CN117066870A

CN117066870A - Intelligent tightening machine capable of achieving visual identification

Info

Publication number: CN117066870A
Application number: CN202311104609.9A
Authority: CN
Inventors: 王林; 代礼周; 马添源; 王昊成; 宋文平; 李天龙
Original assignee: Harbin Naluo Technology Co ltd
Current assignee: Harbin Naluo Technology Co ltd
Priority date: 2023-08-30
Filing date: 2023-08-30
Publication date: 2023-11-17

Abstract

The invention relates to the field of tightening machines, in particular to an intelligent tightening machine capable of being visually identified, which comprises a tightening machine body with a camera mounting frame at the working end and two cameras arranged on the camera mounting frame. The tightening machine body comprises a shell, and a servo motor, a speed reducer, a coupler and a drill bit which are sequentially arranged in the shell, wherein an output shaft of the servo motor is connected with the speed reducer, an output shaft of the speed reducer is connected with the drill bit through the coupler, and the drill bit extends to the outside of the shell. The camera mounting frame is fixedly mounted on the outer side, close to the drill bit end, of the shell through fastening screws. The two cameras are symmetrically arranged relative to the drill bit. The torque detection device further comprises an elastic body mounting frame arranged on the speed reducer and a torque detection elastic body arranged on the elastic body mounting frame, wherein the torque detection elastic body is fixedly connected with the shell. The invention can increase the accuracy of positioning the required tightening bolt.

Description

Intelligent tightening machine capable of achieving visual identification

Technical Field

The invention relates to the field of tightening machines, in particular to an intelligent tightening machine capable of being visually identified.

Background

The quality of the bolting plays a critical role in the overall mechanical system. In the conventional assembly, an electric screwdriver or a torque wrench is used for manual tightening, and the manual tightening mode is difficult to realize high-quality bolt connection. In the present semi-automatization assembly flow, adopt automatic bolt tightening mechanism more, realize the screw bolt tightening through control methods such as moment of torsion or corner, but still need pass through visual identification to accurate positioning bolt, consequently design one kind and have binocular vision location, can increase the accuracy to the bolt location.

Disclosure of Invention

The invention aims to provide an intelligent tightening machine capable of being visually identified, which can increase the accuracy of positioning a required tightening bolt.

The aim of the invention is achieved by the following technical scheme:

the utility model provides a but visual identification's intelligent screw up machine, includes that the operation end is equipped with the screw up machine body of camera mounting bracket, and sets up two cameras on the camera mounting bracket.

The tightening machine body comprises a shell, and a servo motor, a speed reducer, a coupler and a drill bit which are sequentially arranged in the shell, wherein an output shaft of the servo motor is connected with the speed reducer, an output shaft of the speed reducer is connected with the drill bit through the coupler, and the drill bit extends to the outside of the shell.

The camera mounting frame is fixedly mounted on the outer side, close to the drill bit end, of the shell through fastening screws.

The two cameras are symmetrically arranged relative to the drill bit.

The torque detection device further comprises an elastic body mounting frame arranged on the speed reducer and a torque detection elastic body arranged on the elastic body mounting frame, wherein the torque detection elastic body is fixedly connected with the shell.

The shell is internally provided with a PCB module which is used for controlling the servo motor and receiving signals of the sensor in the torque detection elastomer.

The torque detection elastomer inner sensor is a static torque sensor.

And a wiring hole which is convenient for wiring is formed in the tail part of the shell.

The shell is fixed with a flange plate far away from the drill bit end and is used for being connected with the mechanical arm.

And a central hole communicated with the wiring hole is formed in the center of the flange plate.

The intelligent tightening machine capable of realizing visual positioning has the beneficial effects that:

1. the intelligent tightening machine capable of achieving visual identification can accurately position the position of the needed tightening bolt through the binocular camera system, judge whether the needed tightening bolt deviates from a drill bit, and stop the operation of the motor when the deviation occurs.

2. The intelligent tightening machine capable of realizing visual identification converts dynamic torque measurement into static torque measurement through torque transmission, facilitates torque control, forms a closed loop with a motor, realizes fixed torque and reduces cost.

3. The intelligent tightening machine torque control and the angle control which can be visually identified are matched for use, so that the tightening of the required tightening bolt is more reliable.

4. The intelligent tightening machine capable of being visually identified is used as a tool head of the mechanical arm, and can be automatically assembled with the mechanical arm.

Drawings

FIG. 1 is a three-dimensional isometric view of a visually identifiable intelligent screw-down machine;

fig. 2 is a schematic cross-sectional view of a visually identifiable intelligent screw-down machine.

In the figure:

1, a flange plate;

2-a housing;

3—a PCB module;

4-a servo motor;

5-a speed reducer;

6-elastomer mount;

7—a torque detecting elastomer;

8, a coupler;

9-a drill bit;

10—a camera mount;

11—a camera;

12. 13, 14, 15, 17—mounting bolts;

16—a fastening screw.

