CN109132533A - Screw-clamped mechanism and device for delivering screws - Google Patents
Screw-clamped mechanism and device for delivering screws Download PDFInfo
- Publication number
- CN109132533A CN109132533A CN201811056898.9A CN201811056898A CN109132533A CN 109132533 A CN109132533 A CN 109132533A CN 201811056898 A CN201811056898 A CN 201811056898A CN 109132533 A CN109132533 A CN 109132533A
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- Prior art keywords
- screw
- clamped
- clamping block
- attachment base
- clamping
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Links
- 210000000078 claw Anatomy 0.000 claims abstract description 28
- 238000001514 detection method Methods 0.000 claims description 5
- 238000000034 method Methods 0.000 abstract description 4
- 239000003638 chemical reducing agent Substances 0.000 description 20
- 210000000707 wrist Anatomy 0.000 description 16
- 210000000245 forearm Anatomy 0.000 description 9
- 238000009434 installation Methods 0.000 description 4
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 230000000930 thermomechanical effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of screw-clamped mechanism and device for delivering screws, belong to robot arm package technique field, wherein screw-clamped mechanism includes being oppositely arranged for clamping a pair of of claw of screw, claw includes the attachment base and clamping block of stud connection, elastic component is equipped between the free end and attachment base of clamping block, under the action of the elastic member, clamping block is to screw-clamped, after pushing screw, clamping block releases the clamping to screw；Screw-clamped mechanism of the invention, clamping block can clamp screw after being clamped under the action of the elastic member to screw, screw is applied towards after the thrust for overcoming elastic component, clamping block is pushed to turn an angle on attachment base around hinged shaft, so as to release the clamping to screw, screw is put down, screw-clamped mechanism itself does not use driving device, therefore the structure for simplifying screw-clamped mechanism, in use can be more reliable and more stable.
Description
Technical field
The present invention relates to robot arm package technique fields, and in particular to a kind of screw-clamped mechanism and screw conveying dress
It sets.
Background technique
When robot wrist and speed reducer assembly and connection, need to carry out speed reducer with robot wrist by screw
Connection, when by manually carrying out screw connection, screw need to be only moved to threaded hole and put down by manpower, however, passing through machine
When toolization operation carries out driving screws, does not participate in manually, how each screw to be all moved at corresponding threaded hole
It is problem to be solved.
In order to solve the problems, such as that screw is moved to corresponding threaded hole, be to solve first, how screw to be clamped and
How to put down, in the prior art, obviously can be realized crawl by various driving devices and put down the operation of screw；However,
When the screw quantity for once needing to transfer is more, by driving device driving to the clamping of each screw and the behaviour put down
Make, so that the structure of clamp system is become complicated, not can guarantee the stable operation of clamp system.
Summary of the invention
Therefore, the technical problem to be solved in the present invention is that overcoming screw-clamped mechanism in the prior art using driving dress
It sets driving to carry out the clamping of screw and put down, leads to the complicated defect of clamp system, so that it is simple to provide a kind of structure
Can clamp and put down screw-clamped mechanism.
The present invention also provides a kind of device for delivering screws with screw-clamped mechanism.
In order to solve the above technical problems, screw-clamped mechanism provided by the invention, including being oppositely arranged for clamping spiral shell
A pair of of claw of silk, the claw include:
Attachment base；
Clamping block is connect by hinged shaft with the attachment base, between the free end and the attachment base of the clamping block
Equipped with elastic component, the elastic component is parallel to the rotational plane of the clamping block, and the both ends of elastic component be respectively facing it is described
Attachment base and the clamping block are vertically arranged；
Under the action of the elastic component, the clamping block is turned to the clamping to screw-clamped on the attachment base
Position；
After pushing screw towards the direction for the biasing force for overcoming the elastic component along the axis of the screw, the clamping
Block is turned to releasing on the attachment base and passes through position to screw-clamped.
