CN210232173U - Workstation is paid to screw lock based on triaxial robot - Google Patents
Workstation is paid to screw lock based on triaxial robot Download PDFInfo
- Publication number
- CN210232173U CN210232173U CN201921173356.XU CN201921173356U CN210232173U CN 210232173 U CN210232173 U CN 210232173U CN 201921173356 U CN201921173356 U CN 201921173356U CN 210232173 U CN210232173 U CN 210232173U
- Authority
- CN
- China
- Prior art keywords
- axis
- screw
- power device
- robot
- screw locking
- Prior art date
- 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.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
A screw locking work station based on a three-axis robot comprises a rack, the three-axis robot, an electric screwdriver, an automatic screw feeding machine and a control system, wherein the control system is a control core, is connected with a feeding assembly, the three-axis robot, the electric screwdriver and the automatic screw feeding machine and is used for controlling the movement of the devices, and the automatic screw locking can be realized through the coordination operation of the devices. The utility model realizes the full automation of screw locking, a worker only needs to put a workpiece to be screwed into the positioning fixture, and after pressing the button, the workpiece is taken down after the locking is finished, and the whole process realizes the automation of control; the double-station design is adopted, the left feeding assembly and the right feeding assembly are alternately fed, the screw locking robot can continuously work, the screw locking working efficiency is higher than the manual speed, the screw locking is not required to be stopped, and the production efficiency is improved; the screw locking is realized by a mechanical system, the labor force is reduced, the labor intensity is greatly reduced, the cost of workers is reduced, and the required labor cost is reduced.
Description
Technical Field
The utility model relates to an equipment technical field, more specifically say, in particular to workstation is paid to screw lock based on triaxial robot.
Background
The screw locking is an important process in the production of products in the whole manufacturing industry. The screw lock is an indispensable part of finished products formed by parts such as airplanes, automobiles, electronic products, children toys and screw locks.
In the assembly process of product production, the number of screws on a single product is large, workers need to work continuously, and the labor intensity is high. In addition, the manual operation has several problems as follows: 1. the screw hole is stared at for a long time to work, so that great health influence can be caused to the body and the mind of workers; 2. the screw mounting operation is carried out, workers need to align the screw holes according to experience, the reject ratio is high, and if the screws are not easy to fix, high requirements are provided for the experience of the workers; 3. the manual locking screw locking is low in operation efficiency; 4. due to the randomness of manual operation, the performance of the product is not effectively guaranteed.
Therefore, how to provide a screw locking workstation capable of realizing mechanical operation of screw locking to solve the problems of high labor intensity and incapability of ensuring product quality in the conventional manufacturing industry becomes a problem to be solved by technical personnel in the field.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a mechanized operating system of operation is paid to screw lock in succession can be realized.
In order to achieve the above object, the present invention provides the following technical solutions:
the utility model discloses a workstation is paid to screw lock based on triaxial robot, this workstation is paid to screw lock based on triaxial robot includes: the rack is provided with an installation surface, a feeding assembly is arranged on the installation surface, the feeding assembly comprises a sliding table capable of sliding on the installation surface in a reciprocating manner along a straight line, and a first power device is in power connection with the sliding table and is fixedly arranged relative to the rack; the three-axis robot comprises an X-axis rotating mechanism, a Y-axis rotating mechanism and a Z-axis straight-moving mechanism, wherein the Z-axis straight-moving mechanism is arranged on the Y-axis rotating mechanism, the Y-axis rotating mechanism is arranged on the X-axis rotating mechanism, the Z-axis straight-moving mechanism comprises a Z-axis sliding installation table, the Z-axis sliding installation table can reciprocate linearly in the Z-axis direction, and the X-axis rotating mechanism is arranged on the installation surface; the electric screwdriver is used for realizing locking of a screw locking pair, is arranged on the Z-axis sliding mounting table and provides screws through an automatic screw feeding machine; the automatic screw feeding machine is fixedly arranged relative to the rack and used for supplying screws to the screwdriver, the automatic screw feeding machine blows the screws to the positions above the screw holes through the conveying pipe in an air blowing mode, and the screwdriver is pressed downwards to lock the screws; the control system comprises a controller, wherein the controller is connected with the three-axis robot, the electric screwdriver, the feeding assembly and the automatic screw machine.
Preferably, the X-axis rotating mechanism includes a second power device, the second power device is provided with a large arm through a first speed reduction mechanism, and the Y-axis rotating mechanism is provided on the large arm.
