CN115156895A - Novel automatic screw tightening device for production line - Google Patents

Abstract

The present invention provides a novel automatic screwing device for a production line, which includes a robotic arm and a tightening fixture, the tightening fixture is connected to the robotic arm, the tightening fixture includes a tightening gun, and the tightening gun includes a speed reducer. A motor assembly, a floating positioning assembly, a connecting rod and a gun head, the gun head is connected to one end of the connecting rod, the other end of the connecting rod is floatingly arranged in the floating positioning assembly, and the connecting rod is connected to the The floating positioning assembly is circumferentially limited, and the floating positioning assembly is drivingly connected with the motor assembly with a reducer. During operation, after the mechanical arm drives the tightening fixture to the designated working position, the motor assembly with the reducer on the tightening gun receives a system command to drive the floating positioning pin to work. After the head penetrates into the screw hole of the screw, the motor assembly with the reducer drives the gun head to rotate through the floating positioning pin and the connecting rod, so as to achieve the purpose of tightening the screw. Since the motor assembly with the reducer is connected to the gun head through the floating positioning pin and the connecting rod, and the floating positioning pin has a spring structure inside, the gun head does not enter the screw hole of the screw, and the gun head does not enter the screw hole of the screw. The edge of the screw head will be damaged due to the impact of the force on the screw head.

Description

A new type of automatic screwing device for production line

technical field

The invention belongs to the technical field of screw screwing devices, and in particular relates to a novel automatic screwing device for production lines.

Background technique

With the rapid development of science and technology, industrial automation has been recognized by the majority of production enterprises. With high production efficiency, automated production lines have become the development trend of industrial production. There will inevitably be a large number of screw tightening links on the production line. Due to the complex and changeable products required now, the original automatic screw tightening machine is not suitable for the current production needs. And a small number of screwing equipment with visual positioning cannot reduce the damage of the screwing tip caused by the error caused by the impact of the screwing tip on the edge of the screw.

In order to reduce the error caused by the visual positioning and the jitter in the moving process, the present invention designs a screwing device that adds floating positioning on the basis of visual positioning, so that when the tightening gun head contacts the tightening screw plane, it is automatically aligned through floating positioning. The screw head realizes the precise positioning of the screw head, so as to tighten the screw with high efficiency and high quality.

SUMMARY OF THE INVENTION

The invention is a novel automatic screwing device for a production line, which aims to improve the precision that the screwing gun head is thrown into the screw head during automatic tightening, reduce the wear of the tightening gun head and improve the production efficiency.

The present invention adopts the following technical scheme to realize: a novel automatic screwing device for a production line, comprising a mechanical arm and a tightening fixture, the tightening fixture is connected to the mechanical arm, the tightening fixture includes a tightening gun, and the tightening gun includes A motor assembly with a reducer, a floating positioning assembly, a connecting rod and a gun head, the gun head is connected to one end of the connecting rod, and the other end of the connecting rod is floated in the floating positioning assembly, the The connecting rod is circumferentially limited with the floating positioning assembly, and the floating positioning assembly is drive-connected with the motor assembly with a reducer.

During operation, after the mechanical arm drives the tightening fixture to the designated working position, the motor assembly with the reducer on the tightening gun receives a system command to drive the floating positioning pin to work. After the head penetrates into the screw hole of the screw, the motor assembly with the reducer drives the gun head to rotate through the floating positioning pin and the connecting rod, so as to achieve the purpose of tightening the screw. Since the motor assembly with the reducer is connected to the gun head through the floating positioning pin and the connecting rod, and the floating positioning pin has a spring structure inside, the gun head does not enter the screw hole of the screw, and the gun head does not enter the screw hole of the screw. The edge of the screw head will be damaged due to the impact of the force on the screw head.

