CN106041828B - A kind of mechanical arm with bleeder sucker and its method of work for installing spring - Google Patents
A kind of mechanical arm with bleeder sucker and its method of work for installing spring Download PDFInfo
- Publication number
- CN106041828B CN106041828B CN201610639160.XA CN201610639160A CN106041828B CN 106041828 B CN106041828 B CN 106041828B CN 201610639160 A CN201610639160 A CN 201610639160A CN 106041828 B CN106041828 B CN 106041828B
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- CN
- China
- Prior art keywords
- spring
- mechanical arm
- bleeder sucker
- bleeder
- sucker
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B27/00—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for
- B25B27/14—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for for assembling objects other than by press fit or detaching same
- B25B27/30—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for for assembling objects other than by press fit or detaching same positioning or withdrawing springs, e.g. coil or leaf springs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
A kind of mechanical arm with bleeder sucker for installing spring, including pedestal, mechanical arm, manipulator, drive device, control device and position detecting device, pedestal are provided with warning device；The manipulator includes two spring clamping jaws, a bleeder sucker and detection pawl, and wherein bleeder sucker is arranged between two spring clamping jaws, and each spring clamping jaw includes two crawl fingers, and detection pawl end is provided with force cell；Described mechanical arm, spring clamping jaw and crawl finger, bleeder sucker and detection pawl are connected with drive device, and force cell, warning device, position detecting device and drive device are connected with control device.This design replaces installing spring by hand, greatly improves production efficiency, and the problem of solve the bad installation of machine contained spring.
Description
Technical field
The present invention relates to the technical field of mechanical arm, more particularly to a kind of machine with bleeder sucker for installing spring
Tool arm.
Background technology
Because the installation environment of spring is complex, being changed mounting means, at present, the installation of spring is generally manual peace more
Dress, still, when spring need to be arranged on inside machine, human hand is inconvenient to probe into, and is difficult observation, even if utilizing when mounted
Viewfinder, is also very influence production efficiency, and installation quality is difficult guarantee；In addition, when the required spring-loaded spring of peace
When power is very big, manual operations is more difficult, and this requires a kind of spring installation system of automation, to replace manual operations,
And the complicated installation environment of spring can be tackled.
Other spring, which is installed, may produce unqualified, or spring force is not reaching to standard after installing, and this is accomplished by
Effectively detected after installation, but common position detection is qualified not to ensure that spring force necessarily reaches standard.
The content of the invention
The purpose of invention：The present invention discloses a kind of mechanical arm with bleeder sucker for installing spring, instead of craft
Spring is installed, production efficiency is greatly improved, the problem of bad installation of machine contained spring can be solved, it is possible to the complicated reality of reply
Border situation；After installation, directly spring force is detected, once detecting to install unqualified, installed again automatically.
Technical scheme：In order to realize the above object the invention discloses it is a kind of install spring with bleeder sucker
Mechanical arm, including pedestal, mechanical arm, manipulator, drive device, control device and position detecting device, pedestal is provided with report
Alarm device；The manipulator includes two spring clamping jaws, a bleeder sucker and detection pawl, and wherein bleeder sucker is set
Between two spring clamping jaws, each spring clamping jaw includes two crawl fingers, and detection pawl end is provided with force cell；Institute
Mechanical arm, spring clamping jaw and crawl finger, bleeder sucker and the detection pawl stated are connected with drive device, force cell,
Warning device, position detecting device and drive device are connected with control device.This design use can replace installing bullet by hand
Spring, greatly improves production efficiency, the problem of solving the bad installation of machine contained spring, it is possible to the complicated actual feelings of reply
Condition；Installation site is determined by position detecting device, after installation, spring force detected, once detect to install not
It is qualified, installed again automatically；When unqualified state can not be excluded, warning device is alarmed.
Further, a kind of above-mentioned mechanical arm with bleeder sucker for installing spring, the drive device includes
Vacuum suction blower fan, it is connected with bleeder sucker.This design can inhale for being magnetic and not having magnetic object
Draw, applicability is wide.
Further, above-mentioned a kind of mechanical arm with bleeder sucker for installing spring, the force cell is
Pressure sensor.This design is by the spring force of detection spring, and to differentiate whether spring is properly installed, this mode is direct
And effectively.
Further, a kind of above-mentioned mechanical arm with bleeder sucker for installing spring, the end of the crawl finger
Portion is provided with rubber sleeve.Rigid contact when capturing spring is converted into flexible contact by this design, prevents from damaging capturing spring.
