Composite motion screw locking machine

Abstract

The utility model particularly relates to a compound motion screw locking machine which comprises a machine base, a mechanical arm mechanism and a locking mechanism, the mechanical arm mechanism and the locking mechanism are arranged on the machine base, the locking mechanism comprises an S-axis driving assembly, a guide limiting assembly, a locking head assembly and a locking driving assembly, and the guide limiting assembly is movably arranged on a second joint arm in a penetrating mode. The S-axis driving assembly is used for driving the guiding and limiting assembly and the locking head assembly to do lifting motion along the S axis, the guiding and limiting assembly is connected with the locking head assembly, and the locking driving assembly is used for driving screws conveyed by the locking head assembly to rotate and lock the screws. Linkage of the locking head assembly and the locking driving assembly is achieved through compound motion of the mechanical arm mechanism and the S-axis driving assembly, due to the fact that the locking head assembly and the guiding limiting assembly are small in weight and simple in structure, and the locking head assembly is light in motion and high in speed, the locking efficiency can be effectively improved, and the failure rate is remarkably reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of screw locking machine equipment, in particular to a compound motion screw locking machine. Background Art

[0002] At present, many manufacturers combine existing screw locking machines with multi-axis robots to meet the needs of screw locking machines for loading and locking screws in different working scenarios or at different positions, thereby effectively broadening the application scope of screw locking machines. However, for the locking mechanism of traditional screw locking machines, the locking method of the mechanism is usually to keep the locking head in place, and the driving part moves downward to lock the screw and then resets it upward. In this process, due to the heavy weight of the driving part, the vibration and inertia caused by its up and down movement are large, and the up and down sliding device of the locking mechanism is also relatively bulky, the movement is not smooth enough, and it is prone to failure. For example, in the screw locking machine with application number 201721311165.6, since the driving part moves up and down, the mechanism is heavy and has large inertia, and the cable of the driving part also moves up and down, resulting in an increase in failure points.

[0003] In the screw locking robot structures disclosed in application numbers 201621436131.5 and 201922401478.6, the final downward pressing and locking is completed by a cylinder, and the stroke of the cylinder cannot be adjusted, resulting in limited use. Summary of the invention

[0004] In order to overcome the shortcomings and deficiencies in the prior art, the utility model aims to provide a compound motion screw locking machine.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A compound motion screw locking machine, comprising a machine base, a manipulator mechanism and a locking mechanism arranged on the machine base, wherein the manipulator mechanism comprises a first joint arm, a second joint arm and a driving unit, wherein one end of the first joint arm is connected to the machine base, and the other end of the first joint arm is movably connected to the second joint arm, and the driving unit is used to drive the second joint arm to rotate relative to the first joint arm;

[0007] The locking mechanism includes an S-axis driving assembly, a guide limiting assembly, a locking head assembly and a locking driving assembly. The guide limiting assembly is movably arranged on the second joint arm. The S-axis driving assembly is used to drive the guide limiting assembly and the locking head assembly to perform lifting motion along the S-axis. The guide limiting assembly is connected to the locking head assembly. The locking driving assembly is used to drive the screw conveyed by the locking head assembly to rotate and lock.

[0008] Furthermore, it also includes a Z-axis driving device, which includes a Z-axis lifting frame and a driving system. The driving system is used to drive the Z-axis lifting frame to perform lifting motion along the Z-axis. One end of the Z-axis lifting frame is movably connected to the first joint arm, and the other end of the Z-axis lifting frame is fixedly connected to the base.

[0009] Furthermore, the S-axis drive assembly includes an S-axis screw arranged on the second joint arm, a screw nut cooperatedly mounted on the S-axis screw and an S-axis drive motor arranged on the second joint arm, the S-axis drive motor is used to drive the S-axis screw to rotate, the S-axis screw is connected to the screw nut, and the screw nut is connected to the guide limit assembly through a mounting plate.