Preferably, the Y-axis rotating mechanism includes a third power device, the third power device is provided with a small arm through a second speed reducing mechanism, and the Z-axis straight-moving mechanism is arranged on the small arm.
Preferably, the Z-axis straight-moving mechanism comprises a roller screw, a fourth power device and a Z-axis sliding mounting table, the fourth power device is in power connection with the roller screw and is used for driving the roller screw to rotate, and the Z-axis sliding mounting table is in threaded fit with the roller screw.
Preferably, the second power device is a motor, and the first speed reducer is a harmonic speed reducer; or, the third power device is a motor, and the second speed reducer is a harmonic speed reducer.
Preferably, the fourth power device is a motor; and the fourth power device is in power connection with the roller screw through a belt transmission system.
Preferably, the first power device is a cylinder or a hydraulic cylinder.
Preferably, the utility model also comprises a fifth power device for realizing flexible movement of the electric screwdriver on the Z axis, wherein the fifth power device is fixedly arranged on the Z axis sliding installation table and comprises an expansion shaft, and the electric screwdriver is fixedly arranged on the expansion shaft; and the fifth power device is a cylinder or a hydraulic cylinder.
Preferably, the feeding assemblies are provided with at least two groups, and all the feeding assemblies are arranged side by side.
Preferably, the utility model discloses still including the control button that is used for providing operation control, control button with control system links to each other, control button includes carry button, retreat position button, start button, pause button and scram button.
Compared with the prior art, the method has the following beneficial effects:
the utility model provides a workstation is paid to screw lock based on triaxial robot, including rack, triaxial robot, electricity criticize, automatic screwing machine and control system, control system does the utility model discloses a control core, its and material loading subassembly, triaxial robot, electricity criticize and automatic screwing machine go up the motion of being connected, being used for controlling these equipment. The three-axis robot comprises an X-axis rotating mechanism, a Y-axis rotating mechanism and a Z-axis straight-moving mechanism, the electric screwdriver is arranged on the three-axis robot, the action of the electric screwdriver in a three-dimensional space can be realized, the positioning in a horizontal plane is realized through the X-axis rotating mechanism and the Y-axis rotating mechanism, and the positioning in a vertical plane is realized through the Z-axis straight-moving mechanism. The automatic screwing machine is used for providing screws for the electric screwdriver, and the electric screwdriver can lock and pay the screws after obtaining the screws.
Through the structural design, the utility model discloses realize the full automatization of screw lock payment, the workman only need put the work piece of waiting to go up the screw in the positioning fixture, after pressing the button, take off the work piece again after the lock payment is accomplished, the automation of control has all been realized to the whole process; the double-station design is adopted, the left feeding assembly and the right feeding assembly are alternately fed, the screw locking robot can continuously work, the screw locking working efficiency is higher than the manual speed, the screw locking is not required to be stopped, and the production efficiency is improved; the screw locking is realized by a mechanical system, the labor force is reduced, the labor intensity is greatly reduced, the cost of workers is reduced, and the required labor cost is reduced.
Drawings
The accompanying drawings, which form a part of the present application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. Wherein:
fig. 1 is a schematic view of a partial structure of a screw locking workstation based on a three-axis robot according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a three-axis robot in an embodiment of the present invention;
fig. 3 is a schematic structural diagram of the three-axis robot with the electric screwdriver in the embodiment of the present invention;
fig. 4 is a schematic structural view of a feeding assembly in an embodiment of the present invention;
fig. 5 is a schematic structural diagram of the feeding assembly in the carry state according to the embodiment of the present invention;
fig. 6 is a schematic structural view of the feeding assembly in the retracted state according to the embodiment of the present invention;
description of reference numerals:
a mounting surface 1, a sliding table 2, a first power device 3, a Z-axis sliding mounting table 4, an electric screwdriver 5,
An automatic screw feeding machine 6, a second power device 7, a first speed reducing mechanism 8, a big arm 9,
A third power device 10, a second speed reducing mechanism 11, a small arm 12, a roller screw 13,
A fourth power device 14, a fifth power device 15, a fixed cylinder 16 and a fixed tool 17.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments. Each example is provided by way of explanation of the invention and not limitation of the invention. In fact, it will be apparent to those skilled in the art that modifications and variations can be made in the present invention without departing from the scope or spirit of the invention. For instance, features illustrated or described as part of one embodiment, can be used with another embodiment to yield a still further embodiment. It is therefore intended that the present invention encompass such modifications and variations as fall within the scope of the appended claims and equivalents thereof.
