CN112045401A

CN112045401A - Screw limiting mechanism, screw feeding mechanism, screw screwing machine and screw locking method

Info

Publication number: CN112045401A
Application number: CN202010921070.6A
Authority: CN
Inventors: 季荣; 叶际勃; 刘深龙; 谭敏; 章赟; 孙凯; 杨志勇; 范锦宇; 孙淮扬; 卢赛赛; 钱浩东; 周立静; 李风武
Original assignee: Jiangsu New Team Intelligent Equipment Co ltd
Current assignee: Jiangsu New Team Intelligent Equipment Co ltd
Priority date: 2020-08-25
Filing date: 2020-09-04
Publication date: 2020-12-08
Also published as: CN214237025U; CN212552628U; CN213795149U; CN112059600A; CN213470214U; CN212552627U

Abstract

The invention discloses a screw limiting mechanism, a screw feeding mechanism, a screw screwing machine and a screw locking method, wherein the screw limiting mechanism comprises a screw positioning channel with one exposed end and a material taking channel communicated with the screw positioning channel, the cross section of the screw positioning channel is T-shaped, the material taking channel is positioned above the transverse part of the screw positioning channel, and the extending direction of the material taking channel is vertical to the extending direction of the screw positioning channel. The screw limiting mechanism of the scheme adopts the T-shaped screw positioning channel, the material taking channel is perpendicular to the extending direction of the screw positioning channel, the screw only moves in the positioning channel when entering the material taking position, the T-shaped channel structure can avoid the problem that the screw cannot turn in the conveying process, the screw with the head facing downwards and the tail facing upwards is effectively ensured to be right in the material taking channel, the feeding precision is improved, and the screw limiting mechanism is suitable for feeding screws of various specifications.

Description

Screw limiting mechanism, screw feeding mechanism, screw screwing machine and screw locking method

Technical Field

The invention relates to the field of screw machines, in particular to a screw limiting mechanism, a screw feeding mechanism, a screw screwing machine and a screw locking method.

Background

The screw machine is a small machine for automatically locking screws, and the action structure of the screw machine can be generally divided into a feeding part and an electric screwdriver part, wherein the feeding part is responsible for screening and providing screws, the electric screwdriver part is responsible for taking and locking the screws, and the generation of the screw machine not only improves the operation efficiency, but also reduces the manual operation intensity.

The feeding part is used as a core component of the screw machine, and the stability and the accuracy of feeding directly influence the realization of the follow-up batch head material taking and locking.

Among the various air blowing feeding structures, the screw fed through the air tube is generally received and defined by a screw clip, such as the screw feeding structure disclosed in application No. 201710986005. X. The screw clamp usually adopts at least two claw bodies which can rotate respectively, and the claw bodies are closed to form a screw positioning slot or hole in a normal state; the jaws can be actuated to open when the batch head is moved down into contact with them and to close automatically when the batch head is retracted.

The screw clamp may further comprise a longitudinal channel for moving the batch head to the screw location slot or hole for material removal and an inclined channel for screw input to the screw location slot or hole, i.e. the axes of the longitudinal channel and the inclined channel are generally maintained at an acute angle. Because the size of the batch head and the size of the adsorption tube are larger than the size of the screw, the diameter of the longitudinal channel is larger than that of the inclined channel, and because the output end of the inclined channel is positioned at the side wall of the longitudinal channel, a certain fall is formed between the output end of the inclined channel and the screw positioning groove or hole, so that the screw falls into the screw positioning groove or hole from the inclined channel in an inclined way for positioning.

However, for some small-sized screws, for example, screws with a size below M3 and/or a smaller length diameter, because the size of the screw is small, when the screw falls into the longitudinal channel from the inclined channel in an inclined manner, the screw has a sufficient turning space due to the height difference and the larger diameter of the material taking channel, and therefore the screw is difficult to be ensured to be in a state that the head end of the screw faces downward and the tail end of the screw faces upward, which causes the subsequent screw batch to suck the screw by vacuum adsorption and perform locking action, and greatly affects the reliability of screw locking.

Simultaneously, the during operation, the clamping jaw need be opened closure repeatedly under the effort of criticizing the head, criticize and have continuous friction loss between head and the clamping jaw, long-term the use, the clamping jaw also can warp because of wearing and tearing, can lead to the cooperation precision of a plurality of clamping jaws to reduce after the clamping jaw warp, has reduced the positioning accuracy of clamping jaw to the screw to lead to unable snatching effectively.

Disclosure of Invention

The invention aims to solve the problems in the prior art and provides a screw limiting mechanism, a screw feeding mechanism, a screw screwing machine and a screw locking method.

The purpose of the invention is realized by the following technical scheme:

the screw limiting mechanism comprises a screw positioning channel with one exposed end and a material taking channel communicated with the screw positioning channel, wherein the cross section of the screw positioning channel is T-shaped, the material taking channel is positioned above the transverse part of the screw positioning channel, and the extending direction of the material taking channel is vertical to the extending direction of the screw positioning channel.

Preferably, in the screw limiting mechanism, the screw positioning channel is connected with an exhaust channel communicated with at least the inner end of the screw positioning channel, the material taking channel is arranged around the periphery of the inner end of the screw positioning channel, the material taking channel is concentric with a virtual circle, and the virtual circle passes through the central point of the tail end of the screw positioning channel and is tangent to two side walls of the vertical part of the screw positioning channel.

Preferably, in the screw limiting mechanism, the screw positioning channel and the material taking channel are formed by combining two chucks capable of moving relatively.

