CN205817250U - A kind of high efficiency smart lock screws appts - Google Patents

Abstract

This utility model relates to a kind of high efficiency smart lock screws appts, including equipment matrix, motion, the feeding machanism being fixedly installed on equipment matrix with pick nailing machine structure, and be connected to motion end take latch mechanism and visual system；It is characterized in that: also include importing the control system of screw hole point position information；Described drive mechanism is connected with indexing rotary table by direct-connection transmission mechanism；Material road is installed and lacks material sensor, be installed to expect sensor with material road joint at material separating disc；Sub-material drives and installs indexing encoder on the output shaft of motor, and the first indexing sensor is installed in indexing encoder side；Indexing rotary table outer installation reed, the position that main body rack is corresponding with reed is installed the second indexing sensor；Baffle ring sensor is set on the position that main body rack is corresponding with baffle ring；Inspection nail sensor is installed on the position that main body rack is corresponding with suction nozzle lower end.There is speed of changing the line of production is fast, work efficiency is high feature compared with prior art.

Description

A kind of high efficiency smart lock screws appts

Technical field

This utility model relates to screw locking machine tool professional skill field, and specifically a kind of high efficiency smart lock screw sets Standby.

Background technology

Along with the standardization of the assembly line work of the household appliances such as television set, the operation content of screw assembly station is the most solid Changing, repeatability is high.Current manual's cost increases day by day, and manual assembly screw is inefficient, and the unreliability such as anthropic factor is easy Produce the problems such as screw omission.To this end, occur in that the automatic lock screws appts artificial with machine replacement in industry, but current market The most all there are following problems in this kind equipment of upper appearance.

1. changing the line of production problem: the household appliances such as TV machine make rapid progress, product form tends to variation, exists in production The reality frequently changed the line of production, proposes the demand quickly changed the line of production, but existing equipment is for the screw hole position of new architecture equipment Information, is all by obtaining the teaching of the point of screw hole one by one position, either utilizes robot demonstrator to position, each hole Carry out a teaching, or taken pictures by camera each some position is carried out vision capture, be all difficult to meet current efficiently produce under Demand of quickly changing the line of production.2. beat problem: existing equipment is required for embracing a clamp mechanism before locking screw and product carries out machinery calmly Position, after screw locking completes, an armful clamp mechanism unclamps, product of letting pass the most again, during this, embraces stepping up and unclamping of clamp mechanism The consuming time accounts for the 1/3 of whole device action beat, has a strong impact on work efficiency, additionally, current device all will detect screw Mechanism be fixed on equipment board, before and after apparatus locking screw, be required for taking nail pinning mechanism kinematic to this fixed position, right The absorption situation of screw detects, and above-mentioned machinery is embraced and clamped the inspection nail action of position and moving cell and the most seriously govern equipment Beat, inefficient.3. product quality problem: machinery armful clamps bit architecture to be needed to carry out contacting location with product, easily because embracing The reasons such as grip force degree is unbalanced, product material difference cause the quality of lot problems such as product shell shake, casing deformation, or different because embracing folder The problem such as often cause liquid crystal panel to jump out or to rupture.4. the suitability of equipment is limited: equipment is embraced clamping structure requirement product and had Product, as focusing surface, otherwise cannot effectively be positioned, therefore not advise for frame by the frame of wide flat regular shape Then, with the product of exterior trimming parts and ultrathin products etc., equipment cannot use, and the household appliances profiles such as TV machine are more come More multiformity and ultrathin, equipment suitability critical constraints are presented.

Utility model content

The utility model proposes a kind of high efficiency smart lock screws appts.

