TW201710035A - Automatic screwdriver screw magnetic suspension clamping claw can avoid damaging appearance of screws during clamping - Google Patents

Abstract

The invention provides an automatic screwdriver screw magnetic suspension clamping claw. Mainly, a magnetic suspension clamping claw is disposed at the front end of the screwdriver head of the automatic screwdriver. Its structure type and principle comprise as follows. (1) Screw is clamped while using air pressure to control air intake. Afterward when the electromagnet is utilized to control exhaust air, the screw is loosed. At the same time, the automatic screwdriver is incorporated to perform locking action. Moreover the effect of sucking screws can, by using the electromagnet, be provided by inputting power energy. (2) The relative displacement between the automatic screwdriver and it is used to push the magnet. After re-using the repulsive force of magnetic pole homosexual repulsion to push the displacement to grip the screws, locking action is directly carried out. (3) The relative displacement between the automatic screwdriver and it is used to push the switch controlling the magnetic chuck for initiation in order to suck and grip screws. The screw locking action can be performed. With the design, the production cost of the peripheral equipment of locking screws is reduced, and it can be easily combined with the robot (machine arm) use to conveniently complete automatic screw locking work of.

Description

Automatic screwdriver screw magnetic claw

The present invention relates to a technique for attaching a screw to a robot (or a robot arm), in other words, to an automatic screwdriver screw magnetic plucking jaw which is convenient to combine and which is more sophisticated and more efficient.

It is known that the automatic screwdriver is combined with the robot or the robot arm for the screw locking operation. In the implementation, the screwdriver head of the automatic screwdriver is used to align the robot or the robot arm with the screw on the machine (or the screw storage slot). The screws are used for locking and fixing to achieve automatic locking work.

In response to various types of locking operations, various manufacturers continue to develop related products that meet their respective needs; such as the National Patent Bulletin No. M343563 "screw supply device", which discloses a screw supply device incorporating an automatic screwdriver, including a screw supply. a slot and a swing arm, the swing arm is magnetically sucked by a screw supplied from the screw supply slot at a time, and then swung to a position directly below the screwdriver head of the automatic screwdriver; thereby, the screwdriver head and the screw are made when the automatic screwdriver is pressed from the bottom Combine and achieve the purpose of the lock.

In addition, as shown in the National Patent Publication No. 187918 "Improvement of Automatic Screwdriver Sleeve Structure", it is disclosed that a ferrule structure combined with an automatic screwdriver socket includes a set of head rods, an elastic member and a sleeve, which are mainly detachable. a sleeve is sleeved on the front end screw end of the ferrule, and an elastic component is fixed between the sleeve and the ferrule rod; The nut of the screw to be picked up is repetitively rotated to contact the screw groove of the embedded nut, so that the screw can be accurately and firmly clamped vertically.

The above type uses the air blowing, air suction or elastic clamping to perform the screw clamping, which is generally used by the general operator or the low torque as the automatic tool. The minimum torque is rarely used as the maximum error value because The maximum torque will reduce the life of the automatic tool, so the design does not meet the actual use, often the actual error value will be greater than the reference error value written in the catalog, so occasionally found for the lock on the aircraft, car or other items Screws, there may be slipping or locking, which may lead to accidents; in addition, the size of the chuck used to grip the screws is usually too large, and the space for locking the screws is often due to the size of the chuck. The problem is limited by convenience.

In addition, the module application type of robots and automatic screwdriver lock screws on the market currently, the known modules and peripheral devices include: robots, adapter shafts, tools, external control tubes, screw buffer mechanisms, Screw alignment machine (take screw), screw fixing mechanism (clamping screw), etc. The known robots and automatic screwdrivers are only designed for the use of traditional three-axis automation devices. In the past, there were no robot-specific pneumatic screwdrivers. Therefore, at least seven kinds of the above-mentioned screws are required before the screw locking operation is implemented. The combination of the mechanism and the equipment can automatically complete the action of the locking screw. Since the module of the whole device is too much, the cost of manufacturing is greatly increased.

Secondly, for the screw locking operation of different sizes, it is necessary to use a screw fixing mechanism with a matching size. However, there are too many screw specifications. For each screw size, it is necessary to replace a corresponding screw feeder, which is invisibly added. cost.

In addition, for the general industry and the precision industry, whether it is a large screw with a large torque (6mm or more) or a small screw with a small torque (5mm or less), it will be extremely large in the integration. The error value, especially the precision 3C commonly used below 1mm screw lock, and this part still depends on manpower to achieve, resulting in a large increase in labor costs, and can not quantify production.