[0010] Furthermore, the S-axis drive assembly also includes a motor fixing plate, a motor synchronous wheel, a synchronous belt and a screw synchronous wheel. The S-axis drive motor is fixedly connected to the second joint arm through the motor fixing plate, the motor synchronous wheel is connected to the output end of the S-axis drive motor, the motor synchronous wheel is transmission-connected to the screw synchronous wheel through the synchronous belt, and the screw synchronous wheel is connected to the S-axis screw.

[0011] Furthermore, the guide limit assembly includes a mounting plate, a guide sleeve and a guide rod, the two ends of the mounting plate are respectively connected to the screw nut and the guide rod, the guide sleeve is fixedly inserted through one end of the second joint arm close to the locking head assembly, the guide rod is slidably inserted into the guide sleeve, and the end of the guide rod away from the screw nut is connected to the locking head assembly.

[0012] Furthermore, the locking head assembly includes a screw chuck and a chuck mounting seat, two ends of the chuck mounting seat are respectively connected to the guide rod and the screw chuck, and the screw chuck is connected to an external screw feeding mechanism.

[0013] Furthermore, the locking drive assembly includes a locking drive component and a locking rod, the locking drive component is arranged on the second joint arm, the output end of the locking drive component is connected to one end of the locking rod, and the other end of the locking rod is inserted into the locking channel to lock the screw.

[0014] Furthermore, the locking drive assembly also includes an adsorption rod, which is used to adsorb the screws conveyed in the screw chuck, and the screw rod is inserted into the adsorption rod.

[0015] Furthermore, the locking drive assembly also includes a suction rod fixing block, which is provided with a suction hole and a vacuum chamber that are interconnected, the suction hole is connected to an external vacuum pumping device, and one end of the suction rod away from the screw chuck is fixed in the vacuum chamber.

[0016] Furthermore, the guide limiting assembly also includes a suction rod fixing seat movably sleeved on the guide rod, and one end of the suction rod fixing seat away from the guide rod is connected to the suction rod fixing block.

[0017] The beneficial effects of the utility model are as follows: the utility model discloses a compound motion screw locking machine, which has a compact structure and realizes the linkage between the locking head assembly and the locking drive assembly through the compound motion of the manipulator mechanism and the S-axis drive assembly. During this process, the position of the locking drive assembly remains unchanged. Since the locking head assembly and the guide limit assembly are light in weight and simple in structure, the movement of the locking head assembly is light and fast, which can effectively improve the locking efficiency and significantly reduce the failure rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic structural diagram of Example 1;

[0019] Figure 2 is a schematic structural diagram of Example 2;

[0020] Figure 3 is a schematic diagram of the structure of the manipulator mechanism and the locking mechanism described in Example 4;

[0021] Figure 4 is a schematic structural diagram of the manipulator mechanism and the locking mechanism described in Example 4 in another motion state;

[0022] Figure 5 It is a partial structural diagram of the locking mechanism described in Example 4.

[0023] The accompanying drawings are marked as follows: 1. first articulated arm; 2. second articulated arm; 3. drive unit; 4. Z-axis lifting frame; 5. S-axis lead screw; 6. lead screw nut; 7. S-axis drive motor; 8. motor fixing plate; 9. motor synchronous wheel; 10. synchronous belt; 11. lead screw synchronous wheel; 12. mounting plate; 13. guide sleeve; 14. guide rod; 15. screw chuck; 16. chuck mounting seat; 17. locking drive member; 18. batch rod; 19. adsorption rod; 20. suction rod fixing block; 21. suction rod fixing seat. DETAILED DESCRIPTION

[0024] In order to facilitate the understanding of those skilled in the art, the present invention is further described below in conjunction with embodiments and drawings. The contents mentioned in the implementation modes are not intended to limit the present invention.