In the description of the present invention, the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description of the present invention and do not require that the present invention must be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. The terms "connected" and "connected" used in the present invention should be understood in a broad sense, and may be, for example, either fixed or detachable; they may be directly connected or indirectly connected through intermediate members, and specific meanings of the above terms will be understood by those skilled in the art as appropriate.
Please refer to fig. 1 to fig. 6, wherein fig. 1 is a schematic partial structure diagram of a screw locking workstation based on a three-axis robot according to an embodiment of the present invention; fig. 2 is a schematic structural diagram of a three-axis robot in an embodiment of the present invention; fig. 3 is a schematic structural diagram of the three-axis robot with the electric screwdriver in the embodiment of the present invention; fig. 4 is a schematic structural view of a feeding assembly in an embodiment of the present invention; fig. 5 is a schematic structural diagram of the feeding assembly in the carry state according to the embodiment of the present invention; fig. 6 is a schematic structural view of the feeding assembly in the retreating state according to the embodiment of the present invention.
The utility model provides a workstation is paid to screw lock based on triaxial robot for realize the automatic locking that screw lock was paid on the work piece.
The utility model discloses in, this workstation is paid to screw lock based on triaxial robot includes following component parts:
1. rack
The rack does the utility model discloses a support the framework, consequently, in order to improve the structural strength of rack, the utility model discloses the rack that uses is metal system rack. The rack is provided with installation face 1 including the support frame of bottom on the support frame of bottom, realizes through installation face 1 the utility model discloses in the installation of other component parts.
The rack is provided with a mounting surface 1, a feeding assembly is arranged on the mounting surface 1, the feeding assembly can fix a workpiece which is not assembled with a screw locking device, can convey the workpiece to a processing point to screw the screw locking device, and can return the workpiece after the workpiece is processed.
Specifically, the material loading subassembly is including the slide rail, and the slide rail is provided with two, and two slide rails are parallel to each other. The slide rail is the rail, and it sets up on the rack through the bolt fastening, is provided with the slip table 2 that is used for placing the work piece on the slide rail slidable, is provided with the fixed frock that is used for fixed work piece on slip table 2, and the work piece is placed on the fixed frock, can slide on the slide rail along with slip table 2. After a worker puts a workpiece into the fixing tool 17, the fixing cylinder 16 contracts to drive the cross beam (the cross beam drives the fixing tool 17) to press the workpiece downwards, the fixing tool 17 is attached to the workpiece, and the workpiece is fixed; the fixed cylinder 16 extends to drive the beam (the beam drives the fixed tool 17) to ascend, and a worker can take out the workpiece.
And a first power device 3 for driving the sliding table to reciprocate on the sliding rail is in power connection with the sliding table 2, and the first power device 3 is fixedly arranged relative to the sliding rail. In the present invention, the first power device 3 may be a cylinder or a hydraulic cylinder.
The utility model discloses can also adopt other structural style to realize the reciprocating slide of slip table 2, for example adopt many link mechanism (similar to ox head planer) to realize the reciprocating motion of slip table 2, perhaps adopt the screw lead screw to realize the reciprocating motion of slip table 2.
2. Three-axis robot
The triaxial robot is the utility model discloses in realize the equipment of 5 movements, location of electricity wholesale.
The three-axis robot comprises an X-axis rotating mechanism, a Y-axis rotating mechanism and a Z-axis straight-moving mechanism, wherein the Z-axis straight-moving mechanism is arranged on the Y-axis rotating mechanism, the Y-axis rotating mechanism is arranged on the X-axis rotating mechanism, the Z-axis straight-moving mechanism comprises a Z-axis sliding installation table 4, the Z-axis sliding installation table 4 can reciprocate linearly in the vertical direction, and the X-axis rotating mechanism is arranged on the installation surface 1.
The Y-axis rotating mechanism is arranged on the X-axis rotating mechanism, the Z-axis straight-moving mechanism can be positioned in a horizontal plane through the combined control of the X-axis rotating mechanism and the Y-axis rotating mechanism, the Z-axis straight-moving mechanism comprises a Z-axis sliding installation table 4, the Z-axis sliding installation table can be positioned in a vertical plane, and therefore the Z-axis sliding installation table 4 can be positioned in a three-dimensional space.
