KR20170050956A - Magntic levitation screw-cramping jaw for automatic screwdrivers - Google Patents

Abstract

The present invention provides an automatic driver magnetic levitation forceps. By installing magnetic levitation clamps at the end of the driver of the automatic driver, the structure and principle are (1) to grasp the screw when wearing through the control of air pressure, to control the exhaust time through the control of the electromagnet, At the same time, the operation is directly combined with the automatic driver to perform the tightening operation; The electric magnet is used to provide electricity to the screw and then the suction operation; (2) pushing the magnet using the relative displacement of the automatic driver, pushing the displacements backward with the exciter of the same nature of the stimuli, pushing the screws and proceed directly to tighten; (3) Using the relative displacement of the automatic screwdriver, push the switch to control the magnetizing force of the potter's wheel so that the screw is inhaled and the screw is tightened immediately. With this design, it is possible to easily operate with the robot (robot arm) while lowering the screw tightening and production facilities of the external equipment, and at the same time, it is possible to complete the convenient and consistent automatic screw tightening operation.

Description

MAGNETIC LEVITATION SCREW-CRAMPING JAW FOR AUTOMATIC SCREWDRIVERS

The present invention relates to a technique for advancing a thread tightening in combination with a robot (or a robot arm), and more particularly, to a screw magnetic levitation clip for an automotive driver which is simpler, more accurate and more efficient.

As is now known, an automatic driver is used to engage a robotic or robotic arm and perform a screw tightening operation. In the course of automatic screw tightening, use a screwdriver head on the front of the automatic screwdriver to secure the screws of the screw alignment system (or in the screw storage box) to the robot or robot arm and fix them.

In line with the various tasks, each company is constantly developing related products that meet their needs. For example, Taiwan Patent Publication No. M343563 'screw feeder' discloses a screw feeder that engages an automatic driver, which includes a screw feed box and a swing arm. The swing arm uses magnetic force to suck only one screw at a time in the screw feed box, then swings to the bottom of the driver head of the automatic driver, and when the automatic driver is pressed downward, the screwdriver head and screw are engaged to achieve the tightening purpose.

In addition, Taiwan Patent Publication No. 187918 discloses an automatic screwdriver head structure improvement, which includes a sleeve head shaft, an elastic member, and a sleeve.

The main feature is to fix the screw head to be picked up by using the inner diameter of the sleeve by aligning the sleeve coated on the end of the shear bolt of the removable sleeve head and fixing the elastic part on the sleeve and the sleeve head shaft, By rotating the head and inserting it into the rotation slot of the nut, you can pick up the screws straight up at the same time.

The type is to pick up screws in such a way that it blows air, sucks air, or lifts it up with elasticity. Generally speaking, under or under torque is a standard for the use of automatic tools in general workers. It is rare to use the maximum error value with the maximum torque. This is because the maximum torque reduces the life of the automatic tool. Therefore, these designs are not suitable for practical applications. In general, the actual error value is higher than the listed reference error value. Therefore, fire accidents occur if accidental loosening or loosening of the fastening screws of an aircraft or other item occurs accidentally. Also, the size of this type of threaded tongs is usually too large. If the size of the clamp is large due to the limited space when tightening the screws, it will adversely affect the screw tightening operation.

Other types of robot and automatic screwdriver tightening module applications currently available on the market include known operating modules and external equipment.

The operating module and the external equipment include a robot, a transmission shaft, a tool, an external contact management hose, a screw buffering device, a screw aligner (for screw picking), and a screw fixing device (for screw clamping). The structure design of these existing types of robots and automatic drivers is only suitable for operating automatic devices with conventional three or less axes. In the past, there was no pneumatic start-up screwdriver dedicated to robots. Therefore, the automatic screw tightening operation could be accomplished only by combining with the above-mentioned seven minimum equipment facilities before screw tightening. Therefore, since the number of modules of the entire facility is so large, the production cost of the production greatly increases.

Then, for screw-tightening operations of different sizes, screws must be used in accordance with the size. Due to the many different sizes of screws, every time you change the screw size, you have to replace it with the correct thread feeder, which is expensive.