The technical solution of the utility model is achieved in that a kind of high efficiency smart lock screws appts, including equipment matrix, Motion, the feeding machanism being fixedly installed on equipment matrix and pick nailing machine structure, and it is connected to taking of motion end Latch mechanism and visual system；Described feeding machanism includes that machine for arranging screws and depiler, described machine for arranging screws include expecting road, institute Stating depiler and include that material separating disc and sub-material drive motor, the entrance of material separating disc docks with the material way discharging device end of machine for arranging screws；Institute Stating and take latch mechanism and include main body rack and the support for rotary disc being installed on main body rack, described support for rotary disc is embedded can circumference be turned Dynamic indexing rotary table, described indexing rotary table is installed many batchings bar assembly, many batchings bar assembly circumferentially array, described batch of bar group Part can move at vertical direction by indexing rotary table relatively；Main body rack is installed the driving machine that indexing rotary table can be driven to rotate Structure；Described batch of bar assembly includes screwdriver bit, is internally provided with the suction nozzle of directed cavity, and bottom stretches to directed cavity along suction nozzle upper end, and Batch bar being flexibly connected with suction nozzle；The upper end of described batch of bar arranges baffle ring；It is characterized in that: also include importing screw hole point position letter The control system of breath；Described drive mechanism is connected with indexing rotary table by direct-connection transmission mechanism；Material road is installed and lacks material sensing Device, is installed to expect sensor with material road joint at material separating disc；On the output shaft that sub-material drives motor, the lower section of material separating disc is also Installing indexing encoder, the first indexing sensor is installed in indexing encoder side；Described indexing rotary table outer installation reed, described Second indexing sensor is installed on the position that main body rack is corresponding with reed；Set on the position that described main body rack is corresponding with baffle ring Put baffle ring sensor；Inspection nail sensor is installed on the position that described main body rack is corresponding with suction nozzle lower end.

As preferred technical scheme, described motion be three-axis robot or four axle robots or six-joint robot or Seven axle robot or right angle coordinate manipulators.

As preferred technical scheme, described visual system includes camera and image processor, the outfan of camera and figure As the inlet circuit of processor connects, the outfan of image processor is connected with the inlet circuit of control system.

As preferred technical scheme, described batch of bar bottom is also provided with cavity, and this cavity connects with directed cavity；Described screwdriver bit Through the first spring, and stretch into suction nozzle from the upper end of suction nozzle, float and be installed in batch bar cavity and suction nozzle directed cavity；Described screwdriver bit Can be stretched out by the lower end of suction nozzle, suction nozzle inlays annular magnet inside lower end.

As preferred technical scheme, being flexibly connected between described suction nozzle with batch bar is, on batch bar on cavity top Arranging strip through hole, the major axis of strip through hole, along batch bar long axis direction, described suction nozzle is correspondingly arranged jack, in jack and strip Movable insertion intermediate pin in through hole.

As preferred technical scheme, the main body rack above batch bar assembly is slidably installed electric screwdriver assembly, described electricity Criticize assembly include electric screwdriver and be arranged on the guide rod of electric screwdriver lower end, described electric screwdriver assembly place straight line and the intersection point of indexing rotary table, On the circumference of batch bar assembly array, electric screwdriver assembly slides up and down promotion batch bar assembly and moves up and down relative to indexing rotary table.

As preferred technical scheme, sheathed second spring on batch bar assembly between baffle ring and indexing rotary table.

As preferred technical scheme, described in pick nailing machine structure include a pair jaw, magazine, can drive two jaws Guan Bis and The clamping cylinder opened.

As preferred technical scheme, described two jaws are mounted on the outfan of clamping cylinder, and described magazine is installed on Below clamping cylinder.

As preferred technical scheme, described depiler is installed on the front end of machine for arranging screws, and machine for arranging screws also includes Vibrator and Rolling motor, described material separating disc is arranged on sub-material and drives on the output shaft of motor.

Owing to have employed technique scheme, this utility model has a beneficial effect highlighted below:

1, it is capable of quickly changing the line of production, only can realize by importing the tighten up a screw some position information in hole of corresponding type, be not required to The teaching one by one of each screw hole position is substantially reduced the time of changing the line of production, simplifies operation of changing the line of production.

2, in programmable logic controller (PLC), import the information of product in advance, match with visual system, spiral shell can be realized The absolute fix in silk hole, it is not necessary to each screw hole of product is taken pictures location by visual system one by one, without an armful clamp mechanism Product is accurately positioned, optimizes and eliminate embracing folder and unclamping action of frame for movement, save beat, eliminate machinery inspection nail knot Structure, it is not necessary to motion individually examines nail action, by by inspection nail sensor integration in taking on latch mechanism, can be at motion Any attitude or position under, it is achieved the servo-actuated detection to absorption screw, time saving and energy saving, easy to operate, work efficiency is high.

