screw machine, the on-line screen storage device comprises a base, the top transmission of base is connected with first motion axle, the top transmission of first motion axle is connected with second motion axle, the top transmission of second motion axle is connected with third motion axle, the bottom transmission of third motion axle is connected with fourth motion axle, the bottom fixed mounting of fourth motion axle has tilt mechanism. This four-axis SCARA robot slope lock attaches screw machine, through setting up first motion axle, when cutting to one side, first motion axle rotates and to drive the slope lock and attaches screw machine and carry out the removal about X axle direction, second motion axle rotates and will drive the slope lock and attach screw machine and carry out the back-and-forth movement of Y axle direction, third motion axle can drive the slope lock and attach screw machine and carry out the slope of XY axle direction, fourth motion axle can drive the slope lock and attach screw machine and rotate, thereby satisfy perpendicular lock and slope lock and attach two kinds of functions.

Description

Four-axis SCARA robot inclined locking screw machine

Technical Field

The utility model relates to an automatic change lock screw robot technical field specifically is four-axis SCARA robot slope lock attaches screw machine.

Background

The SCARA robot has 3 rotary joints, the axes of which are parallel to each other and are positioned and oriented in a plane, the other joint is a movable joint and is used for completing the movement of a tail end part in the direction vertical to the plane, the position of a wrist reference point is determined by the angular displacement phi 1 and phi 2 of the two rotary joints and the displacement z of the movable joint, namely p = f (phi 1, phi 2, z), the structure of the robot is light and the response is fast, for example, the motion speed of an Adept1 type SCARA robot can reach 10m/s and is several times faster than that of a common articulated robot, and the robot is most suitable for the operation of positioning in the plane and assembling in the vertical direction.

The SCARA system has compliance in x and y directions and good rigidity in a Z-axis direction, the characteristic is particularly suitable for screw assembling work, automatic screw locking equipment in the market can screw a threaded fastener to a workpiece, a common screw machine adopts a portal frame type structure or a screw driver head can move on a portal frame to mount the threaded fastener to the workpiece, but the threaded fastener is inconvenient to feed, a three-axis SCARA robot cannot perform inclined adsorption, the cost of a six-axis SCARA robot is too high, and therefore the four-axis SCARA robot inclined screw locking machine is provided to solve the problems.

SUMMERY OF THE UTILITY MODEL

The utility model provides a not enough to prior art, the utility model provides a four-axis SCARA robot slope lock attaches screw machine, possess perpendicular lock and attach, slope lock and advantages such as reduce cost, the automatic screw locking equipment of having solved on the existing market can screw up threaded fastener to the work piece, general screw machine adopts portal frame formula structure or screwdriver head can move on the portal frame to install threaded fastener to the work piece, but threaded fastener's material loading is inconvenient, and the triaxial SCARA robot can't incline to adsorb, six SCARA robot is with too high problem of cost.

In order to achieve the above object, the utility model provides a following technical scheme: the four-axis SCARA robot inclined locking screw machine comprises a base, wherein the top of the base is in transmission connection with a first moving shaft, the top of the first moving shaft is in transmission connection with a second moving shaft, the top of the second moving shaft is in transmission connection with a third moving shaft, the bottom of the third moving shaft is in transmission connection with a fourth moving shaft, the bottom end of the fourth moving shaft is fixedly provided with an inclined mechanism, and the left side of the inclined mechanism is provided with an adsorption mechanism;

the tilting mechanism comprises a rotating shaft mounting plate, the bottom end of the fourth moving shaft is fixedly provided with the rotating shaft mounting plate, the bottom of the rotating shaft mounting plate is fixedly provided with a motor fixing piece, the right side of the motor fixing piece is fixedly provided with a servo motor, the left side of the motor fixing piece is fixedly provided with a speed reducer, an original point inductor is fixedly arranged above the left side of the motor fixing piece, an output shaft of the speed reducer is fixedly provided with a locking bottom plate, and the left side of the original point inductor is fixedly provided with an original point induction sheet;

the adsorption apparatus constructs including intelligent electricity criticizing, the left side fixed mounting that the lock attaches the bottom plate has intelligent electricity to criticize, the right side fixed mounting that the lock attaches the bottom plate has step motor, the bottom fixed mounting that the intelligence electricity was criticized has criticizes the sword, the left side fixed mounting that the lock attaches the bottom plate has the buffering frame, the bottom fixed mounting of buffering frame has the suction nozzle.