Preferably, the opposite face of two clamping blocks includes passing through face and card access surface, described to pass through face and card
Junction is arcwall face；
When the clamping block is located at clamping position, two card access surfaces are opposite in parallel；
It is opposite in parallel by face described in two when the clamping block is located at and passes through position.
Preferably, the receiving for accommodating the elastic component is all had on the attachment base and the clamping block
Hole.
Preferably, the claw has multiple, and multiple claws are connected in mounting disc by attachment base, are made
Clamped screw forms preset shape, is equipped in the mounting disc for keeping away a hole by the screw of screw.
Device for delivering screws provided by the invention is also wrapped including screw-clamped mechanism described in any one of above scheme
It includes,
Screw delivery board, for installing the mounting disc of the screw-clamped mechanism；
Screw conveying sliding table is connect with the screw delivery board, by screw delivery board described in motor driven along default road
Diameter sliding.
Preferably, further include,
Delivery board lifting cylinder is arranged between the screw conveying sliding table and the screw delivery board, for passing through gas
The dynamic driving screw delivery board is moved back and forth up and down.
Preferably, further include,
Position detecting device, the sliding end for detecting the screw conveying sliding table are driven to the position reached.
Preferably, the position detecting device has at least three, and wherein first position detecting device setting exists
Whether the initial position of the screw conveying sliding table, the sliding end for detecting the screw conveying sliding table reach initial position；
The sliding end of the screw conveying sliding table is arranged in towards the predetermined limit position of one end in second position detecting device,
Whether the sliding end for detecting the screw conveying sliding table reaches this extreme position；
The sliding end of the screw conveying sliding table is arranged in towards the predetermined limit position of the other end in the third place detection device
It sets, whether the sliding end for detecting the screw conveying sliding table reaches this extreme position.
Preferably, further include,
Screw accommodates disk, for accommodating screw, and is adapted for placement in predeterminated position；
Screw is accommodated in disk from the screw and is successively moved in the screw-clamped mechanism by screw mobile device.
Preferably, the screw mobile device includes,
Screw terminal is sucked from top by suction for screw suction nozzle；
Suction nozzle mobile device, for driving the screw suction nozzle to be moved along desired guiding trajectory.
Preferably, the suction nozzle mobile device uses cantilevered slide unit.
Technical solution of the present invention has the advantages that
1. screw-clamped mechanism provided by the invention, clamping block can after being clamped under the action of the elastic member to screw
Screw is clamped, screw is applied towards after the thrust for overcoming elastic component, clamping block is pushed to rotate one on attachment base around hinged shaft
Determining angle, so as to release the clamping to screw, screw is put down, screw-clamped mechanism itself does not use driving device,
Therefore the structure for simplifying screw-clamped mechanism, in use can be more reliable and more stable.
2. screw-clamped mechanism provided by the invention, two faces contacted on clamping block with screw are arcwall face, from
And when cooperating with the outer wall of screw, preferably by screw-clamped and screw can be made to slide between arcwall face.
3. screw-clamped mechanism provided by the invention, all has the appearance for accommodating elastic component on attachment base and clamping block
It receives hole, elastic component is placed in receiving hole and carries out flexible deformation, preferably elastic component can be fixed, to increase machine
The reliability of structure operation.
4. screw-clamped mechanism provided by the invention has multiple claws, is fixed in mounting disc, is being pacified by attachment base
It is arranged in preset shape in sabot, makes nipped more arranging screws at preset shape, so as to make screw and company
Hole one-to-one correspondence is connect, it will be in screw borrowing to connecting hole when convenient for subsequent operation.
5. device for delivering screws provided by the invention further includes screw conveying including screw-clamped mechanism described above
Plate and screw conveying sliding table can be moved screw-clamped mechanism by screw delivery board and screw conveying sliding table, thus
Clamped screw is moved to predeterminated position from placement location.
6. device for delivering screws provided by the invention has delivery board lifting cylinder, it is arranged in screw conveying sliding table and spiral shell
Between silk delivery board, for being moved back and forth up and down by pneumatic actuation screw delivery board, thus can in placing screws
Make contacting with connecting hole for the closer distance of screw, screw is enable more accurately to be inserted into connecting hole.