Further, above-mentioned a kind of mechanical arm with bleeder sucker for installing spring, the rubber sleeve surface is set
There are anti-slip veins.This design improves the frictional force between rubber sleeve and spring, prevents from slipping.
Further, a kind of above-mentioned mechanical arm with bleeder sucker for installing spring, described two spring clamping jaws
Can drive device effect under mutually with parastate closer or far from.
Further, a kind of above-mentioned mechanical arm with bleeder sucker for installing spring, described two spring clamping jaws
One end is connected, and folding can be carried out by fulcrum of tie point under drive device effect.
A kind of method of work for the mechanical arm with bleeder sucker for installing spring, specific works method is as follows：1）
Mechanical arm starts action, and driving mechanical hand reaches spring storeroom, and bleeder sucker attracts spring；2）Mechanical arm driving mechanical hand
Spring storeroom is left, installation site is prepared to enter into, while spring clamping jaw fixes both ends of the spring respectively；3）Spring clamping jaw is by bullet
Spring stretches or is compressed to setting length, while mechanical arm driving mechanical hand reaches predetermined installation site；4）One of spring
Spring one end is first attached to specified location by clamping jaw；5）The spring other end is attached to specified location by another spring clamping jaw again,
During this, another spring clamping jaw can be compressed or stretch to spring under drive device drive, that is, adjust spring
Length is so as to smoothly installation；6）After the completion of once mounting, bleeder sucker stops attracting；7）Detect that pawl drives force cell pair
Spring after installation is detected, if spring force reaches setting value, illustrates that spring is installed successfully, and manipulator is exited and carried out next
Wheel is installed；8）If spring force does not reach setting value, illustrate spring install failure, bleeder sucker is engaged with spring clamping jaw, taken
Go out spring and installed again；9）If continuous 2 ~ 5 times can not install, warning device is alarmed, and event is excluded by operating personnel
Barrier.
Further, a kind of method of work of above-mentioned mechanical arm with bleeder sucker for installing spring, the bullet
When spring is compression spring, two spring clamping jaws are directly clamped and compression spring, are now captured finger and are in closed configuration；Spring is
During extension spring, crawl finger is opened, and the hook at crawl extension spring two ends and clamping are stretched with this；Spring is torsion
During spring, crawl finger is opened, and the two-arm of torque spring is captured and clamp, to be installed.
Above-mentioned technical proposal can be seen that the present invention and have the advantages that：A kind of installation spring of the present invention
Mechanical arm with bleeder sucker, instead of installing spring by hand, greatly improves production efficiency, and solve inside machine
The problem of spring bad installation；All springs can be drawn, are more convenient while capturing spring, and avoid damaging spring, were installed
Journey is more reliable, and can tackle the actual conditions of complexity, while meeting the installation of compression spring, extension spring and torque spring；Peace
After dress, spring force is detected by pressure sensor, once detecting to install unqualified, control device sends instruction, from
It is dynamic to be installed again；It is unqualified to be alarmed when can not exclude automatically, it is more humane.
Brief description of the drawings
Fig. 1 is a kind of the first embodiment of the mechanical arm with bleeder sucker of installation spring of the present invention
Structural representation；
Fig. 2 is a kind of the first embodiment of the mechanical arm with bleeder sucker of installation spring of the present invention
Manipulator structural representation；
Fig. 3 is a kind of second of embodiment of mechanical arm with bleeder sucker for installing spring of the present invention
Manipulator structural representation；
In figure：1- pedestals, 2- mechanical arms, 3- manipulators, 31- spring clamping jaws, 311- crawl fingers, 32- bleeder suckers,
33- detects pawl, 4- force cells, 5- vacuum suction blower fans.
Embodiment
Below in conjunction with the accompanying drawings, the specific embodiment of the invention is described in detail.
Embodiment 1
A kind of mechanical arm with bleeder sucker of installation spring of the present invention, as depicted in figs. 1 and 2, including base
Seat 1, mechanical arm 2, manipulator 3, drive device, control device and position detecting device, pedestal 1 are provided with warning device；It is described
Manipulator 3 includes two spring clamping jaws 31, a bleeder sucker 32 and detection pawl 33, and wherein bleeder sucker 32 is arranged on
Between two spring clamping jaws 31, each spring clamping jaw 31 includes two crawl fingers 311, and the detection end of pawl 33 is passed provided with dynamometry
Sensor 4, force cell 4 is pressure sensor；Described mechanical arm 2, spring clamping jaw 31 and crawl finger 311, bleeder are inhaled
Disk 32 and detection pawl 33 are connected with drive device, and force cell 4, warning device, position detecting device and drive device are equal
It is connected with control device；The drive device includes vacuum suction blower fan 5, and it is connected with bleeder sucker 32, vacuum suction wind
Machine 5 is arranged on pedestal 1, and pedestal 1 is provided with corresponding aeration radiation system；The end of the crawl finger 311 is provided with rubber
Set；The rubber sleeve surface is provided with anti-slip veins.
