CN106041500B - A kind of Intelligentized mechanical arm and its working method for Fast Installation screw - Google Patents
A kind of Intelligentized mechanical arm and its working method for Fast Installation screw Download PDFInfo
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- CN106041500B CN106041500B CN201610479315.8A CN201610479315A CN106041500B CN 106041500 B CN106041500 B CN 106041500B CN 201610479315 A CN201610479315 A CN 201610479315A CN 106041500 B CN106041500 B CN 106041500B
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- screw
- mechanical arm
- installation
- manipulator
- sucker
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of Intelligentized mechanical arms for Fast Installation screw, including：Pedestal, mechanical arm, manipulator and control device, the lower part of mechanical arm is fixed on pedestal, manipulator is fixed on the end of mechanical arm, control device is set in pedestal, and manipulator is equipped with sucker, the middle part of sucker is equipped with location hole, location hole is internally provided with magnet, and mechanical arm and manipulator are connect with control device.A kind of heretofore described Intelligentized mechanical arm for Fast Installation screw, screw is first drawn onto on sucker by the way that sucker is arranged on a robotic arm, then screw is attracted to the direction of location hole by the magnet in location hole, after screw enters location hole, manipulator installs it, solve the problems, such as that screw installing engineering is great well, substantially increase the installation speed of screw, it is also effectively guaranteed the installation quality of screw simultaneously, the quality of production for effectively increasing product, so as to better meet the demand of enterprise's production.
Description
Technical field
The invention belongs to the field of manufacturing, more particularly to a kind of Intelligentized mechanical arm for Fast Installation screw and its
Working method.
Background technology
Screw is not strange for everyone, and desk is installed with screw, to be screwed on computer, it may be said that it is filled
Denounce we live each place, be mostly for fixing, and, need many screws one product could be fixed
Firmly, screw installation is the big engineering of a consumption in the production process of each product.
For most of product all or by manually installing, there are also occasions to use self-tapping screw at present, passes through
Electric screw driver is installed, however either pure craft or electric screw driver are all taking human as standard, in the process of welding
In, since people has uncontrollability, the problems such as causing that loosening or neglected loading are installed, it may result in product installation in this way and do not conform to
Lattice influence the safety that product uses, and for some electric equipment products, may also will produce the problems such as electric leakage, serious threat makes
The safety of user, thus we need to provide a kind of equipment that can be good at solving screw installation question.
Invention content
Goal of the invention：In order to overcome the above deficiency, the object of the present invention is to provide a kind of intelligence for Fast Installation screw
Mechanical arm can be changed, simple in structure, reasonable design is readily produced, and can greatly improve the speed of screw installation.
Technical solution：To achieve the goals above, the present invention provides a kind of intelligent machines for Fast Installation screw
Tool arm, including：The lower part of pedestal, mechanical arm, manipulator and control device, the mechanical arm is fixed on pedestal, the machine
Tool hand is fixed on the end of mechanical arm, and the control device is set in pedestal, and, the manipulator is equipped with sucker, institute
The middle part for stating sucker is equipped with location hole, and the location hole is internally provided with magnet, the mechanical arm and manipulator with
Control device connects.Heretofore described a kind of Intelligentized mechanical arm for Fast Installation screw, by a robotic arm
Screw is first drawn onto on sucker by setting sucker, is then attracted screw to the direction of location hole by the magnet in location hole,
After screw enters location hole, manipulator installs it, solves the problems, such as that screw installing engineering is great well,
The installation speed of screw is greatly improved, while being also effectively guaranteed the installation quality of screw, effectively raises product
The quality of production, so as to better meet enterprise production demand.
Heretofore described mechanical arm is made of one group of joint shaft, and the joint shaft is connected by joint connector
It connects, and, the junction between two joint axis is equipped with bracing means, and the setting of the bracing means can improve joint axis connection
Stability.
Heretofore described manipulator is equipped with handgrip, and the handgrip is set to the outside of sucker, and the setting of handgrip allows
It can be as the dynamic installation of human hand during screw is installed, and to screw, there are one grips, can effectively prevent its peace
Dress tilts, to effectively raise the quality of screw installation.
Heretofore described handgrip at least 2 grabs finger, and, the outside of grabbing fingers is equipped with rubber sleeve, the rubber
The setting of set effectively can avoid manipulator from causing to wear to screw, to play a very good protection to screw.
The surface of heretofore described rubber sleeve is equipped with texture, on rubber sleeve the setting of texture can effectively prevent
Screw slides during the installation process.