The floating positioning assembly is provided with a square connecting hole, and one end of the connecting rod floating in the floating positioning assembly is provided with a clamping part and a connecting part in sequence, the clamping part has a square structure in cross section, and the The cross-sectional area of the clamping portion is respectively larger than the cross-sectional area of the connecting portion and the open end of the square connecting hole, and is smaller than the cross-sectional area of the square connecting hole, and the square connecting hole is provided with a corresponding connecting portion. A fixing part, a spring is sleeved between the fixing part and the connecting part. Since the cross-section of the clipping portion on one end of the connecting rod and the inside of the square connecting hole are both square structures, and the cross-sectional area of the clipping portion is smaller than the cross-sectional area of the square connecting hole, the connecting rod has a square structure. It can not only move in the axial direction of the connecting rod in the square connecting hole, but also rotate in the circumferential direction limited by the floating positioning assembly, and the connecting rod floats in the square connecting hole through a spring , can play the role of floating positioning pin, and further prevent the gun head from causing wear and damage to the edge of the screw.

The tightening fixture further includes a cylinder, a first guide rail and a fixing plate, the cylinder includes a telescopic rod, the tightening gun is fixedly connected to the telescopic rod through a first L-shaped connecting piece, and the fixing plate is provided with a first telescopic rod. A guide rail, the first L-shaped connecting piece is slidably connected on the first guide rail, and the fixing plate is connected with the mechanical arm. Through the movement of the telescopic rod, the cylinder drives the tightening gun to move up and down with the assistance of the first guide rail to perform the movement of screwing.

Also includes a stopper, the stopper is fixedly connected to the fixing plate, and is located below the first L-shaped connecting piece, for restricting the first L-shaped connecting piece along the first guide rail Sliding limit position. When the first L-shaped connecting piece is driven by an air cylinder and slides to the lowermost end of the first guide rail, the stopper will abut the first L-shaped connecting piece to prevent it from furthering due to inertia or other forces. Sliding down causes damage to other components.

It also includes a flange bearing, the flange bearing is sleeved on the outer circumference of the connecting rod, the inner diameter of the flange bearing is larger than the diameter of the connecting rod, and the flange bearing passes through the second L-shaped connecting piece connected to the fixing plate. In order to prevent the connecting rod from shaking greatly due to machine vibration or other force, the flange bearing affects the alignment of the gun head at the lower end with the screw hole of the screw, and cannot achieve the purpose of accurate positioning and screwing.

A visual positioning assembly is installed on the fixing plate, and the visual positioning assembly includes a camera connector, a camera outer protective cover, a camera, a camera light source connector, and a camera light source, and the camera connector is connected on the fixing plate. The camera protection cover is located on the outer periphery of the camera, the camera and the camera protection cover are respectively connected to the camera connector, one end of the camera light source connector is connected to the camera connector, and one end is connected to the camera light source . The camera can capture the screw, analyze the position of the screw and the shape of the screw hole, and transmit the information to the processing terminal.

There are two tightening jigs, which are divided into left tightening jig and right tightening jig. The tightening jig is connected to the fixed large plate, and the fixed large plate is connected to the mechanical arm through the fixed support. The two tightening fixtures can simultaneously screw other screws, thereby improving work efficiency.

The left-side tightening fixture further includes a linear module, a second guide rail is installed below the linear module, the linear module and the second guide rail are installed on the fixed large plate, and the linear module is installed. The fixing plate for driving the left tightening clamp moves on the second guide rail. The left-side tightening fixture can move on the fixed large plate, so as to increase the scope of movement of the tightening gun of the left-side tightening fixture and improve work efficiency. The fixing plate of the right tightening clamp is fixed on the fixing large plate through the second connecting plate. Since the linear module and the second guide rail are provided under the tightening gun of the left tightening fixture, the right tightening fixture needs to be at the same height as the left tightening fixture, so it needs to be on the right side. A second connecting plate is added under the tightening fixture.

The left tightening fixture also includes a drag chain, one end of the drag chain is connected to the fixed plate, and the other end of the drag chain surrounds the tightening gun of the left tightening fixture and the left side tightening fixture. The assembly is visually positioned and connected to the fixing plate of the left tightening fixture through the first connecting plate. The drag chain can connect the trachea and the line when the left tightening fixture moves, so as to prevent the lines from being entangled when the left tightening fixture moves, affecting the operation of the equipment.

