CN112809356B

CN112809356B - Automatic screw locking machine

Info

Publication number: CN112809356B
Application number: CN202110135045.XA
Authority: CN
Inventors: 蒋凯; 李磊; 沈国平; 张媛; 谢盼盼
Original assignee: Hangzhou Weiguang Electronic Co Ltd
Current assignee: Hangzhou Weiguang Electronic Co Ltd
Priority date: 2021-02-01
Filing date: 2021-02-01
Publication date: 2022-03-29
Anticipated expiration: 2041-02-01
Also published as: CN112809356A

Abstract

The invention discloses an automatic screw locking machine. The problems that a plurality of screws and nuts cannot be locked simultaneously, the requirement of mass commodity production is difficult to adapt, and the production efficiency is low are solved; the invention comprises a nut supplying and placing device, an automatic screw screwing device, a manipulator and a product transferring device; the nut supplying and placing device is used for supplying and placing nuts at different positions; the automatic screw tightening device is used for simultaneously tightening a plurality of nuts; the mechanical arm takes out the product which finishes screwing the screw from the automatic screw locking machine to the next production process link; the product transfer device sequentially moves the product to each link station of the locking screw. The device of this scheme is through reaching the station of a link with the product in proper order, accomplishes the installation of a plurality of nuts in different positions simultaneously, and accomplishes screwing up of a plurality of screws in different positions simultaneously, improves the efficiency of lock screw, adapts to large batch production.

Description

Automatic screw locking machine

Technical Field

The invention relates to the field of screw locking machines, in particular to an automatic screw locking machine.

Background

The screw connection is a common connection mode in assembly, and the assembly of many products mostly needs to use screw and nut connection, and the screw and nut for one product are more than one group. At present, there is an automatic screw locking machine designed to improve the screw locking efficiency of products, for example, "a full-automatic screw locking machine" disclosed in chinese patent document, whose publication No. CN203887493U includes a base, a blanking mechanism, a tightening mechanism, a rotating mechanism, a material grabbing mechanism, a conveying mechanism, a control circuit and a controller, wherein an output port of the blanking mechanism, a tightening portion of the tightening mechanism, and a material grabbing portion of the material grabbing mechanism correspond to a rotating portion of the rotating mechanism, the conveying mechanism is disposed below the material grabbing mechanism through an extension plate, and the controller is connected to the blanking mechanism, the tightening mechanism, the rotating mechanism, the material grabbing mechanism, and the conveying mechanism respectively through the control circuit. This scheme needs to lock one by one to screw nut's connection, and to the product of many screw nut locking, its efficiency is not high, is difficult to adapt to the production demand of product in batches.

Disclosure of Invention

The invention mainly solves the problems that the prior art can not lock a plurality of screws and nuts at the same time, is difficult to adapt to the requirement of mass commodity production and has low production efficiency; the automatic screw locking machine can lock a plurality of screw nuts at different positions on a product at the same time, improves the efficiency of locking screws, and is suitable for large-batch production of the product.

The technical problem of the invention is mainly solved by the following technical scheme:

an automatic screw locking machine is characterized by comprising a nut supplying and placing device, an automatic screw screwing device, a manipulator and a product transferring device;

the nut supply and placement device comprises a nut oscillation disc, a positioning rotary disc and a movable adsorption assembly, wherein the nut oscillation disc supplies nuts to the positioning rotary disc one by one; the positioning turntable rotates around the central shaft, and the edge of the positioning turntable is provided with a plurality of limiting grooves for receiving and accommodating nuts at different positions; the movable adsorption component is used for simultaneously transferring the nuts in the limiting grooves to the nut holes of the product on the product transferring device;

the automatic screw screwing device comprises a screw screwing component and a third driving device, the third driving device drives the screw screwing component to move up and down, the screw screwing component is matched with the position of a product screw, and meanwhile, screw screwing operation is carried out;

the manipulator takes out the product which finishes screwing the screw from the automatic screw locking machine to the next production process link;

and the product transferring device is used for sequentially moving the product to each link station of the locking screw.

The automatic screw locking machine of this scheme reaches the station of individual link in proper order through product transfer device product, and the nut is supplied with and is laid the device and supply with the nut of laying different positions department simultaneously, screws up the screw of different positions departments simultaneously with a product automatically to twist screw device, takes the next process with the product through the manipulator after accomplishing screw nut's locking. The installation of a plurality of nuts in different positions is accomplished simultaneously, and the tightening of many screws in different positions is accomplished simultaneously, improves the efficiency of lock screw, adapts to large batch product production.

