CN203031254U - Automatic screw-locking device and system - Google Patents

Automatic screw-locking device and system Download PDF

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Publication number
CN203031254U
CN203031254U CN 201220748650 CN201220748650U CN203031254U CN 203031254 U CN203031254 U CN 203031254U CN 201220748650 CN201220748650 CN 201220748650 CN 201220748650 U CN201220748650 U CN 201220748650U CN 203031254 U CN203031254 U CN 203031254U
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China
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screw
arm
workpiece
automatic locking
information
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CN 201220748650
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Chinese (zh)
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谢小辉
赵彦植
孙强
马翠
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Shenzhen Institute of Advanced Technology of CAS
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Shenzhen Institute of Advanced Technology of CAS
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Abstract

The utility model is suitable for the field of automatic control equipment and provides an automatic screw-locking device which aims at achieving automatic material taking, high-precision positioning and achieving a function of automatically locking a screw. The automatic screw-locking device is fixedly installed beside a conveying belt where a workpiece is placed so as to lock the screw in a screw hole of the workpiece. The automatic screw-locking device comprises a mechanical arm mechanism fixedly installed on a machine frame and a screw locking mechanism which is located above the conveying belt and is used for capturing the screw from a specific position so as to screw the screw in the screw hole. The mechanical arm mechanism comprises a driving arm located above the machine frame and a driven arm which is rotatably connected to the driving arm and connected with the screw locking mechanism. The utility model further provides an automatic screw-locking system comprising the automatic screw-locking device. According to the automatic screw-locking device, the driving arm and the driven arm of the mechanical arm mechanism are utilized to drive the screw locking mechanism to perform plane movement, the screw locking mechanism is utilized to move vertically so as to automatically capture the screw, and accordingly the screw is automatically and precisely locked in the screw hole.

Description

Automatic locking screw device and system
Technical field
The utility model belongs to the automatic control equipment field, the automatic locking screw system that relates in particular to a kind of automatic locking screw device and comprise this automatic locking screw device.
Background technology
Current, utilize the mode of screw assembling locking to occupy main status in manufacturings such as electronics, mechanical five metals.Particularly along with electronic product develops towards the frivolous direction of volume, the size of employed screw is also reducing gradually.This just has higher requirement to lock screw in the production process, and the locking that how can finish screw at a high speed, efficiently becomes the industry urgent problem.Yet also mainly by manual locking, production efficiency is low, labour intensity is big for most of screw locking modes, particularly for the less screw of size, to having relatively high expectations of personnel, such as the requirement of the flexibility ratio of eyesight and hand etc.Though also there is the automatic locking screw device on the market, for example, electronic or pneumatic wushu screwdriver and the product screw locking machine of allocating a fund for its specified purpose, but they are the main frame for movement parts of concentrating, and production efficiency is still low, complex structure, can't realize automatically, and locating effect is relatively poor.
The utility model content
The purpose of this utility model is to provide a kind of automatic locking screw device, is intended to overcome the defective that exists in the prior art, solves the problem of automatic material taking and hi-Fix and auto lock screw function.
The automatic locking screw device that the utility model provides, be fixedly installed in be placed with workpiece conveyer belt next door screw is secured in the screw hole of described workpiece, comprise being fixedly installed in the mechanical arm mechanism on the frame and being positioned at described conveyer belt top and grasping described screw with the screw retaining mechanism of the screw hole that described screw screwed in described workpiece from assigned address that described mechanical arm mechanism comprises the master arm that is positioned at described frame top and the slave arm that is rotationally connected with described master arm and is connected with described screw retaining mechanism.
Further, described mechanical arm mechanism also comprises the holder that is fixedly installed in the frame top, and described master arm partly is contained in the described holder and is rotationally connected with described holder, and described holder and described slave arm lay respectively at the two ends of described master arm.