7. device for delivering screws provided by the invention has position detecting device, for detecting the cunning of screw conveying sliding table
Moved end is driven to the position reached, and is fed back by the position to screw conveying sliding table, judges that screw-clamped mechanism is reached
The position arrived.
8. device for delivering screws provided by the invention, position detecting device has at least three, detects screw-clamped respectively
The initial position of mechanism is answered towards the extreme position when conveying of screw conveying sliding table one end and towards the screw conveying sliding table other end
Extreme position when former；When equipment starts, screw-clamped mechanism is slided on screw conveying sliding table, when arrival initial position
When, the position detecting device of initial position is fed back in time at this time, so that screw-clamped mechanism is stopped at initial position, therefore
Convenient for screw-clamped, mechanism is quickly found out initial position；It is in equipment operation, screw-clamped mechanism is sliding on screw conveying sliding table
Dynamic, when screw-clamped mechanism reaches both ends extreme position, at both ends, the position detecting device of extreme position carries out instead in time
Feedback, makes that screw conveying sliding table stops in time or opposite direction is mobile, prevents moving component from exceeding stroke, strikes other things.
9. device for delivering screws provided by the invention, including screw accommodate disk and screw mobile device, screw accommodates disk and uses
In receiving screw, and it is placed on predeterminated position, screw is then moved to one by one by screw-clamped machine by screw mobile device
On structure.
10. device for delivering screws provided by the invention, screw mobile device includes screw suction nozzle and suction nozzle mobile device, is led to
It crosses screw suction nozzle screw is sucked and is put down using suction, drives screw suction nozzle along desired guiding trajectory by suction nozzle mobile device
It is moved, so that screw is moved to one by one in screw-clamped mechanism.
11. device for delivering screws provided by the invention, suction nozzle mobile device uses cantilevered slide unit, and cantilevered slide unit is in work
Industry is able to carry out the movement of abscissa, ordinate and vertical pivot using upper more mature, and convenient for control.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is for the speed reducer in robot wrist and robot forearm to be carried out to the vertical of the mounting device of screw connection
Body structural schematic diagram.
Fig. 2 is the schematic perspective view of clip claw mechanism.
Fig. 3 is the schematic perspective view that clip claw mechanism hides a cleft hand.
Fig. 4 is the schematic perspective view that clip claw mechanism hides two cleft hands.
Fig. 5 is the schematic perspective view of the sliding part of clip claw mechanism.
Fig. 6 is the schematic perspective view of hole positioning mechanism.
Fig. 7 is the top view of hole positioning mechanism.
Fig. 8 is the rear perspective structural representation of hole positioning mechanism.
Fig. 9 is schematic perspective view when not placing robot arm in the positioning mechanism of hole.
Figure 10 is the schematic perspective view of the pivoted jaw of hole positioning mechanism.
Figure 11 is the schematic perspective view of device for delivering screws.
Figure 12 is the schematic perspective view of screw conveying sliding table.
Figure 13 is the schematic perspective view of the position of position detecting device in Figure 12.
Figure 14 is the schematic perspective view of screw-clamped mechanism.
Figure 15 is the schematic perspective view of mounting disc.
Figure 16 is the schematic perspective view that mounting disc is hidden in Figure 14.
Figure 17 is the schematic perspective view of screw and claw.
Figure 18 is the schematic perspective view of claw.
Figure 19 is the schematic perspective view of cantilevered slide unit.
Figure 20 is the schematic perspective view of screw suction nozzle.
Figure 21 is the schematic perspective view that screw accommodates disk.
Figure 22 is the schematic perspective view for the rack that screw accommodates disk.
