CN206253877U - A kind of automatic tightening system - Google Patents
A kind of automatic tightening system Download PDFInfo
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- CN206253877U CN206253877U CN201621360017.9U CN201621360017U CN206253877U CN 206253877 U CN206253877 U CN 206253877U CN 201621360017 U CN201621360017 U CN 201621360017U CN 206253877 U CN206253877 U CN 206253877U
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Abstract
The utility model discloses a kind of automatic tightening system, substrate can be fixedly connected on mechanical arm, installed on substrate and tightened rifle, and bolt to be tightened on product is tightened into fixation by tightening rifle.Position-measurement device can detect the location of product to be processed, position-measurement device signal is connected to analyzer-controller, the signal transmission for obtaining can will be detected to analyzer-controller, calculating analysis is carried out by analyzer-controller, the deviation of product space is obtained, and the rigging position of mechanical arm is corrected according to this deviation.During product transport on a production line, may not necessarily manual correction product space occur deviation, deviation is directly obtained by position-measurement device and analyzer-controller, and the assembling position of corresponding product physical location is moved to by analyzer-controller control machinery arm, so as to carry out tightening operation to product, whole process can be automatically performed, therefore can realize automation mechanized operation without artificial correction of deviation by machine.
Description
Technical field
The utility model is related to automatic assembly technique field, further relates to a kind of automatic tightening system.
Background technology
On assembly line, semi-automatic device for screwing up is gradually popularized, and the positioning precision of streamline itself is low, in assembling
Before also need to manual intervention and positioned, product is on the rigging position of standard, luggage could be entered by corresponding equipment
Operated with waiting.Because streamline transport precision is not high, Automated assembly is difficult to realize.
Therefore, for a person skilled in the art, how to design a kind of can realize automating the dress for tightening operation
Put, be the current technical issues that need to address.
Utility model content
The utility model provides a kind of automatic tightening system, can automatically correct the deviation of product space, is twisted automatically
Tight operation, without human intervention.Concrete scheme is as follows：
A kind of automatic tightening system, it is characterised in that the substrate including that can be fixedly connected mechanical arm, sets on the substrate
Put and tighten rifle for tighten operation；Also include that the position-measurement device of product to be processed present position, institute's rheme can be detected
Put measurement apparatus signal and be connected to analyzer-controller, the analyzer-controller is true according to the signal that the position-measurement device is measured
Determine the deviation of product space, and the rigging position of the mechanical arm is corrected according to the deviation.
Alternatively, the position-measurement device is camera, and the camera is used to shoot the image of product to be processed；Described point
The product image that analysis controller shoots the camera is compared to each other with normal place image, obtains the deviation of product space.
Alternatively, the normal place image is that the camera shoots the image in normal place product.
Alternatively, the camera is fixedly installed on the substrate, and the mechanical arm shoots product in the specific position that shoots
Image.
Alternatively, the camera is fixed on the support that the substrate edges are set；The overhead view image of product is shot downwards.
Alternatively, the frame bottom sets the light fixture for being capable of product irradiation.
Alternatively, X-axis pitch-changing mechanism and Y-axis pitch-changing mechanism are set on the substrate, and the rifle of tightening is become by the X-axis
Spacing mechanism and the Y-axis pitch-changing mechanism adjustment position.
Alternatively, the X-axis pitch-changing mechanism and the Y-axis pitch-changing mechanism are driven by respective servomotor.
The utility model provide a kind of automatic tightening system, including substrate, tighten rifle, position-measurement device, analysis control
The structures such as device processed.Wherein substrate is played a supportive role, and multiple parts are installed on substrate.Substrate can be fixedly connected on mechanical arm
On, installed on substrate and tighten rifle, bolt to be tightened on product is tightened into fixation by tightening rifle.
Position-measurement device can detect the location of product to be processed, and position-measurement device signal is connected to analysis control
Device processed, can will detect that the signal transmission for obtaining, to analyzer-controller, calculating analysis is carried out by analyzer-controller, obtain product
The deviation of position, and the rigging position of mechanical arm is corrected according to this deviation.
