Claims (10)
一種自動定位機構，其用來將套設於一固定桿上的複數螺母分別安置於一工件，該自動定位機構包括一用來放置該工件的工作臺及一正對該工件的安裝組合單元，該安裝組合單元包括一第一氣爪、一第二氣爪及一第三氣爪，該第一、第二及第三氣爪分別包括複數可相向或背向滑動的夾爪，且該第二氣爪的複數夾爪與該第三氣爪的複數夾爪之間的距離等於一個螺母的高度，該第一氣爪的複數夾爪夾持該固定桿的上部，該第二氣爪的複數夾爪夾持該固定桿下部最外側的一螺母；該第三氣爪的複數夾爪夾持該固定桿的末端；使用時，該第二氣爪的複數夾爪先張開以釋放該最外側的螺母，之後該第二氣爪的複數夾爪再次靠近而夾持該固定桿下部的其他螺母；該第三氣爪的複數夾爪張開使該最外側的螺母滑落至該工件需要安裝螺母的部位。
An automatic positioning mechanism for respectively positioning a plurality of nuts sleeved on a fixing rod on a workpiece, the automatic positioning mechanism comprising a working table for placing the workpiece and a mounting combination unit for the workpiece, The mounting assembly unit includes a first air gripper, a second air gripper and a third air gripper, and the first, second, and third air grippers respectively include a plurality of jaws that can slide toward or away from each other, and the first a distance between a plurality of jaws of the two air grippers and a plurality of jaws of the third air gripper is equal to a height of a nut, the plurality of jaws of the first air gripper gripping an upper portion of the fixing rod, the second gripper a plurality of nuts clamping the outermost nut of the lower part of the fixing rod; the plurality of jaws of the third air gripper grip the end of the fixing rod; in use, the plurality of jaws of the second air gripper are first opened to release the most An outer nut, after which the plurality of jaws of the second air gripper are again approached to clamp the other nut of the lower portion of the fixing rod; the plurality of jaws of the third air gripper are opened to slide the outermost nut to the workpiece to be installed The part of the nut.
如申請專利範圍第1項所述之自動定位機構，其中該第一氣爪包括一第一固定件，該工作臺上設有一用來帶動該安裝組合單元轉動的機械手臂，該機械手臂包括一驅動該安裝組合單元運動的氣缸，該氣缸包括一可伸縮的連接桿，該連接桿固定於該第一固定件。
The automatic positioning mechanism of claim 1, wherein the first air gripper comprises a first fixing member, and the working platform is provided with a mechanical arm for driving the mounting assembly unit to rotate, the mechanical arm includes a A cylinder for driving the movement of the mounting unit, the cylinder including a telescopic connecting rod fixed to the first fixing member.
如申請專利範圍第2項所述之自動定位機構，其中該第一固定件固定於一第一固定架，該第一固定件包括一第一端面及與該第一端面相對的第二端面，該第一固定件開設複數貫穿該第一及第二端面的固定孔，該第一固定架包括複數固定於該等固定孔的固定柱。
The automatic positioning mechanism of claim 2, wherein the first fixing member is fixed to a first fixing frame, the first fixing member comprises a first end surface and a second end surface opposite to the first end surface, The first fixing member defines a plurality of fixing holes extending through the first and second end faces, and the first fixing frame includes a plurality of fixing posts fixed to the fixing holes.
如申請專利範圍第3項所述之自動定位機構，其中該第一氣爪的每一夾爪固定於一連接件，該等連接件等角度的徑向滑動安裝於該第二端面。
The automatic positioning mechanism of claim 3, wherein each of the jaws of the first air gripper is fixed to a connecting member, and the connecting members are angularly slidably mounted on the second end surface.
如申請專利範圍第2項所述之自動定位機構，其中該第二氣爪包括一固定
於一第二固定架的第二固定件，該第二固定件設有複數安裝孔，該第一固定架設有複數與該等安裝孔對應的固定孔，該第二固定架凸設複數固定柱，該等固定柱分別穿過對應的安裝孔，並固定於該第一固定架的對應的固定孔。
The automatic positioning mechanism of claim 2, wherein the second air grip comprises a fixed
a second fixing member of the second fixing frame, the second fixing member is provided with a plurality of mounting holes, the first fixing frame is provided with a plurality of fixing holes corresponding to the mounting holes, and the second fixing frame is provided with a plurality of fixing columns The fixing posts respectively pass through the corresponding mounting holes and are fixed to the corresponding fixing holes of the first fixing frame.