Preferably, the nut supplying and placing device further comprises an infrared sensor and a positioning block, wherein the infrared sensor is arranged above the moving track of the limiting groove; the positioning rotary disc is arranged in the positioning block, the surface of the positioning rotary disc is flush with the surface of the positioning block, and a nut supply channel for nuts to pass through is arranged at the edge of the positioning block.

According to the nut feeding and placing device, nuts are conveyed to the edge of the positioning rotary table through the nut vibrating disc, and when the limiting groove in the edge of the positioning rotary table rotates to the outlet position of the nut vibrating disc along with the rotation of the positioning rotary table, one nut falls into the limiting groove due to the thrust from the rear; whether infrared sensor detects all spacing grooves and has the nut at the rotatory in-process of location carousel, after infrared sensor detected that all there is the nut in every spacing groove, remove the corresponding position that the nut of adsorption component in with the spacing groove adsorbs and remove and place the product. Through the location carousel, once only supply with, lay a plurality of nuts simultaneously, be convenient for follow-up carry out nut locking simultaneously to a plurality of nuts of product, improve the supply of nut, lay efficiency.

Preferably, the movable adsorption component comprises a first movable track, a second movable track, a first driving device, a second driving device and a plurality of magnetic suction heads; the first driving device drives the second moving track to move on the first moving track; the second driving device drives the plurality of magnetic suction heads to move on the second moving track. First removal track is vertical track, and the second removes the track and is horizontal track, removes the adsorption component and adsorbs the nut back from location carousel top, moves up through first removal track, removes track lateral shifting through the second, moves the nut to the top in product nut hole, moves down through first removal track, places the nut in the nut hole, places when accomplishing a plurality of nuts simultaneously, improves the efficiency of placing of nut.

Preferably, the automatic screw screwing device further comprises a guide rod, a fourth driving device, a pressing plate, a supporting rod, a supporting plate, an installation plate and a pressing plate limiting rod; the fourth driving device drives the pressing plate to move up and down, and the pressing plate is arranged above the product; the fourth driving device is fixedly arranged on the mounting plate, the pressing plate limiting rod is fixed on the mounting plate, and the pressing plate limiting rod is arranged below the pressing plate. When the automatic screw screwing device of the scheme transports a product to the lower side, the fourth driving device drives the pressing plate to compress the product, so that the subsequent locking screw is convenient, the product gap after locking is smaller, the screw locking process is smoother, and the service life of the screw screwing component is prolonged.

Preferably, the screw screwing assembly comprises a moving plate, a plurality of screw drivers and a driving motor, the driving motor respectively drives the screw drivers to rotate, and the screw drivers are matched with the positions of screws on a product and are distributed on the moving plate; the support rod and the guide rod are arranged in parallel, one end of the support rod and one end of the guide rod are fixedly arranged on the bottom surface of the support plate, the third driving device is arranged on the top surface of the support plate, and an output rod of the third driving device penetrates through the support plate to be connected with the movable plate of the screw screwing assembly. The automatic screw screwing component can control a plurality of screw screwing components to act simultaneously, can simultaneously complete the fastening of a product at screws at different positions, improves the production efficiency, and meets the requirement of mass production.

Preferably, the automatic screw screwing device further comprises a telescopic connecting rod and a pressure equalizing block, the pressure equalizing block is arranged between the pressure plate and a product, and the telescopic connecting rod is fixedly connected with the center of the pressure equalizing block. The pressure of the pressing plate is dispersed by the pressure equalizing block, so that the pressure can be uniformly applied to the product, and all positions of the product can be compacted.

Preferably, the manipulator comprises two symmetrical clamping sheets, a clamping driver, a first movement driving device and a second movement driving device; the first moving driving device drives the clamping pieces to move up and down, and the clamping driver controls the distance between the two clamping pieces so as to clamp or release a product; the clamping piece comprises two position states, the first position state is that the clamping piece is located at a product position, the second position state is that the clamping piece is located at a next process position, and the second moving driving device drives the clamping piece to be switched between the first position state and the second position state.

Preferably, the product transferring device is a movable turntable, the movable turntable comprises a plurality of stations, the movable turntable is driven by a motor to rotate around a shaft, a plurality of rollers are arranged below the movable turntable, and the rollers are arranged along the rotating track of the movable turntable. The rollers are arranged to support the edge of the product transferring device, balance of the movable turntable is kept, inclination is avoided, and meanwhile the rotating track of the movable turntable is limited.

Preferably, the automatic screw locking machine further comprises a product pressing device, wherein the product pressing device comprises a pressing driver, a pressing head and a mounting bracket; the mounting bracket comprises a first bracket and a second bracket, and the first bracket and the second bracket are vertically arranged; the output rod of the pressing driver penetrates through the second support to be connected with the pressing head, and the pressing head is arranged right above the product. After the placement of the nuts and the screws is completed, the product transferring device transfers the product to a product pressing station, the pressing driver controls the pressing head to fall down, the product formed from the upper part and the lower part is pressed, the gap of the block parts to be connected with the product is reduced, and the product is convenient to lock by the screws. The product after locking is ensured to have small gap and stable product.