Further, the bottom of the third motion shaft penetrates through the second motion shaft and extends to the lower part of the second motion shaft, and the third motion shaft is positioned on the left side of the base.

Further, the motor mounting is "L" shape stainless steel board, servo motor's output shaft runs through the motor mounting and extends to the left side of motor mounting and speed reducer fixed connection.

Further, the left side and the lock of initial point response piece bottom attach bottom plate fixed connection, the left side fixed mounting of lock attach bottom plate has the mounting bracket.

Furthermore, the intelligent electric screwdriver is fixedly installed in the mounting frame, and the buffer frame is fixedly installed at the bottom of the mounting frame.

Further, the top of criticizing the sword is connected with the output fixed connection of intelligent electricity criticize, the suction nozzle is located criticize the below of sword.

Furthermore, a channel is formed in the top of the buffer frame, the top end of the suction nozzle is located inside the channel, and the low end of the screwdriver is located inside the channel.

Compared with the prior art, the technical scheme of the application has the following beneficial effects:

1. this four-axis SCARA robot slope lock attaches screw machine, through setting up first motion axle, when cutting to one side, first motion axle rotates and to drive the slope lock and attaches screw machine and carry out the removal about X axle direction, second motion axle rotates and will drive the slope lock and attach screw machine and carry out the back-and-forth movement of Y axle direction, third motion axle can drive the slope lock and attach screw machine and carry out the slope of XY axle direction, fourth motion axle can drive the slope lock and attach screw machine and rotate, thereby satisfy perpendicular lock and slope lock and attach two kinds of functions.

2. This four-axis SCARA robot slope lock attaches screw machine, through setting up tilt mechanism and adsorption apparatus structure, when carrying out screw assembly, earlier through the suction nozzle with the screw suction inside, the screw is put into the assigned position in the rotation of attaching the screw machine through the slope lock, adopt intelligent electricity to criticize the inside completion assembly of controlling screwdriver work with the screw twist assembly, mutually support through intelligent electricity criticize and initial point inductor, the intelligent control slope lock attaches the screw machine and accomplishes the assembly work of screw, contrast six locks and attach the robot, this utility model discloses can satisfy a slope lock of most product and attach, attach the function with perpendicular lock, the cost descends by a wide margin, can replace six robot locks and attach, the cost is saved, and upgrade the transformation at current four-axis SCARA robot.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic structural view of the tilting mechanism and the adsorption mechanism of the present invention;

FIG. 3 is an enlarged view of the structure A in FIG. 2 according to the present invention;

fig. 4 is an enlarged view of a structure B in fig. 2 according to the present invention.

In the figure: 1. a base; 2. a first axis of motion; 3. a second axis of motion; 4. a third axis of motion; 5. a fourth axis of motion; 6. a tilting mechanism; 601. a rotating shaft mounting plate; 602. a motor fixing member; 603. a servo motor; 604. a speed reducer; 605. an origin sensor; 606. locking the bottom plate; 607. an origin induction sheet; 7. an adsorption mechanism; 701. intelligent electric screwdriver; 702. a stepping motor; 703. a batching knife; 704. a suction nozzle; 705. And a buffer frame.

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.