An oil receiving groove is arranged below the fixed large plate. When the tightening fixture moves, some lubricating oil is needed to lubricate the various components, and the oil receiving groove can catch the lubricating oil falling from above under the large fixed plate and reuse it, thereby saving costs.

The working principle of the device is as follows: through the preset program, the robotic arm moves the tightening fixture to the top of the workpiece to be tightened, flips and adjusts the tightening fixture so that the head of the tightening gun is facing down, and then the linear module motor starts, and the upper The tightening gun moves with the linear module slider, adjust the position of the tightening gun, determine the position of the screw through the judgment of the visual positioning component, the cylinder telescopic rod starts to push the tightening gun and starts to descend, and the floating positioning pin and connecting rod connected with the tightening gun head The head of the tightening gun can be floated and positioned. When the head of the tightening gun touches the plane of the screw head, it can be positioned by the floating positioning pin. The gun head can be shaken within a certain range, and the screw hole can be automatically located to achieve precise positioning. The motor assembly starts to turn the tightening head to realize the tightening of the screw.

Having adopted the above-mentioned technical scheme, the present invention has the following beneficial effects:

1. In the present invention, the mechanical structure of the overall automatic tightening fixture is designed, and a screwing device combining visual positioning and floating positioning is proposed, which greatly improves the accuracy of the alignment of the gun head of the tightening gun to the screw head and improves the tightening efficiency;

2. In the present invention, the left tightening nail fixture and the right tightening nail fixture, as well as the left visual positioning component and the right visual positioning component will move according to the specific position of the screw under the visual positioning to complete the preliminary positioning of the screw position; the drag chain It is used to protect the pneumatic tube and each connecting line to avoid being damaged during the working process of the fixture; the oil receiving groove is used to connect the lubricating oil on the fixture, etc.;

3. In the present invention, after the position of the left tightening nail clamp and the right tightening nail clamp is completed, the cylinder starts to push the telescopic rod to move, and drives the tightening gun to move down. However, it can be slightly shaken. When the visual positioning is not accurate enough or the jitter produces errors during the mechanical movement, this slight shaking will make the screw head fit into the screw hole of the screw head, so that the screw head can be accurately put into the screw head.

Description of drawings

In order to make the content of the present invention easier to understand clearly, the present invention will be described in further detail below according to specific embodiments and in conjunction with the accompanying drawings, wherein

Fig. 1 is the overall structure schematic diagram of the present invention;

Figure 2 is a schematic structural diagram of the tightening fixture of the present invention;

3 is a schematic structural diagram of a tightening gun with a cylinder according to the present invention;

4 is a schematic structural diagram of the tightening gun of the present invention;

5 is a schematic structural diagram of a visual positioning assembly of the present invention;

FIG. 6 is a schematic diagram of the installation structure of the floating positioning assembly and the connecting rod of the present invention;

In the picture: 1 robotic arm; 2 tightening fixture; 201 left tightening fixture; 202 right tightening fixture; 3 tightening gun; 301 motor assembly with reducer; 302 floating positioning assembly; 3021 square connection hole; 3022 fixed part; 3023 spring; 303 connecting rod; 3031 clamping part; 3032 connecting part; 304 gun head; 4 cylinder; 401 telescopic rod; 6 fixing plate; 601 first guide rail; 7 first L-shaped connecting piece; Flange bearing; 10 Second L-shaped connector; 11 Visual positioning assembly; 1101 Camera connector; 1102 Camera outer protective cover; 1103 Camera; 1104 Camera light source connector; 1105 Camera light source; 5 Fixed large plate; 12 Fixed support ; 13 Linear module; 14 second guide rail; 15 first connecting plate; 16 second connecting plate; 17 drag chain; 18 oil tank.