The three-axis robot is a very important device of the present invention. Specifically, X axle rotary mechanism is including second power device 7, and second power device 7 is provided with big arm 9 through first reduction gears 8, and big arm 9 can wind the axis rotation of second power device 7 through second power device 7 and first reduction gears 8, and second power device 7 is fixed to be set up on installation face 1, and big arm 9 is installed on second power device 7 through first reduction gears 8, is guaranteeing the utility model discloses under the prerequisite that can normal operating, can suitably slow down second power device 7's rotational speed through first reduction gears 8. Specifically, the Y-axis rotating mechanism is arranged on the large arm 9, the Y-axis rotating mechanism includes a third power device 10, the third power device 10 is fixedly arranged on the large arm 9, the third power device 10 is provided with a small arm 12 through a second speed reducing mechanism 11, and the small arm 12 can rotate around the axis of the third power device 10 through the third power device 10 and the second speed reducing mechanism 11. Specifically, the Z-axis straight-moving mechanism is arranged on the small arm 12, the Z-axis straight-moving mechanism comprises a roller screw 13, a fourth power device 14 and a Z-axis sliding mounting table 4, the fourth power device 14 is in power connection with the roller screw 13 and is used for driving the roller screw 13 to rotate, and the Z-axis sliding mounting table 4 is in threaded fit with the roller screw 13.
The utility model discloses in, second power device 7 is the motor, and the motor can be servo motor, perhaps is step motor, the utility model discloses preferred step motor that adopts is higher as second power device 7, its control accuracy. Third power device 10 is the motor, and the motor can be servo motor, perhaps is step motor, the utility model discloses preferred step motor that adopts is higher as third power device 10, its control accuracy.
The utility model discloses in, first speed reducer is the harmonic speed reducer ware, and the second speed reducer ware is the harmonic speed reducer ware. The harmonic reducer has the advantages of exquisite structure, control precision and the like.
Specifically, the fourth power device 14 is a motor, the fourth power device 14 is in power connection with the roller screw 13 through a belt transmission system, the roller screw 13 is driven by the motor to rotate through the belt transmission system, and the Z-axis sliding mounting table 4 can move on the roller screw 13. For example, when the roller screw 13 is rotated in the forward direction, the Z-axis slide mount 4 can be moved in the forward direction (upward movement) on the roller screw 13, and when the roller screw 13 is rotated in the reverse direction, the Z-axis slide mount 4 can be moved in the reverse direction (downward movement) on the roller screw 13.
Based on the structure of foretell triaxial robot is injectd, the utility model discloses still provide one and be used for realizing that the electricity criticizes 5 flexible motion's on the Z axle fifth power device 15. The fifth power device 15 is fixedly arranged on the Z-axis sliding installation table 4, the fifth power device 15 comprises a telescopic shaft, and the screwdriver 5 is fixedly arranged on the telescopic shaft. Specifically, the fifth power device 15 is a cylinder or a hydraulic cylinder. The flexible movement of the electric screwdriver 5 mainly refers to: the movement of the electric screwdriver 5 is realized by the extension and contraction of a fifth power device 15 (an air cylinder or a hydraulic cylinder), the extension length of the air cylinder or the hydraulic cylinder can be changed according to the position of the workpiece, and the electric screwdriver 5 is attached to the workpiece (a screw on the workpiece) during operation. In this case, a pressure control method is adopted, that is, the pressure between the electric torch 5 and the workpiece is set, so that if the pressure value is satisfied, the extension length of the fifth power device 15 is changed according to the workpiece, and the flexible movement of the electric torch 5 is realized.
3. Electric screwdriver
The electric screwdriver 5 is a device for realizing automatic locking (or unlocking) of a screw locking pair.
The electric screwdriver 5 is used for locking or loosening a screw locking pair, and the electric screwdriver 5 is arranged on the Z-axis sliding mounting table 4, so that the electric screwdriver 5 can be positioned in a three-dimensional space along with the Z-axis sliding mounting table 4.
4. Automatic screw feeding machine
The automatic screw feeding machine 6 is a screw feeding device capable of sequencing a large number of scattered screws so that a single screw is sequentially output.
The automatic screwing machine 6 is fixedly arranged relative to the rack and is used for supplying screws to the electric screwdriver 5.
Preferably, the automatic screwing machine 6 is mounted on the mounting surface 1 and is positioned on one side of the three-axis robot, so that the electric screwdriver 5 is convenient to load.