Heretofore described control device includes executing agency, installs testing agency, alarm mechanism and control mechanism,
In, the control mechanism is controlled using PLC, and the executing agency connect with pedestal, mechanical arm and manipulator, described
Testing agency is installed to be set on manipulator, the alarm mechanism is set on the column of mechanical arm, the executing agency, installation
Testing agency and alarm mechanism are connect with control mechanism, install the setting of testing agency, after installation is complete for screw, pass through peace
Dress testing agency is detected the case where being installed to it, once detecting to install unqualified, will pass through alarm mechanism
It alarms.
The lower section of heretofore described pedestal is equipped with movable pulley, and the outside of the movable pulley is equipped with protective cover, and, institute
Braking vane is carried on the movable pulley stated, the braking vane is matched with movable pulley, and the setting of movable pulley allows it can be according to life
Production needs to move mechanical arm, after it is moved to suitable position, is braked to it by braking vane, effectively
It prevents it arbitrarily mobile during the work time, improves its stability.
Filming apparatus and data storage device, the filming apparatus are equipped in heretofore described installation testing agency
Output end and the input terminal of data storage device connect, the filming apparatus and data storage device connect with control mechanism
It connects.
It is equipped in heretofore described bracing means and extends shell, the both ends of the extension shell are individually fixed in connected
On two joint shafts, and, the inside for extending shell is equipped with rubber layer, and the rubber layer coordinates with shell phase is extended, and extends shell
Setting, play a very good protection to joint shaft connection place, the setting of the rubber layer, effectively avoid extend shell
Wear problem between joint shaft, while also improving the stability of joint axis connection.
A kind of working method of heretofore described Intelligentized mechanical arm for Fast Installation screw, it is specific to work
Method is as follows：
（1）：Mechanical arm is installed by staff first；
（2）：After mechanical arm installs, bracing means is installed to the joint of mechanical arm；
（3）：It waits in above-mentioned two step, after which installs, working condition will be initially entered；
（4）：Sucker first on manipulator will be attracted to around sucker the required fixed screw of installation；
（5）：Then the magnet in location hole will attract the screw around sucker into location hole；
（6）：After in 1 ~ 10mm ranges that the screw being attracted enters location hole, control mechanism will order executing agency
Handgrip is allowed to start to work；
（7）：Then handgrip will carry out screw the correction and fixation of position；
（8）：After handgrip fixes screw, start screw being installed to its required position installed；
（9）：After after screw in previous step, installation is complete, installation testing agency will examine the screw after installation
It surveys；
（10）：Testing agency is installed during detection, once situations such as finding neglected loading or setup error, it will
Convey information to control mechanism；
（11）：Then control mechanism will carry out warning reminding by alarm mechanism；
（12）：After the prompting that receives the report for police service, staff carries out manual review, and is pacified again to problematic screw
Dress.
A kind of working method of heretofore described Intelligentized mechanical arm for Fast Installation screw, method are simple
Convenient, the screw after being installed to screw by handgrip, then after being installed to it by installing testing agency checks, realizes one
The process of self-test also improves the production efficiency of product, improves the installation of product while solving the problems, such as that screw is cumbersome for installation
Quality, to allow it more preferably to meet the needs of enterprise's production.
Above-mentioned technical proposal can be seen that the present invention and have the advantages that：
1, heretofore described a kind of Intelligentized mechanical arm for Fast Installation screw, by being arranged on a robotic arm
Screw is first drawn onto on sucker by sucker, is then attracted screw to the direction of location hole by the magnet in location hole, is worked as spiral shell
After silk enters location hole, manipulator installs it, solves the problems, such as that screw installing engineering is great well, significantly
The installation speed for improving screw, while being also effectively guaranteed the installation quality of screw, effectively raise the life of product
Yield and quality also further improves the safety of product, so as to better meet the demand of enterprise's production.
2, it is equipped with the setting of installation testing agency in heretofore described control device, after installation is complete for screw, leads to
It crosses the case where it is installed by installation testing agency to be detected, once detecting to install unqualified, alarm will be passed through
Mechanism alarms, and mechanical arm is allowed to realize the process of a self-test, thus it will greatly improve the installation quality of product, energy
Enough workloads for effectively slowing down later stage quality inspection, thus the Intelligentized mechanical arm will better meet the demand of enterprise.