Also, in the case of general manufacturing and precision manufacturing, a large torque (6 mm or more) with a large tightening torque or a small torque (5 mm or less) with a small torque is very large. Particularly, it is unsuitable for mass production because the partial process is still carried out by the manpower when the screw of 1mm or less, which is frequently used in precision 3C manufacturing, is tightened and the labor cost is high.

It is a principal object of the present invention to develop an external (fastening) module for a low cost robotic dedicated screwdriver which is suitable for high precision assembly requirements in providing a screw magnetic levitation forceps for an automatic screwdriver. This lowers the external production cost of screw tightening and allows the robot to quickly and conveniently complete the tightening operation of a consistent automation and drastically reduce costs.

It is another principal object of the present invention to provide a screw magneto floating grip for an automatic screw driver which can be picked up by a pneumatically controlled magnet by means of a pneumatic governor or by the double action of clamping controlled by the suction of the magnet and the pneumatic governor It is possible to pick up by. The present invention provides a clamping clamping range for a sufficient thread diameter to accommodate many different sized threads, thereby eliminating the task of changing the clamping force and providing greater convenience in field applications; Air pressure and magnet suction interact with each other during housings to reduce the appearance of the screws when they are assembled. In addition, it can be applied effectively in any small space by designing special tongue appearance size.

In order to accomplish the above object, a first embodiment of the present invention is characterized in that: a magnetic levitation forceps is designed on the front of a driver head of an automatic driver. Specifically, the magnetic levitation spool of the present invention according to the first embodiment comprises at least: a material management point connected to an external connection source of pressure to provide a high pressure gas input; An exhaust management point communicating with the dressing management point and discharging a high pressure gas; A pneumatic cylinder assembly for providing an expansion and contraction operation for restricting a discharge action of the exhaust management point; A first magnet corresponding to each of the first and second magnets, the first magnet being moved in a direction close to each other by a pressure action of the high pressure gas input from the material management point and being restored by the elastic action of the spring when the high pressure gas is discharged through the discharge management point; A second magnet positioned adjacent to the first magnet and adapted to move in the same direction as the first magnet under the suction of the magnetic force of the first magnet; A tongue coupled to the second magnet and movable along the fixed rail; And a gripper coupled to the gripper and configured to grip or release the screw when the gripper position is near or distant from the driver head.

In the above-described configuration, the exhaust management point further includes an electromagnet for controlling the gas exhaust.

In the above-described configuration, four claws are optimum.

In the above-described configuration, the electromagnet is configured to achieve a function of causing the claw to generate a magnet action based on the input electricity, and to achieve the function of sucking and holding the screw.

When combined with automatic driver and robotic arm to provide screw tightening, it combines with the front of the driver head of the self-floating tongs and automatic screwdriver to provide the robotic arm with a smooth grip. Consistently completes the tightening of the screws. Therefore, it increases the production capacity through the accuracy of tightening work.

According to a second embodiment of the present invention: a magnetic levitation clamp of a driver pre-installed of an automatic driver is included. Specifically, the magnetic levitation tongue according to the second embodiment of the present invention comprises: at least: an outside of a driver head, which is pressed downward to act as a positional motion, provides a chronological positional motion and a pole repelling force, A first magnet for recovering the magnetic field; A second magnet installed between the first magnet and the driver head such that they are not in contact with each other and are pushed toward the drive head with a reverse polarity of the first magnet in accordance with the movement of the first magnet and the driver head is restored when the screw is tightened; And a tongue coupled to the second magnet and magnetically pulling or placing a screw according to the movement of the second magnet, so that the tongue is in a tightened state or a released state so that the screw tightening operation proceeds.

The second magnet and the tongue can be seen in the form of integral molding.