[0025] Example 1

[0026] like Figure 1As shown, this embodiment provides a compound motion screw locking machine, including a machine base and a manipulator mechanism and a locking mechanism arranged on the base, the manipulator mechanism includes a first joint arm 1, a second joint arm 2 and a driving unit 3, one end of the first joint arm 1 is connected to the machine base, the other end of the first joint arm 1 is movably connected to the second joint arm 2, and the driving unit 3 is used to drive the second joint arm 2 to rotate relative to the first joint arm 1;

[0027] The locking mechanism includes an S-axis driving component, a guide limiting component, a locking head component and a locking driving component. The guide limiting component is movably arranged on the second joint arm 1. The S-axis driving component is used to drive the guide limiting component and the locking head component to perform lifting and lowering movements along the S axis. The guide limiting component is connected to the locking head component. The locking driving component is used to drive the screw conveyed by the locking head component to rotate and lock.

[0028] In the utility model, the second articulated arm 2 and the locking mechanism disposed on the second articulated arm 2 are driven by the driving unit 3 to rotate horizontally relative to the first articulated arm 1, and then the guide limit assembly and the locking head assembly are driven by the S-axis driving assembly to perform a linear lifting motion along the S-axis, and finally the locking driving assembly locks the screws transported in the locking head assembly. The screw locking machine obtained by the above-mentioned structural setting has a compact structure, and the linkage between the locking head assembly and the locking driving assembly is realized by the composite motion of the manipulator mechanism and the S-axis driving assembly. During this process, the position of the locking driving assembly remains unchanged, so that the movement of the locking mechanism is light, the execution speed is fast and stable, and the locking efficiency of the screw locking machine is effectively improved.

[0029] Furthermore, the S-axis driving assembly includes an S-axis screw 5 provided on the second articulated arm 2, a screw nut 6 fitted on the S-axis screw 5, and an S-axis driving motor 7 provided on the second articulated arm 2, wherein the S-axis driving motor 7 is used to drive the S-axis screw 5 to rotate, the S-axis screw 5 is connected to the screw nut 6, and the screw nut 6 is connected to the guide limit assembly through the mounting plate 12. Specifically, the S-axis screw 5 is connected to the second articulated arm 2 through the screw seat, and when the S-axis driving motor 7 is running, it drives the S-axis screw 5 to rotate, and then drives the screw nut 6 to move linearly up and down along the direction of the guide limit assembly through the connection between the S-axis screw 5 and the screw nut 6. Here, the guide limit assembly plays a guiding role on the one hand to prevent the S-axis screw 5 and the screw nut 6 from rotating synchronously, and on the other hand, when the screw nut 6 moves to the lowest position, it can be limited by the wire limit assembly.

[0030] Furthermore, the S-axis drive assembly further includes a motor fixing plate 8, a motor synchronous wheel 9, a synchronous belt 10 and a screw synchronous wheel 11. The S-axis drive motor 7 is fixedly connected to the second articulated arm 2 via the motor fixing plate 8. The motor synchronous wheel 9 is connected to the output end of the S-axis drive motor 7. The motor synchronous wheel 9 is connected to the screw synchronous wheel 11 via the synchronous belt 10. The screw synchronous wheel 11 is connected to the S-axis screw 5. Figure 5 .

[0031] In this embodiment, when the S-axis driving motor 7 is running, the motor synchronous wheel 9 is driven to rotate, and then the screw synchronous wheel 11 and the S-axis screw 5 are driven to rotate together through the transmission relationship between the synchronous belt 10 and the screw synchronous wheel 11. The above arrangement can effectively improve the accuracy and stability of the movement of the S-axis driving assembly and extend the service life of the device.

[0032] Furthermore, the guide limit assembly includes a mounting plate 12, a guide sleeve 13 and a guide rod 14, the two ends of the mounting plate 12 are respectively connected to the screw nut 6 and the guide rod 14, the guide sleeve 13 is fixedly penetrated through one end of the second joint arm 2 close to the locking head assembly, the guide rod 14 is slidably penetrated in the guide sleeve 13, and the end of the guide rod 14 away from the screw nut 6 is connected to the locking head assembly.