Description of the drawings
Fig. 1 is the structural diagram of the present invention；
In figure：Pedestal -1, mechanical arm -2, manipulator -3, control device -4, sucker -5, location hole -6, bracing means -7,
Handgrip -8.
Specific implementation mode
In the following with reference to the drawings and specific embodiments, the present invention is furture elucidated.
Embodiment
A kind of Intelligentized mechanical arm for Fast Installation screw as shown in Figure 1, including：Pedestal 1, mechanical arm 2, machinery
Hand 3 and control device 4；
The relationship of above-mentioned each component is as follows：
The mechanical arm 2 is made of one group of joint shaft, and the joint shaft is connected by joint connector, two joint
Junction between axis is equipped with bracing means 7, and the lower part of the mechanical arm 2 is fixed on pedestal 1, and the manipulator 3 is fixed
In the end of mechanical arm 2, the control device 4 is set in pedestal, and, the manipulator 3 is equipped with sucker 5, the suction
The middle part of disk 5 is equipped with location hole 6, and the location hole 6 is internally provided with magnet, the mechanical arm 2 and manipulator 3 with
Control device 4 connects.
Manipulator 3 described in the present embodiment is equipped with handgrip 8, and the handgrip 8 is set to the outside of sucker 5, described
Handgrip 8 at least 2 grabs finger, and, the outside of grabbing fingers is equipped with rubber sleeve, and the surface of the rubber sleeve is equipped with texture.
Control device 4 described in the present embodiment includes executing agency, installation testing agency, alarm mechanism and control machine
Structure, wherein the control mechanism is controlled using PLC, and the executing agency connects with pedestal, mechanical arm 2 and manipulator 3
It connects, the installation testing agency is set on manipulator 3, and the alarm mechanism is set on the column of mechanical arm 2, and described holds
Row mechanism, installation testing agency and alarm mechanism are connect with control mechanism.
The lower section of pedestal 1 described in the present embodiment is equipped with movable pulley, and the outside of the movable pulley is equipped with protective cover,
And braking vane is carried on the movable pulley, the braking vane is matched with movable pulley.
Filming apparatus and data storage device, shooting dress are equipped in installation testing agency described in the present embodiment
The input terminal of the output end and data storage device set connects, and the filming apparatus and data storage device are and control mechanism
Connection.
It is equipped in bracing means 7 described in the present embodiment and extends shell, the both ends of the extension shell are individually fixed in phase
On two joint shafts even, and, the inside for extending shell is equipped with rubber layer, the rubber layer and extension shell phase cooperation.
Embodiment 2
The machine in a kind of Intelligentized mechanical arm and its working method for Fast Installation screw described in the present embodiment
The structure of tool arm is identical as the structure in embodiment 1.
A kind of Intelligentized mechanical arm for Fast Installation screw as shown in Figure 1, including：Pedestal 1, mechanical arm 2, machinery
Hand 3 and control device 4；
The relationship of above-mentioned each component is as follows：
The mechanical arm 2 is made of one group of joint shaft, and the joint shaft is connected by joint connector, two joint
Junction between axis is equipped with bracing means 7, and the lower part of the mechanical arm 2 is fixed on pedestal 1, and the manipulator 3 is fixed
In the end of mechanical arm 2, the control device 4 is set in pedestal, and, the manipulator 3 is equipped with sucker 5, the suction
The middle part of disk 5 is equipped with location hole 6, and the location hole 6 is internally provided with magnet, the mechanical arm 2 and manipulator 3 with
Control device 4 connects.
Manipulator 3 described in the present embodiment is equipped with handgrip 8, and the handgrip 8 is set to the outside of sucker 5, described
Handgrip 8 at least 2 grabs finger, and, the outside of grabbing fingers is equipped with rubber sleeve, and the surface of the rubber sleeve is equipped with texture.
Control device 4 described in the present embodiment includes executing agency, installation testing agency, alarm mechanism and control machine
Structure, wherein the control mechanism is controlled using PLC, and the executing agency connects with pedestal, mechanical arm 2 and manipulator 3
It connects, the installation testing agency is set on manipulator 3, and the alarm mechanism is set on the column of mechanical arm 2, and described holds
Row mechanism, installation testing agency and alarm mechanism are connect with control mechanism.
The lower section of pedestal 1 described in the present embodiment is equipped with movable pulley, and the outside of the movable pulley is equipped with protective cover,
And braking vane is carried on the movable pulley, the braking vane is matched with movable pulley.
