CN105880998A - Efficient intelligent screw locking equipment - Google Patents

Efficient intelligent screw locking equipment Download PDF

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Publication number
CN105880998A
CN105880998A CN201610496769.6A CN201610496769A CN105880998A CN 105880998 A CN105880998 A CN 105880998A CN 201610496769 A CN201610496769 A CN 201610496769A CN 105880998 A CN105880998 A CN 105880998A
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CN
China
Prior art keywords
suction nozzle
batch
indexing
main body
bar
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201610496769.6A
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Chinese (zh)
Inventor
禚明强
焦明魁
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Qingdao Clever Robot Technology Co Ltd
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Qingdao Clever Robot Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Qingdao Clever Robot Technology Co Ltd filed Critical Qingdao Clever Robot Technology Co Ltd
Priority to CN201610496769.6A priority Critical patent/CN105880998A/en
Publication of CN105880998A publication Critical patent/CN105880998A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
    • B23P19/06Screw or nut setting or loosening machines
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/001Article feeders for assembling machines
    • B23P19/004Feeding the articles from hoppers to machines or dispensers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/001Article feeders for assembling machines
    • B23P19/006Holding or positioning the article in front of the applying tool

Abstract

The invention relates to efficient intelligent screw locking equipment. The efficient intelligent screw locking equipment comprises an equipment matrix, motion mechanisms, a feeding mechanism, a nail rejecting mechanism, lock fetching mechanisms and visual systems, wherein the feeding mechanism and the nail rejecting mechanism are fixedly mounted on the equipment matrix, and the lock fetching mechanisms and the visual systems are connected to the terminals of the motion mechanisms. The efficient intelligent screw locking equipment is characterized by further comprising a control system which is used for importing point location information of screw holes; driving mechanisms are connected with scale division rotating discs through direct connection transmission mechanisms; incomplete filling sensors are mounted on material paths, and feeding sensors are mounted at joints between material distribution discs and material paths; scale division decoders are mounted on output shafts of material distribution driving motors, and first scale division sensors are mounted on one sides of the scale division decoders; reeds are mounted on the outer edges of the scale division rotating discs, and second scale division sensors are mounted at positions, corresponding to the reeds, on the main body brackets; baffle ring sensors are arranged at the positions, corresponding to the baffle rings, of the main body brackets; and nail detection sensors are mounted at the positions, corresponding to the lower ends of suction months, of the main body brackets. Compared with the prior art, the efficient intelligent screw locking equipment has the characteristics of high production change speed and high working efficiency.

Description

A kind of high efficiency smart lock screws appts
Technical field
The present invention relates to screw locking machine tool professional skill field, specifically a kind of high efficiency smart lock screws appts.
Background technology
Along with the standardization of the assembly line work of the household appliances such as television set, the operation content of screw assembly station solidifies relatively, and repeatability is high.Current manual's cost increases day by day, and manual assembly screw is inefficient, and the unreliability such as anthropic factor is easily generated the problems such as screw omission.To this end, occur in that in industry and replace artificial automatic lock screws appts with machine, but the most all there are following problems in this kind equipment occurred on current market.
1. change the line of production problem: the household appliances such as TV machine make rapid progress, product form tends to variation, production exists the reality frequently changed the line of production, equipment is proposed the demand quickly changed the line of production, but existing equipment is for the screw hole position information of new architecture, it is all by the teaching of the point of screw hole one by one position is obtained, robot demonstrator is either utilized to carry out a teaching to position, each hole, or taken pictures by camera and each some position is carried out vision capture, be all difficult to meet the demand of quickly changing the line of production under current efficiently production.2. beat problem: existing equipment is required for embracing clamp mechanism before locking screw and product carries out machinery location, screw locking is embraced clamp mechanism after completing and is unclamped, let pass the most again product, during this, embrace stepping up and unclamping the consuming time and account for the 1/3 of whole device action beat of clamp mechanism, have a strong impact on work efficiency, in addition, the mechanism of detection screw is all fixed on equipment board by current device, before and after apparatus locking screw, it is required for taking nail pinning mechanism kinematic to this fixed position, the absorption situation of screw is detected, above-mentioned machinery is embraced and is clamped the inspection nail action of position and moving cell and the most seriously govern equipment beat, inefficient.3. product quality problem: machinery armful clamps bit architecture to be needed to carry out contacting location with product, easily cause the quality of lot problems such as product shell shake, casing deformation because embracing the reasons such as unbalanced, the product material difference of grip force degree, or extremely cause liquid crystal panel to jump out because embracing folder or the problem such as rupture.4. the suitability of equipment is limited: equipment is embraced clamping structure requirement product and had the frame of wide flat regular shape as focusing surface, otherwise product effectively cannot be positioned, therefore irregular for frame, with the product of exterior trimming parts and ultrathin products etc., equipment cannot use, and the household appliances profiles such as TV machine more and more present multiformity and ultrathin, equipment suitability critical constraints.