Described two spring clamping jaws 31 can drive device effect under mutually with parastate closer or far from；Or use two
Individual one end of spring clamping jaw 31 is connected, and can by fulcrum of tie point, progress folding replaces above-mentioned side under drive device effect
Case.
Capture finger 311 include upper gripper jaw and lower clamping jaw, between upper gripper jaw and lower clamping jaw be provided with clamping jaw joint, upper gripper jaw with
Joint is provided between spring clamping jaw 31, each other can be with flexible rotating, to tackle the spring of different size.
Detect that pawl 33 includes dewclaw, lower claw and both joints of connection, thus can be by detecting the flexibly tune of pawl 33
The position of whole force cell 4, to be measured to spring.
A kind of method of work for the mechanical arm with bleeder sucker for installing spring is as follows：
1）Mechanical arm 2 starts action, and driving mechanical hand 3 reaches spring storeroom, and bleeder sucker 32 attracts spring；
2）The driving mechanical hand 3 of mechanical arm 2 leaves spring storeroom, is prepared to enter into installation site, while spring clamping jaw 31 will
Both ends of the spring is fixed respectively；
3）Spring clamping jaw 31 is by spring elongation or is compressed to setting length, while the driving mechanical hand 3 of mechanical arm 2 reaches predetermined
Installation site；
4）Spring one end is first attached to specified location by one of spring clamping jaw 31；
5）The spring other end is attached to specified location by another spring clamping jaw 31 again, during this, another spring
Clamping jaw 31 can be compressed or stretch to spring under drive device drive, that is, adjust its length so as to smoothly installation；
6）After the completion of once mounting, bleeder sucker 32 stops attracting；
7）Detection pawl 33 drives the spring after 4 pairs of installations of force cell to detect, if spring force reaches setting value, says
Bright spring is installed successfully, and manipulator 3 exits and carries out next round installation；
8）If spring force does not reach setting value, illustrate spring install failure, bleeder sucker 32 matches with spring clamping jaw 31
Close, take out spring and installed again；
9）If continuous 2 ~ 5 times can not install, warning device is alarmed, and is fixed a breakdown by operating personnel.
When spring is compression spring, two spring clamping jaws 31 are directly clamped and compression spring, are now captured at finger 311
In closed configuration；When spring is extension spring, crawl finger 311 is opened, the hook at crawl extension spring two ends and clamping, with this
Stretched；When spring is torque spring, crawl finger 311 is opened, and the two-arm of torque spring is captured and clamp, to be pacified
Dress.
Embodiment 2
The mechanical arm with bleeder sucker of a kind of installation spring of the present invention, as shown in figure 3, described two springs
Clamping jaw 31 can be rotated on manipulator 3, the crawl direction of crawl finger 311 can so be adjusted, preferably according to actual feelings
Condition carries out the clamping to spring.
Capturing finger 311 includes upper gripper jaw and lower clamping jaw, and clamping jaw joint, spring clamping jaw are provided between upper gripper jaw and lower clamping jaw
31 ends are connected provided with a total joint, the end Jun Yuzong joints of the upper gripper jaw of two crawl fingers 311.Remaining structure with
Embodiment 1 is identical.
Described above is only the preferred embodiment of the present invention, it should be noted that for those skilled in the art
For, under the premise without departing from the principles of the invention, some improvement can also be made, these improvement also should be regarded as the guarantor of the present invention
Protect scope.