如申請專利範圍第5項所述之自動定位機構，其中該第二氣爪的每一夾爪固定於一連接件，該等連接件等角度的徑向滑動安裝於該第二固定件，且面向該第二固定架。
The automatic positioning mechanism of claim 5, wherein each of the jaws of the second air gripper is fixed to a connecting member, and the connecting members are equi-directionally slidably mounted to the second fixing member, and Facing the second mount.
如申請專利範圍第5項所述之自動定位機構，其中該第三氣爪包括一第三固定件，該第二固定架上設有用來固定該第三固定件的兩固定孔。
The automatic positioning mechanism of claim 5, wherein the third air claw comprises a third fixing member, and the second fixing frame is provided with two fixing holes for fixing the third fixing member.
一種自動定位的方法，用來將套設於一固定桿上的複數螺母分別安置於一工件，該自動定位方法包括以下步驟：提供一可轉動的機械手臂及一固定於該機械手臂的安裝組合單元，該安裝組合單元包括一第一氣爪、一第二氣爪及一第三氣爪，該第一、第二及第三氣爪分別包括複數可相向或背向滑動的夾爪；將套設有複數螺母的固定桿安裝於該安裝組合單元，且該第一氣爪的複數夾爪夾持該固定桿的上部，該第二氣爪的複數夾爪夾持該固定桿下部最外側的一螺母；該第三氣爪的複數夾爪夾持該固定桿的末端；轉動該機械手臂，帶動該安裝組合單元運動至正對該工件需要安裝該等螺母的部位；該第二氣爪的複數夾爪張開，使該固定桿下部的最外側的螺母滑動至抵靠第三氣爪的複數夾爪；該第二氣爪的複數夾爪再次相互靠近而夾持該固定桿下部的其他螺母；該第三氣爪的複數夾爪張開，該最外側的螺母滑落至該工件需要安裝螺母的部位；該第三氣爪的複數夾爪再次相互靠近而夾持該固定桿的末端。
An automatic positioning method for respectively positioning a plurality of nuts disposed on a fixed rod on a workpiece, the automatic positioning method comprising the steps of: providing a rotatable mechanical arm and a mounting combination fixed to the mechanical arm Unit, the mounting assembly unit includes a first air gripper, a second air gripper and a third air gripper, the first, second and third air grippers respectively comprising a plurality of jaws that can slide toward or away from each other; A fixing rod provided with a plurality of nuts is mounted on the mounting assembly unit, and a plurality of jaws of the first air gripper grip an upper portion of the fixing rod, and a plurality of clamping jaws of the second air gripping claw grip the outermost portion of the lower portion of the fixing rod a nut; the plurality of jaws of the third gripper grip the end of the fixing rod; rotating the robot arm to move the mounting assembly unit to a position where the nut is to be mounted on the workpiece; the second gripper The plurality of jaws are opened to slide the outermost nut of the lower portion of the fixing rod to a plurality of jaws abutting the third air gripper; the plurality of jaws of the second air gripper are again close to each other to clamp the lower portion of the fixing rod Other nuts The third plurality of gripper jaws open, the outermost slide nut to the nut mounting part of the work needed; the third plurality of gripper jaws closer to each other again holding the fixed end of the rod.
如申請專利範圍第8項所述之自動定位的方法，其中該第二氣爪的複數夾爪與該第三氣爪的複數夾爪之間的距離等於一個螺母的高度。
The method of automatic positioning according to claim 8, wherein the distance between the plurality of jaws of the second gripper and the plurality of jaws of the third gripper is equal to the height of a nut.
如申請專利範圍第8項所述之自動定位的方法，其中該第一氣爪固定於一第一固定架，該第二氣爪固定於一第二固定架，該第二固定架固定於該第一固定架，且該第三氣爪固定於該第二固定架。
The method of automatically positioning according to claim 8, wherein the first air gripper is fixed to a first fixing bracket, the second air gripper is fixed to a second fixing bracket, and the second fixing bracket is fixed to the a first fixing frame, and the third air claw is fixed to the second fixing frame.