Description of symbols:
1, mechanical arm；11, station platform；12, lodging bench；13, screw screwing device；14, phase machine detecting device；
2, robot arm；21, robot wrist；22, robot forearm；23, speed reducer；
3, clip claw mechanism；301, clamping jaw installing plate；302, the first clamping jaw；303, first movement slide unit；304, the second clamping jaw；
305, the second Mobile Slide；306, clamping jaw driving plate；307, third Mobile Slide；308, skewed slot；309, sliding part；310, clamping jaw
Driving device；311, stopper；312, hydraulic bjuffer；
5, hole positioning mechanism；501, positioning column；502, pushing mechanism；503, slide unit mould group；504, push plate；505, positioning table
Rank；506, pivoted jaw；507, cleft hand；508, turntable；509, laser detector；510, laser keeps away a hole；
6, device for delivering screws；601, screw delivery board；602, screw conveying sliding table；603, delivery board lifting cylinder；
604, position detecting device；605, screw accommodates disk；606, screw suction nozzle；607, cantilevered slide unit；608, rack；
7, screw-clamped mechanism；701, mounting disc；702, screw keeps away a hole；703, claw；704, attachment base；705, elastic
Part；706, clamping block；707, pass through face；708, card access surface.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
As long as in addition, the non-structure each other of technical characteristic involved in invention described below different embodiments
It can be combined with each other at conflict.
Embodiment 1
The present embodiment provides a kind of for the speed reducer 23 in robot wrist 21 and robot forearm 22 to be carried out screw
The mounting device of connection, as shown in Figure 1, comprising: clip claw mechanism 3, hole positioning mechanism 5, device for delivering screws 6 and screw screw dress
Set 13.Wherein, shown clip claw mechanism 3 is used to the robot arm 2 for being connected with speed reducer 23 be carried out to clamping and in mechanical arm 1
Robot arm 2 is moved under driving, to make robot arm 2 to be assembled in the station platform 11 for assembling and use
It is moved between the lodging bench 12 temporarily placed；The hole positioning mechanism 5 is for consolidating robot arm 2 and 23 component of speed reducer
It is scheduled on station platform 11, and by the connection with 23 synchronizing wheel of speed reducer, drives the rotation of 23 synchronizing wheel of speed reducer, and then drive and subtract
The connecting hole of connecting hole and robot wrist 21 on fast machine 23 is to just；The device for delivering screws 6 is used for screw according to machine
The position of connecting hole is arranged on device people wrist 21, and the screw arranged is extend into robot wrist 21 and speed reducer 23
Above the connecting hole being attached；The screw screwing device 13 slows down to robot by extending into robot forearm 22
The screw of 23 top of machine is screwed.
As shown in Figure 2-5, the clip claw mechanism 3 include: clamping jaw installing plate 301, the first clamping jaw 302, the second clamping jaw 304,
Clamping jaw driving plate 306 and clamping jaw driving device 310；Wherein, first clamping jaw 302 is connected to by first movement slide unit 303
The front of the clamping jaw installing plate 301；Second clamping jaw 304 is opposite with first clamping jaw 302, passes through the second Mobile Slide
305 are connected to the front of the clamping jaw installing plate 301, and the first movement slide unit 303 is with second Mobile Slide 305 in institute
It states and is arranged in parallel in clamping jaw installing plate 301；The clamping jaw driving plate 306 is connected to the clamping jaw by third Mobile Slide 307
The front of mounting plate 301, the third Mobile Slide 307 and the first movement slide unit 303 and second Mobile Slide 305
It is vertically arranged；The clamping jaw driving device 310 is connected in the clamping jaw installing plate 301, driving end and the clamping jaw driving plate
306 connections, for driving the clamping jaw driving plate 306 to move back and forth along the path of the third Mobile Slide 307；Also,
It is in order to enable the first clamping jaw 302, the second clamping jaw 304 and the more stable movement of clamping jaw driving plate 306, the first movement is sliding
The slideway of platform 303, the second Mobile Slide 305 and the third Mobile Slide 307 is disposed as two rows arranged side by side, wherein every row sets
There are continuous two slide units to be supported.