The automatic screwing machine 6 is connected with the position (screw hole) of the screw through the screw conveying pipe and the screw to be screwed, the pipe orifice at one end of the conveying pipe is connected with the screwing machine, the pipe orifice at the other end of the conveying pipe is aligned with the screw hole, the screw is blown down into the screw hole through the conveying pipe by the automatic screwing machine in a blowing mode, and then the screw operation is automatically carried out by pressing down the screw.
5. Control system
The control system is the utility model discloses a control core, it has control function, control system is including the controller, controller and triaxial robot, screwdriver 5, material loading subassembly and automatic screw machine 6 control connection, the controller can carry out joint control to triaxial robot, screwdriver 5, material loading subassembly and automatic screw machine 6 according to built-in control program, control parameter, thereby make the utility model discloses accomplish screw lock in order, fast and pay locking operation, it is further, in order to make things convenient for operating personnel to right the utility model discloses an operation is controlled, the utility model discloses still include the control button that is used for providing operation control, control button and control system link to each other, control button includes carry button, backset button, start button, pause button and emergency stop button; the carry button and the return button control the feeding and returning of the feeding assembly; the starting button is used for starting the feeding assembly, the three-axis robot, the electric screwdriver 5 and the automatic screw feeding machine 6; the pause button is used for pausing the actions of the feeding assembly, the three-axis robot, the electric screwdriver 5 and the automatic screw feeding machine 6; the emergency stop button is used for stopping the operation of the feeding assembly, the three-axis robot, the electric screwdriver 5 and the automatic screw feeding machine 6.
In order to realize uninterrupted operation, the feeding assemblies are provided with at least two groups, and all the feeding assemblies are arranged side by side. The feeding assembly comprises a fixed tool, a sliding table 2, a sliding rail, a first power device 3 (air cylinder) and a photoelectric sensor. The fixing tool is fixed on the sliding table 2 and used for clamping a workpiece; the sliding table 2 moves directionally through a sliding rail; the cylinder provides power for sliding the sliding table 2, so that the workpiece is driven to move; after a new workpiece is added, the cylinder contracts to finish feeding, the screw is screwed on the screw locking machine, and after the screw is screwed, the cylinder extends to finish discharging. Preferably, the material loading subassembly sets up to two sets of, and two sets of material loading subassemblies move asynchronously, and a material loading subassembly is when the lock of carrying out the screw is paid the action promptly, and another material loading subassembly is at the material loading or is unloaded to realize the utility model discloses an uninterrupted duty.
The utility model provides a workstation is paid to screw lock based on triaxial robot, including the material loading subassembly of triaxial robot, duplex position design, electric screwdriver 5, workstation control system, automatic screwing machine 6 and rack.
Wherein: the three-axis robot is fixed on the rack to complete the positioning work of screw locking action; the feeding assembly designed in the double-station mode is fixed on the rack, locks a workpiece on the robot for the screw and discharges the locked workpiece; the electric screwdriver 5 is fixed on the three-axis robot and used for completing locking and paying actions of the screws; the automatic screw feeding machine 6 provides screws for screw locking, so that automation and continuity of screw locking actions are realized; the control system realizes the screw locking control of the electric screwdriver 5, the screw feeding control of a screw machine, the feeding control of a feeding assembly and the button operation of a locking work station.
The utility model discloses in, triaxial robot structure as follows, include: an X-axis rotating mechanism, a Y-axis rotating mechanism and a Z-axis straight-moving mechanism. The X-axis rotation mechanism includes a large arm 9, a first reduction gear, and a second power unit 7. The Y-axis rotating mechanism includes a small arm 12, a second reduction gear, and a third power unit 10. The Z-axis straight-moving mechanism comprises a sliding table 2 module and a fourth power device 14. The 2 module structures of slip table as follows, include: the Z-axis sliding mounting table 4, the roller screw 13 and the belt transmission system, the fourth power device 14 is connected with the roller screw 13 through the belt transmission system, and the fourth power device 14 rotates to drive the roller screw 13 to move, so that the Z-axis sliding mounting table 4 is driven to move linearly, and the Z-axis sliding mounting table 4 moves linearly in the Z-axis direction.
Set up the electricity and criticize 5 to Z axle slidable mounting platform 4 on, its structure is: the Z-axis sliding installation table 4 is provided with a fifth power device 15, the fifth power device 15 is an air cylinder or a hydraulic cylinder, the fifth power device 15 and the Z-axis sliding installation table 4 are fixed into a whole, the electric screwdriver 5 is connected with a piston rod of the fifth power device 15, and the up-and-down movement of the electric screwdriver 5 is realized through the extension and contraction of the piston rod.