Summary of the invention
The present invention proposes a kind of high efficiency smart lock screws appts.
The technical scheme is that and be achieved in that: a kind of high efficiency smart lock screws appts, including equipment matrix, motion, the feeding machanism being fixedly installed on equipment matrix with pick nailing machine structure, and be connected to motion end take latch mechanism and visual system;Described feeding machanism includes that machine for arranging screws and depiler, described machine for arranging screws include expecting road, and described depiler includes that material separating disc and sub-material drive motor, and the entrance of material separating disc docks with the material way discharging device end of machine for arranging screws;The described latch mechanism that takes includes main body rack and the support for rotary disc being installed on main body rack, the embedded indexing rotary table circumferentially rotated of described support for rotary disc, many batchings bar assembly is installed on described indexing rotary table, many batchings bar assembly circumferentially array, described batch of bar assembly can move at vertical direction by indexing rotary table relatively;Main body rack is installed the drive mechanism that indexing rotary table can be driven to rotate;Described batch of bar assembly includes screwdriver bit, is internally provided with the suction nozzle of directed cavity, and bottom stretches to directed cavity, and batch bar being flexibly connected with suction nozzle along suction nozzle upper end;The upper end of described batch of bar arranges baffle ring;It is characterized in that: also include importing the control system of screw hole point position information;Described drive mechanism is connected with indexing rotary table by direct-connection transmission mechanism;Material road is installed and lacks material sensor, be installed to expect sensor with material road joint at material separating disc;On the output shaft that sub-material drives motor, indexing encoder is also installed in the lower section of material separating disc, and the first indexing sensor is installed in indexing encoder side;Described indexing rotary table outer installation reed, the position that described main body rack is corresponding with reed is installed the second indexing sensor;Baffle ring sensor is set on the position that described main body rack is corresponding with baffle ring;Inspection nail sensor is installed on the position that described main body rack is corresponding with suction nozzle lower end.
As preferred technical scheme, described motion is three-axis robot or four axle robots or six-joint robot or seven axle robot or right angle coordinate manipulators.
As preferred technical scheme, described visual system includes camera and image processor, and the outfan of camera is connected with the inlet circuit of image processor, and the outfan of image processor is connected with the inlet circuit of control system.
As preferred technical scheme, described batch of bar bottom is also provided with cavity, and this cavity connects with directed cavity;Described screwdriver bit passes the first spring, and stretches into suction nozzle from the upper end of suction nozzle, floats and is installed in batch bar cavity and suction nozzle directed cavity;Described screwdriver bit can be stretched out by the lower end of suction nozzle, and suction nozzle inlays annular magnet inside lower end.
As preferred technical scheme, being flexibly connected between described suction nozzle with batch bar is, arranges strip through hole on batch bar on cavity top, and the major axis of strip through hole is along batch bar long axis direction, it is correspondingly arranged jack, movable insertion intermediate pin in jack and strip through hole on described suction nozzle.
As preferred technical scheme, be slidably installed on main body rack above batch bar assembly electric screwdriver assembly, described electric screwdriver assembly includes electric screwdriver and is arranged on the guide rod of electric screwdriver lower end, described electric screwdriver assembly place straight line and the intersection point of indexing rotary table, on the circumference of batch bar assembly array, electric screwdriver assembly slides up and down promotion batch bar assembly and moves up and down relative to indexing rotary table.