3, use visual system to catch product space, coordinate programmable logic controller (PLC) to realize the absolute fix of screw hole, Location contactless with product, avoid from root machinery embrace clamp bit strip product shell shake, casing deformation, liquid crystal panel are jumped out And the quality problems such as rupture.

4, by visual system, some particular primitive of product surface is processed, can realize product particular location Catch location, do not limited by shape of product, size, it is sufficient to the product diversification such as satisfied television set instantly and the need of ultrathin Ask.

5, this utility model simple in construction, it is not necessary to machinery is embraced and clamped the structure such as position and screw detection probe groups, and by sitting Mark system transfer algorithm and demarcation, a camera can meet the location requirement of visual system, under identical function, greatly reduces and sets Standby cost and the complexity of debugging.

Accompanying drawing explanation

In order to be illustrated more clearly that this utility model embodiment or technical scheme of the prior art, below will be to embodiment Or the required accompanying drawing used is briefly described in description of the prior art, it should be apparent that, the accompanying drawing in describing below is only It is embodiments more of the present utility model, for those of ordinary skill in the art, before not paying creative work Put, it is also possible to obtain other accompanying drawing according to these accompanying drawings.

Fig. 1 is this utility model structural representation.

Fig. 2 is this utility model plan structure schematic diagram.

Fig. 3 is the structure for amplifying schematic diagram of the A in Fig. 1.

Fig. 4 is the structural representation of this utility model feeding machanism.

Fig. 5 is position relationship schematic diagram between each structure of this utility model depiler.

Fig. 6 is the structural representation that this utility model takes latch mechanism.

Fig. 7 is the side-looking structural representation that this utility model takes latch mechanism.

Fig. 8 is the structural representation that this utility model criticizes bar assembly.

Fig. 9 is the structural representation that this utility model picks nailing machine structure.

In figure: 1-equipment matrix；2-motion；3-feeding machanism；4-picks nailing machine structure；5-takes latch mechanism；6-camera； 31-expects road；32-material separating disc；33-sub-material drives motor；34-is to material sensor；35-the first indexing sensor；36-indexes coding Device；51-main body rack；52-support for rotary disc；53-indexing rotary table；54-criticizes bar assembly；55-drive mechanism；56-baffle ring；57- Two springs；58-reed；59-the second indexing sensor；60-baffle ring sensor；61-inspection nail sensor；62-electric screwdriver assembly；541- Screwdriver bit；542-suction nozzle；543-criticizes bar；544-the first spring；545-annular magnet；546-strip through hole；547-intermediate pin；41- Jaw；42-magazine；43-clamping cylinder；44-air cylinder support.

Detailed description of the invention

Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is carried out Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of this utility model rather than whole Embodiment.Based on the embodiment in this utility model, those of ordinary skill in the art are not under making creative work premise The every other embodiment obtained, broadly falls into the scope of this utility model protection.

As shown in Figure 1, 2, this utility model includes equipment matrix 1, motion 2, control system, is fixedly installed in equipment Feeding machanism on matrix 13 and pick nailing machine structure 4, and be connected to motion 2 end take latch mechanism 5 and visual system.

Described motion 2 is three-axis robot or four axle robots or six-joint robot or seven axle robots or right angle is sat Mark mechanical hand, motion 2 play carrying take latch mechanism 5 move to specify position effect, its concrete structure is existing public affairs Know technology, do not repeat them here.

As it is shown on figure 3, described visual system includes camera 6 and image processor, the outfan of camera 6 and image processor Inlet circuit connect, the outfan of image processor is connected with the inlet circuit of control system.Taken pictures by camera 6 and catch Catching the specific graphic elements on object, transmission, to image processor, is then transmit to control system, by the position of graphic element Judge position and the attitude of object, it is achieved vision localization.