According to the third technical solution adopted in the present invention, a magnetic levitation tong is provided on the front end of the driver head of the automatic driver. The magnetic levitation clamp includes at least: a switch, which is mounted on the outside of the driver's head, switches on when the case is under pressure and moves down; The battery is electrically connected to the switch and provides a power signal; A ceramic tongue is provided between the switch, the battery and the driver head, and has a hollow space for allowing the driver head to be arranged to pass therethrough, and an outwardly directed end through the hollow space provides for screwing and releasing the screw. There is a coil wound on the outside of the ceramic tongs, and the coil is electrically connected to the switch and the battery. On the basis of the above structure, the magnetic force of the potentiometer, through the control of turning the switch on and off, creates a magnetic or no magnetic state in order to magnetically inhale and clamp the screw.

The present invention is particularly designed to be compatible with a module dedicated to a robot (or robot arm). When the screw is tightened using air pressure and electric control system, the transmission signal for control controls the robot body. The system can be connected to a central host computer to store data. Not only is the signal transmission stable, but the quality remains constant. Other advantages are as follows.

1. Lower the original external module (from at least 7) to 3 for the auto driver dedicated to breathing with the original robot. The robot can easily complete the screw tightening operation and greatly reduces the cost by more than three times.

2. The magnetic floating claw of the present invention has a wider range of threaded head diameters. When using screws of different sizes each time, the existing problems of changing the structure of the clamp and the work can be solved, and the damage of the screw exterior is alleviated.

1 is a view showing a structure of a magnetic floating claw according to a first preferred embodiment of the present invention;
FIG. 2 is a drawing of the operation of a levitation spool of a first preferred embodiment of the present invention;
2 (A) is an enlarged view of a portion of FIG. 2;
FIG. 3 is a perspective view of a magnetic levitation apparatus according to a second preferred embodiment of the present invention; FIG.
4 is a view showing the operation of a levitation spool of a second preferred embodiment of the present invention;
FIG. 5 is a perspective view of a magnetic floating claw according to a third preferred embodiment of the present invention; FIG.
FIG. 6 is a drawing of the operation of a levitation forceps according to a third preferred embodiment of the present invention; FIG.

The present invention provides an automatic screwdriver magnetic levitated gripper, characterized by the structure of a magnetic levitating gripper (20) provided on the driver head (10) of the automatic driver (1).

Referring to Figure 1, the compositional structure of a first preferred embodiment of a levitating magpie comprises: The levitated tongue 20 is provided on the front side of the driver head 10 of the automatic driver 1. In cooperation with the end of the automatic driver 1, that is, with the robot (robot arm) in practical use; As shown in the drawing, the levitated tongue 20 is smoothly coupled to the driver's head 10 of the automatic driver 1 using the case 21. Use this to tighten.

The self-floating tongue 20 includes at least a wearing management point 221, an exhaust management point 222, a first magnet 23, a second magnet 24, a tongue 25, 26).

Specifically, it provides a deposit management point 221 connected to an external source of pressurization for high pressure gas input; And communicates with the dressing management point 221 to provide an exhaust management point 222 for high pressure gas discharge, the exhaust management point 222 may further include an electromagnet 224; (22) for providing a telescopic action for restricting the exhaust action of the exhaust management point (222); A set of the first magnets 23 corresponding to each other moves in a direction to close each other under the action of the pressure of the high pressure gas inputted from the entry management point 221 and the high pressure gas is discharged through the exhaust management point 222 It is restored by the elastic action of the spring 223; A pair of mutually corresponding second magnets 24 are adjacent to the first magnet 23 and magnetically attracted to each other by the first magnet 23 and simultaneously move in the same direction and the first magnet 23 is reversed ) Are reversed at the same time; The tongue 25 can move along the fixed rail 251 by engaging with the second magnet 24; A set of claws 26 are provided to be inclined with respect to the claws 25 and provide a screwing or pinching when the position of the claws 25 is close to or away from the driver 10.

As shown in FIG. 1 (A), the number of the claws 26 may be provided in an even number or a multiple number. Four claws in this embodiment are the most stable.

Referring to FIG. 2, first, a high-pressure gas passes through an external atmospheric pressure source and is input from the dressing management point 221 into the magnetic force grabber 20. On the other hand, the air pressure cylinder chamber 22 is activated and the air pressure cylinder is extended to block the exhaust management point 222, in order to prevent leakage of the high pressure gas.