As preferred technical scheme, sheathed second spring on batch bar assembly between baffle ring and indexing rotary table.
As preferred technical scheme, described in pick nailing machine structure and include a pair jaw, magazine, two jaws Guan Bis and the clamping cylinder opened can be driven.
As preferred technical scheme, described two jaws are mounted on the outfan of clamping cylinder, and described magazine is installed on below clamping cylinder.
As preferred technical scheme, described depiler is installed on the front end of machine for arranging screws, and machine for arranging screws also includes that vibrator and Rolling motor, described material separating disc are arranged on sub-material and drive on the output shaft of motor.
Owing to have employed technique scheme, the present invention has a beneficial effect highlighted below:
1, it is capable of quickly changing the line of production, only can realize by importing the tighten up a screw some position information in hole of corresponding type, it is not necessary to the teaching one by one of each screw hole position, substantially reduce the time of changing the line of production, simplify operation of changing the line of production.
2, the information of product is imported in advance in programmable logic controller (PLC), match with visual system, the absolute fix of screw hole can be realized, each screw hole of product taken pictures one by one location without visual system, without embracing clamp mechanism, product is accurately positioned, optimize and eliminate embracing folder and unclamping action of frame for movement, save beat, eliminate machinery inspection pin structure, need not motion and individually examine nail action, by inspection is followed closely sensor integration in taking on latch mechanism, can be under any attitude of motion or position, realize the servo-actuated detection to absorption screw, time saving and energy saving, easy to operate, work efficiency is high.
3, visual system is used to catch product space, programmable logic controller (PLC) is coordinated to realize the absolute fix of screw hole, location contactless with product, avoid from root machinery embrace clamp bit strip product shell shake, quality problems are jumped out and ruptured etc. to casing deformation, liquid crystal panel.
4, by visual system, some particular primitive of product surface is processed, the location of the seizure to product particular location can be realized, do not limited by shape of product, size, it is sufficient to the product diversification such as satisfied television set instantly and the demand of ultrathin.
5, present configuration is simple, embrace without machinery and clamp the structure such as position and screw detection probe groups, and by coordinate system transfer algorithm and demarcation, a camera can meet the location requirement of visual system, under identical function, greatly reduce the complexity of equipment cost and debugging.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, the accompanying drawing used required in embodiment or description of the prior art will be briefly described below, apparently, accompanying drawing in describing below is only some embodiments of the present invention, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is present configuration schematic diagram.
Fig. 2 is plan structure schematic diagram of the present invention.
Fig. 3 is the structure for amplifying schematic diagram of the A in Fig. 1.
Fig. 4 is the structural representation of feeding machanism of the present invention.
Fig. 5 is position relationship schematic diagram between each structure of depiler of the present invention.
Fig. 6 is the structural representation that the present invention takes latch mechanism.
Fig. 7 is the side-looking structural representation that the present invention takes latch mechanism.
Fig. 8 is the structural representation that the present invention criticizes bar assembly.
Fig. 9 is the structural representation that the present invention picks nailing machine structure.
In figure: 1-equipment matrix;2-motion;3-feeding machanism;4-picks nailing machine structure;5-takes latch mechanism;6-camera;31-expects road;32-material separating disc;33-sub-material drives motor;34-is to material sensor;35-the first indexing sensor;36-indexes encoder;51-main body rack;52-support for rotary disc;53-indexing rotary table;54-criticizes bar assembly;55-drive mechanism;56-baffle ring;57-the second spring;58-reed;59-the second indexing sensor;60-baffle ring sensor;61-inspection nail sensor;62-electric screwdriver assembly;541-screwdriver bit;542-suction nozzle;543-criticizes bar;544-the first spring;545-annular magnet;546-strip through hole;547-intermediate pin;41-jaw;42-magazine;43-clamping cylinder;44-air cylinder support.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art are obtained under not making creative work premise, broadly fall into the scope of protection of the invention.
As shown in Figure 1, 2, the present invention includes equipment matrix 1, motion 2, control system, the feeding machanism 3 being fixedly installed on equipment matrix 1 and picks nailing machine structure 4, and be connected to motion 2 end take latch mechanism 5 and visual system.