The main object of the present invention is to provide an automatic screwdriver screw magnetic floating jaw, which is required for assembly according to high precision requirements, and thereby develops a peripheral (locking) module for a low-cost robot-specific automatic screwdriver. It can reduce the production cost of the peripheral equipment of the locking screw, and enable the robot to complete the automatic screw locking work easily and quickly, and greatly reduce the cost.

The main object of the present invention is to provide an automatic screwdriver screw magnetic floating jaw, which can be clamped by pneumatic control to push magnetic attraction, or pneumatically controlled to promote the function of magnetic attraction and clamping, and provide sufficient screw diameter clamping. The range can be clamped for different sizes of screws, and the replacement of the gripping tool is eliminated, which is more convenient for implementation; and the interaction between the air pressure and the magnetic attraction during the clamping can reduce the appearance damage of the screw when gripping, and special The size of the collet is designed to be effective even in small spaces.

In order to achieve the above object, the technical solution (1) adopted in the present invention includes: a magnetic floating jaw disposed at a front end of the screwdriver of the automatic screwdriver, the magnetic floating jaw component comprising at least: a connecting external air pressure source to provide high pressure gas input An intake control point; an exhaust control point that communicates with the intake control point and provides high pressure gas discharge; a pneumatic cylinder set that provides a telescopic action to limit the exhaust of the exhaust control point; a corresponding set The first magnet is displaced toward the mutual direction by the high pressure gas pressure input by the intake control point, and is reset by the elastic action of a spring when the high pressure gas is discharged through the exhaust control point; a corresponding group a second magnet adjacent to the first magnet and attracted by the magnetic pole of the first magnet, and the same direction as the first magnet Synchronous displacement; a jaw coupled to the second magnet and displaceable on a fixed track; and a set of claws that engage the jaws and are clamped or clamped toward or away from the driver Release the clip to pick up or release the screw.

The exhaust control point described above further includes an electromagnet to control the exhaust action.

The above four claws are the best.

The above-mentioned electromagnet can further exert the magnetic attraction effect of the claw needle by inputting electric energy, thereby achieving the utility of the suction clamping screw.

By combining the automatic screwdriver with the robot arm to provide the screw locking operation, the magnetic floating jaw is coupled to the front end of the screwdriver of the automatic screwdriver, and the robot arm can smoothly grip the screw, and can directly carry out the screw after obtaining the screw The screw locks the action, and completes the automatic screwing and locking screw action, so as to achieve the effect of improving the productivity under the precision locking screw operation.

The technical solution (2) adopted in the present invention includes: a magnetic floating jaw disposed at the front end of the screwdriver of the automatic screwdriver, the magnetic floating jaw component comprising at least: a first magnet disposed on the outer periphery of the screwdriver head and under the outer casing The displacement is coupled to provide displacement and provide magnetic repulsive force, and is reset after releasing the outer casing; a second magnet disposed between the first magnet and the bit and not in contact with each other, and the same magnetic pole phase when the first magnet is displaced Repulsive force pushes close to the screwdriver head and is reset when the screwdriver head locks the screw; and a collet that connects the second magnet with magnetic attraction and is clamped or released by the displacement of the second magnet to Magnetic chucking and release screws are provided.

The second magnet and the chuck described above may be in an integrally formed structure.

The technical solution (3) adopted in the present invention includes: a magnetic floating jaw disposed at a front end of the screwdriver of the automatic screwdriver, the magnetic floating jaw comprising at least: a switch disposed outside the screwdriver head Week, the external force is pressed and displaced to contact open, and is closed after being released from the external force; a battery is electrically connected to the switch and provides a power signal; and a magnetic chuck is disposed on the switch Between the battery and the screwdriver head, a hollow head is provided for the hollow, and a clamping screw is provided at one of the exposed ends, and a coil is wound around the outer surface of the magnetic chuck, and the coil is electrically connected to the switch and the battery. Sexual connection; thereby controlling the opening and closing of the switch to form the magnetic or magnetic disconnection state of the magnetic chuck to facilitate adsorption and achieve the effect of clamping the screw.

The invention is specially designed to meet the special module of the robot (or the robot arm), and uses the pneumatic pressure and the electric control system to control the robot host by the built-in transmission signal when the screw is locked, and can be connected to the central host computer to store the data, not only the signal The transmission is stable, the quality can maintain a certain level, and the advantages achieved are as follows:

1. The original peripheral module for the automatic screwdriver that originally cooperated with the robot is reduced from the original number (at least 7) to only three, so that the robot can easily complete the screw locking operation, and the cost is greatly reduced by more than three times.