[0033] In this embodiment, the S-axis drive motor 7 drives the screw to rotate, and drives the screw nut 6, the guide rod 14 and the locking head assembly connected to the guide rod 14 to move up and down in the guide sleeve 13, while the position of the locking drive assembly remains stationary. The guide rod 14 and the locking head assembly are driven by the S-axis drive assembly to move to reach the specified screw installation position. This part of the structure is light, moves fast and stably, and can effectively improve the operation rhythm.

[0034] Furthermore, the locking head assembly includes a screw chuck 15 and a chuck mounting seat 16, the two ends of the chuck mounting seat 16 are respectively connected to the guide rod 14 and the screw chuck 15, and the screw chuck 15 is connected to an external screw feeding mechanism. In this embodiment, the screw chuck 15 is a vacuum adsorption tube, which is respectively connected to an external vacuum device and a screw feeding mechanism, and the external screw feeding mechanism transports the screw into the vacuum adsorption tube, and at the same time, the external vacuum device starts vacuuming to suck the screw, and then the screw is locked.

[0035] Furthermore, the locking drive assembly includes a locking drive member 17 and a screwdriver 18, wherein the locking drive member 17 is disposed on the second articulated arm 2, the output end of the locking drive member 17 is connected to one end of the screwdriver 18, and the other end of the screwdriver 18 is inserted into the screw chuck 15 to lock the screw. Specifically, the locking drive member 17 is an electric screwdriver.

[0036] The working principle of the compound motion screw locking machine described in this embodiment is specifically as follows: first, the driving unit 3 drives the second joint arm 2 and the locking mechanism to adjust the horizontal rotation angle to ensure that the locking mechanism is above the locking product, and then the S-axis driving assembly drives the guide limit assembly and the locking head assembly to move downward, and then the locking driving component 17 drives the screw rod 18 to penetrate into the screw chuck 15, and locks the screw adsorbed in the screw chuck 15.

[0037] Example 2

[0038] like Figure 1 and 2 As shown, based on Example 1, this embodiment provides a compound motion screw locking machine, further comprising a Z-axis driving device, the Z-axis driving device comprising a Z-axis lifting frame 4 and a driving system, the driving system is used to drive the Z-axis lifting frame 4 to perform lifting motion along the Z-axis, and one end of the Z-axis lifting frame 4 is movably connected to the first joint arm 1. Specifically, the other end of the Z-axis lifting frame 4 is connected to the output end of the driving system, the Z-axis lifting frame 4 is provided with a Z-axis lifting slide rail, and the driving system drives the Z-axis lifting frame 4 to perform linear motion along the Z-axis lifting slide rail.

[0039] In this embodiment, by setting up the Z-axis driving device, the manipulator mechanism and the locking mechanism can be driven to perform linear lifting motion along the Z-axis, thereby realizing position adjustment of the manipulator mechanism and the locking mechanism on the Z-axis, and having a wider range of applications.

[0040] Example 3

[0041] Based on Example 1, this embodiment provides a compound motion screw locking machine, wherein the locking head assembly includes a screw chuck 15 and a chuck mounting seat 16, wherein both ends of the chuck mounting seat 16 are respectively connected to the guide rod 14 and the screw chuck 15, and the screw chuck 15 is provided with a nail feeding channel for conveying screws and a locking channel for locking the screws, wherein the inlet end of the nail feeding channel is connected to an external screw feeding mechanism, and the outlet end of the nail feeding channel is connected to the locking channel.

[0042] In this embodiment, the second articulated arm 2 and the locking mechanism arranged on the second articulated arm 2 are driven by the driving unit 3 to rotate horizontally relative to the first articulated arm 1, and then the guide limit assembly and the locking head assembly are driven by the S-axis driving assembly to move downward along the S-axis to the specified locking position, and then the screws are blown into the nail feeding channel by the external screw feeding mechanism, and then the locking driving member 17 drives the batch rod 18 to extend into the locking channel to lock the screws.