Described motion 2 is three-axis robot or four axle robots or six-joint robot or seven axle robot or right angle coordinate manipulators, motion 2 play carrying take latch mechanism 5 move to specify position effect, its concrete structure is existing known technology, does not repeats them here.
As it is shown on figure 3, described visual system includes that camera 6 and image processor, the outfan of camera 6 are connected with the inlet circuit of image processor, the outfan of image processor is connected with the inlet circuit of control system.Being taken pictures the specific graphic elements caught on object by camera 6, transmission, to image processor, is then transmit to control system, by position and the attitude of the location determination object of graphic element, it is achieved vision localization.
Described control system is programmable logic controller (PLC), after comprising the information importing control systems such as the profile of product, characteristic pixel and screw hole point position, control system determines the relative position of characteristic pixel and screw hole by these information, the information such as product design, characteristic pixel and screw hole point position import the mode of control system and use prior art, known to insider, do not repeat them here.Programmable logic controller (PLC) is according to product design, characteristic pixel and the information of screw hole point position imported, and combine the product orientation result of visual system, programmable logic controller (PLC) determines the absolute position of screw hole, and sending action command to motion 2, motion 2 carrying takes latch mechanism 5 and successively each is carried out screw hole locking.The embedded program of programmable logic controller (PLC) and operation logic all use existing known technology, then this repeats no more.The information of product is imported in advance in programmable logic controller (PLC), match with visual system, the absolute fix of screw hole can be realized, each screw hole of product taken pictures one by one location without visual system, without embracing clamp mechanism, product is accurately positioned, time saving and energy saving, easy to operate, work efficiency is high.
As shown in Figure 4, described feeding machanism 3 includes machine for arranging screws and depiler, described depiler is installed on the front end of machine for arranging screws, described machine for arranging screws includes vibrator, Rolling motor and material road 31, material road 31 is installed and lacks material sensor, lack material sensor is used for detecting in material road 31 whether have material, control the screw supply of vibrator and Rolling motor with this.As it is shown in figure 5, described depiler includes that material separating disc 32 and sub-material drive motor 33, material separating disc 32 is arranged on sub-material and drives on the output shaft of motor 33.The entrance of material separating disc 32 docks with material road 31 discharge end of machine for arranging screws, is installed to expect sensor 34 with material road 31 joint at material separating disc 32, is used for detecting whether screw arrives material.On the output shaft that sub-material drives motor 33, indexing encoder 36 is also installed in the lower section of material separating disc 32, indexing encoder 36 side is provided with the first indexing sensor 35, first indexing sensor 35 is according to the angle of the notch detection material separating disc 32 on indexing encoder 36, to guarantee that the entrance of material separating disc 32 aligns with material road 31, it is ensured that being smoothed out of Charge motion.Screw in machine for arranging screws material road 31 is arranged in order, and enters material separating disc 32 entrance under effect of vibration, detects after screw puts in place to material sensor 34, and material separating disc 32 rotates, and successively by the screw infeed material separating disc 32 of requirement, completes feed.