Further, described master arm comprises the linking arm that is fixedly installed in the interior big arm motor of described holder, is rotationally connected to the big arm decelerator that is connected and with described big arm decelerator with described big arm motor shaft and is connected in described slave arm.
Further, described slave arm comprise the lower house that is fixed in described linking arm, pass described lower house and be installed on described linking arm the forearm decelerator and with described forearm reducer shaft to the forearm motor that is connected.
Further, the rotating shaft of the rotating shaft of described big arm motor and described forearm motor is parallel to each other.
Further, described screw retaining mechanism comprises the upper shell, the supporting seat away from described forearm decelerator that is fixed in described lower house that are fixedly installed in described lower house, is installed on the screw mandrel in the described supporting seat, the mobile electric screwdriver that is connected in the travel mechanism of described screw mandrel and is fixedly installed in described travel mechanism.
Further, described screw retaining mechanism also comprise the drive motors that is fixedly installed in the described upper shell, the driving wheel that axially is connected with described drive motors, with described screw axis to the driven pulley that is connected and be connected in described driving wheel and described driven pulley between feed belt.
Further, described travel mechanism comprises the moving member that is sheathed on described screw mandrel and passes the breach that described upper shell offers, is fixedly installed in described moving member and is fixedly connected on the fixture of described electric screwdriver and is installed on described electric screwdriver end and is used for grasping the vacuum slot of described screw.
The utility model also provides a kind of automatic locking screw system, comprise that the workpiece that will have screw hole is sent to the conveyer belt of specifying station, with screw at random be arranged in rows and single sub-material to deliver to the feeder of assigned address, be arranged at described conveyer belt top and detect the location parameter of described workpiece and the vision collecting device of dimensional parameters, the drawing information of described workpiece and the computer in planning operation path are provided, receive the path planning information that described computer sends and adjust to formulate the motion control rack of real-time route planning information and above-mentioned automatic locking screw device in real time, described mechanical arm mechanism is electrically connected at described motion control rack and the path planning information sent according to described motion control rack moves, and described mechanical arm mechanism drives described screw retaining mechanism and moves that described screw is secured in the described screw hole.
Further, described computer comprises that the drawing information according to described workpiece obtains the drawing information acquisition module of described workpiece size parameter and set screw hole dimensional parameters and utilizes described vision collecting device and the motion planning module in the information planning operation path that described drawing information acquisition module is gathered.
Automatic locking screw device of the present utility model utilizes the master arm of mechanical arm mechanism and slave arm drive mechanical arm mechanism to move in same plane, and drive the screw retaining mechanism and do the plane and move, and utilize this screw retaining mechanism to move up and down with automatic extracting screw, and screw is lock onto exactly in the screw hole of workpiece according to the locating information to screw hole, this is simple in structure, the performance accuracy height can be processed fully automatically.
Automatic locking screw system of the present utility model utilizes vision collecting device and drawing information acquisition module to obtain the location parameter of workpiece and dimensional parameters so that workpiece is accurately located, utilize the motion control rack to obtain the location parameter of workpiece and dimensional parameters carries out path planning to mechanical arm mechanism and with the path planning feedback information to the motion path of mechanical arm mechanism with real-time adjustment mechanical mechanism, mechanical arm mechanism and screw retaining mechanism are moved according to path planning, thereby realize the purpose of auto lock screw.This screw retaining mechanism can grasp the screw of different size automatically, so that this automatic locking screw device is applicable to the lock screw process of different workpieces.
Description of drawings
Fig. 1 is the scheme of installation of the automatic locking screw device that provides of the utility model.
Fig. 2 is the exploded view of the automatic locking screw device that provides of the utility model.
Fig. 3 is the exploded view of the mechanical arm mechanism that provides of the utility model.
Fig. 4 is the exploded view of the screw retaining mechanism that provides of the utility model.
Fig. 5 is the scheme of installation of the automatic locking screw system that provides of the utility model.
Fig. 6 is the workflow diagram of the automatic locking screw system that provides of the utility model.