Preferably, in the screw limiting mechanism, the chuck includes a base, the butt joint surface of the base includes a first plane, an arc surface and a second plane which are sequentially connected, the first plane and the second plane are parallel and not aligned, a notch which is located at a first vertex angle of the notch, extends from an outer end of the first plane to an inner end of the arc surface and has a rectangular cross section is formed on the base, and a stopper is arranged on the base and has an arc surface which is located outside the arc surface and is concentric with the arc surface.

Preferably, in the screw limiting mechanism, a limiting block is arranged on the substrate, and the limiting block has a side surface flush with the second plane.

Preferably, in the screw limiting mechanism, the bottom surface of the limiting block is an inclined surface or an obliquely arranged plane, and a triangular guide opening with an opening height gradually reduced from outside to inside is formed by the bottom surface and the top surface of the substrate.

Preferably, in the screw limiting mechanism, the vent channel extends from the bottom of the chuck to the bottom of the screw positioning channel and has a shape corresponding to the shape of the screw positioning channel.

Preferably, in the screw limiting mechanism, the two clamping heads are driven by an air cylinder.

Preferably, in the screw limiting mechanism, the feed end of the screw positioning channel is a flared mouth with a large outer part and a small inner part.

A screw feeding mechanism comprising any of the screw limiting mechanisms described above.

Preferably, the screw feeding mechanism further comprises a screw conveying pipe butted with the feeding end of the screw positioning channel, the screw conveying pipe comprises a screw conveying channel butted with the screw positioning channel, and the cross section of the screw conveying channel is in a T shape.

Preferably, the screw feeding mechanism further comprises

A screw supply machine;

the moving and carrying block can move between a first position and a second position, a screw limiting groove and an air passage communicated with the screw limiting groove are formed in the moving and carrying block, when the moving and carrying block is at the first position, the screw limiting groove is in butt joint with the discharge end of the screw supply machine, and when the moving and carrying block is at the second position, the screw limiting groove is in butt joint with the feed end of the screw positioning channel or a screw conveying channel.

The screw screwing machine comprises a screw driver with a far end capable of forming negative pressure and further comprises any one screw feeding mechanism, wherein the screw driver head and the material taking channel are coaxially arranged, and the screw driver is connected with a lifting device for driving the screw driver to lift.

Preferably, in the screw screwing machine, the screwdriver is connected with the lifting device through a floating mechanism.

Preferably, in the screw screwing machine, a pressure sensor is arranged at the floating mechanism.

Preferably, the screw screwing machine further comprises an image acquisition device and/or a laser sensor.

Preferably, in the screw driver, the screwdriver is further connected with a moving device which drives the screwdriver to perform at least translational operation.

The screw locking method comprises the following steps

S1, the screw driver is moved to the feeding height by the lifting device;

s2, closing two chucks of the screw limiting mechanism, positioning an air pipe of a screwdriver in a material taking channel formed by the two chucks, and butting a screw positioning channel formed by the two chucks with a discharge end of a screw conveying channel;

s3, the screw supply machine supplies a screw to the screw limiting groove of the transfer block;

s4, the translation mechanism drives the transfer block to move to the position where the screw limiting groove is butted with the input end of the screw conveying channel;

s5, blowing the screws in the screw limiting grooves to the inner end of the screw positioning channel;

s6, forming negative pressure at the tail end of the air pipe of the screwdriver to absorb the screw at the tail end of the screw positioning channel;

s20, the moving device drives the screw driver to move to the position of the screw to be screwed;

s30, keeping the tail end of the air pipe at negative pressure, and opening two chucks of the screw limiting mechanism;

and S40, the lifting device drives the screwdriver to move downwards, and a motor of the screwdriver is started to lock the screw.

The technical scheme of the invention has the advantages that:

1. the screw limiting mechanism of the scheme adopts the T-shaped screw positioning channel, the material taking channel is perpendicular to the extending direction of the screw positioning channel, the screw only moves in the positioning channel when entering the material taking position, the T-shaped channel structure can avoid the problem that the screw cannot turn in the conveying process, the screw with the head facing downwards and the tail facing upwards is effectively ensured to be right in the material taking channel, the feeding precision is improved, and the screw limiting mechanism is suitable for feeding screws of various specifications.

2. The screw limiting mechanism of the scheme adopts the combination of the two chucks, is easy to process and realize, and the two chucks are driven to be opened and closed by the air cylinder and opened when a screw is screwed, so that the abrasion of a batch head and the chucks can be effectively avoided, the service life is prolonged, the influence on the state of the screw is reduced, and the precision of feeding is ensured.

3. The terminal correspondence of getting of this scheme material passageway and screw location passageway can reduce the location degree of difficulty of screw feed position, directly with the screw carry the screw the terminal of screw location passageway can, easily realize.

4. The chuck of this scheme is provided with the limiting block and designs the bottom surface of limiting block, can cover the top of screw location passageway effectively, avoids the problem that the screw withdraws from the screw location passageway, and the structure of triangle spigot and loudspeaker form import has reduced the degree of difficulty that the screw enters into in the passageway from the outside simultaneously.

5. This scheme adopts the screw conveyer pipe that has T shape screw transfer passage and carries out the screw with screw transfer passage cooperation and carry out the screw and carry, has changed current hose and has carried screw head orientation and carry reverse transport mode, and the transportation process is more smooth-going, is difficult for appearing the problem of card material.

6. The design of the modeling and the multi-component assembly of the screw conveying pipe can effectively ensure the smoothness of the movement of the screw in the screw conveying pipe and is convenient for assembly and realization.

7. This scheme has the piece that moves of screw spacing groove through the setting, moves the piece through moving and moves and move between with screw and screw supply machine and screw transfer passage, adopts pure mechanical structure to realize moving of screw and moves, need not adopt the mode that prior art's vacuum adsorption moved among the background art moves, and the structure is simpler, and has saved the energy consumption that evacuation caused when adsorbing and moving, is favorable to reducing equipment cost.

