CN106078181B - A kind of manipulator and its working method of a variety of springs of installation - Google Patents
A kind of manipulator and its working method of a variety of springs of installation Download PDFInfo
- Publication number
- CN106078181B CN106078181B CN201610639616.2A CN201610639616A CN106078181B CN 106078181 B CN106078181 B CN 106078181B CN 201610639616 A CN201610639616 A CN 201610639616A CN 106078181 B CN106078181 B CN 106078181B
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- spring
- manipulator
- clamping jaw
- installation
- springs
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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
- B23P19/048—Springs
-
- 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
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of manipulator of a variety of springs of installation, including robot base, external control system, two spring clamping jaws, a bleeder sucker and detection pawl, two of which spring clamping jaw is oppositely arranged on robot base both ends, bleeder sucker is arranged between two spring clamping jaws, each spring clamping jaw includes two crawl fingers, it detects pawl end and is equipped with load cell, spring clamping jaw is equipped with position detecting device, and external control system includes warning device, counting device, driving device and control device；Spring clamping jaw, crawl finger, bleeder sucker and the detection pawl is connect with driving device, and load cell, warning device, counting device, position detecting device and driving device are connect with control device.This design replaces installation spring by hand, greatly improves production efficiency, and solve the problems, such as the bad installation of machine contained spring.
Description
Technical field
The present invention relates to the technical field of manipulator, more particularly to a kind of manipulator of a variety of springs of installation.
Background technology
Since the installation environment of spring is complex, mounting means changes more, currently, the installation of spring is mostly to pacify by hand
Dress, still, when spring need to be mounted on inside machine, human hand is inconvenient to probe into, and is not easy to observe, even if utilizing when mounted
Viewfinder, and production efficiency is very influenced, and quality is installed and is not easy to ensure；In addition, when the required spring-loaded spring of peace
When power is very big, manual operations is more not easy, this requires a kind of spring installation system of automation, to replace manual operations,
And the installation environment of spring complexity can be coped with.
In addition spring installation may will produce unqualified, or spring force does not reach standard after installation, this is just needed
It is effectively detected after installation is complete, but common position detection qualification does not ensure that spring force centainly reaches standard.
Invention content
The purpose of invention：The present invention discloses a kind of manipulator of a variety of springs of installation, instead of installing spring by hand, significantly
Production efficiency is improved, can solve the problems, such as the bad installation of machine contained spring, and complicated actual conditions can be coped with；It installs
Cheng Hou is directly detected spring force, once detecting to install unqualified, is installed again automatically.
Technical solution：In order to achieve the goal above, the invention discloses a kind of manipulators of a variety of springs of installation, including
Robot base, external control system, two spring clamping jaws, a bleeder sucker and detection pawl, two of which spring clip
Pawl is oppositely arranged on robot base both ends, and bleeder sucker is arranged between two spring clamping jaws, and each spring clamping jaw wraps
Two crawl fingers are included, detection pawl end is equipped with load cell, and spring clamping jaw is equipped with position detecting device, outside control system
System includes warning device, counting device, driving device and control device；The spring clamping jaw, crawl finger, bleeder sucker
It is connect with driving device with detection pawl, load cell, warning device, counting device, position detecting device and driving device
It is connect with control device.This design is greatly improved production efficiency, can be solved in machine with that can replace installation spring by hand
The problem of portion's spring bad installation, and complicated actual conditions can be coped with, and have tally function；It is true by position detecting device
Dingan County's holding position after installation is complete, is detected spring force, once detecting to install unqualified, is installed again automatically；When
When unqualified state cannot exclude, warning device is alarmed.
Further, the manipulator of above-mentioned a kind of a variety of springs of installation, the driving device includes vacuum suction wind turbine,
It connect with bleeder sucker.This design can attract, applicability is wide for being magnetic and not having magnetic object.
Further, the manipulator of above-mentioned a kind of a variety of springs of installation, the load cell is pressure sensor.This
Kind design is by the spring force of detection spring, and to differentiate whether spring is properly installed, this mode is directly and effective.
Further, a kind of manipulator of above-mentioned a variety of springs of installation, the end of the crawl finger are equipped with rubber sleeve.
This design converts rigid contact when capturing spring to flexible contact, prevents the captured spring of damage.
Further, the manipulator of above-mentioned a kind of a variety of springs of installation, the rubber sleeve surface is equipped with anti-skid chequer.It is this
Design improves the frictional force between rubber sleeve and spring, prevents from slipping.
Further, the manipulator of above-mentioned a kind of a variety of springs of installation, described two spring clamping jaws can be in driving device
Under effect mutually with parastate closer or far from.
Further, a kind of manipulator of above-mentioned a variety of springs of installation, described two spring clamping jaws one end are connected, and
It can be opened and closed by fulcrum of tie point under driving device effect.
