CN204997320U - Automatically, dismantle screw device based on vision positioning and torque control - Google Patents
Automatically, dismantle screw device based on vision positioning and torque control Download PDFInfo
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- CN204997320U CN204997320U CN201520488751.2U CN201520488751U CN204997320U CN 204997320 U CN204997320 U CN 204997320U CN 201520488751 U CN201520488751 U CN 201520488751U CN 204997320 U CN204997320 U CN 204997320U
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- servomotor
- screwdriver
- straight line
- line module
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Abstract
The utility model relates to an automatically, dismantle screw device based on vision positioning and torque control, central controller pass through network card control industry camera, gather spacing sensor signal and control four servo motor drivers through the motion control card, and wherein three motor is used for the triaxial position to remove, and it is rotatory that a fourth motor is used for driving the screwdriver. The utility model discloses a triaxial motor carries the industry camera and removes to near target screw, and visual identification method discernment screw center is opened, is shot, is adopted to the light source, and output center two -dimensional position, triaxial electric machine control screwdriver device remove to the screw center, and rotatory through moment of torsion control mode's servo motor drive screwdriver, the screw of unscrewing is retreated in Z axle synchronous motors cooperation simultaneously. The utility model discloses the location is accurate, and is easy and simple to handle, dismantles efficiently, can be applied to the screw automation dismantlement work of multiple product.
Description
Technical field
The utility model relates to a kind of automatic dismantling screw device, is specifically related to a kind of accurate positioning, easy and simple to handle, removal efficiency is high, can be applicable to the view-based access control model location of the screw automatic dismantling of multiple product and the automatic dismantling screw device of moment of torsion control.
Background technology
Along with the development of the industries such as household electrical appliances, the electron wastes of enormous amount is faced with the problem how properly to dispose.In the process disassembling household appliances electronic product, the dismounting of hold-down screw is key issue wherein, and mainly realizing by manually disassembling at present of industry disassembled by current China electron wastes components and parts.The outstanding problem manually disassembling existence is inefficiency, and cost of labor expense rises year by year.And the factor such as dust, noise disassembled in process can work the mischief to environment and operating personnel, unexpected maloperation can cause the industrial accident of operating personnel.
Utility model content
For the problems referred to above, main purpose of the present utility model is to provide a kind of accurate positioning, easy and simple to handle, removal efficiency is high, can be applicable to the automatic dismantling screw device of the view-based access control model of the screw automatic dismantling of multiple product location and moment of torsion control.
The utility model solves above-mentioned technical problem by following technical proposals: the automatic dismantling screw device that a kind of view-based access control model location and moment of torsion control, and described device comprises: central controller, motion control card, industrial camera, servomotor, motor driver, straight line module, limit switch, screwdriver, shaft joint, brace, two position blocks;
Central controller is electrically connected with motion control card; Motion control card is electrically connected with limit switch;
Servomotor comprises four groups: be respectively X-axis servomotor, Y-axis servomotor, Z axis servomotor and drive the servomotor be connected with screwdriver;
Motor driver comprises four groups: be respectively X-axis motor driver, y-axis motor driver, Z axis motor driver and the motor driver driving the servomotor be connected with screwdriver;
X-axis motor driver drives X-axis servomotor; X-axis servomotor is electrically connected with X-axis straight line module;
Y-axis motor driver drives Y-axis servomotor; Y-axis servomotor is electrically connected with Y-axis straight line module;
Z axis motor driver drives Z axis servomotor; Z axis servomotor is electrically connected with Z axis straight line module.
X-axis straight line module is connected with Y-axis straight line module, Y-axis straight line module is connected with Z axis straight line module, Z axis straight line module is connected with brace, and screwdriver, shaft joint, servomotor, annular light source, industrial camera are all fixed on brace;
The product of screw to be removed is fixed by two position blocks.
In specific embodiment of the present utility model, described screwdriver drives to rotate and adopts servomotor torque control mode, rotates judge that state turned on by screw according to torque value simultaneously at driving screwdriver.
In specific embodiment of the present utility model, between the servomotor that the screwdriver of described screwdriver and drive runs, shaft joint is housed, the built-in spring of shaft joint, by spring pressure, driver bit is automatically embedded in screw cross recess in rotary course.
In specific embodiment of the present utility model, described brace is fixed on Z axis straight line module.
Positive progressive effect of the present utility model is: the view-based access control model location that the utility model provides and the automatic dismantling screw device that moment of torsion controls have the following advantages: the utility model carries industrial camera by three spindle motors and moves near target screw, light source is opened, take pictures, adopt image recognition method identification screw center, output center position two-dimensional coordinate, three spindle motors control screwdriver device and move to screw center, rotated by the driven by servomotor screwdriver of torque control mode, Z axis motor in synchrony coordinates retrogressing simultaneously, screw of outwarding winding.The utility model accurate positioning, easy and simple to handle, removal efficiency is high, can be applicable to the screw automatic dismantling work of multiple product.
