CN106826175A - A kind of steel drum major thread lid crawl screws the special end effector of industrial robot - Google Patents
A kind of steel drum major thread lid crawl screws the special end effector of industrial robot Download PDFInfo
- Publication number
- CN106826175A CN106826175A CN201710172190.9A CN201710172190A CN106826175A CN 106826175 A CN106826175 A CN 106826175A CN 201710172190 A CN201710172190 A CN 201710172190A CN 106826175 A CN106826175 A CN 106826175A
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- CN
- China
- Prior art keywords
- steel drum
- end effector
- industrial robot
- major thread
- actuator
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of crawl for steel drum threaded cap and screws the special end effector of industrial robot, and the special end effector of the industrial robot is made up of actuator wedge shape hairclipper, spring, flat key, executor tail end, hexagon socket cap head screw M5 × 16, executor tail end cover plate, pad, interior hexagonal holding screw M5 × 8, air motor, actuator sleeve, actuator connecting plate；The crawl of steel drum major thread lid is realized by actuator wedge shape hairclipper and spring, screwing for steel drum threaded cap is realized by air motor and the executor tail end mutually agreed with steel drum major thread lid inwall.The special end effector of the industrial robot can be applied to screwing for steel drum major thread lid in steel drum production line, and mechanical structure is simple, small volume, and control difficulty is low, efficiency high, with good application prospect.
Description
Technical field
It is particularly a kind of for bung in 200L steel drum production lines the present invention relates to robot and its technical field
The crawl of major thread lid, the special end effector of industrial robot for screwing.
Background technology
With continuing to develop for industrial automation, modern tubbing industry enters fast-developing period, for casing steel barrel
Demand even more increasingly increases, therefore realizes that automated production is the development trend of steel drum industry.Current developed country in the world
The automation of steel drum production has tentatively been realized, has not only been saved the time, and improve the production efficiency of enterprise.In industrial automation
Evolution in, industrial robot played an important role, and since nineteen fifty-nine, First industrial robot comes out in the U.S.
Since, industrial robot achieves significant progress in terms of practical application, wherein the application in production line is particularly dashed forward
Go out.
End effector in the operating of robot have consequence, its end for being typically installed at robot,
Corresponding position is moved to during work and completes corresponding work.The design of end effector need to consider it is many because
Element, such as use cost, the complexity of operation, it is desirable to higher；The crawl of current steel drum major thread lid and screwing still is relied on
The mode of artificial operation or semi-automation is realized, yet there are no using robot mode to realize.Improve steel drum production flowing water
The production efficiency of line, the full automation realized the crawl of steel drum major thread lid and screw is that one kind must using robot mode
Right trend, and robot is used it is necessary to have corresponding end effector.
The content of the invention
It is used for steel drum production line it is an object of the invention to provide one kind, by actuator wedge shape hairclipper and spring reality
Show the crawl of steel drum major thread lid, steel drum is realized by air motor and the terminal end shape mutually agreed with steel drum major thread lid inwall
The special end effector of industrial robot that major thread lid is screwed.
In order to solve the above technical problems, the technical solution used in the present invention is：The special end of the industrial robot performs
Device is by actuator wedge shape hairclipper, spring, flat key, executor tail end, hexagon socket cap head screw M5 × 16, executor tail end lid
Plate, pad, interior hexagonal holding screw M5 × 8, air motor, actuator sleeve, actuator connecting plate composition；The actuator lid
Plate is connected with industrial robot end, and the air motor is placed in the sleeve, leads between the sleeve and the cover plate
Hexagon socket cap head screw connection is crossed, therefore realizes the connection of end effector main body and industrial robot, the air motor
Stretch out sleeve part to be connected by pin with the executor tail end cover plate, the executor tail end cover plate is provided with two draw-in grooves,
Two actuator wedge shape hairclippers are placed at two draw-in grooves, and spring is placed in centre, the executor tail end cover plate with it is described
Executor tail end is bolted.
Using above-mentioned technical proposal, the crawl of steel drum threaded cap is realized by actuator wedge shape hairclipper, work as industrial robot
After receiving trigger signal, end effector is moved to directly over steel drum major thread lid, vertical downward movement, when touching steel drum
After major thread lid, two actuator wedge shape hairclippers have under the effect of the pressure to contract in the middle of two actuator wedge shape hairclippers
One spring, when clamp is inwardly moved, spring also produces elastic force by compression, so clamp produces pressure to steel drum threaded cap inwall
Power, may be such that it with the maximum static friction force of steel drum major thread lid inwall more than steel drum major thread lid itself weight by corresponding calculating
Power realizes the crawl of steel drum major thread lid such that it is able to drive steel drum major thread lid to move.After robot realizes crawl, industry
Robot is moved according to predetermined track, reaches steel drum bung silk mouth corresponding position, vertical downward movement；When touching
During steel drum bung silk mouth, air motor starts to drive executor tail end rotation, due to executor tail end and steel drum major thread lid
Interior shape mutually agrees with, therefore can realize the rotation of steel drum threaded cap；During screwing, threaded cap progressively disengages end
End actuator, when completing to screw, because threaded cap is tightened, therefore frictional force is not enough to take it out, so as to realize steel drum spiral shell
The disengaging of line lid, the special end effector mechanical structure of the industrial robot is simple, and control difficulty is low, and reliability is high.