Detailed Description

As shown in fig. 1-2:

the invention relates to an intelligent tightening machine with a visual positioning function and controllable torque and rotation angle, which comprises a tightening machine shell 2, wherein a servo motor 4, a planetary gear reducer 5, an elastomer mounting frame 6, a torque detection elastomer 7 and a bearing are sequentially arranged in the shell 2; the servo motor 4 is fixedly connected with the speed reducer 5 through a mounting bolt 13, the elastic body mounting frame 6 is fixedly connected with the speed reducer 5 through a mounting bolt 14, and the elastic body mounting frame 6 is fixedly connected with the torque detection elastic body 7 through a mounting bolt 15; the torque detecting elastic body 7 is fixed on the housing 2 by a mounting bolt 17; the output shaft of the speed reducer 5 is connected with a front-end drill bit 9 through a coupler 8; a bearing is arranged between the drill bit 9 and the shell 2; the camera mounting frame 10 is mounted outside the housing 2 by fastening screws 16, and two cameras 11 are mounted on the camera mounting frame 10.

The two cameras 11 are arranged to form a binocular camera system, so that the positions of the required tightening bolts can be positioned, and whether the required tightening bolts deviate from the drill bit 9 or not is judged, so that accurate positioning of the required tightening bolts and position deviation detection of the drill bit 9 are realized.

The control of the servo motor 4 and the receiving of sensor signals in the torque detection elastomer 7 are realized through the built-in PCB module 3 of the shell 2. And a wiring hole is formed at the tail part of the shell 2 so as to facilitate wiring; when it is detected that the drill bit 9 deviates from the required tightening of the bolt, the servomotor 4 stops rotating.

The sensor in the torque detection elastomer 7 is a static torque sensor, the accurate detection of the torque is realized in the shell 2 through the transmission of the torque, and the servo motor 4 is controlled by receiving signals through the PCB module 3, so that the closed-loop control of the torque is realized, and the fixed torque is realized.

In order to realize automation of screwing, as an end effector of the mechanical arm, a flange plate 1 connected with the mechanical arm is designed, and the flange plate 1 is fixedly connected with the shell 2 through a mounting bolt 12.

The working process of the invention is as follows:

when the automatic tightening device works, the binocular vision system locates the position of the needed tightening bolt, then detects whether the drill bit 9 deviates from the needed tightening bolt, and starts the servo motor 4 when no deviation exists. The output shaft of the servo motor 4 drives the speed reducer 5 to operate, the output shaft of the speed reducer 5 is connected with the drill bit 9 through the coupler 8, and after the servo motor 4 is started, the drill bit 9 is driven to rotate through the speed reducer 5, and the required tightening bolt is screwed.

The speed reducer 5 is connected with the torque detection elastomer 7 through the elastomer mounting frame 6, meanwhile, the elastomer 7 is fixed on the shell 2, when a bolt to be screwed is screwed, the torque is transferred to the speed reducer 5 through the drill bit 9, then is transferred to the elastomer mounting frame 6 through the speed reducer 5, and finally is transferred to the torque detection elastomer 7, so that dynamic torque is converted into static torque, the torque is measured by the torque detection elastomer 7 and then is transferred to the built-in PCB module 3, and the PCB module 3 can control the motor 4 through a measured torque signal, thereby realizing closed loop control of the torque.

When the torque-rotation angle is controlled, the torque is set before starting the tightening, and when the detected torque reaches the set torque, a rotation angle is set again, so that the required tightening bolt is continuously tightened for a certain angle.

Yield point control, which determines the yield point by continuous calculation and judgment of the slope of the torque-to-rotation angle curve of tightening, and stops tightening when the yield point is reached.

Claims

1. But visual identification's intelligent screw up machine, its characterized in that: the tightening machine comprises a tightening machine body with a camera mounting frame (10) at the working end and two cameras (11) arranged on the camera mounting frame (10).

2. The visually identifiable intelligent tightening machine as in claim 1, wherein: the tightening machine body comprises a shell (2), and a servo motor (4), a speed reducer (5), a coupler (8) and a drill bit (9) which are sequentially arranged in the shell (2), wherein an output shaft of the servo motor (4) is connected with the speed reducer (5), an output shaft of the speed reducer (5) is connected with the drill bit (9) through the coupler (8), and the drill bit (9) extends to the outside of the shell (2).

3. The visually identifiable intelligent tightening machine as in claim 2, wherein: the camera mounting frame (10) and the outer side of the end, close to the drill bit (9), of the shell (2) are fixedly mounted through fastening screws (16).

4. A visually identifiable intelligent tightening machine as defined in claim 3, wherein: the two cameras are symmetrically arranged relative to the drill bit (9).

5. The visually identifiable intelligent tightening machine as in claim 2, wherein: the torque detection device further comprises an elastic body mounting frame (6) fixedly mounted on the speed reducer (5) and a torque detection elastic body (7) fixedly mounted on the elastic body mounting frame (6), wherein the torque detection elastic body (7) is fixedly connected with the shell (2).

6. The visually identifiable intelligent tightening machine as defined in claim 5, wherein: the shell (2) is internally provided with a PCB module (3) and is used for controlling the servo motor (4) and receiving signals of a sensor in the torque detection elastomer (7).

7. The visually identifiable intelligent tightening machine as defined in claim 6, wherein: the sensor in the torque detection elastomer (7) is a static torque sensor.

8. The visually identifiable intelligent tightening machine as defined in claim 6, wherein: and a wiring hole which is convenient for wiring is formed in the tail part of the shell (2).

9. The visually identifiable intelligent tightening machine as in claim 8, wherein: the end, far away from the drill bit (9), of the shell (2) is fixedly provided with a flange plate (1) which is used for being connected with the mechanical arm.

10. The visually identifiable intelligent tightening machine as in claim 9, wherein: the center of the flange plate (1) is provided with a center hole communicated with the wiring hole.