CN116810354A

CN116810354A - Screw driving device, automatic screw mounting equipment and screw floating height detection method

Info

Publication number: CN116810354A
Application number: CN202310678373.3A
Authority: CN
Inventors: 周建军; 钟国跃; 胡学川
Original assignee: Chongqing Pingwei Automotive Systems Co ltd
Current assignee: Chongqing Pingwei Automotive Systems Co ltd
Priority date: 2023-06-08
Filing date: 2023-06-08
Publication date: 2023-09-29

Abstract

The invention discloses a screw driving device, which comprises a mounting substrate, wherein a guide rail extending along the vertical direction is fixedly arranged at the front side of the mounting substrate, a supporting platform is arranged at the lower part of the mounting substrate, a screw pipeline extending vertically downwards is arranged at the front part of the supporting platform, the screw pipeline is provided with a central through hole, a support component and a correction component are arranged at the end part of the lower end of the screw pipeline, the support component can radially move along the screw pipeline and is used for supporting a nut of a screw, and the correction component is used for enabling the central line of the screw to coincide with the central line of the screw pipeline; the electric screwdriver mechanism is slidably assembled on the guide rail through the lifting mechanism and comprises a first motor and a tool head driven to rotate by the first motor, and under the action of the lifting mechanism, the tool head can be downwardly inserted into the bottom of the central through hole and screws at the lower end of the screw pipeline are screwed to rotate. The beneficial effects of the invention are as follows: in the process of screwing, the problems of screw deflection, falling during movement, screw deviation and the like can be effectively avoided.

Description

Screw driving device, automatic screw mounting equipment and screw floating height detection method

Technical Field

The invention belongs to the technical field of automatic screw mounting tools, and particularly relates to a screw driving device, automatic screw mounting equipment and a screw floating height detection method.

Background

The automatic screw driving device is a small machine for automatically locking screws, the action structure of the automatic screw driving device can be generally divided into a screw receiving mechanism and an electric screw driving mechanism, the screw receiving mechanism is responsible for screening and providing screws, the electric screw driving mechanism is responsible for taking screws and locking the screws, and the automatic screw driving device not only saves labor cost, but also improves production and assembly efficiency.

In the prior art, an automatic screw driving device mainly adopts a suction nozzle form or a clamping nozzle form, and the two screw driving modes have the problems of screw deflection, screw falling during moving, screw deviation and the like. The concrete steps are as follows:

1. the suction nozzle is used for sucking one screw at a time from the screw feeder through the suction nozzle, when the screw is taken out from the screw feeder, the screw is scratched, so that the screw is inclined, the inside of the suction nozzle is profiled according to the shape of a screw cap, the requirement on the consistency of the screw is relatively high, if the shape of a screw cap deviates, the screw is inclined, the suction nozzle generally has better effect on flat head screws, and has poorer effect on round head screws, because the profiling surface of the suction nozzle is an arc surface, the screw cap is also an arc surface, the two arc surfaces cannot limit the freedom degree of the screw, and finally the screw is inclined; in addition, in the process of moving the suction nozzle at a high speed, the screw is easy to break away from the vacuum adsorption force of the suction nozzle, so that the screw is dropped.

2. The screw is supplied to the clamp mouth by adopting the blowing screw supplying machine, the clamp mouth keeps clamping by the spring force, when the screw is opened, the screw gun directly pushes the screw forward, the screw pushes the clamp mouth open, and in the mode, because the stress of the clamp mouth at the two sides is unbalanced when the clamp mouth at the left side and the right side is pushed open, the push angle of the clamp mouth at one side is large, and the push angle of the clamp mouth at the other side is small, so that the screw is askew.

The problems of screw deflection, moving falling screws, screw deviation and the like can influence the screw assembly precision, reduce the product quality and even cause product scrapping.

Disclosure of Invention

In view of the above-mentioned current situation, the present invention provides a screw driving device, which can effectively avoid the problems of screw deflection, moving falling screws, screw deviation and the like.