The specific embodiment
In order to make the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the utility model is further elaborated.Should be appreciated that specific embodiment described herein only in order to explaining the utility model, and be not used in restriction the utility model.
Please be simultaneously with reference to Fig. 1, the automatic locking screw device 6 that the utility model provides be fixedly installed in be placed with workpiece 2 conveyer belt 10(as shown in Figure 5) next door so that screw (not shown) is secured in the screw hole of workpiece 2, and comprise the mechanical arm mechanism 60 that is fixedly installed on the frame 90 and be positioned at conveyer belt 10 tops and grasp screw with the screw retaining mechanism 70 of the screw hole that screw screwed in workpiece 2 from assigned address that this mechanical arm mechanism 60 comprises the master arm 64 that is positioned at frame 90 tops and the slave arm 66 that is rotationally connected with master arm 64 and is connected with screw retaining mechanism 70.This automatic locking screw device 6 utilizes mechanical arm mechanism 60 to drive screw retaining mechanism 70 and moves to workpiece 2 tops, and accurately be positioned above the screw hole of workpiece 2, automatically grasp screws and screw is lock onto in the screw hole of workpiece 2 by screw retaining mechanism 70, this is simple in structure, the performance accuracy height, the full automation action can be widely used in the automatic production line.
Please see figures.1.and.2 simultaneously, mechanical arm mechanism 60 also comprises the holder 62 that is fixedly installed on the frame 90, and master arm 64 parts are contained in the holder 62 and are rotationally connected with holder 62, and holder 62 and slave arm 66 lay respectively at the two ends of master arm 64.Particularly, this frame 90 is installed on conveyer belt 10 next doors and is positioned at conveyer belt 10 tops so that be connected in the screw retaining mechanism 70 of mechanical arm mechanism 60, thereby conveniently screw is lock onto in the workpiece 2.This mechanical arm mechanism 60 drives slave arms 66 motions by master arm 64, and drives screw retaining mechanism 70 and move, thereby reaches the purpose of lock screw.
Referring again to Fig. 3, master arm 64 comprises the big arm motor 640 that is fixedly installed in the holder 62, is rotationally connected with the big arm motor 640 axial big arm decelerators 645 that are connected and with big arm decelerator 645 and is connected in the linking arm 648 of slave arm 66.Particularly, holder 62 comprises the pedestal 620 that is fixedly installed in frame 90 and is provided with host cavity 6200 and is covered on pedestal 620 tops and is provided with the cover plate 625 of first connecting hole 6250, big arm motor 640 is contained in the host cavity 6200 and by adpting flange and is installed on cover plate 625, the rotating shaft of this big arm motor 640 pass first connecting hole 6250 and with 645 coaxial linking to each other of big arm decelerator of first installation portion 6482 that is installed on linking arm 648, namely big arm motor 640 and big arm decelerator 645 lay respectively at the relative both sides of first installation portion 6482 of linking arm 648.Like this, master arm 64 constitutes first joint of this mechanical arm mechanism 60 by big arm motor 640, big arm decelerator 645 and linking arm 648, namely forms a rotational freedom of this mechanical arm mechanism 60, to adjust the position of this mechanical arm mechanism 60.During work, the starter motor driver, utilizing motor driver to drive big arm motor 640 motions and drive big arm decelerator 645 moves, utilize big arm decelerator 645 to regulate the rotating speed of big arm motor 640 and torque to satisfy need of work simultaneously, rotate around the Z axle thereby drive master arm 64, namely linking arm 648 moves on the XY plane.