Filming apparatus and data storage device, shooting dress are equipped in installation testing agency described in the present embodiment
The input terminal of the output end and data storage device set connects, and the filming apparatus and data storage device are and control mechanism
Connection.
It is equipped in bracing means 7 described in the present embodiment and extends shell, the both ends of the extension shell are individually fixed in phase
On two joint shafts even, and, the inside for extending shell is equipped with rubber layer, the rubber layer and extension shell phase cooperation.
A kind of working method of Intelligentized mechanical arm for Fast Installation screw described in the present embodiment, specific work
It is as follows to make method：
（1）：Mechanical arm is installed by staff first；
（2）：After mechanical arm installs, bracing means 7 is installed to the joint of mechanical arm；
（3）：It waits in above-mentioned two step, after which installs, working condition will be initially entered；
（4）：Sucker 5 first on manipulator 3 will be attracted to around sucker 5 the required fixed screw of installation；
（5）：Then the magnet in location hole 6 will attract the screw around sucker 5 into location hole 6；
（6）：After in 1 ~ 10mm ranges that the screw being attracted enters location hole 6, control mechanism will order execution machine
Structure is started to work by handgrip 8；
（7）：Then handgrip 8 will carry out screw the correction and fixation of position；
（8）：After handgrip 8 fixes screw, start screw being installed to its required position installed；
（9）：After after screw in previous step, installation is complete, installation testing agency will examine the screw after installation
It surveys；
（10）：Testing agency is installed during detection, once situations such as finding neglected loading or setup error, it will
Convey information to control mechanism；
（11）：Then control mechanism will carry out warning reminding by alarm mechanism；
（12）：After the prompting that receives the report for police service, staff carries out manual review, and is pacified again to problematic screw
Dress.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the principle of the present invention, several improvement can also be made, these improvement also should be regarded as the present invention's
Protection domain.
Claims (5)
1. a kind of Intelligentized mechanical arm for Fast Installation screw, it is characterised in that：Including：Pedestal（1）, mechanical arm（2）, machine
Tool hand（3）And control device（4）, the mechanical arm（2）Lower part be fixed on pedestal（1）On, the manipulator（3）It is fixed on
Mechanical arm（2）End, the control device（4）In pedestal, and, the manipulator（3）It is equipped with sucker（5）,
The sucker（5）Middle part be equipped with location hole（6）, the location hole（6）Be internally provided with magnet, the mechanical arm
（2）And manipulator（3）And control device（4）Connection；The mechanical arm（2）It is made of one group of joint shaft, the joint
Axis is connected by joint connector, and, the junction between two joint axis is equipped with bracing means（7）；The manipulator（3）
It is equipped with handgrip（8）, the handgrip（8）Set on sucker（5）Outside；The handgrip（8）At least 2 are grabbed finger, and, institute
The outside for grabbing finger is stated equipped with rubber sleeve；The surface of the rubber sleeve is equipped with texture；The control device（4）Including executing machine
Structure, installation testing agency, alarm mechanism and control mechanism, wherein the control mechanism is controlled using PLC, the execution
Mechanism and pedestal, mechanical arm（2）And manipulator（3）Connection, the installation testing agency are set to manipulator（3）On, it is described
Alarm mechanism be set to mechanical arm（2）Column on, the executing agency, installation testing agency and alarm mechanism with control
Mechanism connects.
2. the Intelligentized mechanical arm according to claim 1 for Fast Installation screw, it is characterised in that：The pedestal
（1）Lower section be equipped with movable pulley, the outside of the movable pulley is equipped with protective cover, and, braking vane is carried on the movable pulley,
The braking vane is matched with movable pulley.
3. the Intelligentized mechanical arm according to claim 1 for Fast Installation screw, it is characterised in that：The installation
Be equipped with filming apparatus and data storage device in testing agency, the output end of the filming apparatus and data storage device it is defeated
Enter end connection, the filming apparatus and data storage device are connect with control mechanism.
4. the Intelligentized mechanical arm according to claim 1 for Fast Installation screw, it is characterised in that：The reinforcing
Device（7）In be equipped with and extend shell, the both ends of the extension shell are individually fixed on two connected joint shafts, and, it is described to prolong
The inside for stretching shell is equipped with rubber layer, and the rubber layer coordinates with shell phase is extended.