Specifically, the clamping jaw driving plate 306 is driven using the clamping jaw driving device 310 with cylinder, and pass through
Sliding groove structure is slidably connected with first clamping jaw 302 and second clamping jaw 304 respectively, and the sliding groove structure includes skewed slot
308 and sliding part 309；The skewed slot 308 is arranged in the clamping jaw driving plate 306, as the clamping jaw driving plate 306 is along institute
It states third Mobile Slide 307 to be moved integrally, the skewed slot 308 is moved along the first movement slide unit 303 and described second
The direction of slide unit 305 have towards the third Mobile Slide 307 gradient, also, in the sliding groove structure for it is described
First clamping jaw 302 connection skewed slot be used for it is identical as the inclined direction of skewed slot that second clamping jaw 304 connects, be direction
The direction of the clamping jaw driving device 310 tilts；The sliding part 309 is connected to first clamping jaw 302 and second folder
On pawl 304, sliding end is inserted into the skewed slot 308, the sliding part 309 with the movement of the skewed slot 308 driven into
Row is moved along the direction of the first movement slide unit 303 and second Mobile Slide 305, also, the use of the sliding part 309
It is the idler wheel with bearing in the part for being inserted into the skewed slot 308, idler wheel can be along central axis rotation.
The clip claw mechanism 3 further includes position limiting structure, for preventing first clamping jaw 302 and second clamping jaw 304
It is continued to move to after reaching predeterminated position when carrying out close to each other, the position limiting structure includes: stopper 311 and bolster；Its
Described in stopper 311 be mounted on the front of the clamping jaw installing plate 301；The bolster uses hydraulic bjuffer 312, installation
It is opposite with the stopper 311 on first clamping jaw 302 and second clamping jaw 304, when 302 He of the first clamping jaw
When the 304 arrival predeterminated position close to each other of the second clamping jaw, the bolster is contacted with the stopper 311.
As shown in Fig. 6~10, the hole positioning mechanism 5 includes: station platform 11, positioning device, phase machine detecting device 14, turns
Dynamic clamping jaw 506 and laser detector 509；Wherein for placing robot arm 2, robot arm 2 passes through the station platform 11
Mechanical arm 1 and clip claw mechanism 3 are moved to station platform 11 from lodging bench 12 and are assembled；The positioning device is connected to the work
On the platform 11 of position, for being positioned to the robot arm 2 being placed on station platform 11；The phase machine detecting device 14 is located at institute
The top of station platform 11 is stated, speed reducer 23 and machine are detected by taking pictures in the screw attachment holes upper end of face robot wrist 21
Whether people's wrist 21 carries out the connecting hole of screw to just；The pivoted jaw 506 is located at the lower section of the station platform 11, according to institute
The information for stating the feedback of phase machine detecting device 14 passes through the angle of the connecting hole of the rotation adjustment speed reducer 23 to 23 synchronizing wheel of speed reducer
Degree, so that speed reducer 23 and the connecting hole for screw connection of robot wrist 21 be made to carry out to just.The laser detector
509 are arranged in the lower section of the station platform 11, by detection laser pass through the laser on the station platform 11 keep away it is right behind a hole 510
Workpiece is detected, and whether there is robot arm 2 on station platform 11 for detecting, and will test signal and be sent to control
Device.
Specifically, the positioning device includes: positioning column 501, pushing mechanism 502 and positioning step 505；It is wherein described fixed
Position column 501 is vertically arranged on station platform 11, for stopping the side of the robot arm 2；The pushing mechanism 502 connects
It is opposite with the positioning column 501 on the station platform 11, by pushing the robot arm 2, make the robot arm
2 are moved to predeterminated position.
The pushing mechanism 502 includes: slide unit mould group 503 and push plate 504；The slide unit mould group 503 is connected to the work
It is mobile towards robot arm 2 by pneumatic actuation promote-side on the platform 11 of position；The push plate 504 is connected to the slide unit mould group
503 promote-side.There are three the tools of pushing mechanism 502, wherein the first pushing mechanism 502 is opposite with the positioning column 501, and
The back side of the station platform 11 is set, and the push plate 504 of promote-side passes through the station platform 11 and stretches out upwards；Wherein second push away
Motivation structure 502 and third pushing mechanism 502 are oppositely arranged, and second pushing mechanism 502 and the third pushing mechanism
502 telescopic direction is vertical with first pushing mechanism 502.