8. This scheme is through setting up the baffle and moving the cooperation of carrying the piece, can move the piece and remove the in-process and inject the screw of screw spacing inslot, avoids the screw to take off from the risk of screw spacing inslot pine, has guaranteed the reliability of carrying the year.

9. The screw screwing machine integrates the feeding structure and the locking structure, can effectively enable the module to be integrally moved to any position needing to be machined according to needs, and is convenient to flexibly apply. The lower end of the screwdriver is provided with negative pressure, so that the screwdriver can be effectively adsorbed, and the reliability of the screw can be guaranteed.

10. Before the screw is locked, the screwdriver bit is connected with the screw in a torque transmission mode, so that basic conditions are created for subsequent reliable screwing, meanwhile, whether the state of the screw meets the requirements or not can be judged according to the vacuum degree in the air pipe, the accuracy of the subsequent screwing is guaranteed, and the situation that the screw is inclined and the like during screwing is avoided.

11. According to the scheme, the screwdriver is connected with the lifting device through the floating structure and is provided with the force sensor, so that the pressure control during screw locking can be effectively controlled, and flexible locking is realized.

12. This scheme can carry out the status check after twisting the screw effectively through setting up laser sensor to make and twist the dress operation and meet the requirements.

Drawings

FIG. 1 is a perspective view of the screw installation machine of the present invention;

FIG. 2 is a perspective view of the screw installation concealed screw feeder of the present invention;

FIG. 3 is a perspective view of the screw delivery tube of the present invention;

FIG. 4 is an end view of the feed end of the screw conveying tube of the present invention;

FIG. 5 is an enlarged view of area B of FIG. 4;

FIG. 6 is a top view of the screw limiting mechanism of the present invention;

FIG. 7 is an enlarged view of area C of FIG. 6;

FIG. 8 is an end view of the feed end of the screw retaining channel of the screw retaining mechanism of the present invention;

FIG. 9 is an enlarged view of area D of FIG. 8;

FIG. 10 is a side view of the screw retaining mechanism of the present invention;

FIG. 11 is a perspective view of the chuck of the screw limiting mechanism of the present invention;

FIG. 12 is a top view of the chuck of the screw limiting mechanism of the present invention;

FIG. 13 is an end view of the abutment surface of the collet of the screw limiting mechanism of the present invention;

FIG. 14 is a cross-sectional view of the screwdriver and screw limiting mechanism of the present invention;

FIG. 15 is an enlarged view of area E of FIG. 14;

FIG. 16 is a bottom plan view of the second air duct;

FIG. 17 is a side view of the screw installation machine;

fig. 18 is a schematic view of the tape transfer device of the screw mounting machine of the present invention.

Detailed Description

Objects, advantages and features of the present invention will be illustrated and explained by the following non-limiting description of preferred embodiments. The embodiments are merely exemplary for applying the technical solutions of the present invention, and any technical solution formed by replacing or converting the equivalent thereof falls within the scope of the present invention claimed.

In the description of the schemes, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the embodiment, the operator is used as a reference, and the direction close to the operator is a proximal end, and the direction away from the operator is a distal end.

The screw feeding mechanism disclosed in the present invention is described with reference to the accompanying drawings, as shown in fig. 1 and 2, which include

A screw feeder 100;

a screw delivery pipe on which a screw delivery passage 210 is formed;

a transfer block 300, which is movable between a first position and a second position, and on which a screw retaining groove 310 and an air passage (not shown) communicating with the screw retaining groove 310 are formed, wherein the screw retaining groove is butted against the discharge end of the screw feeder 100 in the first position, and the screw retaining groove is butted against the feed end of the screw conveying passage 210 in the second position;

a screw retaining mechanism 400 that can form a screw retaining channel in line with the screw retaining groove 310 that interfaces with the discharge end of the screw delivery tube.

During operation, the air flue is connected with the air supply pipeline, move the screw spacing groove 310 on the piece 300 and dock with the discharge end of screw supply machine 100 first, screw supply machine 100 carry a screw to in the screw spacing groove 310, then move the piece 300 translation to the screw spacing groove 310 with screw delivery channel 210 on the screw delivery pipe docks, then, the air supply pipeline air feed to the screw in the screw spacing groove 310 blows air and makes the screw enter into in the screw delivery channel 210 and follow screw delivery channel 210 enters into in the screw location passageway on the screw limiting mechanism 400 to wait that the screwdriver screws up.

The screw feeder 100 may be any available screw automatic feeding device, for example, the screw feeder 100 may be a combination of a vibrating tray feeding mechanism and a feeding channel, or may adopt a structure disclosed in application No. 201820924864.6, which is known in the art and not described herein.

As shown in fig. 1 and 2, in order to prevent the screw entering the screw retaining groove 310 from being separated from the screw retaining groove 310 due to vibration or the like during the moving process, a baffle 600 is disposed between the outer wall of the screw supplying machine 100 and the transferring block 300, the transferring block 300 is attached to the baffle 600 or maintains a slight gap with the screw retaining groove 310 facing the baffle 600, one end of the baffle 600 is close to the discharging end of the screw supplying machine 100, the other end of the baffle 600 extends to the feeding end of the screw conveying pipe, and the outer surface of the baffle 600 is flush with the end surface 210 of the feeding end of the screw conveying pipe, so that when the transferring block 300 transfers the screw, the baffle 600 can effectively shield the notch of the screw retaining groove 310 to prevent the screw from falling from the screw retaining groove 310. The baffle 600 is preferably bolted to the feed end of the screw-conveying pipe and is attached to the outer wall of the screw feeder 100.