In order to achieve the above purpose, the technical scheme of the invention is as follows:

the key point of the screw driving device is that the screw driving device comprises:

the front side of the mounting substrate is fixedly provided with a guide rail extending along the vertical direction;

the support platform is arranged at the lower part of the mounting substrate, a screw pipeline extending vertically downwards is arranged at the front part of the support platform, the screw pipeline is provided with a central through hole, a support component and a correction component are arranged at the end part of the lower end of the screw pipeline, the support component can radially move along the screw pipeline and is used for supporting a nut of a screw, and the correction component is used for enabling the central line of the screw to coincide with the central line of the screw pipeline;

and the electric batch mechanism is assembled on the guide rail in a sliding way through the lifting mechanism and comprises a first motor and a tool head driven by the first motor to rotate, and under the action of the lifting mechanism, the tool head can be downwards inserted into the bottom of the central through hole and can be screwed to rotate a screw at the lower end of the screw pipeline.

By adopting the structure, when the screw is conveyed to the end part of the screw pipeline, the supporting component can stably support the nut of the screw, so that the screw is prevented from falling off, and the correction component can correct the screw, so that the screw is vertically kept on the central line of the screw pipeline, and the screw is prevented from being skewed; then under elevating system's effect, the instrument head can insert down on the nut of center through-hole bottom, and first motor drive instrument head twists the screw, realizes beating the screw operation. In the process of screwing the electric screwdriver mechanism, the screw is always vertically kept on the central line of the screw pipeline, and the situation of screw deflection can be avoided.

As preferable: the lifting mechanism comprises a second motor fixed at the top of the mounting substrate, a screw rod driven to rotate by the second motor and a seat body assembly in threaded connection with the screw rod, the seat body assembly is in sliding connection with the guide rail through a first sliding block, and the electric batch mechanism is fixedly assembled on the seat body assembly.

As preferable: the seat body assembly is of a split type structure and comprises a front supporting plate and a rear supporting plate, the front supporting plate is fixedly connected to the front side of the first sliding block, the rear supporting plate is sleeved on the screw rod through threads, a supporting lug part is fixedly arranged on the side portion of the front supporting plate, and a pre-tightening spring is abutted between the supporting lug part and the rear supporting plate.

As preferable: the support assembly comprises two spring pieces symmetrically arranged on two radial sides of the screw pipeline, and baffle columns extending into the screw pipeline are arranged at the lower ends of the two spring pieces.

As preferable: the baffle columns at the lower end of each spring piece are two groups, four groups of baffle columns are distributed in a rectangular mode, and the end portions of the baffle columns are of spherical structures.

As preferable: the correction assembly comprises a finger cylinder and two groups of clamping jaws which are driven to open and close by the finger cylinder, wherein the lower ends of the two groups of clamping jaws are respectively provided with an arc-shaped groove which is matched with the outer diameter of the screw.

As preferable: the screw pipeline, the support bracket assembly and the correction assembly are all rotationally assembled on the supporting platform, a rotating mechanism is arranged on the supporting platform and used for driving the screw pipeline, the support bracket assembly and the correction assembly to integrally rotate.

As preferable: the rear end of the supporting platform is provided with a switching block, the switching block is slidably assembled at the lower part of the guide rail through a second sliding block, the lower end of the mounting substrate is provided with a limiting part, a force unloading spring is arranged between the switching block and the mounting substrate, and the force unloading spring enables the supporting platform to downwards lean against the limiting part.

Compared with the prior art, the invention has the beneficial effects that:

by adopting the screw driving device provided by the invention, when the screw is conveyed to the end part of the screw pipeline, the supporting component can stably support the nut of the screw, so that the screw is prevented from falling off, and the correction component can correct the screw, so that the screw is vertically kept on the central line of the screw pipeline, and the screw is prevented from being skewed; then under elevating system's effect, the instrument head can insert down on the nut of center through-hole bottom, and first motor drive instrument head twists the screw, realizes beating the screw operation. In the process of screwing the electric screwdriver mechanism, the screw can be always vertically kept on the central line of the screw pipeline, and screw deflection is avoided.

Drawings

Fig. 1 is a schematic structural view of a screw driving device a;

FIG. 2 is a front view of the screw automatic mounting apparatus;

FIG. 3 is a perspective reference view of the screw automatic mounting apparatus;

FIG. 4 is another schematic structural view of the screw driving device A;

fig. 5 is a schematic structural view showing corresponding parts on the support platform 2;

fig. 6 is another schematic structural view (bottom view) showing the corresponding parts of the support platform 2;

FIG. 7 is a cross-sectional view of the screw driving device A;

fig. 8 is a partial enlarged view of the portion H of fig. 7;

fig. 9 is a cross-sectional view showing the screw driving device a when the tool head 1a is not entering the screw pipe 9;

FIG. 10 is a cross-sectional view of the screw driving device A showing the screw introducing passage 6 d;

fig. 11 is a cross-sectional view showing the screw driving device a when the tool head 1a enters the screw pipe 9;

fig. 12 is a cross-sectional view showing the tool head 1a inserted down onto the screw e cap;

fig. 13 is a partial enlarged view of the portion G of fig. 9;

fig. 14 is a schematic structural view of the float-height detection connection member 18.