The positioning step 505 includes arcuate structure, under being supported at the installation deceleration thermomechanical components of robot forearm
Side, for being inserted in the robot forearm, positions robot forearm.
The pivoted jaw 506 includes: cleft hand 507 and turntable 508；The cleft hand 507 has at least three, uniformly sets
It sets on the rotational plane of described 506 one end of pivoted jaw, can be carried out towards center according to the control of controller by driving
It is close to each other or be located remotely from each other；The turntable 508 is connect with the cleft hand 507, carries out driving institute according to the control of controller
Cleft hand 507 is stated around the rotation of center line；Also, the cleft hand 507 uses pneumatic actuation, and the turntable 508 uses electronic drive
It is dynamic.
Photographic intelligence is sent to controller by the phase machine detecting device 14, and controller is sent out according to the processing to image information
Control signal is sent, the rotational angle of pivoted jaw 506 is controlled.
The controller controls the positioning device and positions to the robot arm 2.
As shown in Figure 11~18, the device for delivering screws 6 includes screw-clamped mechanism 7, and the screw-clamped mechanism 7 is wrapped
A pair of of the claw 703 for being used to clamp screw being oppositely arranged is included, the claw 703 includes: attachment base 704 and clamping block 706；Its
Described in clamping block 706 connect with the attachment base 704 by hinged shaft, free end and the connection in the clamping block 706
It is equipped with elastic component 705 between seat 704, and all has on the attachment base 704 and the clamping block 706 described for accommodating
The receiving hole of elastic component 705, the elastic component 705 are parallel to the rotational plane of the clamping block 706, and elastic component 705
Both ends are respectively facing the attachment base 704 and the clamping block 706 is vertically arranged, described under the action of elastic component 705
Clamping block 706 is turned to the clamping position to screw-clamped on the attachment base 704, overcomes along the axis direction
After the direction of the biasing force of the elastic component 705 pushes screw, the clamping block 706 is turned on the attachment base 704
Releasing passes through position to screw-clamped.
Specifically, the opposite face of two clamping blocks 706 includes passing through face 707 and card access surface 708, it is described to pass through face
707 and card access surface 708 be arcwall face, when the clamping block 706 is located at clamping position, two card access surfaces 708 are parallel
Relatively, the clamping block 706 be located at be screw slippage pass through when passing through position, it is parallel opposite by face 707 described in two.
The claw 703 has multiple, and multiple claws 703 are connected in mounting disc 701 by attachment base 704, are made
Clamped screw forms preset shape, is equipped in the mounting disc 701 for keeping away a hole 702 by the screw of screw.
As shown in Figure 11,19~22, the device for delivering screws 6 further include: screw delivery board 601, screw conveying sliding table
602, delivery board lifting cylinder 603, position detecting device 604, screw accommodate disk 605 and screw mobile device；The screw is defeated
Send plate 601 for installing the mounting disc 701 of the screw-clamped mechanism；The screw conveying sliding table 602 is conveyed with the screw
Plate 601 connects, and is slided by screw delivery board 601 described in motor driven along preset path；The delivery board lifting cylinder 603 is set
It sets between the screw conveying sliding table 602 and the screw delivery board 601, for passing through screw delivery board described in pneumatic actuation
601 are moved back and forth up and down；The position detecting device 604 is used to detect the sliding end quilt of the screw conveying sliding table 602
The position reached is driven, the position detecting device 604 has at least three, and the wherein setting of first position detecting device 604 exists
Whether the initial position of the screw conveying sliding table 602, the sliding end for detecting the screw conveying sliding table 602 reach initially
Position, wherein the sliding end of the screw conveying sliding table 602 is arranged in towards the default pole of one end in second position detecting device 604
Whether extreme position, the sliding end for detecting the screw conveying sliding table reach this extreme position, wherein the third place detection dress
It sets 604 and the sliding end of the screw conveying sliding table 602 is set towards the predetermined limit position of the other end, for detecting the spiral shell
Whether the sliding end of silk conveying sliding table reaches this extreme position.