Preferably, the automatic screw locking machine further comprises a visual detection device, wherein the visual detection device comprises a fifth driving device, a camera, a mounting support rod and a moving frame; the fifth driving device drives the moving frame to move up and down, the mounting support rod is an arc-shaped support rod, one end of the mounting support rod is fixedly connected with the moving frame, and the camera is hinged to the other end of the mounting support rod. When the product is finished and the product is moved to the product detection station by the product transfer device, the camera is started to shoot the product, the distance position of the camera is adjusted by the fifth driving device, the shot picture is processed by an image recognition algorithm, and whether the screw and the nut at each position on the product are locked firmly or not is judged. And after all the screws and the nuts are judged to be locked, controlling the product transfer device to transfer the product to the next procedure, and otherwise, giving an alarm.

The invention has the beneficial effects that:

1. the automatic screw locking machine sequentially reaches stations of each link through a product transfer device, the nut supply placing device simultaneously supplies nuts placed at different positions, the automatic screw screwing device simultaneously screws at different positions on one product, and the product is taken to the next process through a manipulator after the screw nuts are locked. The installation of a plurality of nuts in different positions is accomplished simultaneously, and the tightening of many screws in different positions is accomplished simultaneously, improves the efficiency of lock screw, adapts to large batch product production.

2. Through the location carousel of device is laid to the nut feed, once only supply with, lay a plurality of nuts simultaneously, be convenient for follow-up carry out nut locking simultaneously to a plurality of nuts of product, improve supplying with, laying efficiency of nut.

3. The fourth driving device of the automatic screwing device drives the pressing plate to compress a product, so that the subsequent screw locking is facilitated, the gap of the locked product is smaller, the product is more smooth in the screw locking process, and the service life of the screwing component is prolonged.

Drawings

Fig. 1 is a schematic structural view of the auto-screwdriving machine of the present invention.

Fig. 2 is a schematic view of the structure of the nut supply and setting device of the present invention.

Fig. 3 is a schematic structural view of the automatic screwing device of the present invention.

Fig. 4 is a side view of the automatic screwing device of the present invention.

In the figure, 1, a nut supply and placement device, 1-1, a nut oscillation disc, 1-2, a positioning rotary disc, 1-3, a limiting groove, 1-4, an infrared sensor, 1-5, a first moving rail, 1-6, a second moving rail, 1-7, a first driving device, 1-8, a second driving device, 1-9, a magnetic suction head, 1-10, a positioning block, 2, a product pressing device, 2-1, a pressing driver, 2-2, a pressing head, 2-3, a mounting bracket, 2-31, a first bracket, 2-32, a second bracket, 3, an automatic screw screwing device, 3-1, a guide rod, 3-2, a screw screwing moving plate component, 3-21, 3-22, a screwdriver, 3-23, a driving motor, 3-3, a third driving device, 3-4 parts of a fourth driving device, 3-5 parts of a pressing plate, 3-6 parts of a supporting rod, 3-7 parts of a supporting plate, 3-8 parts of a mounting plate, 3-9 parts of a pressing plate limiting rod, 3-10 parts of a telescopic connecting rod, 3-11 parts of a uniform pressing block, 4 parts of a visual detection device, 4-1 parts of a fifth driving device, 4-2 parts of a camera, 4-3 parts of a mounting supporting rod, 4-4 parts of a moving frame, 5 parts of a mechanical arm, 5-1 parts of a clamping sheet, 5-2 parts of a first moving driving device and 6 parts of a product transferring device.

Detailed Description

The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.

Example (b):

an automatic screw locking machine of this embodiment, as shown in fig. 1-4, includes a nut supplying and placing device 1, a product pressing device 2, an automatic screw screwing device 3, a visual detection device 4, a manipulator 5 and a product transferring device 6, which are arranged on a workbench. The product transfer device 6 is used for sequentially moving the products to the stations of each link of the screw locking process.

In this embodiment, each link station of the screw locking process sequentially includes six stations of nut placement, screw placement, product compression, screw screwing, product detection and product transfer. The nut supply placing device 1 is arranged at a nut placing station; the product pressing device 2 is arranged at the product pressing station; the automatic screw screwing device 3 is arranged at a screw screwing station; the visual detection device 4 is arranged at the product detection station; the robot 5 is arranged at the product transfer station.