A kind of working method of the manipulator of a variety of springs of installation, specific works method are as follows：1）Manipulator reaches bullet
Spring storeroom, bleeder sucker attract spring；2）After spring is adsorbed, manipulator leaves spring storeroom, is prepared to enter into installation
Position, while spring clamping jaw fixes both ends of the spring respectively；3）Spring clamping jaw is by spring elongation or is compressed to setting length, simultaneously
Manipulator reaches scheduled installation site；4）One of spring clamping jaw first installs spring one end to designated position；5）It is another
A spring clamping jaw again installs the spring other end to designated position, and during this, another spring clamping jaw can be filled in driving
It sets and spring is compressed or stretched under drive, that is, adjust length smoothly to install；6）After the completion of once mounting, pumping
Formula sucker stops attracting；7）Detection pawl drives load cell to be detected the spring after installation, if spring force reaches setting
Value, illustrates that spring is installed successfully, counting device is primary, and manipulator exits and carries out next round installation；8）If spring force reaches
Less than setting value, illustrate that spring install failure, bleeder sucker are matched with spring clamping jaw, take out spring and installed again with
It detects again, counting device is primary after detection is qualified；9）If continuous 2 ~ 5 times can not install, warning device is alarmed, by
Operating personnel debug.
Further, the working method of the manipulator of above-mentioned a kind of a variety of springs of installation, the spring is compressed spring
When, two spring clamping jaws directly clamp and compressed spring, capture finger at this time and are in closed configuration；When spring is extension spring,
It captures finger to open, captures the hook at extension spring both ends and clamping, stretched with this；When spring is torque 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 of the present invention is a variety of
The manipulator of spring greatly improves production efficiency, and solve the bad installation of machine contained spring instead of installing spring by hand
The problem of；All springs can be drawn, while capturing spring and being more convenient, and avoid damage spring, installation process is more reliable, and energy
Complicated actual conditions are coped with, while meeting the installation of compressed spring, extension spring and torque spring；After installation, pass through pressure
Sensor is detected spring force, once detecting to install unqualified, control device sends out instruction, is installed again automatically；
It is unqualified to alarm when can not exclude automatically, it is more humane, and have tally function.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of the manipulator of a variety of springs of installation of the present invention；
In figure：1- spring clamping jaws, 11- capture finger, 2- bleeder suckers, and 3- detects pawl, 4- load cells.
Specific implementation mode
Below in conjunction with the accompanying drawings, the specific embodiment of the invention is described in detail.
Embodiment
The manipulator of a variety of springs of a kind of installation of the present invention, as shown in Figure 1, including robot base, external control
System, two spring clamping jaws, 1, bleeder sucker 2 and detection pawl 3, two of which spring clamping jaw 1 are oppositely arranged on machinery
Hand pedestal both ends, bleeder sucker 2 are arranged between two spring clamping jaws 1, and each spring clamping jaw 1 includes two crawl fingers
11,3 end of detection pawl is equipped with load cell 4, and load cell 4 is pressure sensor, and spring clamping jaw 1 is equipped with position detection
Device, external control system include warning device, counting device, driving device and control device；The spring clamping jaw 1 is grabbed
Take finger 11, bleeder sucker 2 and detection pawl 3 connect with driving device, load cell 4, warning device, counting device,
Position detecting device and driving device are connect with control device；The driving device includes vacuum suction wind turbine, with pumping
Formula sucker 2 connects；The end of the crawl finger 11 is equipped with rubber sleeve；The rubber sleeve surface is equipped with anti-skid chequer.
Described two spring clamping jaws 1 can driving device effect under mutually with parastate closer or far from；Or with two
A 1 one end of spring clamping jaw is connected, and can be opened and closed using tie point by fulcrum to replace above-mentioned side under driving device effect
Case.
Described two spring clamping jaws 1 can rotate in robot base, can adjust the crawl of crawl finger 11 in this way
Direction preferably carries out the clamping to spring according to actual conditions.
The joint that pawl 3 includes both dewclaw, lower claw and connection is detected, can be thus adjusted flexibly by detecting pawl 3
The position of load cell 4, to be measured to spring.
Capture finger 11 include upper gripper jaw and lower clamping jaw, between upper gripper jaw and lower clamping jaw be equipped with clamping jaw joint, upper gripper jaw with
Joint is equipped between spring clamping jaw 1, it between each other can be with flexible rotating, to cope with the spring of different size.Or in spring clip
The total joint of 1 end set of pawl, two upper gripper jaw ends joints Jun Yuzong are connected, and are used for replacing two upper gripper jaws and spring clamping jaw
The scheme in joint is respectively equipped between 1.