Detailed Description

The invention is further described below with reference to examples and figures.

As shown in fig. 2, an automatic screw installation device comprises a device frame B, a clamp platform C, and a screw driving device a assembled on the device frame B, wherein the clamp platform C is positioned at the bottom of the device frame B and is used for fixing a product D to be assembled, and in combination with fig. 3, an X-direction linear movement module 11, a Y-direction linear movement module 12 and a Z-direction linear movement module 13 are arranged in the device frame B and are respectively used for controlling the screw driving device a to move in the X direction, the Y direction and the Z direction of the device, and besides, a CCD camera 14 is also installed at the top of the device frame B and is used for identifying the hole position of a screw hole of the product D to be assembled.

When the automatic screw mounting equipment is adopted to screw the product D, the screw device A is moved to the position above the hole site of the screw hole to be assembled, then the CCD camera 14 is used for photographing and identifying whether the screw device A is aligned with the hole site of the screw hole to be assembled, and if the CCD camera 14 is used for photographing and identifying that the screw device A is aligned, the screw device A can perform the screw punching operation on the screw hole below.

As shown in fig. 1, a screw driving device a includes a mounting substrate 7, an electric batch mechanism 1 and a supporting platform 2, wherein a guide rail 7a extending along a vertical direction is fixedly arranged at the front side of the mounting substrate 7, and the electric batch mechanism 1 is slidably assembled on the guide rail 7a through a lifting mechanism 8; the support platform 2 is assembled at the lower part of the mounting base plate 7, and as shown in fig. 5 and 11, a screw pipeline 9 which extends vertically downwards is arranged at the front part of the support platform 2, the screw pipeline 9 is provided with a central through hole 9b, a support component 3 and a correction component 4 are arranged at the lower end part of the screw pipeline 9, wherein the support component 3 can move radially along the screw pipeline 9 and is used for supporting the nuts of screws e, and the correction component 4 is used for enabling the central line of the screws e to coincide with the central line of the screw pipeline 9; the electric screwdriver mechanism 1 comprises a first motor 1b and a tool head 1a, wherein the first motor 1b can drive the tool head 1a to rotate, and under the action of the lifting mechanism 8, referring to fig. 12, the tool head 1a can be downwards inserted into the bottom of the central through hole 9b and screw e at the lower end of the screw pipeline 9 is screwed to rotate.

Based on the above structural design, the working principle of the screw driving device A is as follows: when the screw e is conveyed to the end of the screw pipeline 9, the supporting component 3 can stably support the nut of the screw e, so that the screw e is prevented from falling off, and the correcting component 4 can correct the screw e, so that the screw e is vertically kept on the central line of the screw pipeline 9, and the screw e is prevented from being skewed; then under the action of the lifting mechanism 8, the tool head 1a can be downwards inserted into the nut of the screw e, and the first motor 1b can drive the tool head 1a to screw the screw e, so that the screw e is locked in the screw hole of the product D. In the process of screwing the screw e by the device, the screw e is always vertically kept on the central line of the screw pipeline 9, and the screw e can be effectively prevented from being biased.

Further, referring to fig. 4, the lifting mechanism 8 includes a second motor 8a fixed on the top of the mounting substrate 7, a screw rod 8b driven by the second motor 8a to rotate, and a seat assembly 8c screwed on the screw rod 8b, where the seat assembly 8c is slidably connected with the guide rail 7a through a first slider 8d, and the electric batch mechanism 1 is fixedly mounted on the seat assembly 8c. The second motor 8a is started to drive the screw rod 8b to rotate, so that the seat body assembly 8c is driven to move up and down on the screw rod 8b, and the electric batch mechanism 1 is controlled to lift and slide on the guide rail 7 a.