Claims (9)
1. a kind of method of work for the mechanical arm with bleeder sucker for installing spring, it is characterised in that：Specific works side
Method is as follows：
1）Mechanical arm（2）Start action, driving mechanical hand（3）Reach spring storeroom, bleeder sucker（32）Attract spring；
2）Mechanical arm（2）Driving mechanical hand（3）Spring storeroom is left, installation site is prepared to enter into, while spring clamping jaw（31）
Both ends of the spring is fixed respectively；
3）Spring clamping jaw（31）By spring elongation or setting length is compressed to, while mechanical arm（2）Driving mechanical hand（3）Reach pre-
Fixed installation site；
4）One of spring clamping jaw（31）Spring one end is first attached to specified location；
5）Another spring clamping jaw（31）The spring other end is attached to specified location again, during this, another spring clip
Pawl（31）Spring is compressed or stretched under drive device drive, that is, adjusts its length so as to smoothly installation；
6）After the completion of once mounting, bleeder sucker（32）Stop attracting；
7）Detect pawl（33）Drive force cell（4）Spring after installation is detected, if spring force reaches setting value, said
Bright spring is installed successfully, manipulator（3）Exit and carry out next round installation；
8）If spring force does not reach setting value, illustrate spring install failure, bleeder sucker（32）With spring clamping jaw（31）Match
Close, take out spring and installed again；
9）If continuous 2 ~ 5 times can not install, warning device is alarmed, and is fixed a breakdown by operating personnel.
2. a kind of method of work of mechanical arm with bleeder sucker for installing spring according to claim 1, its
It is characterised by：When the spring is compression spring, two spring clamping jaws（31）Directly clamp and compression spring, now capture finger
（311）In closed configuration；When spring is extension spring, finger is captured（311）Open, the hook at crawl extension spring two ends is simultaneously
Clamp, stretched with this；When spring is torque spring, finger is captured（311）Open, capture and clamp the two of torque spring
Arm, to be installed.
3. a kind of method of work of mechanical arm with bleeder sucker for installing spring according to claim 1, its
It is characterised by：Including pedestal（1）, mechanical arm（2）, manipulator（3）, drive device, control device and position detecting device, pedestal
（1）It is provided with warning device；The manipulator（3）Including two spring clamping jaws（31）, a bleeder sucker（32）And inspection
Measuring jaw（33）, wherein bleeder sucker（32）It is arranged on two spring clamping jaws（31）Between, each spring clamping jaw（31）Include
Two crawl fingers（311）, detect pawl（33）End is provided with force cell（4）；Described mechanical arm（2）, spring clamping jaw
（31）And crawl finger（311）, bleeder sucker（32）With detection pawl（33）It is connected with drive device, force cell（4）、
Warning device, position detecting device and drive device are connected with control device.
4. a kind of method of work of mechanical arm with bleeder sucker for installing spring according to claim 3, its
It is characterised by：The drive device includes vacuum suction blower fan（5）, itself and bleeder sucker（32）Connection.
5. a kind of method of work of mechanical arm with bleeder sucker for installing spring according to claim 3, its
It is characterised by：The force cell（4）For pressure sensor.
6. a kind of method of work of mechanical arm with bleeder sucker for installing spring according to claim 3, its
It is characterised by：The crawl finger（311）End be provided with rubber sleeve.
7. a kind of method of work of mechanical arm with bleeder sucker for installing spring according to claim 6, its
It is characterised by：The rubber sleeve surface is provided with anti-slip veins.
8. a kind of method of work of mechanical arm with bleeder sucker for installing spring according to claim 3, its
It is characterised by：Described two spring clamping jaws（31）Drive device effect under mutually with parastate closer or far from.
9. a kind of method of work of mechanical arm with bleeder sucker for installing spring according to claim 3, its
It is characterised by：Described two spring clamping jaws（31）One end is connected, and can drive device effect under by branch of tie point click-through
Row folding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610639160.XA CN106041828B (en) | 2016-08-08 | 2016-08-08 | A kind of mechanical arm with bleeder sucker and its method of work for installing spring |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610639160.XA CN106041828B (en) | 2016-08-08 | 2016-08-08 | A kind of mechanical arm with bleeder sucker and its method of work for installing spring |
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| Publication Number | Publication Date |
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| CN106041828A CN106041828A (en) | 2016-10-26 |
| CN106041828B true CN106041828B (en) | 2017-10-20 |
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| Publication number | Publication date |
|---|---|
| CN106041828A (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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Effective date of registration: 20230821 Address after: Building 1, No. 51 Hongshan South Road, Xuanwu District, Nanjing City, Jiangsu Province, 210000 Patentee after: Nanjing Ningxin Anyu Medical Technology Co.,Ltd. Address before: Room 585, floor 5, building 1, Hutai fashion, No. 10, Nanhai Road, Liuhe Town, Taicang City, Suzhou City, Jiangsu Province 215400 Patentee before: Suzhou huienyuan medical device accessories Co.,Ltd. |