2. The magnetic floating jaw has a section of screw head diameter clamping range, and the structure and practice of the chuck are replaced every time a screw is used, and the appearance of the screw can be avoided on the clamping.

1‧‧‧Automatic screwdriver

10‧‧‧ screwdriver head

20‧‧‧Magnetic floating jaws

21‧‧‧Shell seat

22‧‧‧Pneumatic cylinder group

221‧‧‧Intake control point

222‧‧‧Exhaust control point

23‧‧‧First magnet

24‧‧‧Second magnet

25‧‧‧claw

251‧‧‧ Track

26‧‧‧ claw needle

30‧‧‧Magnetic floating jaws

31‧‧‧First magnet

32‧‧‧Second magnet

33‧‧‧ chuck

40‧‧‧Magnetic floating jaws

41‧‧‧ switch

42‧‧‧Battery

43‧‧‧Magnetic chuck

44‧‧‧ coil

5‧‧‧ screws

The first figure is a schematic view of the structure of the magnetic floating jaw according to the first preferred embodiment of the present invention; the second figure is a schematic view of the action of the magnetic floating jaw according to the first preferred embodiment of the present invention; and the second figure (A) is the side of the second figure. See the partial enlargement.

3 is a schematic structural view of a magnetic floating jaw according to a second preferred embodiment of the present invention; 4 is a schematic view showing the operation of a magnetic floating jaw according to a second preferred embodiment of the present invention; FIG. 5 is a schematic view showing the structure of a magnetic floating jaw according to a third preferred embodiment of the present invention; and FIG. 6 is a third preferred embodiment of the present invention. Schematic diagram of the action of the magnetic floating jaw.

The invention provides an automatic screwdriver screw magnetic floating jaw, which is mainly provided with a magnetic floating jaw 20 structure at the screwdriver head 10 of the automatic screwdriver 1.

Please refer to the first figure for revealing the composition of the first preferred embodiment of the magnetic floating jaw; wherein the magnetic floating jaw 20 is disposed at the front end of the screwdriver 10 of the automatic screwdriver 1 and the end of the automatic driver 1 In fact, it is used in combination with a robot (mechanical arm); as shown in the figure, the magnetic floating jaw 20 is smoothly coupled to the driver's head 10 of the automatic driver 1 by a housing seat 21, thereby facilitating Subsequent locking operation; the magnetic floating jaw 20 comprises at least: an intake control point 221 connecting the external air pressure source to provide a high pressure gas input; a communication with the intake control point 221 and providing high pressure gas discharge and exhaust Control point 222, the exhaust control point 222 may further include an electromagnet 224; a pneumatic cylinder group 22 that provides a telescopic action to limit the exhausting action of the exhaust control point 222; and a corresponding set of first magnets 23, The pressure of the high pressure gas input by the intake control point 221 is displaced toward the mutual direction, and is reset by the elastic action of a spring 223 when the high pressure gas is discharged through the exhaust control point 222; a corresponding group of the second Magnet 24, The first magnet 23 is disposed adjacent to the magnetic pole of the first magnet 23 to generate synchronous and co-directional displacement, and synchronous reverse reset when the first magnet 23 is reversely reset; a jaw 25, The second magnet 24 is coupled and displaceable on a fixed rail 251; and a set of claws 26 are coupled to the jaws 25 and disposed obliquely, and are formed when the jaws 25 are displaced toward or away from the driver head 10. Clamping Or release, to provide a grip or release screw.

As shown in the first figure (A), the number of the set of claws 26 can be implemented in the form of a pair or a multiple thereof, and in the present embodiment, it is preferable to hold the four pieces most stably.

According to the magnetic floating jaw structure described above, regarding the action, please refer to the second figure, mainly by using an external external air pressure source to input high-pressure gas into the magnetic jaw 20 via the intake control point 221, and at the same time, the air pressure The cylinder block 22 will act and extend out of the pneumatic cylinder to block the exhaust control point 222 to prevent leakage of high pressure gas; at this time, the gas pressure of the high pressure gas will urge the first magnet 23 to move in the opposite direction, the relative While the magnet 23 moves, it attracts the adjacent magnets 24 in the opposite direction by magnetic attraction, and the second magnet 24 is combined with the jaws 25 to make the jaws 25 on the fixed rail. The 251 is moved in the direction of the head 10 and is to be displaced to the final position. At this time, all the tips of the group of claws 26 are clamped to each other, and the screw 5 can be smoothly gripped.