Still further, as shown in fig. 4, the seat assembly 8c is a split structure, and includes a front support plate 8c1 and a rear support plate 8c2, the front support plate 8c1 is fixedly connected to the front side of the first slider 8d, and the first motor 1b is fixedly connected to the front support plate 8c 1; the rear supporting plate 8c2 is in threaded sleeve connection with the screw rod 8b, the side part of the front supporting plate 8c1 is fixedly provided with a supporting lug part 8c3, and a pre-tightening spring 10 is abutted between the supporting lug part 8c3 and the rear supporting plate 8c 2. Further, a second guide rod g extending vertically downward is fixedly arranged on the rear supporting plate 8c2, and the second guide rod g passes through the lower end of the support lug component 8c3 downward and is connected with the support lug component 8c3 in a sliding manner; the pretensioning spring 10 is fitted over the second guide bar g, with its upper end abutting against the underside of the rear support plate 8c2 and its lower end abutting against the lug member 8c 3.

In the process of screwing the screw device A, the second motor 8a drives the screw rod 8b to rotate, so that the tool head 1a is driven to be downwards inserted into a nut of the screw e, after the screw e enters a screw hole of the product D, the tool head 1a cannot descend, at the moment, the rotation of the screw rod 8b drives the rear supporting plate 8c2 to downwards move a certain distance, the pre-tightening spring 10 between the rear supporting plate 8c2 and the lug part 8c3 is compressed, the compressed pre-tightening spring 10 provides downward pre-tightening force for the tool head 1a, and the tool head 1a can downwards screw the screw e under the driving of the first motor 1b, so that the screw e is locked in the screw hole of the product D.

Referring to fig. 5 and 6, the correction assembly 4 includes a finger cylinder 4b and two groups of clamping jaws 4a, the finger cylinder 4b can drive the two groups of clamping jaws 4a to open and close, the two groups of clamping jaws 4a are symmetrically arranged at two radial sides of the screw pipeline 9, the upper ends of the clamping jaws 4a are connected with the finger cylinder 4b, and the lower ends of the clamping jaws 4a are provided with arc-shaped grooves 4a1 corresponding to the outer diameter of the screw e. When the screw e is conveyed to the lower end part of the screw pipeline 9, the two groups of clamping jaws 4a are closed, and the arc-shaped grooves 4a1 at the lower ends of the two groups of clamping jaws 4a can just clamp the screw e, so that the central line of the screw e is always kept on the central line of the screw pipeline 9, and the skew of the screw e is avoided.

Referring to fig. 6 again, both ends of each set of arc grooves 4a1 are provided with guiding inclined planes 4a2, when the screw e is skewed to a certain extent, the guiding inclined planes 4a2 at both ends of the arc grooves 4a1 can guide the screw e into the arc grooves 4a1, so as to complete the correction of the screw e. If the two ends of the arc-shaped groove 4a1 are straight surfaces, when the screw e is inclined, the end part of the arc-shaped groove 4a1 is easy to push the screw e out of the arc-shaped groove 4a1, or the end part of the arc-shaped groove 4a1 is directly clamped on the thread of the screw e, so that the screw e is inclined, an accident of biasing the screw e can occur in the subsequent work of beating the screw e, and the assembly quality of a product is seriously influenced.

As shown in fig. 5 and 6, the support assembly 3 includes two spring plates 3b symmetrically disposed on two radial sides of the screw pipe 9, and each of the lower ends of the spring plates 3b is provided with two blocking posts 3a extending into the screw pipe 9, in this embodiment, the blocking posts 3a at the lower end of each of the spring plates 3b are two groups, and the four groups of blocking posts 3a are rectangular, so that the lower ends of nuts of the screws e can be better supported, and the nuts of the screws e are more stably supported on the four blocking posts 3a. Further, referring again to fig. 6 and 7, each of the studs 3a has a spherical surface 3a1 at its end, which helps to guide each stud 3a radially outwardly along the screw channel 9 when the electric screwdriver 1 is activated to drive the screw e downwardly, during which the lower portion of the spring leaf 3b flexes outwardly so that the cap of the screw e can pass downwardly over the stud 3a.

Referring to fig. 6 again, the lower end of the screw pipe 9 is provided with avoiding grooves 9a corresponding to four groups of blocking posts 3a one by one, each group of blocking posts 3a extend into the screw pipe 9 through the corresponding avoiding groove 9a, and besides, the two spring pieces 3b and the two groups of clamping jaws 4a are distributed around the screw pipe 9 and do not interfere with each other.