In this embodiment, the product transfer device 6 is a movable turntable, six stations are arranged on the movable turntable, the movable turntable rotates around a shaft, the product transfer device 6 is driven by a motor, the motor is arranged below the workbench, a plurality of rollers are arranged between the workbench and the movable turntable, the rollers are fixedly arranged on the workbench through a mounting bracket, and the rollers are arranged along the rotation track of the movable turntable. The rollers are arranged to support the edge of the product transferring device 6, so that the balance of the movable turntable is kept, the inclination is avoided, and the rotation track of the movable turntable is limited.

The nut supply and placement device 1 comprises a nut oscillation disc 1-1, a positioning rotary disc 1-2, a movable adsorption assembly and a nut detection assembly.

The positioning rotary table 1-2 is arranged at an outlet of the nut oscillation disc 1-1, and the nut oscillation disc 1-1 sequentially conveys nuts in the nut oscillation disc 1-1 to the positioning rotary table 1-2 through a nut conveying channel. In the embodiment, the nut oscillating discs 1-1 are symmetrically arranged on two sides of the positioning rotary disc 1-2. The nuts are simultaneously supplied to the positioning turntables 1-2 from both sides, and the supply rate of the nuts is increased.

The positioning rotary table 1-2 is arranged in the positioning block 1-10, and the edge of the positioning block 1-10 is provided with a nut supply channel for nuts to pass through. In the embodiment, the surface of the positioning rotary table 1-2 is flush with the surface of the positioning block 1-10, the positioning block 1-10 is a square positioning block 1-10, an installation groove adapted to the positioning rotary table 1-2 is arranged in the center of the positioning block 1-10, and the positioning rotary table 1-1 is installed in the installation groove. Nut supply channels are formed in two sides of the positioning block 1-10, nut conveying channels of the nut oscillating disc 1-1 are arranged in the nut supply channels of the positioning block 1-10, and outlets of the nut conveying channels are attached to the edge of the positioning rotary disc 1-2.

The positioning rotary table 1-2 comprises a central rotating shaft, a rotary table and a limiting groove 1-3. The center rotating shaft is sleeved at the center of the turntable, the positioning turntable 1-2 rotates around the central shaft, and the limiting groove 1-3 is arranged at the edge of the turntable. In this embodiment, the limiting grooves 1-3 are uniformly arranged along the edge of the positioning turntable 1-2, and four limiting grooves 1-3 are arranged on the edge of the positioning turntable 1-2. This setting can accomplish the feed of a plurality of nuts simultaneously and lay.

And a positioning block 1-10 is arranged outside the positioning turntable 1-2, so that the nut in the limiting groove 1-3 cannot fall off in the rotating process of the positioning turntable 1-2.

The nut detection assembly is used for detecting whether nuts exist in the limiting grooves 1-3 of the positioning rotary disc 1-2 or not, the nut detection assembly comprises infrared sensors 1-4, ultrasonic sensors, pressure sensors and other sensors for detecting whether objects exist or not, in the embodiment, the nut detection assembly is the infrared sensors 1-4, the infrared sensors 1-4 are symmetrically arranged at the outlets of nut conveying channels on two sides, and the infrared sensors 1-4 are arranged above the moving tracks of the limiting grooves 1-3. The infrared sensors 1-4 are used for detecting whether nuts exist in each limiting groove 1-3 in the rotating process of the positioning rotary disc 1-2.

The infrared sensors 1-4 are connected with a positioning turntable control circuit. The positioning turntable control circuit comprises a D trigger, a PWM driving module, a timer and a motor. The motor drives the central rotating shaft of the positioning turntable 1-2 to rotate forwards or backwards; the input end of the D trigger is connected with the output end of the infrared sensor, and the output end of the D trigger is connected with the state control end of the PWM driving module; the timer is connected with the enabling end of the PWM driving module, and the output end of the PWM driving module is connected with the motor.

When the infrared sensors 1-4 detect that the nuts exist in the limiting grooves 1-3, a pulse signal is sent to the D trigger, the output state of the D trigger is reversed, and the D trigger is output to the state control end of the PWM driving module to control the forward rotation or the reverse rotation of the motor.

Remove adsorption component and can adsorb through the formula of magnetism, also can adsorb through vacuum adsorption, in this example, remove adsorption component and adsorb through the formula of magnetism, remove adsorption component and set up in location carousel 1-2 top. The movable adsorption component comprises a first movable track 1-5, a second movable track 1-6, a first driving device 1-7, a second driving device 1-8 and a plurality of magnetic suction heads 1-6. The first driving means 1-7 drive the second moving track 1-6 to displace on the first moving track 1-5, and the second driving means 1-8 drive the plurality of magnetic attraction heads 1-9 to displace on the second moving track 1-6.