Accompanying drawing explanation
Fig. 1 is overall structure block diagram of the present utility model.
Fig. 2 is positional structure block diagram of the present utility model.
Detailed description of the invention
The utility model preferred embodiment is provided, to describe the technical solution of the utility model in detail below in conjunction with accompanying drawing.
Fig. 1 is overall structure schematic diagram of the present utility model.As shown in Figure 1, the utility model discloses the automatic dismantling screw device of a kind of view-based access control model location and moment of torsion control, central controller controls industrial camera by network interface card, gathers limit sensors signal and control four motor servo drivers by motion control card, wherein three motors move for three shaft positions, and the 4th motor rotates for driving screwdriver.
Concrete grammar comprises the steps:
(1) system reset, System self-test;
(2) industrial camera is moved to target area by X, Y-axis driven by servomotor straight line module;
(3) industrial camera work, image imports central controller into by network interface communication mode;
(4) by image recognition algorithm identification screw center, screw center two-dimensional space coordinate 1 is calculated;
(5) motor removing Distance geometry direction is calculated according to the relative position of coordinate 1 and screwdriver and picture centre;
(6) control X, y-axis motor driver drives motor movement screwdriver arrive screw center;
(7) control Z axis motor and arrive screw center to Z-direction move distance L;
(8) control screwdriver according to the moment of torsion limits value of setting to rotate, Z axis motor in synchrony exits (rate of withdraw V1=screw pitch S* screwdriver electric rotating machine speed V2), detect Motor torque restriction state according to servo-driver output simultaneously, as state in Motor torque restriction detected, then go to step (9), as in the unrestricted state of moment of torsion, then go to step (10);
(9) system alarm, a warning message: " screw cannot be dismantled! Screw please be check! "
(10) whether all screws have all been dismantled, and are, go to step (11), otherwise according to screw spacing (preset parameter), go to step (2);
(11) terminate.
Device of the present utility model comprises: central controller, motion control card, industrial camera, servomotor, motor driver, straight line module, limit switch, screwdriver, shaft joint, brace, two position blocks;
Central controller is electrically connected with motion control card; Motion control card is electrically connected with limit switch;
Servomotor comprises four groups: be respectively X-axis servomotor, Y-axis servomotor, Z axis servomotor and drive the servomotor be connected with screwdriver;
Motor driver comprises four groups: be respectively X-axis motor driver, y-axis motor driver, Z axis motor driver and the motor driver driving the servomotor be connected with screwdriver;
X-axis motor driver drives X-axis servomotor; X-axis servomotor is electrically connected with X-axis straight line module;
Y-axis motor driver drives Y-axis servomotor; Y-axis servomotor is electrically connected with Y-axis straight line module;
Z axis motor driver drives Z axis servomotor; Z axis servomotor is electrically connected with Z axis straight line module.
X-axis straight line module is connected with Y-axis straight line module, Y-axis straight line module is connected with Z axis straight line module, Z axis straight line module is connected with brace, and screwdriver, shaft joint, servomotor, annular light source, industrial camera are all fixed on brace;
The product of screw to be removed is fixed by two position blocks.
Screwdriver drives to rotate and adopts servomotor torque control mode, rotates judge that state turned on by screw according to torque value simultaneously at driving screwdriver.
Shaft joint is housed, the built-in spring of shaft joint between the servomotor that the screwdriver of screwdriver and drive runs, by spring pressure, driver bit is automatically embedded in screw cross recess in rotary course.
Fig. 2 is positional structure block diagram of the present utility model.As shown in Figure 2: in the utility model, screw 1, position block 2, screwdriver 3, shaft joint 4, servomotor 5, annular light source 6, industrial camera 7, Z axis straight line module 8, Y-axis straight line module 9, X-axis straight line module 10, brace 11.X-axis straight line module 10 is connected with Y-axis straight line module 9, Y-axis straight line module 9 is connected with Z axis straight line module 8, Z axis straight line module 8 is connected with brace 11, screwdriver 3, shaft joint 4, servomotor 5, annular light source 6, industrial camera 7 are all fixed on brace 11, and the product of screw to be removed is fixed by two position blocks 2.Brace 11 is fixed on Z axis straight line module 8.
The product of screw to be removed is fixed by two position blocks 2, and shaft joint 4 generally elects the shaft joint of band spring as.
Carrying industrial camera by three spindle motors during system works moves near target screw, light source is opened, take pictures, adopt image recognition method identification screw center, output center position two-dimensional coordinate, three spindle motors control screwdriver device and move to screw center, rotated by the driven by servomotor screwdriver of torque control mode, Z axis motor in synchrony coordinates retrogressing simultaneously, screw of outwarding winding.
More than show and describe general principle of the present utility model and principal character and advantage of the present utility model.The technical staff of the industry should understand; the utility model is not restricted to the described embodiments; what describe in above-described embodiment and description just illustrates principle of the present utility model; under the prerequisite not departing from the utility model spirit and scope; the utility model also has various changes and modifications; these changes and improvements all fall within the scope of claimed the utility model, and the claimed scope of the utility model is defined by appending claims and equivalent thereof.