Detailed ways

Example:

As shown in FIG. 1 , FIG. 4 and FIG. 6 , this embodiment provides a new type of automatic screw tightening device for a production line, including a robotic arm 1 and a tightening fixture 2 , and the tightening fixture 2 is connected to the robotic arm 1 , so The tightening fixture 2 includes a tightening gun 3, and the tightening gun 3 includes a motor assembly 301 with a reducer, a floating positioning assembly 302, a connecting rod 303 and a gun head 304, and the gun head 304 is connected to the connecting rod 303. One end, the other end of the connecting rod 303 is floated in the floating positioning assembly 302, the connecting rod 303 and the floating positioning assembly 302 are circumferentially limited, and the floating positioning assembly 302 is connected to the The motor assembly 301 of the device is drive-connected. During operation, after the robotic arm 1 drives the tightening fixture 2 to a designated working position, the motor assembly 301 with a reducer on the tightening gun 3 receives a system command to drive the floating positioning pin to work, When the gun head 304 penetrates into the screw hole of the screw, the motor assembly 301 with the reducer drives the gun head 304 to rotate through the floating positioning pin and the connecting rod 303 to achieve the purpose of tightening the screw. Since the motor assembly 301 with the reducer is connected to the gun head 304 through the floating positioning pin and the connecting rod 303, and the floating positioning pin has a spring 3023 structure, the gun head 304 does not enter the screw hole of the screw, The gun head 304 will not cause the edge of the screw head to be damaged due to the impact of the force on the screw head.

As shown in FIG. 6 , the floating positioning assembly 302 is provided with a square connecting hole 3021, and one end of the connecting rod 303 floating in the floating positioning assembly 302 is provided with a clamping portion 3031 and a connecting portion 3032 in sequence. The cross-section of the clamping portion 3031 is a square structure, and the cross-sectional area of the clamping portion 3031 is larger than the cross-sectional area of the connecting portion 3032 and the open end of the square connection hole 3021 , and is smaller than the cross-sectional area of the square connection hole 3021 . The square connecting hole 3021 is provided with a fixing portion 3022 corresponding to the connecting portion 3032 , and a spring 3023 is sleeved between the fixing portion 3022 and the connecting portion 3032 . Because the cross-section of the clamping portion 3031 on one end of the connecting rod 303 and the inside of the square connection hole 3021 are both square structures, and the cross-sectional area of the clamping portion 3031 is smaller than that in the square connection hole 3021, so The connecting rod 303 can not only move in the axial direction of the connecting rod 303 in the square connecting hole 3021, but also can be rotated circumferentially by the floating positioning assembly 302, and the connecting rod 303 By the spring 3023 floating in the square connecting hole 3021, it can play the role of a floating positioning pin, and further prevent the edge of the screw from being worn and damaged by the gun head 304.

As shown in FIG. 3 , the tightening fixture 2 further includes an air cylinder 4 , a first guide rail 601 and a fixing plate 6 , the air cylinder 4 includes a telescopic rod 401 , and the tightening gun 3 is connected to the other through the first L-shaped connecting piece 7 . The telescopic rod 401 is fixedly connected, the fixing plate 6 is provided with a first guide rail 601, the first L-shaped connecting piece 7 is slidably connected to the first guide rail 601, and the fixing plate 6 is connected to the mechanical arm. 1 connection. Through the movement of the telescopic rod 401 and the assistance of the first guide rail 601, the cylinder 4 drives the tightening gun 3 to move up and down to perform the movement of screwing. It also includes a limiter 8, which is fixedly connected to the fixing plate 6 and is located below the first L-shaped connecting piece 7 for limiting the edge of the first L-shaped connecting piece 7. The limit position where the first guide rail 601 slides. When the first L-shaped connecting piece 7 is driven by the air cylinder 4 and slides to the lowermost end of the first guide rail 601 , the stopper 8 will abut the first L-shaped connecting piece 7 to prevent it from being caused by inertia Or other forces slide down further, causing damage to other components.