[0043] Example 4

[0044] like Figure 3-5As shown, based on Example 2, this embodiment provides a compound motion screw locking machine, wherein the locking head assembly includes a screw chuck 15 and a chuck mounting seat 16, and the two ends of the chuck mounting seat 16 are respectively connected to the guide rod 14 and the screw chuck 15, and the screw chuck 15 is provided with a nail feeding channel for conveying screws and a locking channel for locking the screws. Specifically, the inlet end of the nail feeding channel is connected to an external screw feeding mechanism, and the outlet end of the nail feeding channel is connected to the locking channel, and the screw enters the locking channel from the nail feeding channel, and then the locking drive member 17 extends into the locking channel to lock the screw.

[0045] The locking drive assembly further includes an adsorption rod 19 , which is used to adsorb the screws transported in the screw chuck 15 , and the screw rod 18 is passed through the adsorption rod 19 .

[0046] Furthermore, the locking drive assembly also includes a suction rod fixing block 20, which is provided with a suction hole and a vacuum chamber that are interconnected, the suction hole is connected to an external vacuum pumping device, and the end of the suction rod 19 away from the screw chuck 15 is fixed in the vacuum chamber.

[0047] Furthermore, the guide limit assembly further includes a suction rod fixing seat 21 movably sleeved on the guide rod 14, and one end of the suction rod fixing seat 21 away from the guide rod 14 is connected to the suction rod fixing block 20. Such a setting can better fix the position of the suction rod 19 and make the movement of the suction rod 19 and the locking head assembly along the S axis more stable.

[0048] In this embodiment, the upper end of the adsorption rod 19 is connected to the vacuum chamber in the adsorption fixing block, and the lower end of the adsorption rod 19 is connected to the locking channel in the screw chuck 15. When the external vacuum device is evacuated, the adsorption rod 19 adsorbs the screw on the lower end of the adsorption rod 19, so that the screw remains in the adsorption state and moves to the designated screw installation hole, and then the locking driving member 17 drives the batch rod 18 to accurately complete the screw locking. Such a setting can improve the accuracy of the screw position, improve the locking efficiency, and is very suitable for locking deep hole products.

[0049] The working principle of the compound motion screw locking machine described in the utility model is specifically as follows: first, the driving unit 3 drives the second articulated arm 2 and the locking mechanism to adjust the horizontal rotation angle to ensure that the locking mechanism is above the locking product, and then the Z-axis driving device drives the manipulator mechanism and the locking mechanism to move downward along the Z-axis. After descending to a preset height, the Z-axis driving device continues to drive the manipulator mechanism and the locking mechanism to move downward. At the same time, the S-axis driving assembly drives the guide limit assembly and the locking head assembly to move upward until the batch rod 18 penetrates into the screw chuck 15 and hits the screw and completes the locking. Compared with the prior art, the locking head assembly and the locking drive assembly of the utility model are linked by the compound motion of the S-axis driving assembly and the Z-axis driving device. Since the locking head assembly and the guide limit assembly are light in weight and simple in structure, the movement of the locking head assembly is light and fast, which can effectively improve the locking efficiency and significantly reduce the failure rate.

[0050] The above embodiments are preferred implementation schemes of the present invention. In addition, the present invention can also be implemented in other ways. Any obvious replacement without departing from the concept of the present invention is within the protection scope of the present invention.

Claims

1. A compound motion screw locking machine, characterized in that: The invention comprises a machine base, a manipulator mechanism and a locking mechanism arranged on the machine base, wherein the manipulator mechanism comprises a first joint arm (1), a second joint arm (2) and a driving unit (3), wherein one end of the first joint arm (1) is connected to the machine base, and the other end of the first joint arm (1) is movably connected to the second joint arm (2), and the driving unit (3) is used to drive the second joint arm (2) to rotate relative to the first joint arm (1); The locking mechanism comprises an S-axis driving component, a guide limiting component, a locking head component and a locking driving component. The guide limiting component is movably arranged on the second joint arm (2). The S-axis driving component is used to drive the guide limiting component and the locking head component to perform lifting movement along the S-axis. The guide limiting component is connected to the locking head component. The locking driving component is used to drive the screw conveyed by the locking head component to rotate and lock.