Referring to fig. 1-4, the four-axis SCARA robot inclined locking screw machine in the embodiment includes a base 1, a first moving shaft 2 is connected to the top of the base 1 in a transmission manner, a second moving shaft 3 is connected to the top of the first moving shaft 2 in a transmission manner, a third moving shaft 4 is connected to the top of the second moving shaft 3 in a transmission manner, a fourth moving shaft 5 is connected to the bottom of the third moving shaft 4 in a transmission manner, an inclined mechanism 6 is fixedly mounted at the bottom end of the fourth moving shaft 5, and an adsorption mechanism 7 is arranged on the left side of the inclined mechanism 6;

the tilting mechanism 6 comprises a rotating shaft mounting plate 601, the bottom end of the fourth moving shaft 5 is fixedly provided with the rotating shaft mounting plate 601, the bottom of the rotating shaft mounting plate 601 is fixedly provided with a motor fixing piece 602, the right side of the motor fixing piece 602 is fixedly provided with a servo motor 603, the left side of the motor fixing piece 602 is fixedly provided with a speed reducer 604, the upper part of the left side of the motor fixing piece 602 is fixedly provided with an origin sensor 605, the output shaft of the speed reducer 604 is fixedly provided with a locking bottom plate 606, and the left side of the origin sensor 605 is fixedly provided with an origin sensing piece 607;

the adsorption mechanism 7 comprises an intelligent electric screwdriver 701, the left side of a locking bottom plate 606 is fixedly provided with the intelligent electric screwdriver 701, the right side of the locking bottom plate 606 is fixedly provided with a stepping motor 702, the bottom of the intelligent electric screwdriver 701 is fixedly provided with a screwdriver 703, the left side of the locking bottom plate 606 is fixedly provided with a buffer frame 705, and the bottom of the buffer frame 705 is fixedly provided with a suction nozzle 704.

When the method is implemented, the method comprises the following steps:

1) The first moving shaft 2 rotates to drive the inclined locking screw machine to move left and right in the X-axis direction, and the second moving shaft 3 rotates to drive the inclined locking screw machine to move back and forth in the Y-axis direction;

2) Then, the third motion shaft 4 can drive the inclined locking screw machine to incline in the XY axis direction, and the fourth motion shaft 5 can drive the inclined locking screw machine to rotate;

3) Then, the screw is sucked into the interior through the suction nozzle 704, the screw is placed at a specified position through the rotation of the inclined screw locking machine, and the intelligent screwdriver 701 is adopted to control the screwdriver 703 to work so as to screw the screw into the interior of the assembly to complete the assembly;

4) At last through mutual cooperation of intelligent electric screwdriver 701 and initial point inductor 605, the screw machine is attached to intelligent control slope and the assembly work of accomplishing the screw is attached to the six locks of contrast and is attached the robot, and this utility model discloses can satisfy a slope lock of most product attach and attach the function with perpendicular lock, the cost descends by a wide margin.

In conclusion, according to the four-axis SCARA robot inclined locking screw machine, by arranging the first moving shaft 2, when the inclination is cut, the first moving shaft 2 rotates to drive the inclined locking screw machine to move left and right in the X-axis direction, the second moving shaft 3 rotates to drive the inclined locking screw machine to move back and forth in the Y-axis direction, the third moving shaft 4 can drive the inclined locking screw machine to incline in the XY-axis direction, and the fourth moving shaft 5 can drive the inclined locking screw machine to rotate, so that two functions of vertical locking and inclined locking are achieved.

And, through setting up tilt mechanism 6 and adsorption mechanism 7, when carrying out screw assembly, inhale the screw inside through suction nozzle 704 earlier, the screw is put into the assigned position through the rotation of slope lock attach screw machine, adopt intelligent electric batch 701 to control the work of criticizing sword 703 and twist the inside of screw-in assembly and accomplish the assembly, through the mutually supporting of intelligence electric batch 701 and initial point inductor 605, the assembly work of screw is accomplished to intelligent control slope lock attach screw machine, compare six lock attach the robot, this utility model discloses can satisfy a slope lock of most products and attach the function with perpendicular lock, the cost descends by a wide margin, can replace six robot locks and attach, save the cost, and upgrade at current four-axis SCARA robot, the automatic lock screw equipment in the market can be screwed up the screw fastener to the work piece, general screw adopts portal frame structure or the screwdriver head can move on the portal frame, in order to install the screw fastener to the work piece, but inconvenient material loading of screw fastener, and SCARA robot can's unable slope to adsorb, six-axis SCARA robot cost is too high problem.