Therefore, when actually used for gripping the screw, since the pressure of the externally input high-pressure gas is used to push the magnetic floating jaw 20 to grip the screw 5, the screw 5 can be clamped with a buffered and balanced force instead of There will be cases where the appearance of the screw head is broken.

After the screw 5 is gripped, the screwdriver 10 is pushed by the predetermined fixed thrust to make the tip end of the screw head, and the lock can be smoothly performed; meanwhile, the exhaust control point 222 controls the starter row by the electromagnet 224. The gas acts, at this time, the first magnet 23 is displaced in the opposite direction by the elastic force of the spring 223 due to the absence of air pressure, and the first magnet 23 also attracts the adjacent second magnet 24 to move in the opposite direction in synchronization. At the same time, the second magnet 24 is coupled to move the jaws 25 away from the driver bit 10 via the fixed rail 251, so that the set of claws 26 return to a released (standby) state.

In this way, when the automatic screwdriver 1 is combined with the robot arm to provide the screw locking operation, the magnetic floating jaw 20 is coupled to the front end of the screwdriver 10 of the automatic screwdriver 1, and the robot arm can be quickly and smoothly gripped. Screw 5, and after clamping the screw 5, can directly perform the locking action, and complete the automatic screwing and locking screw action, so as to achieve the effect of improving the productivity under the precision locking screw operation.

Please refer to the third embodiment, which is a second preferred embodiment of the magnetic floating jaw structure; wherein the magnetic floating jaw 30 is coupled to the screwdriver head 10 of the automatic screwdriver 1 and includes at least: a first magnet 31 , disposed on the outer circumference of the screwdriver head 10, is displaced by the displacement of the outer casing and provides a magnetic repulsive force, and is reset after releasing the outer casing; a second disposed between the first magnet 31 and the screwdriver head 10 and not contacting each other The magnet 32 is urged by the repulsive force of the magnetic pole when the first magnet 31 is displaced to be close to the bit 10, and is reset when the screwdriver head 10 is locked with the screw 5; and a chuck 33 is connected to the second magnet 32. It has magnetic attraction and is clamped or released by the displacement of the second magnet 32 to provide magnetic clamping and release screws 5 for convenient locking operation.

Therefore, in the implementation, when the automatic screwdriver 1 is combined with the robot (or the robot arm), when the screw locking operation is to be performed, the operation principle of the automatic screwdriver 1 is as shown in the fourth figure, and the magnetic floating jaw 30 is displaced when the outer casing is pressed. At the same time, the stroke includes: displaceing the first magnet 31 of the magnetic floating jaw 30 to a position adjacent to the second magnet 32, and pushing the second magnet 32 to urge the chuck 33 to adsorb and grip the screw 5; the screwdriver head When the downward displacement bearing screw 5 is locked, the second magnet 32 is released and released, and the outer casing is reset, and the first magnet 31 of the magnetic floating jaw 30 is also reset, so that the screwdriver head 10 can be extended. The tightening of the screw 5 is completed.

Please refer to the fifth figure again, which is the third preferred embodiment of the magnetic floating jaw structure. For example, the magnetic floating clamp 40 includes at least a switch 41 disposed on the outer periphery of the screwdriver head 10, and having a PCB board capable of transmitting and receiving signals to an external control loop, and the force is applied to cause the housing to be pressed and displaced to contact and open, and The battery 42 is electrically connected to the switch 41 and provides a power signal; and a magnetic chuck 43 is disposed between the switch 41, the battery 42 and the driver 10, and is hollow. The insertion of the driver 10 is provided, and the clamping screw 5 is provided at one of the exposed ends. The coil 44 is wound around the outer surface of the magnetic chuck 43. The coil 44 is electrically connected to the switch 41 and the battery 42. Thereby, the opening and closing of the switch 41 is controlled to form the magnetic chuck 43 to be magnetically or demagnetized to facilitate the adsorption and the utility of the clamping screw 5.

Therefore, in the implementation, when the automatic screwdriver 1 is combined with the robot (or the robot arm), when the screw lock operation is to be performed, the operation principle of the automatic screwdriver 1 is as shown in the sixth figure, when the external force presses the displacement of the magnetic floating jaw 30 At the same time, the stroke includes: disposing the first magnet 31 of the magnetic floating jaw 30 close to the second magnet 32, causing the collet 33 to release the adsorption screw 5; and the first magnet 31 is continuously displaced away from the second magnet 32, The chuck 33 is clamped to achieve the function of the gripping screw 5; the magnifying jaw 30 is released to be reset, so that the screwdriver 10 of the automatic screwdriver 1 extends out of the tightening screw 5 to perform the locking operation.