Referring to fig. 5, a rotation mechanism 5 is provided on the support platform 2, and the rotation mechanism 5 can drive the screw pipe 9, the bracket assembly 3 and the correction assembly 4 to integrally rotate. When the electric screwdriver mechanism 1 works for screwing e, the finger cylinder 4b drives the two groups of clamping jaws 4a to open, at this time, if an obstacle exists around a screw hole of a product below, interference can occur when the clamping jaws 4a are opened, so that the rotating mechanism 5 is required to drive the screw pipeline 9, the support component 3 and the correction component 4 to integrally rotate for a certain angle until the opening direction of the clamping jaws 4a is free of the obstacle, damage to the product or the device caused by forced opening of the clamping jaws 4a is avoided, and the service range and the service life of the device are further improved.

Referring to fig. 5 and 13 again, the rotation mechanism 5 includes a steering engine 5a fixed on the support platform 2, a driving gear 5b fixedly connected to an output shaft a of the steering engine 5a, and a driven gear 5c meshed with the driving gear 5b, wherein a washer 5d is fixedly connected to a lower side of the driven gear 5c, a rotation fixing seat 5e is fixedly connected to a lower side of the washer 5d, and the screw pipe 9, the bracket assembly 3 and the correction assembly 4 are fixedly connected to the rotation fixing seat 5 e. The rotation mechanism 5 works in the following principle: the steering engine 5a drives the driving gear 5b to rotate, and the driving gear 5b drives the driven gear 5c to rotate, so that the rotary fixing seat 5e below is driven to rotate. The steering engine 5a is adopted to drive and rotate, so that the advantages of small volume and large torque are achieved, the installation space of the device can be reduced to the greatest extent, and the mechanism design is simplified.

Further, as shown in fig. 6, the gear shield 2c is provided outside the support platform 2, so that the driving gear 5b and the driven gear 5c can be covered, the driving gear 5b and the driven gear 5c are protected, and the aesthetic property of the device is improved.

Still further, as shown in fig. 5 and 13, the position of the supporting platform 2 above the driven gear 5c is provided with a connecting seat 6, the connecting seat 6 comprises a connecting disc 6a and a connecting shaft 6b, the connecting disc 6a is rotatably mounted on the supporting platform 2 through a bearing h, the connecting shaft 6b passes through the middle part of a gasket 5d downwards, the lower end of the connecting shaft passes through a screw to be fixedly connected with a rotating fixing seat 5e, the upper part of a screw pipeline 9 passes through the rotating fixing seat 5e upwards and is embedded in the connecting shaft 6b, the upper end of each spring piece 3b is embedded in the rotating fixing seat 5e, meanwhile, as can be seen in combination with fig. 8, a finger cylinder 4b is fixedly connected with the rotating fixing seat 5e, and when the steering engine 5a drives the driving gear 5b to rotate, the rotating fixing seat 5e can drive the screw pipeline 9, the support component 3 and the correction component 4 to rotate.

Referring again to fig. 10, the connection seat 6 has a tool passage 6c penetrating the height direction thereof, and a screw introduction passage 6d extending obliquely upward from the side of the tool passage 6c, the lower end of the tool passage 6c being butted against the screw duct 9, and the center lines of the tool passage 6c, the screw duct 9 and the driven gear 5c being coincident. As can be seen again in connection with fig. 4, the upper end of the screw introduction channel 6d is connected with a plastic hose 6d1, the other end of the plastic hose 6d1 being connected with a screw feeder which can feed screws e through the plastic hose 6d1 into the screw duct 9.

In this embodiment, the screw driving device a works as follows:

the screw feeder feeds screws e to the plastic hose 6d1, the screws e enter the tool passage 6c through the screw introduction passage 6d and finally drop to the lower end of the screw duct 9, at which time the lower ends of the nuts of the screws e are supported on the four sets of stopper posts 3a as shown in fig. 7 and 9. Simultaneously, the finger cylinder 4b drives the two groups of clamping jaws 4a to close, and the lower ends of the two groups of clamping jaws 4a can just lock and correct the screw e, so that the central line of the screw e is always kept on the central line of the screw pipeline 9, and the skew of the screw e is avoided. Thereafter, the screw driving device a moves to the upper part of the product D under the control of the X-direction linear movement module 11, the Y-direction linear movement module 12 and the Z-direction linear movement module 13, and the screw e is positioned right above the screw hole of the product D, and then, with reference to fig. 9, 10, 11 and 12, the lifting mechanism 8 drives the electric screwdriver head 11 to enter the screw pipe 9 through the tool channel 6c, so that the lower end of the electric screwdriver head 11 is propped against the cross head of the screw e nut, then the Z-direction linear movement module 13 descends, drives the screw driving device a to descend, inserts the conical head of the screw e into the screw hole of the product D, then the finger cylinder 4b drives the two groups of clamping jaws 4a to open, and under the action of the pre-tightening spring 10, the electric screwdriver mechanism 1 can drive the electric screwdriver head 11 to downwards screw the screw e, and the nuts of the screw e can prop the two groups of spring pieces 3b and downwards cross the blocking columns 3a, so that the screw e is locked in the corresponding screw hole. In the conveying and locking process of the screw e, the screw e is always vertically kept on the central line of the screw pipeline 9, so that the screw e can be accurately locked in a corresponding screw hole, and meanwhile, the problem that the screw e falls off in the moving process is avoided.

Referring to fig. 1, a transfer block 2a is fixedly connected to the rear end of the support platform 2, the transfer block 2a is slidably assembled on the lower portion of the guide rail 7a through a second slider 2b, a limit portion 7b is arranged at the lower end of the mounting substrate 7, and a force-unloading spring f is arranged between the transfer block 2a and the mounting substrate 7, and the force-unloading spring f enables the support platform 2 to lean against the limit portion 7b downwards. The unloading spring f is capable of unloading deformation when the support platform 2 is subjected to an upward pushing force.

Based on the above structural design, when the screw device A moves to the screw hole of the product D, if the height dimension deviation of the product D itself below is larger, or the descending distance of the screw device A is not debugged accurately, the situation that the parts (such as the screw pipeline 9, the support component 3 and the correction component 4) at the lower end of the screw device A collide with the product D or the plane below is very easy to occur. When the screw device A does not have a collision accident, the lower part of the supporting platform 2 is continuously abutted against the limiting part 7b by the force-unloading spring f, when the screw device A has a downward collision accident, the force-unloading spring f is pressed to be forced to shrink, the supporting platform 2 can slide upwards along the height direction of the mounting substrate 7 to avoid collision damage of the screw device A and a product or a plane. After collision, the screw driving device A integrally moves upwards, and after the screw driving device A leaves the collision position, the downward elasticity of the force unloading spring f enables the supporting platform 2 to reset to the limiting part 7 b.

In the present embodiment, when the screw driving device a does not collide, the second slider 2b is abutted downward against the stopper 7 b. Referring to fig. 8 again, the limiting portion 7b is a limiting block fixedly assembled at the lower end of the mounting substrate 7, and the front end of the limiting block protrudes forward from the guide rail 2a, so that the second slider 2b can be abutted against the limiting portion 7b downward. Referring to fig. 1 again, a limiting plate 7c is fixedly mounted at a position of the mounting substrate 7 above the adapter block 2a, a guide rod 17 extending vertically upwards is fixedly mounted at the upper end of the adapter block 2a, one end of the guide rod 17 away from the adapter block 2a is slidably connected with the limiting plate 7c, in this embodiment, the force-unloading spring f is a pressure spring, the pressure spring is sleeved on the guide rod 17, the lower end of the pressure spring is abutted to the upper side of the adapter block 2a, and the upper end of the pressure spring is abutted to the lower side of the limiting plate 7 c.

So designed, when the spare part of supporting platform 2 lower extreme did not collide, second slider 2b supported and leaned on spacing portion 7b, and when the spare part of supporting platform 2 lower extreme took place the collision downwards, the pressure spring can compress, and at this moment, please refer to fig. 8, second slider 2b left spacing portion 7 b's surface and upwards moved, and supporting platform 2 upwards moves along mounting substrate 7 direction of height, avoids the device to be bumped. In this embodiment, the maximum amount of upward contraction of the support platform 2 is 10mm. By adopting the design of propping the second sliding block 2b against the limiting part 7b, the support platform 2 can be prevented from being created again when the rebound force of the second sliding block 2b is overlarge. If the supporting platform 2 is directly abutted against the limiting part 7b, after the parts at the lower end of the supporting platform 2 collide with larger force and move upwards, the downward resetting force of the supporting platform 2 is also larger, so that the supporting platform 2 is also damaged to a certain extent when being reset to the upper side of the limiting part 7b, and the usability of the device is affected.