The utility model discloses in, the up-and-down motion of screwdriver 5 in the vertical direction (in the vertical plane) can be realized to Z axle rectilinear mechanism and fifth power device 15 homoenergetic, and wherein, the up-and-down motion of Z axle rectilinear mechanism drives screwdriver 5 and realizes rigid motion. The rigid motion mainly refers to: the position reached by the movement is determined and is not influenced by the size of the workpiece. The motion of the fifth power device 15 realizes the up-and-down flexible motion of the electric screwdriver 5, the flexible motion generates downward pressure to enable the tail end of the electric screwdriver to be always attached to a workpiece, the Z-axis straight-moving mechanism firstly moves to reach a preset position, then the fifth power device 15 starts the piston rod to extend, the electric screwdriver 5 is pressed down by the air cylinder to start the screw locking action, after the screw locking is finished, the air cylinder contracts, and the electric screwdriver 5 stops the screw locking. Wherein, the screw locking control of the electric screwdriver 5 is completed by controlling the extension and contraction of the air cylinder of the electric screwdriver 5 through a robot: the cylinder extends to generate pressure on the electric screwdriver 5, and the electric screwdriver 5 automatically starts to screw; when the cylinder contracts, the electric screwdriver 5 automatically stops screwing.
The utility model discloses a multistation material loading subassembly structural design is the design of duplex position material loading subassembly very much, and the material loading subassembly is fixed in on the installation face 1 of rack, pays for the screw lock and carries the work piece to pay the work piece unloading of accomplishing with the lock. The feeding assembly with the double-station design can realize uninterrupted work of screw locking, when the left station is used for screw locking, the right station synchronously carries out blanking work and reloading work, when the left station is used for screw locking, the right station is used for loading, and the screw robot continues to lock screws on the right station. The feeding and discharging of the feeding assembly are realized through the first power device 3 connected with the feeding assembly, and the feeding and discharging process of the feeding assembly is realized by controlling the contraction and extension of the first power device 3 (specifically, a cylinder or a hydraulic cylinder). After a new workpiece is added, the cylinder contracts to finish feeding, the screw is screwed on the screw locking machine, and after the screw is screwed, the cylinder extends to finish discharging.
In order to improve the motion precision of slip table 2 among the material loading subassembly, the utility model discloses following optimal design has been proposed again: first power device 3 realizes the location through the dog in the action, and the dog carries out position design according to the motion limit of slip table 2, has also set up the dog simultaneously on slip table 2, and when the dog laminating of material loading subassembly dog and rack, the position of material loading station promptly, the motion that offsets through two dogs and realize slip table 2 is stopped the step.
The operation process of the multi-station feeding assembly is as follows: a worker loads a workpiece on a left loading assembly, a carry button is pressed down, a first power device 3 contracts to drive a sliding table 2 of a left station to move to realize feeding, a photoelectric sensor is arranged on a mounting surface 1, the photoelectric sensor detects loading and can send a detection signal to a control system, the control system controls a three-axis robot to start, and the three-axis robot starts screw locking; after the locking is finished, the robot controls the first power device 3 to start through a signal to realize the return of the left sliding table 2; when the left station screw is locked, a worker finishes feeding of the right station and presses the carry button, and after the left station screw is locked, the locking robot locks and pays the right station workpiece. When one screw is locked, the robot can control the screw feeding machine to feed one screw by sending an external signal, so that the automation and the continuity of the screw locking action are realized.
The carry and the retreat position of the feeding assembly are a double control method, the carry and the retreat position of the feeding assembly can be controlled by a robot independently, and can also be controlled by a carry button and an retreat button, the robot control can inherit a button control result, and the button control can inherit the robot control result. The technical effect is mainly realized through the self-holding relay, the robot and the control button are respectively connected to the control contact of the self-holding relay, after the robot sends a signal to control the self-holding relay, the self-holding relay keeps the control effect, and when the button sends the signal, the self-holding relay can be adjusted on the basis of last control.
The automatic screwing machine 6 provides screws for screw locking. When one screw is locked, the robot can control the screw feeding machine to feed one screw by sending an external signal, so that the automation and the continuity of the screw locking action are realized.