In summary, the present invention is mainly directed to a high-precision assembly plant, and designs a low-cost automatic screwdriver peripheral module dedicated to a robot (or a robot arm), wherein the magnetic floating jaw is controlled by air pressure. When the gas is pushed, the magnetic or magnetic repulsion is pushed to perform the screw clamping action or the magnetic attraction and the clamping action. When the electromagnet is used to control the exhaust, the screw is loosened, and then the automatic screwdriver is used to directly lock the screw after clamping the screw. This method is different from the traditional or current automatic assembly below three axes, and greatly reduces the number of peripheral modules and reduces the cost, and implements the previous one. The machine can be used for the locking of screws of various sizes, which is in line with the needs of the upcoming Industrial 4.0 era.

However, the above-mentioned embodiments are merely preferred embodiments of the present invention, and the equivalent structural changes of the present invention and the scope of the claims are intended to be included in the scope of the present invention.

1‧‧‧Automatic screwdriver

10‧‧‧ screwdriver head

20‧‧‧Magnetic floating jaws

21‧‧‧Shell seat

22‧‧‧Pneumatic cylinder group

221‧‧‧Intake control point

222‧‧‧Exhaust control point

23‧‧‧First magnet

24‧‧‧Second magnet

25‧‧‧claw

251‧‧‧ Track

26‧‧‧ claw needle

Claims (7)

The utility model relates to an automatic screwdriver screw magnetic floating jaw, which is provided with a magnetic floating clamping jaw at the front end of the screwdriver of the automatic screwdriver, the magnetic floating clamping jaw at least comprising: an air intake control point connecting the external air pressure source to provide high pressure gas input; a control point is connected and provides a high pressure gas discharge and an exhaust control point; a pneumatic cylinder group that provides a telescopic action to limit the exhaust control of the exhaust control point; a corresponding set of first magnets received by the intake control point The input high pressure gas pressure is displaced toward the mutual direction, and is reset by the elastic action of a spring when the high pressure gas is discharged through the exhaust control point; a corresponding set of second magnets adjacent to the first magnet Adjacent and attracted by the magnetic pole of the first magnet, the 俾 is synchronously displaced in the same direction as the first magnet; a jaw coupled with the second magnet and displaceable on a fixed track; and a set of claws, In combination with the jaws and being clamped toward or away from the driver's head, a clamping or release is formed to grip or release the screw. The automatic screwdriver screw magnetic floating jaw according to claim 1, wherein the exhaust control point further comprises an electromagnet. For example, the automatic screwdriver screw magnetic floating jaw described in the first paragraph of the patent application, wherein the four claws are the best. The automatic screwdriver screw magnetic floating jaw according to claim 2, wherein the electromagnet further comprises inputting an electric energy to cause the claw to have a magnetic attraction function to suck the screw. An automatic screwdriver screw magnetic floating jaw is provided with a magnetic floating jaw at a front end of the screwdriver of the automatic screwdriver, the magnetic floating jaw comprising at least: a first magnet is disposed on the outer circumference of the bit, and is displaced by the displacement of the outer casing and provides a magnetic repulsive force, and is reset after releasing the outer casing; a first set between the first magnet and the bit and not in contact with each other The second magnet is urged by the repulsive force of the same magnetic pole when the first magnet is displaced close to the starter head, and is reset when the screwdriver head is locked with the screw; and a collet is connected to the second magnet and has magnetic attraction and is subjected to The displacement of the second magnet forms a clamp or release shape to provide a magnetic gripping and release screw. The automatic screwdriver screw magnetic floating jaw according to claim 5, wherein the second magnet and the chuck are in an integrally formed structure. The utility model relates to an automatic screwdriver screw magnetic floating jaw, which is provided with a magnetic floating clamping jaw at the front end of the screwdriver of the automatic screwdriver. The magnetic floating clamping jaw comprises at least: a switch disposed on the outer periphery of the screwdriver head, having a PCB board capable of transmitting and receiving signals to an external control loop The force is applied to cause the outer casing to be pressed down and contacted to open, and is kept away from the closed after the outer casing is reset; a battery is electrically connected to the switch and provides a power signal; and a magnetic chuck is disposed on the switch and the battery Between the starter head and the starter head, a hollow head is provided for the hollow, and a gripping screw is provided at one end of the exposed end, and a coil is wound around the outer surface of the magnetic chuck, and the coil is electrically connected to the switch and the battery. Thereby, the opening and closing of the switch is controlled to make the magnetic chuck form a magnetic or demagnetized state to facilitate magnetic attraction and achieve the effect of the clamping screw.