The shape of screw conveyer pipe can be designed as required, and is preferred, as shown in fig. 3-5, the screw conveyer pipe includes body 200, body 200 rigidity and whole present for the S-shaped, form a screw transfer passage 210 that the cross-section is the T shape on the screw conveyer pipe, screw transfer passage 210 follows body 200' S one end extends to the other end and both ends face parallel and level. The size of the T-shape is designed according to the size of the screw to be delivered and is slightly larger than the size of the screw, but the size of the T-shape can ensure the state of the screw in the screw delivery channel, and is not limited specifically here.

The body 200 may be integrally injection-molded or assembled by a plurality of parts, and in a preferred embodiment, from the viewpoint of processing convenience, the body 200 is assembled by a plurality of panels, specifically, as shown in fig. 3 and 5, the structure comprises an S-shaped main board 220, a first cover board 230 and a second cover board 240, wherein the main board 220 is provided with an S-shaped groove 223 on the end surface facing the first cover board 230 and the second cover board 240, the end surfaces 221 and 222 on the two sides of the groove 223 are not flush, i.e. the end surface 222 on the upper side of the groove 223 protrudes over the end surface 221 on the lower side of the groove 223, the first cover plate 230 is fixed at the position of the protruding end surface 222, the second cover plate 240 is fixed at the position of the other end surface 221 and covers the major part of the groove, so that the contact surfaces 241, 231 of the second cover plate 240 and the first cover plate 230 are flush with the connecting surfaces 2233 of the first and

second groove bottoms

2231, 2232 of the groove 223. The main plate 220, the first cover plate 230 and the second cover plate 240 enclose the screw conveying channel 210 with a cross-sectional shape of T-shape that is consistent with the shape of the screw, so that the tip of the screw can be effectively ensured not to face the extending direction of the screw conveying channel, and the state of the screw can be kept consistent, so that the screw can be stably grasped by a subsequent screwdriver.

Of course, in other embodiments, the screw delivering tube and the screw delivering channel 210 may have other shapes, such as a linearly extending channel, and the installation height of the screw supplying machine 100 can be adjusted accordingly.

Of course, in another possible embodiment, the screw conveying pipe is not necessary, that is, the limiting groove 310 on the transferring block 300 may also directly abut against the feeding end of the screw positioning channel of the screw limiting mechanism 400, in this case, besides the conveying of the screws by air blowing, the conveying of the screws by pushing may also be performed, which is described in detail in the transferring block 300.

As shown in fig. 2, the discharge end of the screw conveying pipe is further connected with an adapter 250, the adapter 250 is formed with an adapter channel (not shown in the figure) having a T-shaped cross section and butted with the discharge end of the screw conveying channel 210, the adapter channel is a straight hole having a cross section the same as that of the screw conveying channel 210, and the feed end of the adapter channel is a bell mouth with a large outer side and a small inner side, so that screws can be effectively and conveniently fed into the adapter channel from the screw conveying channel 210. The adapter 250 is also assembled from multiple parts, and the presence of the adapter 250 allows for subsequent installation of the screw restraint mechanism 400. Of course, the adapter 250 is not necessary in some other embodiments and may be adjusted to suit the particular field environment.

As shown in fig. 2, the transfer block 300 includes a block body 320, a square sinking groove is recessed on the top surface of the block body 320, and the inlet end of the sinking groove is trumpet-shaped, so that the screw can be guided to enter the sinking groove. The top setting of block 320 covers the top cap 330 of heavy groove, heavy groove and top cap 330 constitute the screw spacing groove, the screw spacing groove is unanimous and the cross sectional shape of screw shape is the T shape, be provided with on the top cap 330 and be located the sensor 340 of heavy groove top, work as when there is the screw in the heavy inslot, sensor 340 senses screw concurrent signal in order to drive move and carry piece 300 to remove.

The air passage on the transfer block 300 extends from the surface of the block 320 to the bottom of the sinking groove (the end surface opposite to the notch of the screw limiting groove), and as shown in fig. 2, the air passage is connected with a pipe joint 350, and the valve body is connected with an air supply pipeline (not shown).

Of course, when the above-mentioned pushing method is used to transport the screws in the transferring block 300 to the screw positioning channel, a through hole (not shown in the figure) facing and communicating with the screw limiting groove 310 is formed on the transferring block 300, and a pushing rod passes through the through hole and extends into the screw limiting groove 310, and pushes the screws in the screw limiting groove 310 into the screw positioning channel, where the pushing structure may be driven by an air cylinder to move the pushing rod in a reciprocating linear manner.

As shown in fig. 2, the moving of the transfer block 300 is realized by a translation mechanism 370, the translation mechanism 370 includes a cylinder 371, the cylinder 371 is connected to a slider 372, the slider 372 is slidably disposed on a guide rail 373 and connected to the block 320, and the guide rail 373 is fixed on a base 374.

As shown in fig. 1 and 2, the screw limiting mechanism 400 is located at the discharge port of the lower end of the screw conveying pipe, and as shown in fig. 6 to 9, it includes a screw positioning channel 430, one end of the screw positioning channel 430 is exposed, the cross section of the screw positioning channel is T-shaped and has a size consistent with the size of the screw, that is, the diameters of the rod part and the tail part of the screw are equivalent to the widths of the horizontal part and the vertical plate of the screw conveying channel, and the shape of the inner end 431 of the screw positioning channel 430 may be circular arc, square, isosceles trapezoid, or the like.