5. a kind of work side of Intelligentized mechanical arm for Fast Installation screw according to any one of claims 1 to 4
Method, it is characterised in that：Specific working method is as follows：
（1）：Mechanical arm is installed by staff first；
（2）：After mechanical arm installs, by bracing means（7）It is installed to the joint of mechanical arm；
（3）：It waits in above-mentioned two step, after which installs, working condition will be initially entered；
（4）：Manipulator first（3）On sucker（5）Sucker will be attracted to the required fixed screw of installation（5）Around；
（5）：Then location hole（6）In magnet will be sucker（5）Around screw to location hole（6）Middle attraction；
（6）：Screw to be attracted enters location hole（6）1 ~ 10mm ranges in after, control mechanism will order executing agency
Allow handgrip（8）It starts to work；
（7）：Then handgrip（8）The correction and fixation of position will be carried out to screw；
（8）：Wait for handgrip（8）After screw is fixed, start screw being installed to its required position installed；
（9）：After after screw in previous step, installation is complete, installation testing agency will be detected the screw after installation；
（10）：Testing agency is installed during detection, once find neglected loading either setup error situation, it will information
Pass to control mechanism；
（11）：Then control mechanism will carry out warning reminding by alarm mechanism；
（12）：After the prompting that receives the report for police service, staff carries out manual review, and is reinstalled i.e. to problematic screw
It can.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610479315.8A CN106041500B (en) | 2016-06-28 | 2016-06-28 | A kind of Intelligentized mechanical arm and its working method for Fast Installation screw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610479315.8A CN106041500B (en) | 2016-06-28 | 2016-06-28 | A kind of Intelligentized mechanical arm and its working method for Fast Installation screw |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106041500A CN106041500A (en) | 2016-10-26 |
| CN106041500B true CN106041500B (en) | 2018-08-07 |
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ID=57165745
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610479315.8A Active CN106041500B (en) | 2016-06-28 | 2016-06-28 | A kind of Intelligentized mechanical arm and its working method for Fast Installation screw |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108821207A (en) * | 2018-07-09 | 2018-11-16 | 薛敏强 | A kind of Efficient intelligent bottle cap installation mechanical arm |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101229639A (en) * | 2007-12-16 | 2008-07-30 | 沈孝芹 | Gantry type bolt installing robot |
| JP2014176933A (en) * | 2013-03-15 | 2014-09-25 | Yaskawa Electric Corp | Robot system and method for controlling the same |
| CN204183543U (en) * | 2014-10-01 | 2015-03-04 | 汤绍明 | A kind of manipulator |
| CN105436877A (en) * | 2015-12-30 | 2016-03-30 | 苏州博众精工科技有限公司 | Full-automatic screw tightening mechanism |
| CN105500357A (en) * | 2016-01-15 | 2016-04-20 | 苏州艾力光电科技有限公司 | Loading and unloading mechanical arm |
| CN205869928U (en) * | 2016-06-28 | 2017-01-11 | 江苏捷帝机器人股份有限公司 | A intelligent arm for install screw fast |
-
2016
- 2016-06-28 CN CN201610479315.8A patent/CN106041500B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101229639A (en) * | 2007-12-16 | 2008-07-30 | 沈孝芹 | Gantry type bolt installing robot |
| JP2014176933A (en) * | 2013-03-15 | 2014-09-25 | Yaskawa Electric Corp | Robot system and method for controlling the same |
| CN204183543U (en) * | 2014-10-01 | 2015-03-04 | 汤绍明 | A kind of manipulator |
| CN105436877A (en) * | 2015-12-30 | 2016-03-30 | 苏州博众精工科技有限公司 | Full-automatic screw tightening mechanism |
| CN105500357A (en) * | 2016-01-15 | 2016-04-20 | 苏州艾力光电科技有限公司 | Loading and unloading mechanical arm |
| CN205869928U (en) * | 2016-06-28 | 2017-01-11 | 江苏捷帝机器人股份有限公司 | A intelligent arm for install screw fast |
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| Publication number | Publication date |
|---|---|
| CN106041500A (en) | 2016-10-26 |
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Effective date of registration: 20230523 Address after: Room 585, floor 5, building 1, Hutai fashion, No. 10, Nanhai Road, Liuhe Town, Taicang City, Suzhou City, Jiangsu Province 215400 Patentee after: Suzhou huienyuan medical device accessories Co.,Ltd. Address before: 215138 Shitian Road, Yangchenghu Town, Xiangcheng District, Suzhou City, Jiangsu Province Patentee before: JIANGSU JIEDI ROBOT Co.,Ltd. |
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