In the embodiment, the first moving track 1-5 is a vertical track, the second moving track 1-6 is a horizontal track, four magnetic suction heads 1-9 are arranged, and the position relationship between the magnetic suction heads 1-9 is the same as the position relationship between the limiting grooves 1-3. The first driving means 1-7 and the second driving means 1-8 may be driving means such as motors or air cylinders.

After the movable adsorption assembly adsorbs the nuts from the upper side of the positioning rotary table 1-2, the nuts move upwards through the first moving track 1-5, the nuts move to the upper side of the nut holes of the products through the transverse movement of the second moving track 1-6, the nuts move downwards through the first moving track 1-5 and are placed in the nut holes, the simultaneous placement of a plurality of nuts is completed, and the placement efficiency of the nuts is improved.

The working process of the nut feeding and placing device of the embodiment is as follows:

in the initial stage, the nuts sequentially enter the nut conveying channel at the outlet of the nut vibrating plate 1-1 through the nut vibrating plates on the two sides until the nuts prop against the edge of the positioning rotary plate 1-2, and at the moment, the positioning rotary plate 1-2 is in a first state, namely, the contact point of the positioning rotary plate 1-2 and the nut conveying channel is located in the middle position of the two limiting grooves.

The first group of nuts are positioned, the positioning rotary disc 1-2 enables the positioning rotary disc to be in a second state through clockwise rotation/anticlockwise rotation, namely a group of opposite limiting grooves 1-3 are respectively communicated with the nut conveying channel, at the moment, one nut at each of two sides falls into the limiting grooves 1-3, the infrared sensors 1-4 at two sides respectively detect that the nuts exist in the limiting grooves 1-3, and the rotary disc control circuit controls the positioning rotary disc 1-2 to rotate reversely, namely, the positioning rotary disc rotates anticlockwise/clockwise.

And positioning the second group of nuts, namely, the positioning rotary disc reaches the first state firstly and then reaches the third state after time delay, namely, the other group of opposite limiting grooves 1-3 are respectively communicated with the nut conveying channel, at the moment, one nut at each of two sides respectively falls into the two limiting grooves 1-3, the infrared sensors 1-4 at the two sides respectively detect that the nut exists in the limiting grooves 1-3, and the rotary disc control circuit controls the positioning rotary disc 1-2 to reversely rotate again, namely, the clockwise rotation/the anticlockwise rotation is changed.

And (3) transferring and installing nuts, controlling the movable adsorption component to simultaneously adsorb four nuts after falling down when the positioning rotary table 1-2 returns to the position of the first state, controlling the movable adsorption component to firstly move upwards and then transversely move in parallel until the movable adsorption component moves to the position above a nut hole of a product at a nut placing position on the movable rotary table 1-2, controlling the movable adsorption component to fall down, placing the nut into the corresponding nut hole, canceling the magnetic force for moving the adsorption component, and resetting the movable adsorption component.

According to the nut feeding and placing device in the scheme of the embodiment, nuts are conveyed to the edge of the positioning rotary disc 1-2 through the nut vibrating disc 1-1, and along with the rotation of the positioning rotary disc 1-2, when the limiting grooves 1-3 at the edge of the positioning rotary disc 1-2 rotate to the outlet position of the nut vibrating disc 1-1, the nuts fall into the limiting grooves 1-3 due to the thrust from the rear; the nut detection assembly detects whether nuts exist in all the limiting grooves 1-3 in the rotation process of the positioning turntable, and when the nut detection assembly detects that nuts exist in each limiting groove 1-3, the adsorption assembly is moved to adsorb the nuts in the limiting grooves 1-3 and move the nuts to corresponding positions of products.

Through the positioning rotary table 1-2, a plurality of nuts are simultaneously supplied and placed at one time, so that the nuts can be conveniently and simultaneously locked on a plurality of nuts of a product subsequently, and the supply and placement efficiency of the nuts is improved.

Accomplish the back of laying of nut, 6 products on the product mobile device move to the screw and lay the station, and the screw is laid station department and can fall through the manipulator is automatic and lay the screw, also can lay the screw through the manual work, in this embodiment, adopts artifical mounting nut.

After the screws are placed, the product transferring device 6 moves the product to a product pressing and loading station, and the product pressing device 2 comprises a pressing driver 2-1, a pressing head 2-2 and a mounting bracket 2-3. In this embodiment, the mounting bracket 2-3 is an L-shaped bracket, the mounting bracket 2-3 includes a first bracket 2-31 and a second bracket 2-32, the first bracket 2-31 is disposed perpendicular to the working table, one end of the second bracket 2-32 is fixedly connected to the first bracket 2-31, and the other end of the second bracket 2-32 is disposed above the product pressing station. The pressing driver 2-1 is an air cylinder, an output rod of the pressing driver 2-1 penetrates through the second support 2-32 to be connected with the pressing head 2-2, the pressing head 2-2 is arranged right above a product pressing station, and in the embodiment, the pressing head 2-2 is a circular pressing head.