Referring again to Fig. 3, slave arm 66 comprises the lower house 660 that is fixed in linking arm 648, passes lower house 660 and is installed on the forearm decelerator 665 of linking arm 648 and the forearm motors 668 that axially are connected with forearm decelerator 665.Particularly, linking arm 648 comprises armed lever portion 6480 and second installation portion 6486 that cooperates with slave arm 66, first installation portion 6482 and second installation portion 6486 are arranged at the two ends of armed lever portion 6480 respectively, and forearm decelerator 665 is fixedly installed in second installation portion 6486 to cooperate with forearm motor 668.Lower house 660 is to have the cavity body structure of bottom to accommodate forearm motor 668, and be provided with second connecting hole 6605 in its bottom; forearm motor 668 be contained in the lower house 660 and utilize adpting flange be fixedly installed in the lower house 660 with and rotating shaft pass second connecting hole 6605 and 665 coaxial connections of forearm decelerator, namely forearm decelerator 665 and forearm motor 668 are positioned at the relative both sides of lower house 660.Like this, slave arm 66 constitutes the second joint of this mechanical arm mechanism 60 by lower house 660, forearm decelerator 665 and forearm motor 668, namely forms another rotational freedom of this mechanical arm mechanism 60, to adjust the position of this mechanical arm mechanism 60.During work, the starter motor driver, utilizing motor driver to drive 668 motions of forearm motor and drive forearm decelerator 665 moves, utilize forearm decelerator 665 to regulate the rotating speed of forearm motors 668 and torque to satisfy need of work simultaneously, rotate around the Z axle thereby drive slave arm 66, namely lower house 660 moves on the XY plane.
In the present embodiment, the rotating shaft of big arm motor 640 and the rotating shaft of forearm motor 668 are parallel to each other, to guarantee that mechanical arm mechanism 60 moves at grade.
Please be simultaneously with reference to Fig. 4 and Fig. 6, screw retaining mechanism 70 comprises the upper shell 71, the supporting seat 72 away from forearm decelerator 665 that is fixed in lower house 710 that are fixedly installed in lower house 660, be installed on screw mandrel 73 in the supporting seat 72, the mobile travel mechanism 74 that is connected in screw mandrel 73, be fixedly installed in travel mechanism 74 electric screwdriver (not shown), be fixedly installed in drive motors 75 in the upper shell 71, the driving wheels 76 that axially are connected with drive motors 75, with state the screw mandrel 73 axial driven pulleys 77 that are connected and be connected in driving wheel 76 and driven pulley 77 between feed belt 78.Particularly, upper shell 71 is fixedly installed in lower house 660 tops to accommodate described forearm motor 668 for having the cavity body structure of sidewall, and the sidewall of this upper shell 71 is provided with breach 710 to cooperate with travel mechanism 74.Supporting seat 72 is fixedly installed in the side away from second connecting hole 6605 of lower house 660, one end of screw mandrel 73 is installed in this supporting seat 72 and the other end is installed driven pulley 77, utilize adpting flange that drive motors 75 is fixedly installed in upper shell 71 rotating shafts interior and this drive motors 75 and axially be connected to drive this driving wheel 76 rotations with driving wheel 76, feed belt 78 is connected between driving wheel 76 and the driven pulley 77 to drive screw mandrels 73 rotations by drive motors 75.Travel mechanism 74 is movably connected on the screw mandrel 73 to move up and down along screw mandrel 73, thereby driving the electric screwdriver that is fixed in the travel mechanism 74 moves up and down, like this, driving screw mandrel 73 by drive motors 75 rotates so that electric screwdriver moves up and down along screw mandrel 73, thereby constitute an one-movement-freedom-degree of this screw retaining mechanism 70, to be used for lock screw.
Further, travel mechanism 74 comprises and is sheathed on screw mandrel 73 and passes the moving member 740 of the breach 710 that described upper shell 71 offers and be fixedly installed in described moving member 740 and be fixedly connected on the fixture 745 of described electric screwdriver.Moving member 740 passes breach 710 and rotates and move up and down along this breach 710 with screw mandrel 73, so that fixture 745 is positioned at the outside of upper shell 71 with the fixed installation electric screwdriver.For electric screwdriver being fixedly installed in the travel mechanism 74, this fixture 745 is provided with draw-in groove 7450, and described draw-in groove 7450 is positioned at a side that deviates from moving member 740 of fixed mount 745 and establishes electric screwdriver with card.Screw retaining mechanism 70 also comprises the vacuum slot that is installed on described electric screwdriver end and is used for grasping described screw, this vacuum slot can grasp the screw of different size, particularly can grasp tiny screw quickly and accurately, thereby make this automatic locking screw device 6 can be applied to the screw locking process of different size.