It should be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising one of 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.

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. Four-axis SCARA robot slope lock attaches screw machine, including base (1), its characterized in that: the top of the base (1) is in transmission connection with a first moving shaft (2), the top of the first moving shaft (2) is in transmission connection with a second moving shaft (3), the top of the second moving shaft (3) is in transmission connection with a third moving shaft (4), the bottom of the third moving shaft (4) is in transmission connection with a fourth moving shaft (5), the bottom end of the fourth moving shaft (5) is fixedly provided with an inclination mechanism (6), and the left side of the inclination mechanism (6) is provided with an adsorption mechanism (7);

the tilting mechanism (6) comprises a rotating shaft mounting plate (601), the bottom end of the fourth moving shaft (5) is fixedly provided with the rotating shaft mounting plate (601), the bottom of the rotating shaft mounting plate (601) is fixedly provided with a motor fixing piece (602), the right side of the motor fixing piece (602) is fixedly provided with a servo motor (603), the left side of the motor fixing piece (602) is fixedly provided with a speed reducer (604), an original point inductor (605) is fixedly arranged above the left side of the motor fixing piece (602), an output shaft of the speed reducer (604) is fixedly provided with a locking bottom plate (606), and the left side of the original point inductor (605) is fixedly provided with an original point induction sheet (607);

adsorption apparatus constructs (7) including intelligent electric screwdriver (701), the left side fixed mounting of lock attached bottom plate (606) has intelligent electric screwdriver (701), the right side fixed mounting of lock attached bottom plate (606) has step motor (702), the bottom fixed mounting of intelligent electric screwdriver (701) has batch sword (703), the left side fixed mounting of lock attached bottom plate (606) has buffer frame (705), the bottom fixed mounting of buffer frame (705) has suction nozzle (704).

2. The four-axis SCARA robot tilting locking screw machine of claim 1, characterized in that: the bottom of the third motion shaft (4) penetrates through the second motion shaft (3) and extends to the lower part of the second motion shaft (3), and the third motion shaft (4) is positioned on the left side of the base (1).

3. The four-axis SCARA robot tilting locking screw machine of claim 1, characterized in that: the motor fixing piece (602) is an L-shaped stainless steel plate, and an output shaft of the servo motor (603) penetrates through the motor fixing piece (602) and extends to the left side of the motor fixing piece (602) to be fixedly connected with the speed reducer (604).

4. The four-axis SCARA robot inclined locking screw machine according to claim 1, characterized in that: the left side of origin induction piece (607) bottom and lock attach bottom plate (606) fixed connection, the left side fixed mounting of lock attach bottom plate (606) has the mounting bracket.

5. The four-axis SCARA robot tilting and locking screw machine of claim 4, wherein: the intelligent electric screwdriver (701) is fixedly installed inside the installation frame, and the buffer frame (705) is fixedly installed at the bottom of the installation frame.

6. The four-axis SCARA robot inclined locking screw machine according to claim 1, characterized in that: the top end of the batch knife (703) is fixedly connected with the output end of the intelligent electric batch (701), and the suction nozzle (704) is positioned below the batch knife (703).

7. The four-axis SCARA robot inclined locking screw machine according to claim 1, characterized in that: a shaft is arranged at the top of the buffer frame (705), the top end of the suction nozzle (704) is positioned inside the shaft, and the lower end of the batch knife (703) is positioned inside the shaft.