At this time, the gas pressure of the high-pressure gas pushes the corresponding first magnet 23 inward. This corresponding first magnet 23 moves and moves in the same direction as the second magnet 24 next to it through the magnet suction action. The second magnet 24 and the tongue 25 are engaged with each other and the tongue 25 moves along the fixed rail 251 in the direction of the driver's head 10. After moving to the final position, the nipple (26) of the jaws smoothly catches the screw (5) in the shape of all the ends of the jaws.

On the basis of the above-described structure, when the screw is actually picked up, the operation of picking up the screw 5 by the levitated spiral 20 is carried out by using the pressure of the external input high-pressure gas. The screws (5) can be picked up in a buffered and balanced manner so that the appearance of the screw head is not damaged.

After the screw 5 is lifted, the driver head 10 can be smoothly tightened by pushing the end of the driver head 10 in line with the head of the screw by using a fixed thrust force which is set in advance; At the same time, the exhaust management point 222 manages the exhaust operation through the electromagnet 224. At this time, since the first magnet 23 is no longer subjected to the gas pressure, the first magnet 23 is subjected to the resilient action of the spring 223 to move in the direction. The first magnet 23 moves while pulling the second magnet 24 at the same time and moving in the opposite direction at the same time. At the same time, the second magnet 24 causes the tongue 25 to move away from the driver head 10 via the fixed rail 251, and the claw 26 is in the released state (standby state).

In this embodiment, when the automatic driver 1 and the robot arm are engaged to provide a screw tightening operation, the magnetic levitation forceps 20 is engaged with the front end of the driver 10 of the automatic driver 1 so that the robot arm can smoothly and smoothly move the screws 5 ), And it is also possible to tighten the screws (5) immediately after they are picked up. This consistent automatic screw clamping and thread tightening operation increases productivity in performing precise thread tightening operations.

3, a second preferred embodiment of the levitation magazine will be described.

The magnetic levitation tongue 30 according to the second embodiment is combined with the driver 10 of the automatic driver 1 and includes at least a first magnet 31, a second magnet 32 and a tongue 33.

More specifically, the first magnet 31 is installed outside the driver's head 10, and is subjected to a case-pressure-position-shifting action to chronologically provide positional movement and repulsive repulsive force, and is restored after releasing the case.

The second magnet 32 is installed between the first magnet 31 and the driver head 10 and does not contact each other. The second magnet 32 is pushed toward the driver's head 10 with a homogenous reverse force along with the movement of the first magnet 31 and is restored when the screw head 5 is tightened by the driver's head 10.

The tongue 33 is coupled to the second magnet 32 having a magnet suction force so that the tongue 33 is in a tight state or released state according to the movement of the second magnet 32. That is, the tongue 33 is chronologically connected to the second magnet 32 having the magnet suction force, so that the tongue 33 is magnetically attracted to the second magnet 32 And the fastening state or the releasing state is established according to the movement of the position.

The operation principle when the automatic driver 1 and the robot (or the robot arm) are engaged after the screw tightening operation is performed is shown in FIG.

Referring to FIG. 4, when the position of the levitated tongue 30 is moved by pressing down the case, the course includes the following operations at the same time.

Specifically, when the first magnet 31 of the levitated tongue 30 moves to the side of the second magnet 32, the second magnet 32 pushes the clamp 33 to receive and clamp the screw 5; When the driver's head 10 moves downward and comes into contact with the screw 5 to proceed tightening, the second magnet 32 is opened and released, and at the same time the case is restored and the first magnet 31 , So that the driver head 10 extends so that the screw 5 can be pushed hard to complete the tightening.

Referring to FIG. 5, the magnetic floating claw 40 according to the third preferred embodiment of the magnetic floating claw structure has at least the switch 41 and the battery 42. In FIG.

The switch 41 is provided around the outside of the driver head 10 and has a PCB plate for transmitting received signals to an external control circuit. When the case is forced to be positioned downward, it is contacted and switched, and when the case is restored to its initial state, the contact is relieved and switching is interrupted.