During work, slave arm 66 drives screw retaining mechanism 70 and moves in the XY plane so that screw retaining mechanism 70 moves to workpiece 2 tops.Utilize motor driver to drive this drive motors 75 to drive driving wheel 76 and driven pulley 77 rotations, thereby driving screw mandrel 73 rotates, under the induced effect of screw mandrel 73, electric screwdriver moves up and down to the operating position along screw mandrel 73 with travel mechanism 74, the position that namely is fit to lock screw, thus with screw means in screw hole.
The second joint that automatic locking screw device 6 of the present utility model utilizes first joint that master arm 64 constitutes and slave arm 66 to constitute makes mechanical arm mechanism 60 and drive screw retaining mechanism 70 in the motion of XY plane and moves to above the workpiece 2, utilize the one-movement-freedom-degree of screw retaining mechanism 70 to guarantee the electric screwdriver motion and level off to the screw hole of workpiece 2, thereby screw is lock onto in the screw hole.
Please be simultaneously with reference to Fig. 5 and Fig. 6, the utility model also provides a kind of automatic locking screw system 1, comprise that the workpiece 2 that will have screw hole is sent to the conveyer belt 10 of specifying station, screw at random is arranged in rows and the feeder 20 of single sub-material to deliver to assigned address, be arranged at conveyer belt 10 tops and detect the position of workpiece 2 and the vision collecting device 30 of dimensional parameters, the drawing information of workpiece 2 and the computer 40 in planning operation path are provided, the motion control rack 50 of the path planning information that receiving computer 40 sends and above-mentioned automatic locking screw device 6, mechanical arm mechanism 60 is electrically connected at motion control rack 50 and moves according to the path planning information that motion control rack 50 sends, and this mechanical arm mechanism 60 drives screw retaining mechanism 70 and moves that described screw is secured in the screw hole.Automatic locking screw system 1 of the present utility model receives path planning information that motion control racks 50 send and mobile automatic locking screw device 6 with lock screw by automatic locking screw device 6, and the drawing information of the workpiece 2 that provides by vision collecting device 30 and computer 40 is accurately located, to realize that complete auto lock screw also can reach the effect of accurate location, enhances productivity.
This automatic locking screw system 1 utilizes the size of vision collecting device 30 and computer 40 feedback workpiece 2 and positional information to motion control rack 50, and the path planning information that mechanical arm mechanism 60 sends according to motion control rack 50 moves and drives screw retaining mechanism 70 and moves that screw is secured in the screw hole.Particularly, mechanical arm mechanism 60 moves according to the path planning information that motion control rack 50 provides, namely drive slave arms 66 around the rotation of Z axle by master arm 64 around the rotation of Z axle and this master arm 64, so that should and utilize screw retaining mechanism 70 that screw is lock onto in the workpiece 2.This automatic locking screw system 1 is accurately located by vision collecting device 30 and 40 pairs of locks of computer screw process, utilize mechanical arm mechanism 60 and screw retaining mechanism 70 to grasp screw and auto lock screws automatically, the process precision height of whole lock screw, speed are fast.