Described control system is programmable logic controller (PLC), will comprise the profile of product, characteristic pixel and screw hole point position After importing control system etc. information, control system determines the relative position of characteristic pixel and screw hole by these information, product The information such as profile, characteristic pixel and screw hole point position import the mode of control system and use prior art, ripe for insider Know, do not repeat them here.Programmable logic controller (PLC) is according to product design, characteristic pixel and the letter of screw hole point position imported Breath, and combine the product orientation result of visual system, programmable logic controller (PLC) determines the absolute position of screw hole, and sends dynamic Instructing to motion 2, motion 2 carrying takes latch mechanism 5 and successively each is carried out screw hole locking.FPGA control The embedded program of device processed and operation logic all use existing known technology, then this repeats no more.In programmable logic controller (PLC) Import the information of product in advance, match with visual system, the absolute fix of screw hole can be realized, it is not necessary to visual system is to product Each screw hole of product carries out location of taking pictures one by one, is accurately positioned product without embracing clamp mechanism, time saving and energy saving, operation side Just, work efficiency is high.

As shown in Figure 4, described feeding machanism 3 includes that machine for arranging screws and depiler, described depiler are installed on screw row The front end of row machine, described machine for arranging screws includes vibrator, Rolling motor and material road 31, installs and lack material sensing on material road 31 Device, lacks material sensor is used for detecting in material road 31 whether have material, controls the screw supply of vibrator and Rolling motor with this.Such as figure Shown in 5, described depiler includes that material separating disc 32 and sub-material drive motor 33, and material separating disc 32 is arranged on sub-material and drives the defeated of motor 33 On shaft.The entrance of material separating disc 32 docks with material road 31 discharge end of machine for arranging screws, at material separating disc 32 and material road 31 joint It is installed to expect sensor 34, is used for detecting whether screw arrives material.On the output shaft that sub-material drives motor 33, material separating disc 32 times Indexing encoder 36 is also installed by side, and indexing encoder 36 side is provided with the first indexing sensor 35, the first indexing sensor 35 According to the angle of the notch detection material separating disc 32 on indexing encoder 36, to guarantee that the entrance of material separating disc 32 aligns with material road 31, Ensure being smoothed out of Charge motion.Screw in machine for arranging screws material road 31 is arranged in order, and enters sub-material under effect of vibration Dish 32 entrance, detects after screw puts in place to material sensor 34, and material separating disc 32 rotates, and successively the screw of requirement is fed sub-material Dish 32, completes feed.

As shown in Figure 6,7, take latch mechanism 5 described in include main body rack 51 and be installed on the rotating disk on the downside of main body rack 51 Support 52, the embedded indexing rotary table 53 circumferentially rotated of described support for rotary disc 52, described indexing rotary table 53 installs many batchings bar Assembly 54, many batchings bar assembly 54 circumferentially array, described batch of bar assembly 54 can move at vertical direction by indexing rotary table 53 relatively； Main body rack 51 is installed the drive mechanism 55 that indexing rotary table 53 can be driven to rotate；Described drive mechanism 55 is passed by direct connection Motivation structure is connected with indexing rotary table 53, and described direct-connection transmission mechanism is shaft coupling and power transmission shaft.As shown in Figure 8, described batch of bar Assembly 54 includes screwdriver bit 541, is internally provided with the suction nozzle 542 of directed cavity, and bottom stretches to directed cavity along suction nozzle 542 upper end, and Batch bar 543 being flexibly connected with suction nozzle 542；Described batch of bar 543 bottom is also provided with cavity, and this cavity connects with directed cavity；Described Screwdriver bit 541 is through the first spring 544, and stretches into suction nozzle 542 from the upper end of suction nozzle 542, floats and is installed in batch bar 543 cavity and suction In mouth 542 directed cavity；Described screwdriver bit 541 can be stretched out by the lower end of suction nozzle 542, and suction nozzle 542 inlays annular magnetic inside lower end Ferrum 545, can draw screw by magnetic force.Described drive mechanism 55 is motor.Work between described suction nozzle 542 and batch bar 543 Be dynamically connected for, batch bar 543 on cavity top arranges strip through hole 546, the major axis of strip through hole 546 is along batch bar 543 major axis Direction, described suction nozzle 542 is correspondingly arranged jack, movable insertion intermediate pin 547 in jack and strip through hole 546.In by Between pin 547 by movable to suction nozzle 542 and batch bar 543 assembling, such suction nozzle 542 can be relative to batch bar 543 vertically in certain limit Interior slip, and coordinate to meet spacing when screw absorption, locking and dynamics requirement by spring, intermediate pin 547 1 aspect exists Sliding process plays and guides and the effect of restriction range, suction nozzle 542 on the other hand can also be made with batch bar 543 synchronous rotary. The cooperation of intermediate pin 547 and strip through hole 546 can also conveniently realize the fast assembling-disassembling of suction nozzle 542 and batch bar 543, it is achieved split type Assembling.