As shown in Figure 6,7, the described latch mechanism 5 that takes includes main body rack 51 and is installed on the support for rotary disc 52 on the downside of main body rack 51, the embedded indexing rotary table 53 circumferentially rotated of described support for rotary disc 52, many batchings bar assembly 54 is installed on described indexing rotary table 53, many batchings bar assembly 54 circumferentially array, described batch of bar assembly 54 can move at vertical direction by indexing rotary table 53 relatively;Main body rack 51 is installed the drive mechanism 55 that indexing rotary table 53 can be driven to rotate;Described drive mechanism 55 is connected with indexing rotary table 53 by direct-connection transmission mechanism, and described direct-connection transmission mechanism is shaft coupling and power transmission shaft.As shown in Figure 8, described batch of bar assembly 54 includes screwdriver bit 541, is internally provided with the suction nozzle 542 of directed cavity, and bottom stretches to directed cavity, and batch bar 543 being flexibly connected with suction nozzle 542 along suction nozzle 542 upper end;Described batch of bar 543 bottom is also provided with cavity, and this cavity connects with directed cavity;Described screwdriver bit 541 is through the first spring 544, and stretches into suction nozzle 542 from the upper end of suction nozzle 542, floats and is installed in batch bar 543 cavity and suction nozzle 542 directed cavity;Described screwdriver bit 541 can be stretched out by the lower end of suction nozzle 542, and suction nozzle 542 inlays annular magnet 545 inside lower end, can draw screw by magnetic force.Described drive mechanism 55 is motor.Being flexibly connected between described suction nozzle 542 with batch bar 543 is, batch bar 543 on cavity top arranges strip through hole 546, the major axis of strip through hole 546, along batch bar 543 long axis direction, described suction nozzle 542 is correspondingly arranged jack, movable insertion intermediate pin 547 in jack and strip through hole 546.By intermediate pin 547 by movable to suction nozzle 542 and batch bar 543 assembling, so suction nozzle 542 can slide the most within the specific limits relative to batch bar 543, and coordinate to meet spacing when screw absorption, locking and dynamics requirement by spring, intermediate pin 547 1 aspect plays in sliding process and guides and the effect of restriction range, and suction nozzle 542 on the other hand can also be made with batch bar 543 synchronous rotary.The cooperation of intermediate pin 547 and strip through hole 546 can also conveniently realize the fast assembling-disassembling of suction nozzle 542 and batch bar 543, it is achieved split type assembling.
Be slidably installed on main body rack 51 above batch bar assembly 54 electric screwdriver assembly 62;Described electric screwdriver assembly 62 includes electric screwdriver and is arranged on the guide rod of electric screwdriver lower end.Described electric screwdriver assembly 62 place straight line and the intersection point of indexing rotary table 53, on the circumference of batch bar assembly 54 array, electric screwdriver assembly 62 slides up and down promotion batch bar assembly 54 and moves up and down relative to indexing rotary table 53.Between concrete structure and each structure of electric screwdriver assembly 62, annexation is prior art, does not repeats them here.The upper end of described batch of bar 543 arranges baffle ring 56, sheathed second spring 57 on batch bar assembly 54 between baffle ring 56 and indexing rotary table 53;Baffle ring 56 can play the effect of constraint the second spring 57, and can be as batch test point that bar assembly 54 moves or resilience puts in place.Described indexing rotary table 53 outer installation reed 58;Installing the second indexing sensor 59 on the position that described main body rack 51 is corresponding with reed 58, the second indexing sensor 59 coordinates the initial position for recording indexing rotary table 53 with reed 58.Motor drives indexing rotary table 53 to rotate, and when turning to certain batch of bar 543 and being coaxial with guide rod, electric screwdriver assembly 62 drives batch bar assembly to press for 54 times, and electric screwdriver starts, and tightens screw.Tightening after action completes, electric screwdriver assembly 62 sets back, and guide rod is connected disconnection with batch bar 543, criticizes bar 543 and is driven resilience by the second spring 57.Arranging baffle ring sensor 60 on the position that described main body rack 51 is corresponding with baffle ring 56, the baffle ring 56 of batch bar 543 upper end can be detected by baffle ring sensor 60, and to judge batch bar 543, whether resilience puts in place, it is ensured that everything goes well with your work is carried out.Electric screwdriver assembly 62 and batch bar assembly 54 all recover to initial position, and indexing rotary table 53 is rotated further, and when guide rod is coaxial with next batch of bar 543, repeats aforesaid operations, so can realize the locking successively to each suction nozzle 542 inner bolt.Inspection nail sensor 61 is installed on the position that described main body rack 51 is corresponding with suction nozzle 542 lower end, indexing rotary table 53 rotates, each suction nozzle 542 end passes sequentially through the test side of inspection nail sensor 61, can detect with or without absorption screw there being each position, by inspection nail sensor 61 output detections result, easy to operate, reliability is high.