Described vision collecting device 30 electrically connects with motion control rack 50.In the present embodiment, described vision collecting device 30 is the CCD camera, is arranged at conveyer belt 10 tops and is sent to motion control rack 50 with the location parameter that detects workpiece 2 on the conveyer belt 10 and dimensional parameters and with information such as the location parameter of the workpiece 2 that detected and dimensional parameters.During use, open vision collecting device 30, at first, the CCD camera is carried out the parameters setting, for example comprise the environmental pattern of cameras such as common, indoor, outdoor, AWB; The location parameter that comprises cameras such as level angle and luffing angle; The focal length parameter that comprises cameras such as autozoom, manual zoom and zoom amount.Secondly, utilize the CCD camera to obtain video flowing, video flowing is carried out single card intercept to obtain the single card image, and the single card image that obtains is carried out binary conversion treatment.Again, utilize the CCD camera collection to be positioned at the image information of the workpiece 2 on the conveyer belt 10, to extract location parameter and the dimensional parameters of workpiece 2, wherein, location parameter is the X-axis of workpiece 2 on conveyer belt 10 and the coordinate parameters of Y-axis, and the parameter information that detects is calculated the row-coordinate conversion of going forward side by side.At last, above-mentioned parameter information is passed to motion control cabinet 50.
Computer 40 electrically connects with motion control rack 50, and comprise drawing information according to workpiece 2 obtain the dimensional parameters of described workpiece 2 and set screw hole dimensional parameters the drawing information acquisition module and utilize described vision collecting device 30 and the motion planning module in the information planning operation path that described drawing information acquisition module is gathered.Particularly, the drawing information acquisition module is analyzed and is calculated by the two-dimentional drawing of loading workpiece 2 and to the dimensional parameters of workpiece 2 in this drawing and the drawing informations such as dimensional parameters of screw hole, and this drawing information is fed back to motion planning module and motion control rack 50.This drawing information acquisition module and motion planning module all are installed on described computer 40 inside, and all have the information processing function.This motion planning module not only receives the information that the drawing information acquisition module provides, and receives the information that vision collecting device 30 provides, and the comprehensive information that receives carries out path planning, and will plan that the routing information of getting well passes to motion control rack 50.
Motion control rack 50 electrically connects and is provided with control card with mechanical arm mechanism 60, the motion path planning information that the position of the workpiece 2 that described control card reception vision inspection apparatus 30 sends and the motion planning module of dimensional parameters information and computer 40 are sent.This control card is by analyzing and handle to draw the location coordinate information of workpiece 2 to parameter informations such as the position of workpiece 2 and dimensional parameters, the location coordinate information of this workpiece 2 changes in real time along with the conversion of screw hole position and size.The utility model is determined the precise location information of screw by control card, improves the precision of this automatic locking screw device.This motion control cabinet 50 realizes locating fast and accurately and having improved control accuracy according to vision collecting device 30 and drawing information acquisition module, automatically plan that by control card motion path is to satisfy the requirement of working environment and operating mode, can be according to the different different motion paths of workpiece planning, adaptability is strong.
During work, workpiece 2 is sent to the operating position on feeder 20 next doors from the conveyer belt 10 of production line, feeder 20 screw at random is arranged in rows and single sub-material to deliver to assigned address.Utilize location parameter and the dimensional parameters of vision collecting device 30 detection workpiece 2 and utilize the drawing information acquisition module to gather the dimensional parameters of workpiece 2 and the dimensional parameters of screw hole, the motion planning module is carried out path planning and path planning information is sent to the motion control rack 50 with control card according to the information of vision collecting device 30 and the collection of drawing information acquisition module, adjusts motion paths in real time so that mechanical arm mechanism 60 moves by motion path by motion control rack 50.The electric screwdriver that mechanical arm mechanism 60 drives screw retaining mechanism 70 grasps screw from feeder 20, and according to motion path, mechanical arm mechanism 60 drives electric screwdriver moves to screw workpiece 2 according to motion path operating position.Utilize screw retaining mechanism 70 that screw is moved and level off to workpiece 2 along Z-direction, start electric screwdriver and along the movement of Z axle screw being screwed in the screw hole of workpiece 2, when electric screwdriver reaches default moment to finish locking work, i.e. electric screwdriver stop motion.