The robot control system is used as the center of the whole workstation control system, realizes the control of 5 screw locking of the screwdriver, the control of the screw on the screw machine and the control of the feeding assembly, and enables the whole screw locking action to be automatic and continuous. The control system is externally connected with control buttons, and the control buttons comprise a carry button, a retreat button, a start button, a pause button and an emergency stop button. The button operation can realize that: the carry button and the retreat button jointly control the carry and retreat of the feeding assembly; the start button and the pause button control the screw feeding operation of the automatic screw feeding machine 6, the action of the three-axis robot and the operation of the feeding assembly; the emergency stop button controls the emergency stop operation of the robot. The control buttons can simplify the complex operation of the robot.
The control principle of the control system is as follows: a worker puts a workpiece into a positioning fixture, presses a carry button, and a feeding assembly cylinder contracts; the automatic screw feeding machine 6 provides screws, the photoelectric sensor detects workpieces and sends signals to the three-axis screw locking robot; after the robot runs above the workpiece, a signal is sent to control the cylinder of the electric screwdriver 5 to extend, and the electric screwdriver 5 starts screw locking after being pressed; after the locking is finished, the electric screwdriver 5 sends a signal to the robot, the robot controls the cylinder of the electric screwdriver 5 to contract, and the electric screwdriver 5 stops screw locking; meanwhile, the robot sends a signal to a feeding assembly cylinder, the cylinder extends, and the workpiece moves back; meanwhile, the robot sends a signal to the screw feeding machine, and the next locking is carried out after one screw is fed.
To sum up, the utility model provides a screw lock is paid beneficial effect that the workstation can realize as follows:
the automation of the screw locking process is realized, the operation is convenient, the efficiency is high, a worker only needs to place a workpiece to be screwed into the positioning fixture, and the workpiece is taken down after the screw locking process is completed after the button is pressed down. The double-station design, two material loading components are used for alternately loading, the screw locking robot can continuously work, the screw locking work efficiency is higher than the manual speed, the stop is not needed, and the production efficiency is improved. The original non-intermittent work of workers is changed into the feeding at a certain interval, so that the labor force is reduced, and the labor intensity is greatly reduced. The cost of workers is reduced, and the required labor cost is reduced.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a workstation is paid to screw lock based on triaxial robot which characterized in that includes:
the rack is provided with an installation surface (1), a feeding assembly is arranged on the installation surface, the feeding assembly comprises a sliding table (2) capable of sliding on the installation surface in a reciprocating manner along a straight line, and a first power device (3) is in power connection with the sliding table and is fixedly arranged relative to the rack;
the three-axis robot comprises an X-axis rotating mechanism, a Y-axis rotating mechanism and a Z-axis straight-moving mechanism, wherein the Z-axis straight-moving mechanism is arranged on the Y-axis rotating mechanism, the Y-axis rotating mechanism is arranged on the X-axis rotating mechanism, the Z-axis straight-moving mechanism comprises a Z-axis sliding installation table (4), the Z-axis sliding installation table can reciprocate linearly in the Z-axis direction, and the X-axis rotating mechanism is arranged on the installation surface;
the electric screwdriver (5) is used for realizing locking of a screw locking pair, is arranged on the Z-axis sliding mounting table and provides screws through an automatic screw feeding machine;
the automatic screw feeding machine (6) is fixedly arranged relative to the rack and used for providing screws for the electric screwdriver, the automatic screw feeding machine blows the screws to the positions above the screw holes through the conveying pipe in an air blowing mode, and the electric screwdriver is pressed downwards to lock the screws;
the control system comprises a controller, wherein the controller is connected with the three-axis robot, the electric screwdriver, the feeding assembly and the automatic screw machine.
2. The three-axis robot-based screw locking workstation of claim 1,
the X-axis rotating mechanism comprises a second power device (7), the second power device is provided with a large arm (9) through a first speed reducing mechanism (8), and the Y-axis rotating mechanism is arranged on the large arm.
3. The three-axis robot-based screw locking workstation of claim 2,
the Y-axis rotating mechanism comprises a third power device (10), the third power device is provided with a small arm (12) through a second speed reducing mechanism (11), and the Z-axis straight-moving mechanism is arranged on the small arm.
4. The three-axis robot-based screw locking workstation of claim 3,
the Z-axis straight-moving mechanism comprises a roller lead screw (13), a fourth power device (14) and a Z-axis sliding mounting table, the fourth power device is in power connection with the roller lead screw and is used for driving the roller lead screw to rotate, and the Z-axis sliding mounting table is in threaded fit with the roller lead screw.
5. The three-axis robot-based screw locking workstation of claim 4,
the second power device is a motor, and the first speed reducer is a harmonic speed reducer;
or, the third power device is a motor, and the second speed reducer is a harmonic speed reducer.