As shown in Figure 9, the described nailing machine structure 4 that picks includes a pair jaw 41, magazine 42, the clamping cylinder 43 that jaw 41 can be driven to close and open, described clamping cylinder 43 is fixed on air cylinder support 44, described two jaws 41 are mounted on the outfan of clamping cylinder 43, and described magazine 42 is installed on below clamping cylinder 43.The latch mechanism 5 that takes being adsorbed with screw moves to pick nailing machine structure 4 position, make the screw on suction nozzle 542 between separate two jaws 41, then clamping cylinder 43 action drives two jaws 41 to close, pinching screw, taking latch mechanism 5 up simultaneously, make suction nozzle 542 separate with screw, then air cylinder driven jaw 41 opens, screw drops in the magazine 42 of lower section, completes once to pick nail action.
Take latch mechanism 5 to pick up screw, the do action of locking screw, and assist with screw detection and screw rejecting action.By screw detection, screw absorption situation is judged before and after taking nail and pinning, and by picking nailing machine structure 4, abnormal screw is rejected.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all within the spirit and principles in the present invention, any modification, equivalent substitution and improvement etc. made, should be included within the scope of the present invention.

Claims (10)

1. a high efficiency smart lock screws appts, including equipment matrix, motion, fixes The feeding machanism being installed on equipment matrix and pick nailing machine structure, and it is connected to motion end Take latch mechanism and visual system;Described feeding machanism includes machine for arranging screws and depiler, institute Stating machine for arranging screws to include expecting road, described depiler includes that material separating disc and sub-material drive motor, point The entrance of charging tray docks with the material way discharging device end of machine for arranging screws;The described latch mechanism that takes includes main body Support and the support for rotary disc being installed on main body rack, described support for rotary disc is embedded can circumference be turned Dynamic indexing rotary table, described indexing rotary table is installed many batchings bar assembly, many batchings bar assembly in Circumference array, described batch of bar assembly can move at vertical direction by indexing rotary table relatively;Prop up in main body The drive mechanism that indexing rotary table can be driven to rotate is installed on frame;The described batch of bar assembly include screwdriver bit, Being internally provided with the suction nozzle of directed cavity, bottom stretches to directed cavity, and and suction nozzle along suction nozzle upper end Batch bar being flexibly connected;The upper end of described batch of bar arranges baffle ring;It is characterized in that: also include leading Enter the control system of screw hole point position information;Described drive mechanism is by direct-connection transmission mechanism and divides Degree rotating disk connects;Material road is installed and lacks material sensor, install with material road joint at material separating disc To material sensor;On the output shaft that sub-material drives motor, indexing is also installed in the lower section of material separating disc Encoder, the first indexing sensor is installed in indexing encoder side;Described indexing rotary table outer is pacified Dress reed, the position that described main body rack is corresponding with reed is installed the second indexing sensor;Institute State and baffle ring sensor is set on the position that main body rack is corresponding with baffle ring;Described main body rack and suction Inspection nail sensor is installed on the position that mouth lower end is corresponding.
2. locking screws appts according to a kind of high efficiency smart described in claim 1, its feature exists It is three-axis robot or four axle robots or six-joint robot or seven axle machines in: described motion Device people or right angle coordinate manipulator.
3. locking screws appts according to a kind of high efficiency smart described in claim 1, its feature exists In: described visual system includes camera and image processor, the outfan of camera and image procossing The inlet circuit of device connects, the outfan of image processor and the inlet circuit of control system Connect.
4. locking screws appts according to a kind of high efficiency smart described in claim 1, its feature exists In: described batch of bar bottom is also provided with cavity, and this cavity connects with directed cavity;Described screwdriver bit passes First spring, and suction nozzle is stretched into from the upper end of suction nozzle, floating is installed in batch bar cavity and leads with suction nozzle To intracavity;Described screwdriver bit can be stretched out by the lower end of suction nozzle, and suction nozzle inlays annular inside lower end Magnet.
5. locking screws appts according to a kind of high efficiency smart described in claim 1, its feature exists In: being flexibly connected between described suction nozzle with batch bar is, arranges length on batch bar on cavity top Bar through hole, the major axis of strip through hole, along batch bar long axis direction, described suction nozzle is correspondingly arranged jack, Movable insertion intermediate pin in jack and strip through hole.