As shown in FIG. 4 , a flange bearing 9 is also included, the flange bearing 9 is sleeved on the outer circumference of the connecting rod 303 , and the inner diameter of the flange bearing 9 is larger than the diameter of the connecting rod 303 , so The flange bearing 9 is connected to the fixing plate 6 through a second L-shaped connecting piece 10 . The flange bearing 9 prevents the connecting rod 303 from shaking greatly due to machine vibration or other force, which affects the alignment of the gun head 304 at the lower end with the screw hole of the screw, and cannot achieve the purpose of accurate positioning and screwing.

As shown in FIG. 5 , a visual positioning assembly 11 is mounted on the fixing plate 6 , and the visual positioning assembly 11 includes a camera connector 1101 , a camera outer protective cover 1102 , a camera 1103 , a camera light source connector 1104 and a camera light source 1105 . The camera connector 1101 is connected to the fixing plate 6 , the camera protective cover 1102 is located on the outer periphery of the camera 1103 , and the camera 1103 and the camera protective cover 1102 are respectively connected to the camera connector 1101 , one end of the camera light source connector 1104 is connected to the camera connector 1101 , and one end is connected to the camera light source 1105 . The camera 1103 can capture the screw, analyze the position of the screw and the shape of the screw hole, and transmit the information to the processing terminal. The processing terminal adjusts the position of the tip 304 of the tightening gun 3 according to the information, so as to accurately locate and tighten the screw.

As shown in FIG. 2, there are two tightening fixtures 2, which are divided into a left tightening fixture 201 and a right tightening fixture 202. The tightening fixture 2 is connected to the fixed large plate 5, and the fixed large plate 5 is fixed by The support 12 is connected to the robotic arm 1 . The two tightening fixtures 2 can simultaneously screw other screws to improve work efficiency. The left tightening fixture 201 further includes a linear module 13 , a second guide rail 14 is installed below the linear module 13 , and the linear module 13 and the second guide rail 14 are installed on the fixed large plate 5 . Above, the linear module 13 is used to drive the fixing plate 6 of the left tightening fixture 201 to move on the second guide rail 14 . The left-side tightening fixture 201 can move on the fixed large plate 5, so as to increase the movement range of the tightening gun 3 of the left-side tightening fixture 201 and improve work efficiency. The fixing plate 6 of the right tightening fixture 202 is fixed on the large fixing plate 5 through the second connecting plate 16 . Since the linear module 13 and the second guide rail 14 are provided below the tightening gun 3 of the left tightening fixture 201, the right tightening fixture 202 needs to be at the same height as the left tightening fixture 201, so A second connecting plate 16 needs to be added under the right side tightening fixture 202 . The left side tightening fixture 201 further includes a drag chain 17, one end of the drag chain 17 is connected to the fixing plate 5, and the other end of the drag chain 17 surrounds the tightening guns 3 and 3 of the left side tightening fixture 201. The visual positioning assembly 11 of the left-side tightening fixture 201 is connected to the fixing plate 6 of the left-side tightening fixture 201 through the first connecting plate 15 . The drag chain 17 can connect the trachea and the line when the left tightening fixture 201 moves, so as to prevent the lines from being entangled when the left tightening fixture 201 moves, affecting the operation of the equipment.

An oil receiving groove 18 is provided below the fixed large plate 5 . During the movement of the tightening fixture 2, some lubricating oil is needed to lubricate the various components, and the oil receiving groove 18 can catch the lubricating oil dropped above the fixed large plate 5 and reuse it, thereby saving costs.

The above specific embodiments further describe the purpose, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above are only specific embodiments of the present invention, and are not intended to limit the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims (10)

1. The utility model provides a novel automatic screw device of twisting of production line which characterized in that: including arm (1) and tightening clamp (2), tightening clamp (2) are connected on arm (1), tightening clamp (2) are including tightening rifle (3), tightening rifle (3) are including motor element (301) that have the reduction gear, locating component (302), connecting rod (303) and rifle head (304) float, rifle head (304) are connected the one end of connecting rod (303), the other end of connecting rod (303) floats and sets up in the locating component (302) that floats, connecting rod (303) with locating component (302) that floats circumference is spacing, locating component (302) that floats with motor element (301) transmission that have the reduction gear is connected.