After the placement of the nuts and the screws is completed, the product transferring device 6 transfers the product to a product pressing station, the pressing driver 2-1 controls the pressing head 2-2 to fall down, the product formed up and down is pressed, the gap between block parts of the product to be connected is reduced, and the subsequent product screw locking is facilitated. The product after locking is ensured to have small gap and stable product.

The automatic screw screwing device 3 comprises two guide rods 3-1, a screw screwing component 3-2, a third driving device 3-3, a fourth driving device 3-4, a pressing plate 3-5, a supporting rod 3-6 and a supporting plate 3-7. The third driving device 3-3 drives the screw screwing component 3-2 to move along the guide rod 3-1, and the fourth driving device 3-4 drives the press plate 3-5 to move up and down.

The third driving means 3-3 and the fourth driving means 3-4 may be motors, air cylinders or oil cylinders. In this embodiment, the third driving device 3-3 and the fourth driving device 3-4 are air cylinders, and are driven by the air cylinders, so that a certain compression space is provided, the product is prevented from being crushed due to excessive force, and the whole screwing device is prevented from being damaged due to rigid collision during driving.

The support bar 3-6 is arranged in parallel with the two guide rods 3-1, in the embodiment, the support bar 3-6 is arranged on the perpendicular bisector of the connecting line of the two guide rods 3-1 to form a stable triangle, and the support bar 3-7 is supported by the three. The third driving device 3-3 is fixedly arranged at the top of the supporting plate 3-8, an output rod of the third driving device 3-3 penetrates through the supporting plate 3-7 to be connected with the screw screwing component 3-2, and the screw screwing component 3-2 is controlled to move up and down along the guide rail 3-1.

The screwing component 3-2 comprises a moving plate 3-21, a plurality of screw drivers 3-22 and a driving motor 3-23. The driving motors 3-23 respectively drive the screw drivers 3-22 to rotate, and the screw drivers 3-22 are arranged on the moving plates 3-21 in a manner of being matched with the positions of screws on the products. Two ends of the moving plate 3-21 are sleeved on the guide rail 3-1, and an output rod of the third driving device 3-3 is connected with the moving plate 3-21, so that the screw screwing component 3-2 moves along the guide rail 3-1.

And a second spring is sleeved on the output rod of the third driving device 3-3. The second spring is arranged to ensure that the screwing component 3-2 does not collide with the upper supporting plate 3-7 after rising, and the screwing component 3-2 is limited at the highest position.

A mounting plate 3-8 is fixedly arranged between the two guide rods 3-1, a fourth driving device 3-4 is fixedly arranged on the mounting plate 3-8, and a pressure plate limiting rod 3-9 is also fixedly arranged on the mounting plate 3-8. An output rod of the fourth driving device 3-4 is fixedly arranged at one side of the pressing plate 3-5, a pressing plate limiting rod 3-9 is arranged below one end of the pressing plate 3-5, and the other end of the pressing plate 3-5 is arranged between a product and the moving plate 3-21.

And the mounting plate 3-8 is arranged and used for fixing the fourth driving device 3-4 and fixing the movable position of the pressing plate 3-5. The pressing plate 3-5 is arranged in parallel with the moving plate 3-21.

In the embodiment, the automatic screw screwing device further comprises a telescopic connecting rod 3-10 and a pressure equalizing block 3-11, the pressure equalizing block 3-11 is arranged between the pressure plate 3-5 and a product, one end of the telescopic connecting rod 3-10 is fixedly connected with the center of the pressure equalizing block 3-11, and the other end of the telescopic connecting rod 3-10 is fixedly connected with the movable plate 3-21. The pressure equalizing block 3-11 disperses the pressure of the pressure plate 3-5 so that the pressure can be uniformly applied to the product, and all positions of the product can be compressed.

When the product moves to a screw screwing station through the product transfer device 2, the fourth driving device 3-4 drives the pressing plate 3-5 to compress the product, two components of the product are compressed in the screw screwing process, the subsequent screw locking is facilitated, the product gap after the locking is ensured to be smaller, the screw locking process is smoother, and the service life of a screw screwing assembly is prolonged.

When the product is pressed, the third driving device 3-3 drives the screwing component 3-2 to move downwards, and when the screw driver 3-22 is contacted with the produced screw, the driving motor 3-23 drives the screw driver 3-22 to rotate and screw the product screw. The plurality of screwing components 3-2 act simultaneously, so that the screws of a product at different positions can be fastened simultaneously, the production efficiency is improved, and the requirement of mass production is met.