As shown in fig. 6 and 7, the screw limiting mechanism 400 further includes a material taking channel 440 communicated with the screw positioning channel 430, and the material taking channel 440 extends in a direction perpendicular to the screw positioning channel 430. The cross-sectional shape of the material taking channel 440 is designed according to the shape of the air pipe at the lower end of the screwdriver, and can be circular, square or regular polygon. As shown in fig. 7 and 9, the material taking channel 440 is located above the transverse portion 432 of the screw positioning channel 430 and surrounds the inner end 431 of the screw positioning channel 430, the material taking channel 440 is concentric with a virtual circle a, and the virtual circle a passes through the central point 433 of the end of the screw positioning channel and is tangent to two side walls 4341 and 4342 of the vertical portion 434 of the screw positioning channel 430.

Meanwhile, in order to facilitate the entry of the screw into the screw positioning channel 430, as shown in fig. 7, the feed end 435 of the screw positioning channel 430 is a flared opening with a large outer end and a small inner end, that is, the width of the outer end is greater than that of the inner end, and the feed end of the screw positioning channel is butted with the discharge end of the adapter channel of the adapter member 250.

The screw positioning channel 430 and the material taking channel 440 may be formed on a block, and the specific forming method may be to form the block including the above structure by injection molding or to drill a hole on the block to obtain the screw positioning channel 430 and the material taking channel 440.

More preferably, for facilitating the processing and the subsequent operation of the screwdriver, as shown in fig. 6-9, the screw positioning channel 430 and the material taking channel 440 are formed by combining two relatively movable chucks 420, the two chucks 420 have the same shape, as shown in fig. 10, and are driven to close or open by an air cylinder 410, and the screw positioning channel 430 is formed when the two chucks 420 are closed.

Taking the shape of a chuck 420 as an example, as shown in fig. 11, the chuck 420 includes a base 421, the base 421 may be a plate or a block with a certain thickness, an abutting surface 4211 of the base 421 includes a first plane 4211, an arc surface 4212 and a second plane 4213 which are connected in sequence, the first plane 4211 is parallel to and not aligned with the second plane 4213, that is, the second plane 4213 protrudes from the first plane 4211. A notch 4214 is formed in the base 421, which is located at a first vertex angle (the upper right corner shown in the figure) of the base and extends from the outer end of the first plane to the inner end of the cambered surface, the side wall of the notch is parallel to the first plane, the bottom surface of the notch is parallel to the top surface of the first plane, the whole notch is approximately in a J shape, a stop 422 is arranged on the base 421, and the stop 422 is provided with an arc surface 4221 which is located outside the cambered surface 4212 and is concentric with the cambered surface 4212.

When the two chucks 420 are closed, the second planes 4213 of the two chucks 420 are attached, a gap between the two notches 4214, the first plane 4211 and the cambered surface 4212 forms the screw positioning channel 430 with the T-shaped section, and the tail end of the screw positioning channel 430 is arc-shaped.

In addition, since the upper portion of the area enclosed by the gap 4214 is open, the upper end opening of the screw positioning channel 430 formed by the gap 4214 needs to be closed by a certain structure, so as to prevent the screw from being affected by abnormal conditions such as jumping or overturning of the screw in the screw positioning channel 430 under the action of external force (especially wind force).

In a more preferred form, as shown in fig. 12, a limiting block 423 is disposed on the base 421, and the limiting block 423 is detachably connected to the block 422, for example, screwed, but may be integrally formed. The defining block 423 has a side 4231 flush with the second plane 4213, i.e. the portion of the defining block 423 protruding out of the first plane covers half the width of the screw positioning channel 430, the side 4231 extending from the outer end of the screw positioning channel to close the withdrawal channel. As shown in fig. 13, the bottom surface 4232 of the limiting block 423 is an inclined surface or a plane with an inclined arrangement, and the bottom surface 4232 and the top surface of the base 421 form a triangular guiding opening 424 with an opening height gradually decreasing from outside to inside, so as to facilitate the smooth entry of the screw into the screw positioning channel 430.

The chuck also comprises other structures so as to be convenient for connection, the specific structure of the chuck is not the innovation point of the scheme, and the chuck can be adaptively designed according to actual needs, which is not described in detail herein.

Further, when the screw is conveyed into the screw positioning channel 430 by adopting a blowing mode, if the tail end of the screw positioning channel 430 is closed, air flow is blocked during blowing, at the moment, the screw cannot be conveyed to the inner end of the screw positioning channel 430, and in order to ensure that the screw is conveyed to the inner end of the screw positioning channel 430, at the moment, the screw positioning channel 430 is connected with an exhaust channel at least communicated with the inner end 431 thereof, so that the air blown into the screw positioning channel 430 can be discharged to the outside through the exhaust channel, therefore, the air flow can continuously enter the tail end of the screw positioning channel 430 and the screw can effectively move to the tail end of the screw positioning channel under the action of wind power. When the screw positioning channel 430 is groove-shaped, i.e., the lower end of the screw positioning channel 430 is closed, the exhaust channel may be a groove extending downward from the bottom of the screw positioning channel 430 to the bottom of the base 421. In the preferred embodiment described above, as shown in fig. 7, the screw set passage 430 is a U-shaped passage as a whole, and thus, the air flow can be effectively discharged.

Of course, the exhaust channel is not essential, and may be omitted, for example, in the push-rod push mode. Also, the screw retaining mechanism 400 may be configured in other ways as desired, such as by the configuration of the existing screw retaining clip described in the background section to which the discharge end of the screw delivery tube is attached.

In order to improve the integration level so as to realize automatic feeding and screw loading at any position in subsequent use, the present disclosure further discloses a screw loading machine, as shown in fig. 1 and fig. 2, including the screw feeding mechanism of the above embodiment, and further including a screw driver 700 located directly above the material taking channel 340, a head of the screw driver 700 is coaxial with the material taking channel 340, the screw driver 700 is connected to a lifting device 800 for driving the screw driver to lift, the screw supplying machine 100, the screw conveying pipe, the transferring block 300, the screw limiting mechanism 400, the screw driver 700 and the lifting device 800 are located on a carrier 500, and the carrier 500 may be a plate or other structure with supporting capability.