A kind of working method of the manipulator of a variety of springs of installation is as follows：
1）Manipulator reaches spring storeroom, and bleeder sucker 2 attracts spring；
2）After spring is adsorbed, manipulator leaves spring storeroom, is prepared to enter into installation site, while spring clamping jaw 1 will
Both ends of the spring is fixed respectively；
3）Spring clamping jaw 1 is by spring elongation or is compressed to setting length, while manipulator reaches scheduled installation site；
4）One of spring clamping jaw 1 first installs spring one end to designated position；
5）Another spring clamping jaw 1 again installs the spring other end to designated position, during this, another spring clip
Pawl 1 can be compressed or be stretched to spring under driving device drive, that is, adjust length smoothly to install；
6）After the completion of once mounting, bleeder sucker 2 stops attracting；
7）Detection pawl 3 drives load cell 4 to be detected the spring after installation, if spring force reaches setting value, says
Bright spring is installed successfully, and counting device is primary, and manipulator exits and carries out next round installation；
8）If setting value is not achieved in spring force, illustrate that spring install failure, bleeder sucker 2 are matched with spring clamping jaw 1,
It takes out spring and is installed and detected again again, counting device is primary after detection is qualified；
9）If continuous 2 ~ 5 times can not install, warning device is alarmed, and is debugged by operating personnel.
When spring is compressed spring, two spring clamping jaws 1 directly clamp and compressed spring, capture finger 11 at this time and are in
Closed configuration；When spring is extension spring, crawl finger 11 is opened, the hook at crawl extension spring both ends and clamping, with this into
Row stretches；When spring is torque spring, crawl finger 11 is opened, and the two-arm of torque spring is captured and clamp, first by torque spring
Ontology be mounted on spring installation axle or other mounting portions, the crawl finger 11 of latter two right spring clamping jaw 1 is firmly grasped simultaneously
The two-arm of torque spring is moved to setting position, completes installation.
The above is only a preferred embodiment of the present invention, it should be noted that for those skilled in the art
For, without departing from the principle of the present invention, several improvement can also be made, these improvement also should be regarded as the guarantor of the present invention
Protect range.
Claims (8)
1. a kind of manipulator of a variety of springs of installation, it is characterised in that：Including robot base, external control system, two
Spring clamping jaw（1）, a bleeder sucker（2）And detection pawl（3）, two of which spring clamping jaw（1）It is oppositely arranged on machinery
Hand pedestal both ends, bleeder sucker（2）It is arranged in two spring clamping jaws（1）Between, each spring clamping jaw（1）Grabbed including two
Take finger（11）, detect pawl（3）End is equipped with load cell（4）, spring clamping jaw（1）It is equipped with position detecting device, it is external
Control system includes warning device, counting device, driving device and control device；The spring clamping jaw（1）, crawl finger
（11）, bleeder sucker（2）With detection pawl（3）It is connect with driving device, load cell（4）, warning device, count dress
It sets, position detecting device and driving device are connect with control device；The work side of the manipulator of a variety of springs of installation
Method is as follows：
1）Manipulator reaches spring storeroom, bleeder sucker（2）Attract spring；
2）After spring is adsorbed, manipulator leaves spring storeroom, is prepared to enter into installation site, while spring clamping jaw（1）By bullet
Spring both ends are fixed respectively；
3）Spring clamping jaw（1）By spring elongation or it is compressed to setting length, while manipulator reaches scheduled installation site；
4）One of spring clamping jaw（1）First spring one end is installed to designated position；
5）Another spring clamping jaw（1）The spring other end is installed to designated position again, during this, another spring clamping jaw
（1）Spring can be compressed or be stretched under driving device drive, that is, adjust length smoothly to install；
6）After the completion of once mounting, bleeder sucker（2）Stop attracting；
7）Detect pawl（3）Drive load cell（4）Spring after installation is detected, if spring force reaches setting value, is said
Bright spring is installed successfully, and counting device is primary, and manipulator exits and carries out next round installation；
8）If setting value is not achieved in spring force, illustrate spring install failure, bleeder sucker（2）With spring clamping jaw（1）It matches,
It takes out spring and is installed and detected again again, counting device is primary after detection is qualified；
9）If continuous 2 ~ 5 times can not install, warning device is alarmed, and is debugged by operating personnel.
2. a kind of manipulator of a variety of springs of installation according to claim 1, it is characterised in that：The driving device packet
Vacuum suction wind turbine is included, with bleeder sucker（2）Connection.
3. a kind of manipulator of a variety of springs of installation according to claim 1, it is characterised in that：The load cell
（4）For pressure sensor.
4. a kind of manipulator of a variety of springs of installation according to claim 1, it is characterised in that：The crawl finger
（11）End be equipped with rubber sleeve.