The visual detection device 4 comprises two guide rods, a fifth driving device 4-1, a camera 4-2, a mounting support rod 4-3 and a moving frame 4-4. The two guide rods are arranged in parallel, two ends of the movable frame 4-4 are sleeved in the guide rods, one end of each guide rod is fixedly provided with a fixed plate, the fifth driving device 4-1 penetrates through the fixed plate to be connected with the movable frame 4-4, and in the embodiment, the fifth driving device 4-1 is an air cylinder. The mounting support rod 1-3 is an arc-shaped support rod, one end of the mounting support rod 4-3 is fixedly connected with the moving frame 4-4, and the camera 4-2 is hinged to the other end of the mounting support rod 4-3. The arc-shaped supporting rod is used, so that the lens of the camera 4-2 is aligned to the product detection station, and the product can be shot. The fifth driving device 4-1 drives the moving frame 4-4 to move to drive the camera 4-2 to move up and down, so that the shooting distance can be adjusted. And (4) processing and judging whether all the screws and nuts on the product are firmly locked or not through an image recognition algorithm.

When the product is finished and the product is moved to the product detection station by the product transfer device 6, the camera is started to shoot the product, the distance position of the camera is adjusted by the fifth driving device, the shot picture is processed by an image recognition algorithm, and whether the screw and the nut at each position on the product are locked firmly or not is judged. And after all the screws and the nuts are judged to be locked, controlling the product transfer device to transfer the product to the next procedure, and otherwise, giving an alarm.

The robot 5 comprises two symmetrical gripping flaps 5-1, a gripping drive, a first movement drive 5-2 and a second movement drive. In this embodiment, the first movement driving means 5-2 is an air cylinder, and the second movement driving means is a stepping motor. The first moving driving device 5-2 makes the clamping piece 5-1 move up and down along the guide rod, and the clamping driver drives the two clamping pieces 5-1 to approach, thereby clamping the product. The clamping piece 5-1 comprises two position states, wherein the first position state is that the clamping piece 5-1 is at a product position, the second position state is that the clamping piece 5-1 is at a conveyor belt of a next process, and the second moving driving device drives the two clamping pieces to turn over so that the clamping piece 5-1 is converted from the first position state to the second position state or the clamping piece is converted from the second position state to the first position state.

The automatic screw locking machine of this scheme reaches the station of individual link in proper order through product transfer device product, and the nut is supplied with and is laid the device and supply with the nut of laying different positions department simultaneously, screws up the screw of different positions departments simultaneously with a product automatically to twist screw device, takes the next process with the product through the manipulator after visual detection. The installation of a plurality of nuts in different positions is accomplished simultaneously, and the tightening of many screws in different positions is accomplished simultaneously, improves the efficiency of lock screw, adapts to large batch product production.

It should be understood that the examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teaching of the present invention, and such equivalents may fall within the scope of the present invention as defined in the appended claims.

Claims

1. An automatic screw locking machine is characterized by comprising a nut supplying and placing device (1), an automatic screw screwing device (3), a manipulator (5) and a product transferring device (6);

the nut supply and placement device (1) comprises a nut oscillation disc (1-1), a positioning rotary disc (1-2) and a movable adsorption component, wherein the nut oscillation disc (1-1) supplies nuts to the positioning rotary disc (1-2) one by one; the positioning rotary table (1-2) rotates around the central shaft, and the edge of the positioning rotary table (1-2) is provided with a plurality of limiting grooves (1-3) for receiving and containing nuts at different positions; the movable adsorption component is used for transferring nuts in the limiting grooves (1-3) to nut holes of products on the product transferring device (6) at the same time;

the automatic screw screwing device (3) comprises a screw screwing component (3-2) and a third driving device (3-3), the third driving device (3-3) drives the screw screwing component (3-2) to move up and down, the screw screwing component is matched with the position of a product screw, and meanwhile, screw screwing operation is carried out;

the mechanical arm (5) takes out the product which finishes screwing from the automatic screw locking machine to the next production process link;

the product transfer device (6) sequentially moves the products to the stations of all links of the locking screw;

the automatic screw locking machine further comprises a visual detection device (4), wherein the visual detection device (4) comprises a fifth driving device (4-1), a camera (4-2), a mounting support rod (4-3) and a moving frame (4-4); the fifth driving device (4-1) drives the moving frame (4-4) to move up and down, the mounting support rod (4-3) is an arc-shaped support rod, one end of the mounting support rod (4-3) is fixedly connected with the moving frame (4-4), and the camera (4-2) is hinged to the other end of the mounting support rod (4-3);

each link station of the screw locking process sequentially comprises six stations of nut placement, screw placement, product compression, screw screwing, product detection and product transfer; the nut supply placing device (1) is arranged at the nut placing station; the product pressing device (2) is arranged at the product pressing station; the automatic screw screwing device (3) is arranged at a screw screwing station; the visual detection device (4) is arranged at the product detection station; the manipulator (5) is arranged at the product transfer station.