Claims (4)
1. an automatic dismantling screw device for view-based access control model location and moment of torsion control, is characterized in that: described device comprises: central controller, motion control card, industrial camera, servomotor, motor driver, straight line module, limit switch, screwdriver, shaft joint, brace, two position blocks;
Central controller is electrically connected with motion control card; Motion control card is electrically connected with limit switch;
Servomotor comprises four groups: be respectively X-axis servomotor, Y-axis servomotor, Z axis servomotor and drive the servomotor be connected with screwdriver;
Motor driver comprises four groups: be respectively X-axis motor driver, y-axis motor driver, Z axis motor driver and the motor driver driving the servomotor be connected with screwdriver;
X-axis motor driver drives X-axis servomotor; X-axis servomotor is electrically connected with X-axis straight line module;
Y-axis motor driver drives Y-axis servomotor; Y-axis servomotor is electrically connected with Y-axis straight line module;
Z axis motor driver drives Z axis servomotor; Z axis servomotor is electrically connected with Z axis straight line module,
X-axis straight line module is connected with Y-axis straight line module, Y-axis straight line module is connected with Z axis straight line module, Z axis straight line module is connected with brace, and screwdriver, shaft joint, servomotor, annular light source, industrial camera are all fixed on brace;
The product of screw to be removed is fixed by two position blocks.
2. the automatic dismantling screw device of view-based access control model location according to claim 1 and moment of torsion control, it is characterized in that: described screwdriver drives to rotate and adopts servomotor torque control mode, rotate at driving screwdriver and judge that state turned on by screw according to torque value simultaneously.
3. the automatic dismantling screw device of view-based access control model location according to claim 1 and moment of torsion control, it is characterized in that: between the servomotor that the screwdriver of described screwdriver and drive runs, shaft joint is housed, the built-in spring of shaft joint, makes driver bit automatically embed in screw cross recess in rotary course by spring pressure.
4. the automatic dismantling screw device of view-based access control model location according to claim 1 and moment of torsion control, is characterized in that: described brace is fixed on Z axis straight line module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520488751.2U CN204997320U (en) | 2015-07-08 | 2015-07-08 | Automatically, dismantle screw device based on vision positioning and torque control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520488751.2U CN204997320U (en) | 2015-07-08 | 2015-07-08 | Automatically, dismantle screw device based on vision positioning and torque control |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204997320U true CN204997320U (en) | 2016-01-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520488751.2U Withdrawn - After Issue CN204997320U (en) | 2015-07-08 | 2015-07-08 | Automatically, dismantle screw device based on vision positioning and torque control |
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| CN (1) | CN204997320U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104924064A (en) * | 2015-07-08 | 2015-09-23 | 上海第二工业大学 | Automatic screw disassembling method and device based on visual positioning and torque control |
| CN106984964A (en) * | 2017-05-31 | 2017-07-28 | 山东大学深圳研究院 | A kind of keyboard automatic disassembling device controlled based on image recognition and pressure sensing |
| CN107150063A (en) * | 2017-07-11 | 2017-09-12 | 山东大学深圳研究院 | A kind of automatic dismantling and retracting device of keyboard component |
| CN109211207A (en) * | 2018-06-29 | 2019-01-15 | 南京邮电大学 | A kind of screw identification and positioning device based on machine vision |
| CN111805481A (en) * | 2020-07-20 | 2020-10-23 | 中国核动力研究设计院 | Cadmium-storage grid disassembling equipment for second-generation nuclear power station spent fuel |
| CN111805198A (en) * | 2020-07-20 | 2020-10-23 | 中国核动力研究设计院 | Disassembling method for spent fuel storage cadmium framework of nuclear power station |
-
2015
- 2015-07-08 CN CN201520488751.2U patent/CN204997320U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104924064A (en) * | 2015-07-08 | 2015-09-23 | 上海第二工业大学 | Automatic screw disassembling method and device based on visual positioning and torque control |
| CN106984964A (en) * | 2017-05-31 | 2017-07-28 | 山东大学深圳研究院 | A kind of keyboard automatic disassembling device controlled based on image recognition and pressure sensing |
| CN107150063A (en) * | 2017-07-11 | 2017-09-12 | 山东大学深圳研究院 | A kind of automatic dismantling and retracting device of keyboard component |
| CN109211207A (en) * | 2018-06-29 | 2019-01-15 | 南京邮电大学 | A kind of screw identification and positioning device based on machine vision |
| CN111805481A (en) * | 2020-07-20 | 2020-10-23 | 中国核动力研究设计院 | Cadmium-storage grid disassembling equipment for second-generation nuclear power station spent fuel |
| CN111805198A (en) * | 2020-07-20 | 2020-10-23 | 中国核动力研究设计院 | Disassembling method for spent fuel storage cadmium framework of nuclear power station |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160127 Effective date of abandoning: 20170919 |