After the screw e is driven into the product D, it should also be tested whether the screw e is tightened. The traditional screw floating height detection method mainly comprises two steps, one is that whether the screw is screwed up or not is judged by measuring the position height of the screwed up screw through a sensor, if the current screw height detected by the sensor is in a set range, the judgment is qualified, and if the current screw height detected by the sensor exceeds the range, the judgment is that the screw is not screwed up. This approach is not accurate for products with poor dimensional consistency, large tolerances, or dents due to stress.

Another way is to determine whether the screw is tightened by detecting the number of revolutions of the electric batch, which is typically done by detecting torque changes in the electric batch using intelligent servo, and determining whether the screw is tightened by detecting the number of revolutions of the electric batch. When the screw starts to be screwed in, the torque changes, and then the rotation number of the electric batch starts to be detected, and the mode cannot be used for a common electric batch mechanism because the common electric batch cannot detect the torque and the rotation number. In addition, although the intelligent electric screwdriver tooth insertion detection has the patent in the aspect at present, the intelligent electric screwdriver in the market almost does not support the tooth insertion detection function, and only the rotation number is used for judging whether the screw is screwed down or not, the method is inaccurate, for example, one screw can start to be screwed into a product just by rotating 30 degrees, and the other screw can start to be screwed up after rotating 300 degrees, so that deviation in the number of turns is caused, and the larger the lead of the screw is, the larger the floating deviation in the number of turns is.

Therefore, the embodiment also provides a screw floating height detection method capable of effectively judging whether the screw e is screwed down or not. Referring to fig. 1, a first sensor 15 is installed on the supporting platform 2, a second sensor 16 is installed on the electric batch mechanism 1, and a floating height detection connecting piece 18 is fixedly connected to the side portion of the conversion block 2 a. As shown in fig. 14, the float-up detection link 18 has a lower link section 18a, a support section 18b extending vertically upward from the rear end of the lower link section 18a, and a sensor scale 18c horizontally placed horizontally on top of the support section 18 b.

The screw float height detection method comprises the following steps: when the tool head 1a screws the screw e into the screw hole of the product D, the supporting platform 2 is kept motionless, the second sensor 16 descends along with the electric batch mechanism 1, at this time, the first sensor 15 can detect the height variation value m of the product D at the screw hole position, and the second sensor 16 can reflect the displacement n of the tool head 1a in the height direction by detecting the displacement of the second sensor 16 to the sensor scale 18c, and the difference between the displacement n and the height variation value m is the screwing depth of the screw e. Since the screwing depth of the screw e is equal to the length of the thread section of the screw e, which is constant, it can be confirmed that the screw e is screwed when the difference between the displacement amount n and the height variation value m is equal to the length of the thread section. If the consistency of the height dimension of the product D is poor and the tolerance is large, or the surface of the product D is stressed and deformed, the height variation value m of the product D at the screw hole position also has certain variation, the corresponding electric batch mechanism 1 drives the second sensor 16, the height position required to be lowered also has certain variation, the distance from the measured second sensor 16 to the sensor scale 18c also correspondingly varies, namely the displacement n varies, the displacement n and the height variation value m are the same, or increase or decrease simultaneously, so that no matter how large the height error of the product is, or the surface of the product is stressed and deformed, the difference between the displacement n and the height variation m is always the same, if the difference between the two is increased, only the screw is not screwed, and the erroneous judgment on the screw tightening result caused by the problems of overlarge height error, the stressed recess of the product surface and the like can be effectively avoided by the difference measuring method.

Finally, it should be noted that the above description is only a preferred embodiment of the present invention, and that many similar changes can be made by those skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. A screw driving device (a), characterized by comprising:

a mounting substrate (7) with a guide rail (7 a) extending in the vertical direction fixed on the front side;

the support platform (2) is arranged at the lower part of the mounting substrate (7), a screw pipeline (9) which extends vertically downwards is arranged at the front part of the support platform (2), the screw pipeline (9) is provided with a central through hole (9 b), a support component (3) and a correction component (4) are arranged at the end part of the lower end of the screw pipeline (9), the support component (3) can move radially along the screw pipeline (9) and is used for supporting a nut of a screw, and the correction component (4) is used for enabling the central line of the screw to coincide with the central line of the screw pipeline (9);

and the electric batch mechanism (1), the electric batch mechanism (1) is assembled on the guide rail (7 a) in a sliding way through the lifting mechanism (8), the electric batch mechanism (1) comprises a first motor (1 b) and a tool head (1 a) driven to rotate by the first motor (1 b), and under the action of the lifting mechanism (8), the tool head (1 a) can be inserted downwards to the bottom of the central through hole (9 b) and screws at the lower end of the screw pipeline (9) are screwed to rotate.