The screw accommodates disk 605 for accommodating screw, and is adapted for placement in predeterminated position, and the screw for setting screw is held
Disk 605 of receiving is placed on rack 608, can accommodate the position of disk 605 to screw with positioning column 501 on rack 608
It is limited, meanwhile, also have on rack 608 and accommodate the buckle of disk 605 for fixed screw, passes through buckle and positioning column
501 cooperation carries out preventing screw from accommodating the sliding of disk 605.
The screw mobile device, which is used to from the screw accommodate screw in disk 605, is successively moved to the screw-clamped
In mechanism 7, including screw suction nozzle 606 and suction nozzle mobile device, the screw suction nozzle 606 are inhaled screw terminal from top by suction
Firmly；The suction nozzle mobile device uses cantilevered slide unit 607, for driving the screw suction nozzle 606 to be moved along desired guiding trajectory
It is dynamic.
Embodiment 2
The present embodiment provides the installation methods of a kind of robot wrist 21 and speed reducer 23 in forearm, comprising the following steps:
Robot arm 2 is placed on station platform 11.
When the laser detector 509 of 11 lower section of station platform, detects on station platform 11 there are after robot arm 2, incite somebody to action
Detection signal is sent to controller.
After positioning device on station platform 11 receives the signal of controller, to the robot arm being placed on station platform 11
2 are positioned.
Phase machine detecting device 14 is taken pictures from the top of station platform 11, the screw attachment holes of face robot wrist 21,
And photographic intelligence is sent to controller.
After the pivoted jaw 506 of 11 lower section of station platform receives the signal of controller, 23 synchronizing wheel of speed reducer is rotated,
And then the connection orifice angle of speed reducer 23 is adjusted, make the connecting hole pair for screw connection of speed reducer 23 Yu robot wrist 21
Just.
Screw is accommodated disk 605 from screw and screw is sequentially inserted into screw-clamped mechanism 7 by screw mobile device.
The screw for being located at screw-clamped mechanism 7 is extend into robot wrist 21 by screw conveying sliding table 602, makes screw just
To the top of the connecting hole for being connect with speed reducer 23 of robot wrist 21.
Screw screwing device 13 is extend into robot forearm 22, is carried out to the screw for being located at 23 top of robot speed reducer
It screws.
Obviously, the above embodiments are merely examples for clarifying the description, and does not limit the embodiments.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of variation or
It changes.There is no necessity and possibility to exhaust all the enbodiments.And it is extended from this it is obvious variation or
It changes still within the protection scope of the invention.
Claims (11)
1. screw-clamped mechanism, which is characterized in that described including being oppositely arranged for clamping a pair of of claw (703) of screw
Claw (703) includes:
Attachment base (704)；
Clamping block (706) is connect by hinged shaft with the attachment base (704), the clamping block (706) free end with it is described
Elastic component (705) are equipped between attachment base (704), the rotation that the elastic component (705) is parallel to the clamping block (706) is flat
Face, and the both ends of elastic component (705) are respectively facing the attachment base (704) and the clamping block (706) is vertically arranged；
Under the action of the elastic component (705), the clamping block (706) is turned on the attachment base (704) to spiral shell
The clamping position that silk clamps；
After pushing screw towards the direction for the biasing force for overcoming the elastic component (705) along the axis of the screw, the card
It connects block (706) and is turned to release on the attachment base (704) and position is passed through to screw-clamped.
2. screw-clamped mechanism according to claim 1, which is characterized in that the opposite face of two clamping blocks (706)
Including by face (707) and card access surface (708), described by face (707) and card access surface (708) is arcwall face；
When the clamping block (706) are located at clamping position, two card access surfaces (708) are parallel opposite；
It is parallel opposite by face (707) described in two when the clamping block (706) are located at and pass through position.