The battery 42 is electrically connected to the switch 41 and provides a power signal; A hollow space is provided between the battery 42 and the driver head 10 so as to allow the driver head to pass therethrough and the exposed end is connected to the screw 5 ) Tightening. The coil 44 wound around the ceramic tongs 43 is electrically connected to the switch 41 and the battery 42 to control the opening and closing of the switch 41 so that the magnetic force of the ceramic tongs 43 is magnetized And is used to complete the suction and clamping of the screw (5).

In the embodiment according to the above structure, the operation principle when the screw driver is engaged after the automatic driver 1 and the robot (or robot arm) are combined is shown in FIG.

6, when a pushing force is applied to move the magnetic levitation tongue 40 downward, the magnetic levitation tongue 40 operates the switch 41 to rotate the coil 44 The electric signal is sent to the potentiometer 43 through the coil 44 so as to be temporarily magnetized.

When the automatic driver 1 is pushed down, the driver head 10 is brought into contact with the screw 2 and the switch 41 is turned off to cut off the power, Is returned to its original position so that the screw 5 can be pushed firmly for subsequent thread tightening operations.

Taken together, the present invention is mainly required for assembling a large factory requiring high precision. Low cost and specialized robot module designed specifically for robotic arm. The self-lifting forceps can be operated by pulling the magnet through the barometric pressure controller or rejecting the magnet by the magnet, or double action of sucking and pinching. Discharge the screw through the control of the electromagnet. After capturing the screw, the automatic driver proceeds directly to the tightening operation. This method is different from traditional or current triaxial automation devices, while reducing the quantity and cost of external modules. According to the embodiment, it is possible to tighten screws of various sizes with one machine, so that it is suitable with the demand of the upcoming industrial 4.0 era.

The above description is only a comparatively preferred embodiment of the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

1: automatic driver 10: driver head 20: magnetic levitation forceps
21: case seat 22: pressure cylinder 221: writing management point
222: exhaust management point 23: first magnet 24: second magnet
25: tongs 251: orbit 26: claws

Claims (7)

A writing management point connected to an external pressure source for high pressure gas input;
An exhaust management point communicating with the warehouse management point and discharging high pressure gas;
A pneumatic cylinder assembly for providing a telescopic action to limit the exhaust action of said exhaust management point;
A pair of first magnets corresponding to each other to move in a direction approaching each other under the action of a high pressure gas pressure of the input from the entry management point and to be restored by elastic action of a spring upon discharge from an exhaust management point through a high pressure gas;
A pair of second magnets provided next to the first magnet and adapted to move in the same direction as the first magnet by being sucked by the magnetic pole of the first magnet;
A tongue coupled to the second magnet and movable along the fixed rail;
And a gripper engaged with the gripper and having a function of gripping and releasing a screw when the gripper position is close to or away from the driver head. The method according to claim 1,
Wherein the exhaust management point further comprises an electromagnet. The self-floating tongs of claim 1, wherein the claws are four. 3. The screw driver as claimed in claim 2, wherein electric power is input to the electromagnet so that the claw can attract and clamp the screw with an electromagnetic attraction force. A first magnet which is installed around the outside of the driver's head and which receives a position-shifting action of the case in a downward direction, simultaneously causes a positional shift, provides a repulsive repulsive force, and is restored after releasing the case;
A second magnet installed between the first magnet and the driver head such that they are not in contact with each other and are pushed toward the drive head by a reverse polarity of the first magnet in accordance with the movement of the first magnet and the driver head is restored when the screw is tightened;
And a tongue coupled to the second magnet and magnetically pulling or dismounting the magnet according to the movement of the second magnet so that the tongue is in a tightened state or a released state so that the screw tightening operation proceeds. Screw thread Magnetic floating tongs. 6. The method of claim 5,
Wherein the second magnet and the tongue are integral. A PCB plate mounted around the outside of the driver head for transferring received signals to an external control circuit and is contacted and switched when the case is forced to be positioned downward and the contact is released when the case is restored to the initial state A switch which is switched off when the switch is turned off;
The switch having a hollow space provided between the battery and the driver head for permitting the driver head to be disposed therethrough, the exposed tip of the tongue providing a screwing;
And a coil wound around the ceramic tongue and electrically connected to the switch and the battery.

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