The utility model utilizes vision collecting device 30 and drawing information acquisition module determining the exact position of workpiece 2, and feeds back in the motion control rack 50, to determine the exact position of screw.Utilize the motion path of motion control rack 50 planning mechanical arm mechanisms 60 and screw retaining mechanism 70 and adjust the movement position of mechanical arm mechanism 60 in real time according to the positional information of the workpiece 2 that receives, repair positioning accuracy, to reach the purpose of lock screw exactly.
The automatic locking screw system 1 that the utility model provides can realize locating fast and accurately, the control accuracy height, according to vision collecting device 30, drawing information acquisition module and the motion planning module motion path with automatic planning mechanical arm mechanism 60, thereby satisfy the requirement of different operating environment and operating mode.
The automatic locking screw system 1 that the utility model provides is by the Position Control to mechanical arm mechanism 60, can obtain real time execution position and the practice condition of mechanical arm mechanism 60, and feed back the positional information of this mechanical arm mechanism 60 and the gap between the assigned address information in real time, to adjust the motion path of mechanical arm mechanism 60.
The utility model utilization has the screw retaining mechanism 70 of vacuum slot to improve the efficient of the tiny screw of locking, is applicable to different workpieces 2 lock screw processes, and reduces production costs.
Automatic locking screw system 1 of the present utility model goes for not comprising the situation of vision inspection apparatus 30 and drawing information acquisition module, specifically by writing lock screw program at computer 40 and motion control rack 50, and according to demand, the amount of exercise of first joint of real-time adjustment mechanical arm mechanism 60 and the one-movement-freedom-degree of second joint and screw retaining mechanism 70 is to realize lock screw.Thereby, can satisfy the purpose owing to auto lock screw under working space and the environmental limitations situation.
The above only is preferred embodiment of the present utility model; not in order to limit the utility model; all any modifications of within spirit of the present utility model and principle, doing, be equal to and replace and improvement etc., all should be included within the protection domain of the present utility model.

Claims (10)

1. automatic locking screw device, be fixedly installed in be placed with workpiece conveyer belt next door screw is secured in the screw hole of described workpiece, it is characterized in that, comprise being fixedly installed in the mechanical arm mechanism on the frame and being positioned at described conveyer belt top and grasping described screw with the screw retaining mechanism of the screw hole that described screw screwed in described workpiece from assigned address that described mechanical arm mechanism comprises the master arm that is positioned at described frame top and the slave arm that is rotationally connected with described master arm and is connected with described screw retaining mechanism.
2. automatic locking screw device as claimed in claim 1, it is characterized in that, described mechanical arm mechanism also comprises the holder that is fixedly installed in the frame top, described master arm partly is contained in the described holder and is rotationally connected with described holder, and described holder and described slave arm lay respectively at the two ends of described master arm.
3. automatic locking screw device as claimed in claim 2, it is characterized in that described master arm comprises the linking arm that is fixedly installed in the interior big arm motor of described holder, is rotationally connected to the big arm decelerator that is connected and with described big arm decelerator with described big arm motor shaft and is connected in described slave arm.
4. automatic locking screw device as claimed in claim 3, it is characterized in that, described slave arm comprises the lower house that is fixed in described linking arm, pass described lower house and be installed on described linking arm the forearm decelerator and with described forearm reducer shaft to the forearm motor that is connected.
5. automatic locking screw device as claimed in claim 4 is characterized in that, the rotating shaft of the rotating shaft of described big arm motor and described forearm motor is parallel to each other.
6. automatic locking screw device as claimed in claim 4, it is characterized in that described screw retaining mechanism comprises the upper shell, the supporting seat away from described forearm decelerator that is fixed in described lower house that are fixedly installed in described lower house, is installed on the screw mandrel in the described supporting seat, the mobile electric screwdriver that is connected in the travel mechanism of described screw mandrel and is fixedly installed in described travel mechanism.