6. locking screws appts according to a kind of high efficiency smart described in claim 1, its feature exists In: be slidably installed on the main body rack above batch bar assembly electric screwdriver assembly, described electric screwdriver assembly Including electric screwdriver and the guide rod that is arranged on electric screwdriver lower end, described electric screwdriver assembly place straight line and indexing The intersection point of rotating disk, on the circumference of batch bar assembly array, electric screwdriver assembly slides up and down promotion batch bar Assembly moves up and down relative to indexing rotary table.
7. locking screws appts according to a kind of high efficiency smart described in claim 1, its feature exists In: sheathed second spring on batch bar assembly between baffle ring and indexing rotary table.
8. locking screws appts according to a kind of high efficiency smart described in claim 1, its feature exists In: described in pick nailing machine structure and include a pair jaw, magazine, two jaws Guan Bis can be driven and open Clamping cylinder.
9. locking screws appts according to a kind of high efficiency smart described in claim 8, its feature exists In: described two jaws are mounted on the outfan of clamping cylinder, and described magazine is installed on clamping gas Below cylinder.
10. locking screws appts according to a kind of high efficiency smart described in claim 1, its feature exists In: described depiler is installed on the front end of machine for arranging screws, and machine for arranging screws also includes vibrator And Rolling motor, described material separating disc is arranged on sub-material and drives on the output shaft of motor.
CN201610496769.6A 2016-06-29 2016-06-29 Efficient intelligent screw locking equipment Pending CN105880998A (en)

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Application Number Priority Date Filing Date Title
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CN106736485A (en) * 2017-01-06 2017-05-31 深圳大学 A kind of automatic lock screw system and its implementation based on robot
CN106964971A (en) * 2017-03-27 2017-07-21 哈尔滨工业大学 A kind of mechanical arm tool mechanism assembled for small space inner nut
CN107498301A (en) * 2017-09-27 2017-12-22 东莞市鑫骏自动化科技有限公司 Automatic locking screw machine
CN107598557A (en) * 2017-11-09 2018-01-19 深圳市联和智能技术有限公司 Filature
CN108500617A (en) * 2018-05-23 2018-09-07 中山振天自动化有限公司 Gearbox fully-automatic intelligent assembly line with fully-automatic intelligent screw driving mechanism
CN108498215A (en) * 2018-03-13 2018-09-07 温州职业技术学院 Medical power-assisted support and manufacturing method thereof
CN108498214A (en) * 2018-03-13 2018-09-07 温州职业技术学院 The dynamics component and its auxiliary production equipment of rehabilitation behavior
CN109193299A (en) * 2018-10-12 2019-01-11 东莞市卓劲电子机械有限公司 A kind of aluminium foil nailing machine lead feeding-distribution device
CN109514224A (en) * 2018-12-24 2019-03-26 Tcl王牌电器(惠州)有限公司 Pick pin structure and automatic tapping machine
CN109531124A (en) * 2018-12-13 2019-03-29 广东锐军智能设备有限公司 A kind of automatic lock screw machine
CN110238633A (en) * 2019-06-12 2019-09-17 五邑大学 A kind of novel automatic screw locking machine towards flexible manufacturing
CN110253269A (en) * 2019-06-20 2019-09-20 济南鑫捷瑞电气有限公司 Automatic Levelling rapid abutting joint mobile full-automatic screw locking machine
CN110612176A (en) * 2018-01-23 2019-12-24 深圳市大疆百旺科技有限公司 Screw locking working platform and five-shaft screw locking device thereof
CN110732866A (en) * 2018-07-20 2020-01-31 富鼎电子科技(嘉善)有限公司 Automatic screw locking device and screw locking mechanism thereof
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CN110612176A (en) * 2018-01-23 2019-12-24 深圳市大疆百旺科技有限公司 Screw locking working platform and five-shaft screw locking device thereof
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CN110732866B (en) * 2018-07-20 2021-07-30 富鼎电子科技(嘉善)有限公司 Automatic screw locking device and screw locking mechanism thereof
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CN113199223A (en) * 2021-05-12 2021-08-03 广州信邦智能装备股份有限公司 Automatic screw tightening machine

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