5. a kind of manipulator of a variety of springs of installation according to claim 4, it is characterised in that：The rubber sleeve surface
Equipped with anti-skid chequer.
6. a kind of manipulator of a variety of springs of installation according to claim 1, it is characterised in that：Described two spring clips
Pawl（1）Can driving device effect under mutually with parastate closer or far from.
7. a kind of manipulator of a variety of springs of installation according to claim 1, it is characterised in that：Described two spring clips
Pawl（1）One end is connected, and can be opened and closed by fulcrum of tie point under driving device effect.
8. a kind of manipulator of a variety of springs of installation according to claim 1, it is characterised in that：The spring is compression
When spring, two spring clamping jaws（1）Simultaneously compressed spring is directly clamped, captures finger at this time（11）In closed configuration；Spring is
When extension spring, finger is captured（11）It opens, captures the hook at extension spring both ends and clamping, stretched with this；Spring is
When torque spring, finger is captured（11）It opens, the two-arm of torque spring is captured and clamp, to be installed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610639616.2A CN106078181B (en) | 2016-08-08 | 2016-08-08 | A kind of manipulator and its working method of a variety of springs of installation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610639616.2A CN106078181B (en) | 2016-08-08 | 2016-08-08 | A kind of manipulator and its working method of a variety of springs of installation |
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| Publication Number | Publication Date |
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| CN106078181A CN106078181A (en) | 2016-11-09 |
| CN106078181B true CN106078181B (en) | 2018-07-27 |
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| CN201610639616.2A Active CN106078181B (en) | 2016-08-08 | 2016-08-08 | A kind of manipulator and its working method of a variety of springs of installation |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107335996B (en) * | 2017-08-09 | 2019-12-10 | 苏州阿甘机器人有限公司 | industrial robot for mounting torsion spring and working method thereof |
| CN110102994B (en) * | 2019-04-30 | 2020-11-03 | 慕贝尔汽车部件（太仓）有限公司 | Spring adjusting mechanism |
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|---|---|---|---|---|
| DE29622169U1 (en) * | 1996-12-20 | 1997-02-13 | ISI Automation Anlagen- und Komponenten Vertriebs GmbH, 65205 Wiesbaden | Connection of a pneumatic gripper to a carrier profile used to hold the gripper |
| CN1883888A (en) * | 2006-06-30 | 2006-12-27 | 中国科学院光电技术研究所 | Grasp and suction dual-functional underwater electric manipulator |
| CN103817698A (en) * | 2014-02-21 | 2014-05-28 | 奇瑞汽车股份有限公司 | Automobile coil spring press-demounting manipulator device and utilization method thereof |
| CN104985474A (en) * | 2015-08-05 | 2015-10-21 | 伟本机电（上海）有限公司 | Blanking manipulator |
| CN205021604U (en) * | 2015-09-12 | 2016-02-10 | 杨四周 | Pneumatic manipulator claw with pressure sensor device |
| CN205238039U (en) * | 2015-10-26 | 2016-05-18 | 东莞技研新阳电子有限公司 | Terminal is carried out to big rotation angle plug -in components of manipulator single -end |
| CN205869920U (en) * | 2016-08-08 | 2017-01-11 | 江苏捷帝机器人股份有限公司 | Install manipulator that multiple spring was used |
-
2016
- 2016-08-08 CN CN201610639616.2A patent/CN106078181B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE29622169U1 (en) * | 1996-12-20 | 1997-02-13 | ISI Automation Anlagen- und Komponenten Vertriebs GmbH, 65205 Wiesbaden | Connection of a pneumatic gripper to a carrier profile used to hold the gripper |
| CN1883888A (en) * | 2006-06-30 | 2006-12-27 | 中国科学院光电技术研究所 | Grasp and suction dual-functional underwater electric manipulator |
| CN103817698A (en) * | 2014-02-21 | 2014-05-28 | 奇瑞汽车股份有限公司 | Automobile coil spring press-demounting manipulator device and utilization method thereof |
| CN104985474A (en) * | 2015-08-05 | 2015-10-21 | 伟本机电（上海）有限公司 | Blanking manipulator |
| CN205021604U (en) * | 2015-09-12 | 2016-02-10 | 杨四周 | Pneumatic manipulator claw with pressure sensor device |
| CN205238039U (en) * | 2015-10-26 | 2016-05-18 | 东莞技研新阳电子有限公司 | Terminal is carried out to big rotation angle plug -in components of manipulator single -end |
| CN205869920U (en) * | 2016-08-08 | 2017-01-11 | 江苏捷帝机器人股份有限公司 | Install manipulator that multiple spring was used |
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| Publication number | Publication date |
|---|---|
| CN106078181A (en) | 2016-11-09 |
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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: 20230813 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. |