2. The automatic screw locking machine according to claim 1, wherein the nut feeding and placing device (1) further comprises an infrared sensor (1-4) and a positioning block (1-10), the infrared sensor (1-4) is arranged above the moving track of the limiting groove (1-3); the positioning rotary table (1-2) is arranged in the positioning block (1-10), the surface of the positioning rotary table (1-2) is flush with the surface of the positioning block (1-10), and the edge of the positioning block (1-10) is provided with a nut supply channel for nuts to pass through.

3. The auto-screwing machine according to claim 1 or 2, wherein said mobile suction assembly comprises a first mobile track (1-5), a second mobile track (1-6), a first driving device (1-7), a second driving device (1-8) and a plurality of magnetic suction heads (1-9); the first driving device (1-7) drives the second moving track (1-6) to displace on the first moving track (1-5); the second driving device (1-8) drives a plurality of magnetic suction heads (1-9) to displace on the second moving track (1-6).

4. The automatic screw driving machine according to claim 1, wherein the automatic screw driving device (3) further comprises a guide rod (3-1), a fourth driving device (3-4), a pressing plate (3-5), a support rod (3-6), a support plate (3-7), a mounting plate (3-8) and a pressing plate limiting rod (3-9); the fourth driving device (3-4) drives the pressing plate (3-5) to move up and down, and the pressing plate (3-5) is arranged above the product; the fourth driving device (3-4) is fixedly arranged on the mounting plate (3-8), the pressure plate limiting rod (9) is fixed on the mounting plate (3-8), and the pressure plate limiting rod (9) is arranged below the pressure plate (5).

5. The automatic screw locking machine according to claim 4, wherein the screwing assembly (3-2) comprises a moving plate (3-21), a plurality of screw drivers (3-22) and driving motors (3-23), the driving motors (3-23) respectively drive the screw drivers (3-22) to rotate, and the screw positions of the screw drivers (3-22) matched with products are distributed on the moving plate (3-21); the support rod (3-6) and the guide rod (3-1) are arranged in parallel, one end of the support rod (3-6) and one end of the guide rod (3-1) are fixedly arranged on the bottom surface of the support plate (3-7), the third driving device (3-3) is arranged on the top surface of the support plate (3-7), and an output rod of the third driving device (3-3) penetrates through the support plate (3-7) and is connected with the moving plate (3-21) of the screw screwing assembly (3-2).

6. The automatic screw locking machine according to claim 4 or 5, characterized in that the automatic screw driving device (3) further comprises a telescopic connecting rod (3-10) and a pressure equalizing block (3-11), the pressure equalizing block (3-11) is arranged between the pressure plate (3-5) and the product, and the telescopic connecting rod (3-10) is fixedly connected with the center of the pressure equalizing block (3-11).

7. The auto-screwdriving machine according to claim 1, wherein said manipulator (5) comprises two symmetrical clamping blades (5-1), a clamping actuator, a first movement driving means (5-2) and a second movement driving means; the first moving driving device (5-2) drives the clamping sheets (5-1) to move up and down, and the clamping driver controls the distance between the two clamping sheets (5-1) so as to clamp or release a product; the clamping piece (5-1) comprises two position states, the first position state is that the clamping piece (5-1) is at a product position, the second position state is that the clamping piece (5-1) is at a next process position, and the second moving driving device drives the clamping piece (5-1) to be switched between the first position state and the second position state.

8. The automatic screw locking machine according to claim 1, 2, 4 or 7, wherein the product transfer device (6) is a movable turntable, the movable turntable comprises a plurality of stations, the movable turntable is driven by a motor to rotate around a shaft, a plurality of rollers are arranged below the movable turntable, and the rollers are arranged along the rotation track of the movable turntable.

9. The auto-screwdriving machine according to claim 1, further comprising a product pressing device (2), wherein the product pressing device (2) comprises a pressing driver (2-1), a pressing head (2-2) and a mounting bracket (2-3); the mounting bracket (2-3) comprises a first bracket (2-31) and a second bracket (2-32), and the first bracket (2-31) and the second bracket (2-32) are vertically arranged; an output rod of the pressing driver (2-1) penetrates through the second support (2-32) to be connected with the pressing head (2-2), and the pressing head (2-2) is arranged right above a product.