2. The screw driving device according to claim 1, wherein: the lifting mechanism (8) comprises a second motor (8 a) fixed at the top of the mounting substrate (7), a screw rod (8 b) driven by the second motor (8 a) to rotate, and a seat body assembly (8 c) connected to the screw rod (8 b) in a threaded mode, the seat body assembly (8 c) is connected with the guide rail (7 a) in a sliding mode through a first sliding block (8 d), and the electric batch mechanism (1) is fixedly assembled on the seat body assembly (8 c).

3. The screw driving device according to claim 2, wherein: the seat body assembly (8 c) is of a split structure and comprises a front supporting plate (8 c 1) and a rear supporting plate (8 c 2), the front supporting plate (8 c 1) is fixedly connected to the front side of the first sliding block (8 d), the rear supporting plate (8 c 2) is in threaded sleeve connection with the screw rod (8 b), a supporting lug component (8 c 3) is fixedly arranged on the side portion of the front supporting plate (8 c 1), and a pre-tightening spring (10) is abutted between the supporting lug component (8 c 3) and the rear supporting plate (8 c 2).

4. The screw driving device according to claim 1, wherein: the support assembly (3) comprises two spring pieces (3 b) symmetrically arranged on two radial sides of the screw pipeline (9), and baffle columns (3 a) extending into the screw pipeline (9) are arranged at the lower ends of the two spring pieces (3 b).

5. The screw driving device according to claim 4, wherein: the baffle columns (3 a) at the lower end of each spring piece (3 b) are two groups, four groups of baffle columns (3 a) are distributed in a rectangular mode, and the end portions of the baffle columns (3 a) are of spherical structures (3 a 1).

6. The screw driving device according to claim 1, wherein: the correction assembly (4) comprises a finger cylinder (4 b) and two groups of clamping jaws (4 a) which are driven to open and close by the finger cylinder (4 b), and arc-shaped grooves (4 a 1) which are adaptive to the outer diameter of the screw are formed in the lower ends of the two groups of clamping jaws (4 a).

7. The screw driving device according to claim 1, wherein: screw pipeline (9), support subassembly (3) and correction subassembly (4) all rotate and assemble on supporting platform (2), be equipped with rotary mechanism (5) on supporting platform (2), rotary mechanism (5) are used for driving screw pipeline (9), support subassembly (3) and correction subassembly (4) integral type rotation.

8. The screw driving device according to claim 1, wherein: the rear end of the supporting platform (2) is provided with a switching block (2 a), the switching block (2 a) is slidably assembled on the lower portion of the guide rail (7 a) through a second sliding block (2 b), the lower end of the mounting substrate (7) is provided with a limiting portion (7 b), a force unloading spring (f) is arranged between the switching block (2 a) and the mounting substrate (7), and the force unloading spring (f) enables the supporting platform (2) to downwards abut against the limiting portion (7 b).

9. Automatic screw mounting equipment, including equipment rack (B), its characterized in that: the screw driving device (A) of any one of claims 1 to 8, wherein an X-direction linear movement module (11), a Y-direction linear movement module (12) and a Z-direction linear movement module (13) are arranged in the equipment rack (B) and are respectively used for controlling the screw driving device (A) to move in the X direction, the Y direction and the Z direction of the equipment;

and a CCD camera (14) is arranged at the top of the equipment rack (B) and is used for identifying the hole position of a screw hole of a product to be assembled.

10. A method for detecting the floating height of a screw based on the automatic screw mounting device according to claim 9, wherein the first sensor (15) is installed on the supporting platform (2), the second sensor (16) is installed on the electric batch mechanism (1), and the product (D) is fixedly assembled on the clamp platform (C) of the automatic screw mounting device, and the method is characterized in that: in the process that the tool head (1 a) is used for screwing the screw into the screw hole of the product (D), the first sensor (15) detects the height change value of the product (D) at the position of the screw hole, and the second sensor (16) detects the displacement of the tool head (1 a) in the height direction, and the difference value between the displacement and the height change value is the screwing depth of the screw.