The screwdriver can be various known electric screwdrivers, and in order to ensure the stability of grabbing screws by the screwdriver head, negative pressure can be formed at the tail end of the screwdriver, so that the screwdriver can be sucked by vacuum.

Specifically, as shown in fig. 14, the screwdriver 700 includes a housing 710, and a structure of a conventional screwdriver, such as a power supply, a control board, a motor, a transmission mechanism and the like, which are located in the housing 710, a screwdriver head 720 of the screwdriver is driven by the motor to rotate and extend out of the housing, the screwdriver head 720 can be various feasible screwdriver heads, and can be specifically adjusted according to the type of a screw to be screwed, and the end of the screwdriver head has magnetism, so that the screw on the screw limiting mechanism 400 can be effectively magnetically attracted. Preferably, the batch head 720 comprises three

sections

721, 722, 723, the upper two sections are cylindrical, the cross section of the lowermost section 723 is in a shape of a straight line, a cross, a triangle or a hexagon, and the diameter of the section is gradually reduced from top to bottom.

As shown in fig. 14, a head 730 is arranged at the front end of the housing 710, the head 730 is coaxial with the batch head 720, a pipe joint 740 communicating with the inner cavity of the head 730 is arranged at the side wall of the head 730, the pipe joints 740 are symmetrically arranged at two sides of the head 730, and the connection point of the pipe joint 740 and the head 730 is positioned at the lower end of a partition plate 731 in the head 730, so that the subsequent vacuum absorption is facilitated.

As shown in fig. 14, the head 730 is coaxially connected to a first air conduit 750, the first air conduit 750 is movably confined in the inner cavity of the head 720 by a confining sleeve 770, and the first air conduit 750 is reciprocally movable along the axial direction of the batch head. Meanwhile, the upper end of the first air pipe 750 abuts against or is fixed to one end of a spring 770 sleeved on the periphery of the batch head 720 and partially located in a groove of the upper end of the batch head, and the other end of the spring 770 abuts against or is fixed to the partition plate 731, so that the first air pipe 750 can float along the extending direction of the batch head 720 for a certain stroke.

As shown in fig. 14, the lower end of the first air pipe 750 is coaxially connected to a second air pipe 760, the second air pipe 760 and the first air pipe 750 together form an air pipe, the second air pipe 760 is sleeved on the periphery of the batch head 720, and the second air pipe 760 and the first air pipe 750 are fixedly connected through a fixing member 780. As shown in fig. 15 and 16, a through hole 761 is formed on the end surface of the second air duct 760, the through hole 761 is coaxial with the batch head 720, the through hole may be a straight hole, the straight hole is a circular hole, and the diameter of the circular hole is slightly larger than the maximum diameter of the lowest section 723 of the batch head 720.

In a preferred mode, as shown in fig. 15 and 16, the through hole 761 is a counter bore, and the diameter of the lower round hole 7611 of the counter bore is larger than that of the upper round hole 7612. Meanwhile, the diameter of the lower round hole 7611 is equivalent to the diameter of the tail of the screw to be screwed and slightly larger than the diameter of the tail of the screw, so that the screw can be effectively limited, and the depth of the lower round hole 7611 is larger than the thickness of the tail of the screw to be locked. The diameter of the upper circular hole 7612 is equal to or slightly larger than the maximum diameter of the lowest section 723 of the batch head 720. At this time, in order to ensure smooth circulation of the air flow, a circle of circular-arc-shaped notch 7613 is formed in the hole wall of the upper circular hole 7612 in an inward concave manner, and of course, the notch 7613 may have other shapes, so that even if the bit is in contact with the hole wall of the upper circular hole 7612, the air flow circulation can be realized through the notch 7613.

The end of the bit 720 may normally slightly protrude out of the end of the second air pipe 760 or be located inside the first air pipe 760, and in a preferred structure, the end of the bit 720 extends into the lower circular hole 7611 of the counterbore and does not protrude out of the end of the first air pipe 760, and more preferably, the length of the bit extending into the lower circular hole 7611 is equivalent to the depth of the torque transmission groove at the tail end of the screw to be locked.

The lifting device 800 for driving the screwdriver 700 may be any known mechanism capable of generating linear movement, such as an air cylinder, an oil cylinder, etc., and in a preferred embodiment, as shown in fig. 17, the lifting device 800 includes a motor 810, a motor shaft of the motor 810 is connected with a pulley 820, the pulley 820 is connected with a driven wheel 840 through a synchronous belt 830, the driven wheel 840 is connected with a screw of a lead screw 850, and a movable block of the lead screw 850 is connected with the screwdriver 700.

Further, as shown in fig. 17, the screwdriver 700 is connected to the lifting device 800 through a floating mechanism 900, so that the impact of the screwdriver 700 during operation can be effectively buffered, specifically, the floating mechanism 900 includes a mounting plate 910 connected to the movable block of the lead screw 850, two guide members 920 are disposed on the mounting plate 910, a sliding member 930 is slidably disposed on the guide members 920, the sliding member is slidably disposed on a guide rail 940 on the mounting plate 910, and a spring 950 is sleeved on the outer periphery of the guide member 920 and located between the sliding member 930 and the mounting plate 910.

Meanwhile, in order to effectively control the screwing force, a pressure sensor (not shown) is disposed at the floating mechanism 900, and the pressure sensor may be disposed at the upper end of the spring 950, but may be disposed at other possible positions, for example, between the mounting plate 910 and the slider 930.