3. screw-clamped mechanism according to claim 1, which is characterized in that the attachment base (704) and the clamping block
(706) receiving hole for accommodating the elastic component (705) is all had on.
4. screw-clamped mechanism according to claim 1, which is characterized in that the claw (703) has multiple, Duo Gesuo
It states claw (703) to be connected on mounting disc (701) by attachment base (704), so that clamped screw is formed preset shape, in institute
Mounting disc (701) are stated to be equipped with for keeping away a hole (702) by the screw of screw.
5. device for delivering screws, which is characterized in that including screw-clamped mechanism according to any one of claims 1 to 4, also wrap
It includes,
Screw delivery board (601), for installing the mounting disc (701) of the screw-clamped mechanism；
Screw conveying sliding table (602) connect with the screw delivery board (601), passes through screw delivery board described in motor driven
(601) it is slided along preset path.
6. device for delivering screws according to claim 5, which is characterized in that further include,
Delivery board lifting cylinder (603) is arranged between the screw conveying sliding table (602) and the screw delivery board (601),
For being moved back and forth up and down by screw delivery board (601) described in pneumatic actuation.
7. device for delivering screws according to claim 5, which is characterized in that further include,
Position detecting device (604), the sliding end for detecting the screw conveying sliding table (602) are driven to the position reached.
8. device for delivering screws according to claim 7, which is characterized in that the position detecting device (604) has extremely
Three few, wherein the initial position in the screw conveying sliding table (602) is arranged in first position detecting device (604), for examining
Whether the sliding end for surveying the screw conveying sliding table (602) reaches initial position；
Second position detecting device (604) be arranged the screw conveying sliding table (602) sliding end towards one end default pole
Whether extreme position, the sliding end for detecting the screw conveying sliding table reach this extreme position；
Sliding end the presetting towards the other end in the screw conveying sliding table (602) is arranged in the third place detection device (604)
Whether extreme position, the sliding end for detecting the screw conveying sliding table reach this extreme position.
9. device for delivering screws according to claim 5, which is characterized in that further include,
Screw accommodates disk (605), for accommodating screw, and is adapted for placement in predeterminated position；
Screw is accommodated in disk (605) from the screw and is successively moved in the screw-clamped mechanism by screw mobile device.
10. device for delivering screws according to claim 9, which is characterized in that the screw mobile device includes,
Screw terminal is sucked from top by suction for screw suction nozzle (606)；
Suction nozzle mobile device, for driving the screw suction nozzle (606) to be moved along desired guiding trajectory.
11. device for delivering screws according to claim 10, which is characterized in that the suction nozzle mobile device uses cantilevered
Slide unit (607).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811056898.9A CN109132533B (en) | 2018-09-11 | 2018-09-11 | Screw clamping mechanism and screw conveying device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811056898.9A CN109132533B (en) | 2018-09-11 | 2018-09-11 | Screw clamping mechanism and screw conveying device |
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| CN109132533A true CN109132533A (en) | 2019-01-04 |
| CN109132533B CN109132533B (en) | 2024-05-24 |
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| CN201811056898.9A Active CN109132533B (en) | 2018-09-11 | 2018-09-11 | Screw clamping mechanism and screw conveying device |
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| CN109533954A (en) * | 2019-01-28 | 2019-03-29 | 中船华海船用设备有限公司 | One kind taking draw box mechanism and container simulator stand |
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| CN112498906A (en) * | 2020-11-12 | 2021-03-16 | 博众精工科技股份有限公司 | Battery carrier and battery taking and placing device |
| CN113020958A (en) * | 2021-03-01 | 2021-06-25 | 苏州特斯迈智能制造股份有限公司 | Six-axis robot device for automatic screw feeding |
| CN113148639A (en) * | 2021-05-28 | 2021-07-23 | 浙江水晶光电科技股份有限公司 | Feed bin clamping device and support plate output equipment |
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