6. The three-axis robot-based screw locking workstation of claim 4,
the fourth power device is a motor;
and the fourth power device is in power connection with the roller screw through a belt transmission system.
7. The three-axis robot-based screw locking workstation of claim 1,
the first power device is a cylinder or a hydraulic cylinder.
8. The three-axis robot-based screw locking workstation of any one of claims 1 to 7,
the electric screwdriver further comprises a fifth power device (15) used for realizing flexible movement of the electric screwdriver on the Z axis, the fifth power device is fixedly arranged on the Z axis sliding installation table and comprises a telescopic shaft, and the electric screwdriver is fixedly arranged on the telescopic shaft;
and the fifth power device is a cylinder or a hydraulic cylinder.
9. The three-axis robot-based screw locking workstation of any one of claims 1 to 7,
the material loading subassembly is provided with at least two sets ofly, and is whole material loading subassembly sets up side by side.
10. The three-axis robot-based screw locking workstation of claim 1,
the control system is characterized by further comprising a control button for providing operation control, the control button is connected with the control system and comprises a carry button, a back-off button, a start button, a pause button and an emergency stop button.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921173356.XU CN210232173U (en) | 2019-07-24 | 2019-07-24 | Workstation is paid to screw lock based on triaxial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921173356.XU CN210232173U (en) | 2019-07-24 | 2019-07-24 | Workstation is paid to screw lock based on triaxial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210232173U true CN210232173U (en) | 2020-04-03 |
Family
ID=69992551
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921173356.XU Active CN210232173U (en) | 2019-07-24 | 2019-07-24 | Workstation is paid to screw lock based on triaxial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210232173U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110281001A (en) * | 2019-07-24 | 2019-09-27 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | The screwed lock work station based on three-axis robot |
| CN111922709A (en) * | 2020-08-10 | 2020-11-13 | 中科摩通(常州)智能制造有限公司 | Assembling production line for electric automobile charging device |
-
2019
- 2019-07-24 CN CN201921173356.XU patent/CN210232173U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110281001A (en) * | 2019-07-24 | 2019-09-27 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | The screwed lock work station based on three-axis robot |
| CN111922709A (en) * | 2020-08-10 | 2020-11-13 | 中科摩通(常州)智能制造有限公司 | Assembling production line for electric automobile charging device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204893951U (en) | Crossbeam formula manipulator | |
| CN104908033A (en) | High-speed light gantry truss mechanical arm | |
| CN210232173U (en) | Workstation is paid to screw lock based on triaxial robot | |
| CN102699221A (en) | Loading and unloading manipulator | |
| CN108817391B (en) | Double-cladding-head laser cladding metal additive manufacturing equipment | |
| CN110624734A (en) | Device for spraying bed head | |
| CN112222449A (en) | Profile drilling system and method | |
| WO2018187881A1 (en) | High-performance cartesian robot | |
| CN204505263U (en) | Three-D feeding mechanical hand | |
| CN110281001A (en) | The screwed lock work station based on three-axis robot | |
| CN209550691U (en) | Gantry type five axes numerical control high-precision boring device | |
| CN204867159U (en) | Pull end lid multistation manipulator | |
| CN210935585U (en) | Device for spraying cabinet body | |
| CN205187198U (en) | Bearing roller line manipulator | |
| CN210195170U (en) | Spray gun assembly and spraying robot | |
| CN209441089U (en) | A kind of 3D glass finishing impression equipment | |
| CN205217837U (en) | A manipulator is got to punch press | |
| CN209831277U (en) | Polishing workstation | |
| CN105082114A (en) | Robot | |
| CN204725493U (en) | A kind of pipe fitting Work robot | |
| CN210935563U (en) | Device for spraying bed head | |
| CN209836308U (en) | Laser cladding automation equipment | |
| CN210818802U (en) | Shaft end face grinding and feeding manipulator mechanism | |
| CN113059390A (en) | Automatic feeding and discharging system and machining center production line comprising same | |
| CN203281992U (en) | Bidirectional double-station threading machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220824 Address after: 16th Floor, No. 647, East Longhua Road, Huangpu District, Shanghai, 200023 Patentee after: China Electronics Technology robot Co.,Ltd. Address before: 200233, No. 30 Rainbow Road, Shanghai, Xuhui District Patentee before: Shanghai Micro Motor Research Institute (the 21st Research Institute of China Electronics Technology Corp.) |