Of course, in other embodiments, the screwdriver 700 may be driven to move in translation by other moving structures besides the lifting device 800, for example, the screwdriver 700 is disposed on a multi-axis mobile robot, in which case the two chucks 420 of the screw limiting mechanism 400 may be kept closed without being opened, or the screw limiting mechanism 400 may be directly a block having the screw positioning channel 430, the material taking channel 440 and the air exhausting channel, and in such a structure, the screwdriver 700 and its moving structure and the screw feeding mechanism may not be disposed on a carrier.

In actual operation, as shown in fig. 18, the carrier 500 is driven to move by a moving device 2000, so as to drive the whole structure thereon to move integrally, the moving device 2000 may be various feasible moving devices, such as a six-axis robot or a multi-axis moving module, or a manually controlled moving mechanism, such as a balance crane, when the moving mode of the carrier 500 is automatically controlled, the moving control of the carrier may be performed according to a set path by a control program of control software in a controller, or may be performed by a visual positioning mode, therefore, the screw tightening machine further includes an image collecting device 1000, and in addition, the image collecting device 1000 may also be used to collect images after screw tightening to determine whether screw tightening is missed or the screw tightening is not satisfactory. Of course, in order to ensure that each point is screwed with a screw, and the screw tightening meets the requirements, and to avoid the situations of skew and the like, the screwing machine further includes a laser sensor (not shown in the figure), and the laser sensor may be a feasible device such as a laser distance meter or a laser flatness measuring instrument.

When the whole device works, the controller can be combined with various sensors and the like to control the work of each part, and the specific control process is realized by the known technology and is not described herein.

When the whole equipment works, the working process is as follows:

s1, the lifting device 800 moves the screwdriver 700 to the loading height.

S2, the air cylinder 410 of the screw limiting mechanism 400 drives the two chucks 420 to close, and at this time, the feeding end of the screw positioning channel 430 formed by the two chucks is butted against the discharging end of the switching channel, and the second air pipe of the screw driver 700 is inserted into the material taking channel 440.

S3, the screw retaining groove 310 is connected to the output end of the screw supplier 100, and at this time, the screw supplier 100 supplies a screw into the screw retaining groove 310.

S4, the cylinder 371 of the translation mechanism 370 starts to drive the transfer block 300 to move to the second position, until the screw limiting groove 310 abuts against the input end of the screw conveying channel 210.

S5, supplying air to the air passage of the transfer block 300 through the air supply pipe to transfer the screws in the screw limiting grooves 310 to the screw conveying channel 210, and continuously supplying air to the loading position where the screws move to the inner end of the screw positioning channel 430. At this time, it is also possible to determine whether the screw enters the inner end of the screw positioning passage 430 by a sensor.

S6, the air suction pipeline connected with the screwdriver 700 starts to suck air so that the lower end of the air pipe forms negative pressure to suck the screw into the counter bore at the tail end of the air pipe.

And S7, maintaining the negative pressure at the lower end of the air pipe, driving the screwdriver head 720 to rotate at a low speed by the motor in the screwdriver 700, embedding the distal end of the screwdriver head 720 into the torque transmission groove at the tail end surface of the screwdriver and connecting the two torque transmission grooves, wherein after the torque transmission is connected, the screwdriver head can be kept rotating at a low speed or can be stopped rotating, and at the moment, the rotating speed of the motor of the screwdriver is controlled to be below 500 rpm. This scheme is through attaching the action before the lock, make earlier that the batch head rotates with the low-speed, rotate at the end of batch head to when articulating the groove butt joint with the biography of screw tail end face, the screw can move to batch head under the effect of adsorption force, thereby make the end of batch head peg graft and realize the biography and turn round in articulating the groove, later when attaching the lock again, can fix a position the screw through batch head, make it can not appear the condition of slope when treating the connecting hole contact, the quality is attached to the lock has been guaranteed effectively, the validity that the lock attaches has been improved, the multiple spot lock attaches efficiency has been improved. The combination is criticized the motor rotational speed control when first low-speed rotation, can realize effectively that position control and biography between criticize the head and the screw are turned round and are connected, has improved stability.

S8, keeping the air tube vacuumized, judging whether the vacuum degree in the air tube meets the requirement, judging whether the state of a screw on a screwdriver head meets the requirement according to the vacuum degree in the air tube, namely determining whether the screwdriver head 720 is effectively connected with the screw in a torque transmission manner, wherein the screw and the screwdriver head are coaxial and the tail end of the screwdriver head is inserted into a torque transmission groove of the screw when the screw is effectively connected in the torque transmission manner, and at the moment, when the screwdriver head locks the screw, the state that the screw and a screw hole are coaxial can be effectively ensured, the locking effectiveness of the screw is ensured, and the state of deflection and the like when the screw is locked is avoided. The specific judgment principle is as follows: when the screwdriver head is connected with the screw in a torque transmission manner, the tail of the screw can effectively cover the through hole 761, and at the moment, the vacuum degree in the air pipe is higher than that when the screwdriver head is not connected with the screwdriver head in a torque transmission manner, so that when the screwdriver head is not inserted into the torque transmission groove at the tail end of the screw, the screw is limited by the part of the screwdriver head extending into the lower round hole, the tail end face of the screw cannot be attached to the attaching face, a gap exists, gas is continuously pumped into the air pipe at the moment, the vacuum degree is lower, and the judgment can be carried out through the vacuum degree.

S9, when the state of the screw meets the requirement, locking operation is carried out according to the following S30-S40; and when the state of the screw on the screwdriver bit is determined to be not in accordance with the vacuum degree, stopping vacuumizing the air pipe, blowing air into the air pipe, and forming positive pressure at the tail end of the air pipe, so that the screw on the screwdriver bit is blown away and discarded. When discarded, the screws may be discarded into a recycling container or screw feeder. In the specific operation, the two chucks can be opened first, then the screwdriver is moved to the upper part of the upper opening of the recycling container or the screwdriver supply machine to be discarded, and after the discarding, the two chucks are closed again to supply materials. Of course, the screw may be blown back into the screw retaining channel directly when it is discarded.