7. automatic locking screw device as claimed in claim 6, it is characterized in that, the driving wheel that described screw retaining mechanism also comprises the drive motors that is fixedly installed in the described upper shell, axially be connected with described drive motors, with described screw axis to the driven pulley that is connected and be connected in described driving wheel and described driven pulley between feed belt.
8. automatic locking screw device as claimed in claim 6, it is characterized in that described travel mechanism comprises the moving member that is sheathed on described screw mandrel and passes the breach that described upper shell offers, is fixedly installed in described moving member and is fixedly connected on the fixture of described electric screwdriver and is installed on described electric screwdriver end and is used for grasping the vacuum slot of described screw.
9. automatic locking screw system, it is characterized in that, comprise that the workpiece that will have screw hole is sent to the conveyer belt of specifying station, with screw at random be arranged in rows and single sub-material to deliver to the feeder of assigned address, be arranged at described conveyer belt top and detect the location parameter of described workpiece and the vision collecting device of dimensional parameters, the drawing information of described workpiece and the computer in planning operation path are provided, receive the path planning information that described computer sends and motion control rack and any described automatic locking screw device of claim 1 to 8 of adjusting to formulate the real-time route planning information in real time, described mechanical arm mechanism is electrically connected at described motion control rack and the path planning information sent according to described motion control rack moves, and described mechanical arm mechanism drives described screw retaining mechanism and moves that described screw is secured in the described screw hole.
10. automatic locking screw system as claimed in claim 9, it is characterized in that described computer comprises that the drawing information according to described workpiece obtains the drawing information acquisition module of described workpiece size parameter and set screw hole dimensional parameters and utilizes described vision collecting device and the motion planning module in the information planning operation path that described drawing information acquisition module is gathered.
CN 201220748650 2012-12-31 2012-12-31 Automatic screw-locking device and system Active CN203031254U (en)

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CN103737305A (en) * 2013-12-24 2014-04-23 吴水鱼 Stroke reflection horizontal joint multi-head adjustable screw locking machine
CN105058040A (en) * 2015-09-06 2015-11-18 滁州市洪武报废汽车回收拆解利用有限公司 Automatic mechanical-arm-nut disassembling device used for scrapped cars
CN106239142A (en) * 2016-08-31 2016-12-21 苏州佳世达电通有限公司 A kind of gland automatically and lock screw device
CN106346447A (en) * 2016-08-30 2017-01-25 浙江琦星电子有限公司 Manipulator
CN106392603A (en) * 2016-12-13 2017-02-15 尚鳌自动化工程(上海)有限公司 Device and method for mounting temporary fasteners automatically
CN106584084A (en) * 2015-10-20 2017-04-26 沈阳新松机器人自动化股份有限公司 Automatic screw turning device
CN107825128A (en) * 2017-12-21 2018-03-23 东莞市米勒机器人有限公司 A kind of lock of screw locking machine pays control method
CN108312144A (en) * 2017-12-25 2018-07-24 北京航天测控技术有限公司 Automatically lock pays control system and method for robot based on machine vision
CN109866012A (en) * 2019-01-28 2019-06-11 浙江工业大学 A kind of lock the Silk Road diameter optimal control method of XY axis automatic screwing machine

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103737305A (en) * 2013-12-24 2014-04-23 吴水鱼 Stroke reflection horizontal joint multi-head adjustable screw locking machine
CN105058040A (en) * 2015-09-06 2015-11-18 滁州市洪武报废汽车回收拆解利用有限公司 Automatic mechanical-arm-nut disassembling device used for scrapped cars
CN106584084B (en) * 2015-10-20 2018-09-28 沈阳新松机器人自动化股份有限公司 A kind of automatic screw-driving device
CN106584084A (en) * 2015-10-20 2017-04-26 沈阳新松机器人自动化股份有限公司 Automatic screw turning device
CN106346447A (en) * 2016-08-30 2017-01-25 浙江琦星电子有限公司 Manipulator
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