Be slidably installed on main body rack 51 above batch bar assembly 54 electric screwdriver assembly 62；Described electric screwdriver assembly 62 includes electricity Criticize and be arranged on the guide rod of electric screwdriver lower end.Described electric screwdriver assembly 62 place straight line and the intersection point of indexing rotary table 53, criticizing bar group On the circumference of part 54 array, electric screwdriver assembly 62 slides up and down promotion batch bar assembly 54 and moves up and down relative to indexing rotary table 53.Electricity Criticize annexation between concrete structure and each structure of assembly 62 and be prior art, do not repeat them here.Described batch of bar 543 Upper end arranges baffle ring 56, sheathed second spring 57 on batch bar assembly 54 between baffle ring 56 and indexing rotary table 53；Baffle ring 56 energy Enough play the effect of constraint the second spring 57, and can be as batch test point that bar assembly 54 moves or resilience puts in place.Described indexing Rotating disk 53 outer installation reed 58；Second indexing sensor 59 is installed on the position that described main body rack 51 is corresponding with reed 58, Second indexing sensor 59 coordinates the initial position for recording indexing rotary table 53 with reed 58.Motor drives indexing rotary table 53 turns Dynamic, when turning to certain batch of bar 543 and being coaxial with guide rod, electric screwdriver assembly 62 drives batch bar assembly to press for 54 times, and electric screwdriver starts, and tightens Screw.Tightening after action completes, electric screwdriver assembly 62 sets back, and guide rod is connected disconnection with batch bar 543, criticizes bar 543 by the second bullet Spring 57 drives resilience.Baffle ring sensor 60, baffle ring sensor 60 are set on the position that described main body rack 51 is corresponding with baffle ring 56 Can detect the baffle ring 56 of batch bar 543 upper end, to judge batch bar 543, whether resilience puts in place, it is ensured that everything goes well with your work enters OK.Electric screwdriver assembly 62 and batch bar assembly 54 all recover to initial position, and indexing rotary table 53 is rotated further, when guide rod is with next When batch bar 543 is coaxial, repeats aforesaid operations, so can realize the locking successively to each suction nozzle 542 inner bolt.Described main body rack Installing inspection nail sensor 61 on 51 positions corresponding with suction nozzle 542 lower end, indexing rotary table 53 rotates, and each suction nozzle 542 end is successively By the test side of inspection nail sensor 61, can detect with or without absorption screw there being each position, by inspection nail sensor 61 Output detections result, easy to operate, reliability is high.

Pick nailing machine structure 4 described in as it is shown in figure 9, to include a pair jaw 41, magazine 42, jaw 41 can be driven to close and open Clamping cylinder 43, described clamping cylinder 43 is fixed on air cylinder support 44, and described two jaws 41 are mounted on clamping cylinder 43 Outfan, described magazine 42 is installed on below clamping cylinder 43.The latch mechanism 5 that takes being adsorbed with screw moves to pick nailing machine structure 4 Position, makes the screw on suction nozzle 542 between separate two jaws 41, and then clamping cylinder 43 action drives two jaws 41 to close Closing, pinching screw, take latch mechanism 5 up simultaneously, make suction nozzle 542 separate with screw, then air cylinder driven jaw 41 opens, screw Drop in the magazine 42 of lower section, complete once to pick nail action.

Take latch mechanism 5 to pick up screw, the do action of locking screw, and assist and reject with screw detection and screw Action.By screw detection, screw absorption situation is judged before and after taking nail and pinning, and by picking nailing machine structure 4 to exception Screw is rejected.

The foregoing is only preferred embodiment of the present utility model, not in order to limit this utility model, all at this Within the spirit of utility model and principle, any modification, equivalent substitution and improvement etc. made, should be included in this utility model Protection domain within.