It is further characterized by：The end effector carries air motor, therefore needs not rely on industrial robot
The rotation of six axles carries out screwing for steel drum major thread lid, and six axles only serve an effect for adjustment attitude, so that end performs
The positioning of device is more accurate.
It is further characterized by：The executor tail end and actuator wedge shape hairclipper formula structure, the simple structure are reliable
Property it is high, after end effector stretches into steel drum major thread lid, actuator wedge shape hairclipper and major thread cover the work in spring force
Under, friction is produced with inwall, the crawl of steel drum major thread lid is realized using frictional force.
It is further characterized by：The end effector mechanical structure is simple, what the end effector need not be complicated
Electrical control, it is only necessary to control air motor, simple structure, lighter weight, the load request to industrial robot is relatively low.
The beneficial effects of the invention are as follows：The industrial robot end device is designed for steel drum major thread lid, changes original
It is reliable manually to carry out the mode that steel drum major thread lid is screwed, the automation journey of steel drum streamline is increased to a certain extent
Degree, improves the production efficiency of steel drum；Steel can easily be realized by executor tail end and actuator wedge shape hairclipper formula structure
The crawl of bucket major thread lid, can rapidly be realized by air motor and the executor tail end mutually agreed with the big line lid of steel drum spiral shell
Steel drum major thread lid screws, so that the steel drum major thread lid that largely improves screws efficiency, while also in certain journey
Steel drum major thread lid is improve on degree screws quality.
Brief description of the drawings
Fig. 1 is front view of the present invention；
Fig. 2 is left view of the present invention；
In Fig. 2：1- actuators wedge shape hairclipper；2- springs；3- flat keys；4- executor tail ends；5- hexagon socket cap head screws
M5×16；6- executor tail end cover plates；7- pads；Hexagonal holding screw M5 × 8 in 8-；9- air motors；10- actuator sets
Cylinder；11- actuator connecting plates.
Specific embodiment
The specifically used process that the invention will now be described in detail with reference to the accompanying drawings.
When end effector touches steel drum major thread lid, actuator wedge shape hairclipper 1 is subject to inward pressure, so as to compress
Spring 2 so that spring 2 produces elastic force；Then actuator wedge shape hairclipper 1 produces pressure to major thread lid inwall, when actuator is complete
After extending into steel drum major thread lid, actuator stops moving downward transfers to be drawn up threaded cap, actuator wedge shape hairclipper 1 and spiral shell
Line lid inwall produces stiction, when can draw actuator wedge shape hairclipper 1 material for nylon66 fiber by corresponding calculating, with steel
The maximum static friction force of bucket major thread lid inwall is more than threaded cap self gravitation, therefore realizes the crawl of threaded cap.When mechanical arm is pressed
When moving to steel drum bung big sealing plug corresponding position according to desired trajectory, air motor 9 starts rotation, as can be seen from Figure 2
Executor tail end 4 mutually agrees with the interior shape of steel drum major thread lid, and threaded cap starts to rotate and gradually revolve with air motor 9
Enter the silk mouthful on steel drum bung, and threaded cap is moved downward with constantly screwing, and after silk mouthful is completely screwed into, end performs
Device is moved upwards, you can realize the disengaging of steel drum major thread lid, so as to complete the crawl of steel drum major thread lid and screw.
Claims (4)
1. a kind of steel drum major thread lid crawl screws the special end effector of industrial robot, it is characterised in that the industrial machine
The special end effector of people by actuator wedge shape hairclipper, spring, flat key, executor tail end, hexagon socket cap head screw M5 × 16,
Executor tail end cover plate, pad, interior hexagonal holding screw M5 × 8, air motor, actuator sleeve, actuator connecting plate composition,
The actuator connecting plate is connected with industrial robot end, and the air motor is placed in the actuator sleeve, described
Connected by hexagon socket cap head screw M5 × 16 between actuator sleeve and the actuator connecting plate, therefore realize end and hold
The connection of row device main body and industrial robot, air motor stretches out sleeve part with executor tail end cover plate by interior hexagonal tightening
Screw M5 × 8 connect, and the executor tail end cover plate is provided with two draw-in grooves, and two actuator wedge shape hairclippers are placed on two
At draw-in groove, spring is placed in centre, and the executor tail end cover plate passes through hexagon socket cap head screw M5 with the executor tail end
× 16 connections.