2. The novel automatic screw tightening device of production line according to claim 1, characterized in that: be equipped with square connecting hole (3021) in the locating component (302) floats and sets up connecting rod (303) are floated one in the locating component (302) that floats is served and is equipped with joint portion (3031) and connecting portion (3032) in proper order, joint portion (3031) cross-section is square structure, the sectional area of joint portion (3031) is greater than respectively connecting portion (3032) with the sectional area of open end in square connecting hole (3021), and be less than the sectional area of square connecting hole (3021), be equipped with in square connecting hole (3021) with fixed part (3022) that connecting portion (3032) correspond, fixed part (3022) with spring (3023) has cup jointed between connecting portion (3032).

3. The novel automatic screw tightening device of production line according to claim 1, characterized in that: screw up anchor clamps (2) and still include cylinder (4), first guide rail (601) and fixed plate (6), cylinder (4) include telescopic link (401), screw up rifle (3) through first L type connecting piece (7) with telescopic link (401) fixed connection, be provided with first guide rail (601) on fixed plate (6), first L type connecting piece (7) sliding connection be in on first guide rail (601), fixed plate (6) with arm (1) is connected.

4. The novel automatic screw tightening device of production line of claim 3, characterized in that: the device is characterized by further comprising a limiting stopper (8), wherein the limiting stopper (8) is fixedly connected to the fixing plate (6), is positioned below the first L-shaped connecting piece (7) and is used for limiting the limit position of the first L-shaped connecting piece (7) sliding along the first guide rail (601).

5. The novel automatic screw tightening device of production line according to claim 3, characterized in that: still include flange bearing (9), flange bearing (9) cup joint the periphery of connecting rod (303), the internal diameter of flange bearing (9) is greater than the diameter of connecting rod (303), flange bearing (9) are connected through second L type connecting piece (10) on fixed plate (6).

6. The novel automatic screw screwing device for production line according to any one of claims 3 to 5, characterized in that: install visual positioning subassembly (11) on fixed plate (6), visual positioning subassembly (11) are including camera connecting piece (1101), camera outer protective cover (1102), camera (1103), camera light source connecting piece (1104) and camera light source (1105), camera connecting piece (1101) is connected on fixed plate (6), camera protective cover (1102) is located the periphery of camera (1103), camera (1103) with camera protective cover (1102) is connected respectively on camera connecting piece (1101), camera light source connecting piece (1104) one end is connected camera connecting piece (1101), one end is connected camera light source (1105).

7. The novel automatic screw tightening device of production line of claim 6, characterized in that: the number of the tightening clamps (2) is 2, the tightening clamps are divided into a left tightening clamp (201) and a right tightening clamp (202), the tightening clamps (2) are connected to a large fixed plate (5), and the large fixed plate (5) is connected with the mechanical arm (1) through a fixed supporting piece (12).

8. The novel automatic screw tightening device of production line of claim 7, characterized in that: the left side is screwed up anchor clamps (201) and is still included sharp module (13), second guide rail (14) are installed to the below of sharp module (13), sharp module (13) with second guide rail (14) are installed on fixed big board (5), sharp module (13) are used for the drive fixed plate (6) of left side screw up anchor clamps (201) are in move on second guide rail (14), fixed plate (6) of right side screw up anchor clamps (202) are fixed through second connecting plate (16) on fixed big board (5).

9. The novel automatic screw tightening device of production line of claim 8, characterized in that: left side tightening clamp (201) still includes tow chain (17), tow chain (17) one end is connected on fixed big board (5), the other end of tow chain (17) encircles tightening gun (3) of left side tightening clamp (201) with the vision locating component (11) of left side tightening clamp (201) are connected through first connecting plate (15) on fixed plate (6) of left side tightening clamp (201).

10. The novel automatic screw tightening device of production line of claim 6, characterized in that: an oil receiving groove (18) is arranged below the fixed large plate (5).

Images