Claims (10)

1. a high efficiency smart lock screws appts, including equipment matrix, motion, the feed that is fixedly installed on equipment matrix Mechanism and pick nailing machine structure, and be connected to motion end take latch mechanism and visual system；Described feeding machanism includes spiral shell Silk arrangement machine and depiler, described machine for arranging screws includes expecting road, and described depiler includes that material separating disc and sub-material drive motor, point The entrance of charging tray docks with the material way discharging device end of machine for arranging screws；The described latch mechanism that takes includes main body rack and is installed on main body Support for rotary disc on support, the embedded indexing rotary table circumferentially rotated of described support for rotary disc, described indexing rotary table is installed many groups Criticizing bar assembly, many batchings bar assembly circumferentially array, described batch of bar assembly can move at vertical direction by indexing rotary table relatively；Leading The drive mechanism that indexing rotary table can be driven to rotate is installed on body support frame；Described batch of bar assembly includes screwdriver bit, is internally provided with and leads To the suction nozzle in chamber, bottom stretches to directed cavity, and batch bar being flexibly connected with suction nozzle along suction nozzle upper end；The upper end of described batch of bar sets Put baffle ring；It is characterized in that: also include importing the control system of screw hole point position information；Described drive mechanism passes through direct-connection transmission Mechanism is connected with indexing rotary table；Material road is installed and lacks material sensor, be installed to expect sensor with material road joint at material separating disc； On the output shaft that sub-material drives motor, indexing encoder is also installed in the lower section of material separating disc, and indexing encoder side installs first Indexing sensor；Described indexing rotary table outer installation reed, the position that described main body rack is corresponding with reed installs second point Degree sensor；Baffle ring sensor is set on the position that described main body rack is corresponding with baffle ring；Described main body rack and suction nozzle lower end Inspection nail sensor is installed on corresponding position.

2. lock screws appts according to a kind of high efficiency smart described in claim 1, it is characterised in that: described motion is three axles Robot or four axle robots or six-joint robot or seven axle robot or right angle coordinate manipulators.

3. lock screws appts according to a kind of high efficiency smart described in claim 1, it is characterised in that: described visual system includes phase Machine and image processor, the outfan of camera is connected with the inlet circuit of image processor, the outfan of image processor with The inlet circuit of control system connects.

4. lock screws appts according to a kind of high efficiency smart described in claim 1, it is characterised in that: described batch of bar bottom is also provided with Cavity, this cavity connects with directed cavity；Described screwdriver bit passes the first spring, and stretches into suction nozzle from the upper end of suction nozzle, and float card dress In batch bar cavity with suction nozzle directed cavity；Described screwdriver bit can be stretched out by the lower end of suction nozzle, and suction nozzle inlays annular inside lower end Magnet.

5. lock screws appts according to a kind of high efficiency smart described in claim 1, it is characterised in that: between described suction nozzle and batch bar Flexible connection be that strip through hole is set on batch bar on cavity top, the major axis of strip through hole is along batch bar long axis direction, described Jack it is correspondingly arranged, movable insertion intermediate pin in jack and strip through hole on suction nozzle.

6. lock screws appts according to a kind of high efficiency smart described in claim 1, it is characterised in that: the master above batch bar assembly Be slidably installed on body support frame electric screwdriver assembly, and described electric screwdriver assembly includes electric screwdriver and is arranged on the guide rod of electric screwdriver lower end, described electricity Criticizing the intersection point of assembly place straight line and indexing rotary table, on the circumference of batch bar assembly array, electric screwdriver assembly slides up and down promotion batch Bar assembly moves up and down relative to indexing rotary table.

7. lock screws appts according to a kind of high efficiency smart described in claim 1, it is characterised in that: baffle ring and indexing rotary table it Between batch bar assembly on sheathed second spring.

8. lock screws appts according to a kind of high efficiency smart described in claim 1, it is characterised in that pick nailing machine structure described in: and include one To jaw, magazine, two jaw Guan Bis and the clamping cylinder opened can be driven.

9. lock screws appts according to a kind of high efficiency smart described in claim 8, it is characterised in that: described two jaws are mounted on The outfan of clamping cylinder, described magazine is installed on below clamping cylinder.

10. lock screws appts according to a kind of high efficiency smart described in claim 1, it is characterised in that: described depiler is installed on The front end of machine for arranging screws, machine for arranging screws also includes that vibrator and Rolling motor, described material separating disc are arranged on sub-material and drive electricity On the output shaft of machine.