2. A compound motion screw locking machine according to claim 1, characterized in that: It also includes a Z-axis driving device, which includes a Z-axis lifting frame (4) and a driving system. The driving system is used to drive the Z-axis lifting frame (4) to perform lifting movement along the Z axis. One end of the Z-axis lifting frame (4) is movably connected to the first joint arm (1), and the other end of the Z-axis lifting frame (4) is fixedly connected to the machine base.

3. A compound motion screw locking machine according to claim 1, characterized in that: The S-axis drive assembly comprises an S-axis screw (5) arranged on the second joint arm (2), a screw nut (6) sleeved on the S-axis screw (5), and an S-axis drive motor (7) arranged on the second joint arm (2); the S-axis drive motor (7) is used to drive the S-axis screw (5) to rotate; the S-axis screw (5) is connected to the screw nut (6), and the screw nut (6) is connected to the guide limit assembly via a mounting plate (12).

4. A compound motion screw locking machine according to claim 3, characterized in that: The S-axis drive assembly further comprises a motor fixing plate (8), a motor synchronous wheel (9), a synchronous belt (10) and a screw synchronous wheel (11); the S-axis drive motor (7) is fixedly connected to the second joint arm (2) via the motor fixing plate (8); the motor synchronous wheel (9) is connected to the output end of the S-axis drive motor (7); the motor synchronous wheel (9) is transmission-connected to the screw synchronous wheel (11) via the synchronous belt (10); and the screw synchronous wheel (11) is connected to the S-axis screw (5).

5. The compound motion screw locking machine according to claim 3, characterized in that: The guide limit assembly comprises a mounting plate (12), a guide sleeve (13) and a guide rod (14); the two ends of the mounting plate (12) are respectively connected to the screw nut (6) and the guide rod (14); the guide sleeve (13) is fixedly inserted into one end of the second joint arm (2) close to the locking head assembly; the guide rod (14) is slidably inserted into the guide sleeve (13); and the end of the guide rod (14) away from the screw nut (6) is connected to the locking head assembly.

6. A compound motion screw locking machine according to claim 5, characterized in that: The locking head assembly comprises a screw chuck (15) and a chuck mounting seat (16), the two ends of the chuck mounting seat (16) are respectively connected to the guide rod (14) and the screw chuck (15), and the screw chuck (15) is connected to an external screw feeding mechanism.

7. The compound motion screw locking machine according to claim 1, characterized in that: The locking drive assembly comprises a locking drive member (17) and a locking rod (18). The locking drive member (17) is arranged on the second joint arm (2). The output end of the locking drive member (17) is connected to one end of the locking rod (18). The other end of the locking rod (18) is inserted into the locking channel to lock the screw.

8. The compound motion screw locking machine according to claim 7, characterized in that: The locking drive assembly further comprises an adsorption rod (19), wherein the adsorption rod (19) is used to adsorb the screws transported in the locking head assembly, and the screw rod (18) is passed through the adsorption rod (19).

9. A compound motion screw locking machine according to claim 8, characterized in that: The locking drive assembly also includes a suction rod fixing block (20), the suction rod fixing block (20) is provided with a suction hole and a vacuum chamber that are interconnected, the suction hole is connected to an external vacuum pumping device, and one end of the suction rod (19) away from the locking head assembly is fixed in the vacuum chamber.

10. The compound motion screw locking machine according to claim 9, characterized in that: The guide limit assembly further comprises a suction rod fixing seat (21) movably sleeved on the guide rod (14); one end of the suction rod fixing seat (21) away from the guide rod (14) is connected to the suction rod fixing block (20).

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