Whether the screw and the screwdriver bit are effectively connected in a torque transmission mode is judged through the vacuum degree, the corresponding screw is abandoned when the screw and the screwdriver bit do not reach the standard, the screw and the screwdriver bit are reliably connected in a torque transmission mode when locked, and the locking quality is guaranteed to the utmost extent.

S10, sucking a screw from the screw limiting mechanism 400 through the air tube again, wherein the screw can be a newly delivered screw or a discarded screw of the air tube, and the locking action can be carried out by repeating the steps S7-S9 until the vacuum degree in the air tube meets the requirement.

S20, the moving device 2000 drives the screw driver to move to the position to be screwed.

S30, the end of the air tube is kept at negative pressure, and the air cylinder 410 of the screw limiting mechanism 400 drives the two clamping heads 420 to open.

And S40, the lifting device 800 drives the screwdriver to move downwards to a target position, and a motor of the screwdriver starts to drive the screwdriver head to drive the screwdriver to rotate to realize locking.

S50, repeating the process of S1-40.

Of course, the above-mentioned process is not the only limitation to the specific locking process, and for example, the S20 may be performed before or after any other step. Or, the chuck can be closed first, and then the screwdriver is inserted into the material taking channel formed on the chuck. Of course, when the chuck is opened, the transfer block can also be moved to the first position to take the material at the same time. And when the clamping heads are closed, the transfer blocks synchronously move to the second positions. In another embodiment, the above-mentioned partial steps may be omitted, and for example, after the batch head rotates at a low speed, the process of determining the degree of vacuum in the trachea may not be performed. Even the process of low-speed rotation of the batch head is not carried out, but the process of judging the vacuum degree in the gas pipe is directly carried out, but the material taking efficiency is relatively low in such a mode.

The invention has various embodiments, and all technical solutions formed by adopting equivalent transformation or equivalent transformation are within the protection scope of the invention.

Claims

1. Screw limiting mechanism, its characterized in that: the screw positioning device comprises a screw positioning channel with one exposed end and a material taking channel communicated with the screw positioning channel, wherein the cross section of the screw positioning channel is T-shaped, the material taking channel is positioned above the transverse part of the screw positioning channel, and the extending direction of the material taking channel is vertical to the extending direction of the screw positioning channel.

2. The screw restraint mechanism of claim 1, wherein: the screw positioning channel is connected with an exhaust channel communicated with the inner end of the screw positioning channel at least, the material taking channel is arranged around the periphery of the inner end of the screw positioning channel, the material taking channel is concentric with a virtual circle, and the virtual circle passes through the central point at the tail end of the screw positioning channel and is tangent to two side walls of the vertical part of the screw positioning channel.

3. The screw restraint mechanism of claim 1, wherein: the screw positioning channel and the material taking channel are formed by combining two chucks capable of moving relatively, each chuck comprises a substrate, the butt joint surface of each substrate comprises a first plane, an arc surface and a second plane which are sequentially connected, the first plane and the second plane are parallel and not level, a notch which is located at the first vertex angle of the substrate, extends from the outer end of the first plane to the inner end of the arc surface and has a rectangular cross section is formed in the substrate, a stop block is arranged on the substrate, and the stop block is provided with an arc surface which is located on the outer side of the arc surface and is concentric with the arc surface.

4. The screw restraint mechanism of claim 3, wherein: the substrate is provided with a limiting block, and the limiting block is provided with a side face which is flush with the second plane.

5. The screw restraint mechanism of claim 4, wherein: the bottom surface of the limiting block is an inclined surface or an obliquely arranged plane, and a triangular guide opening with gradually reduced opening height from outside to inside is formed by the bottom surface and the top surface of the substrate.

6. The screw restraint mechanism of claim 1, wherein: the vent passage extends from the bottom of the collet to the bottom of the screw set passage and is shaped to conform to the shape of the screw set passage.

7. The screw restraint mechanism of claim 2, wherein: two chucks are driven by an air cylinder.

8. The screw restraint mechanism of claim 1, wherein: the feed end of the screw positioning channel is a horn-shaped opening with a large outer part and a small inner part.

9. Screw feed mechanism, its characterized in that: comprising a screw restraint mechanism as claimed in any one of claims 1 to 8.

10. The screw feeding mechanism of claim 9, wherein: the screw conveying pipe is in butt joint with the feeding end of the screw positioning channel and comprises a screw conveying channel in butt joint with the screw positioning channel, and the cross section of the screw conveying channel is in a T shape.

11. The screw feeding mechanism of claim 9, wherein: also comprises

A screw supply machine;

12. Screw is twisted installation, including the screwdriver that the distal end can form the negative pressure, its characterized in that: the screw feeding mechanism of any one of claims 9 to 11, wherein the head of the screw driver is coaxially arranged with the material taking channel, and the screw driver is connected with a lifting device for driving the screw driver to lift.

13. The screwing machine of claim 12, wherein: the screwdriver is connected with the lifting device through a floating mechanism.

14. The screwing machine of claim 13, wherein: and a pressure sensor is arranged at the floating mechanism.

15. The screwing machine of claim 12, wherein: an image acquisition device and/or a laser sensor are also included.

16. The screwing machine of claim 12, wherein: the screwdriver is also connected with a moving device for driving the screwdriver to move.

17. The screw locking method is characterized in that: comprises the following steps

S1, the screw driver is moved to the feeding height by the lifting device;