2. the steel drum major thread lid crawl as described in right 1 screws the special end effector of industrial robot, it is characterised in that institute
State end effector and carry air motor, therefore the six axles rotation for needing not rely on industrial robot carries out the rotation of steel drum major thread lid
Tightly, six axles only serve an effect for adjustment attitude, so that the positioning of end effector is more accurate.
3. the steel drum major thread lid crawl as described in right 1 screws the special end effector of industrial robot, it is characterised in that institute
Executor tail end and actuator wedge shape hairclipper formula structure are stated, the simple structure, reliability is high, to stretch into steel drum big when end effector
After threaded cap, actuator wedge shape hairclipper is covered in the presence of spring force with major thread, friction is produced with inwall, using friction
Power realizes the crawl of steel drum major thread lid.
4. the steel drum major thread lid crawl as described in right 2 and right 3 screws the special end effector of industrial robot, its feature
It is that the end effector mechanical structure is simple, the electrical control that the end effector need not be complicated, it is only necessary to control gas
Dynamic motor, small volume, the load request to industrial robot is relatively low.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710172190.9A CN106826175A (en) | 2017-03-21 | 2017-03-21 | A kind of steel drum major thread lid crawl screws the special end effector of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710172190.9A CN106826175A (en) | 2017-03-21 | 2017-03-21 | A kind of steel drum major thread lid crawl screws the special end effector of industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106826175A true CN106826175A (en) | 2017-06-13 |
Family
ID=59129942
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710172190.9A Withdrawn CN106826175A (en) | 2017-03-21 | 2017-03-21 | A kind of steel drum major thread lid crawl screws the special end effector of industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106826175A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107030477A (en) * | 2017-06-26 | 2017-08-11 | 江南大学 | A kind of steel drum threaded cap crawl screws method |
| CN110039293A (en) * | 2019-05-28 | 2019-07-23 | 江南大学 | A kind of steel drum major thread lid puts together machines the dedicated end effector of people |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB9708032D0 (en) * | 1996-04-26 | 1997-06-11 | Kawasaki Heavy Ind Ltd | Industrial robot |
| CN201343223Y (en) * | 2008-10-29 | 2009-11-11 | 济南圣泉集团股份有限公司 | Barrel cover and special tool for screwing same |
| CN103145074A (en) * | 2013-03-09 | 2013-06-12 | 大连德欣新技术工程有限公司 | Automatic cover removal and sealing system for nuclear waste material steel drum |
| CN203639121U (en) * | 2013-11-06 | 2014-06-11 | 内蒙古伊利实业集团股份有限公司 | Cover tightening device for packaging barrel |
| CN204529260U (en) * | 2014-12-30 | 2015-08-05 | 宁波职业技术学院 | A kind of screwing mechanism of hand type AutoCappingmachine |
| CN106426287A (en) * | 2016-11-09 | 2017-02-22 | 北京工业大学 | Flexible tail end connecting device for industrial robot |
-
2017
- 2017-03-21 CN CN201710172190.9A patent/CN106826175A/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB9708032D0 (en) * | 1996-04-26 | 1997-06-11 | Kawasaki Heavy Ind Ltd | Industrial robot |
| CN201343223Y (en) * | 2008-10-29 | 2009-11-11 | 济南圣泉集团股份有限公司 | Barrel cover and special tool for screwing same |
| CN103145074A (en) * | 2013-03-09 | 2013-06-12 | 大连德欣新技术工程有限公司 | Automatic cover removal and sealing system for nuclear waste material steel drum |
| CN203639121U (en) * | 2013-11-06 | 2014-06-11 | 内蒙古伊利实业集团股份有限公司 | Cover tightening device for packaging barrel |
| CN204529260U (en) * | 2014-12-30 | 2015-08-05 | 宁波职业技术学院 | A kind of screwing mechanism of hand type AutoCappingmachine |
| CN106426287A (en) * | 2016-11-09 | 2017-02-22 | 北京工业大学 | Flexible tail end connecting device for industrial robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107030477A (en) * | 2017-06-26 | 2017-08-11 | 江南大学 | A kind of steel drum threaded cap crawl screws method |
| CN110039293A (en) * | 2019-05-28 | 2019-07-23 | 江南大学 | A kind of steel drum major thread lid puts together machines the dedicated end effector of people |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20170613 |