The automatic tightening system provided using the utility model, during product transport on a production line, it may not be necessary to artificial
The deviation that product space occurs is corrected, deviation is directly obtained by position-measurement device and analyzer-controller, and controlled by analysis
Device control machinery arm processed moves to the assembling position of corresponding product physical location, so as to carry out tightening operation, whole process to product
Without artificial correction of deviation, can be automatically performed by machine, therefore automation mechanized operation can be realized.
Brief description of the drawings
In order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art, below will be to embodiment
Or the accompanying drawing to be used needed for description of the prior art is briefly described, it should be apparent that, drawings in the following description are only
It is some embodiments of the present utility model, for those of ordinary skill in the art, is not paying the premise of creative work
Under, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is substrate and the axle geodesic structure figure of structure thereon；
Fig. 2 is the front view of Fig. 1；
Fig. 3 is the top view of Fig. 1；
Fig. 4 is the side view of Fig. 1；
Fig. 5 is installed on the overall axle geodesic structure figure on mechanical arm for substrate.
Including：
Substrate 1, tighten rifle 2, position-measurement device 3, X-axis pitch-changing mechanism 4, Y-axis pitch-changing mechanism 5, support 6, light fixture 7, even
Connect platform 8.
Specific embodiment
Core of the present utility model is to provide a kind of automatic tightening system, can automatically correct the deviation of product space,
Automatically tightening operation is carried out, without human intervention.
In order that those skilled in the art more fully understands the technical solution of the utility model, below in conjunction with accompanying drawing and
Specific embodiment, the automatic tightening system to the application is described in detail explanation.
As shown in figure 1, substrate and the axle geodesic structure figure of structure thereon in the automatic tightening system provided for the utility model；
Fig. 2 to Fig. 4 is respectively front view, top view and the side view of Fig. 1.Fig. 5 is installed on the axle geodesic structure figure on mechanical arm for substrate.
It should be noted that the automatic tightening system in the utility model is referred to including all devices including mechanical arm.
The system including substrate 1, tighten rifle 2, position-measurement device 3 and structure etc. analyzer-controller, substrate 1 can be fixed
Connection mechanical arm, sets one group of connected unit 8 that can be fixedly connected with mechanical arm on substrate 1, whole base is driven by mechanical arm
Plate 1 and all parts movement for setting thereon.Rifle 2 is tightened to be arranged on substrate 1, will be corresponding on product by the rotation for tightening rifle
Bolt tighten, as shown in Fig. 1 to Fig. 4, tighten rifle and substrate 1 in the utility model are mutually perpendicular to fix, and top is to drive
Structure, bottom is the contact portion for directly turning bolt.
In addition, the utility model also includes that the position-measurement device 3 of product to be processed present position, position can be detected
Put the deviation that measurement apparatus 3 can be measured between the physical location of product to be processed and standard Working position.Position-measurement device 3
Signal is connected to analyzer-controller, and analyzer-controller obtains product space according to the signal of change that position-measurement device 3 is measured
Deviation, and the rigging position of mechanical arm is corrected according to this deviation.
Actual process is, the coordinate information of preset standard position product in analyzer-controller, every time by position measurement
Coordinate information of the real data that device 3 is measured all with this normal place product is compared, where determining product every time
Deviation between physical location and normal place product, and then the position that mechanical arm is stopped when tightening assembling according to the adjustment of this deviation
Put.
The automatic tightening system provided using the utility model, during product transport on a production line, it may not be necessary to artificial
The deviation that product space occurs is corrected, deviation is directly obtained by position-measurement device 3 and analyzer-controller, and controlled by analysis
Device control machinery arm processed moves to the assembling position of corresponding product physical location, so as to carry out tightening operation, whole process to product
Without artificial correction of deviation, can be automatically performed by machine, therefore automation mechanized operation can be realized.
Specifically, the position-measurement device 3 provided in the utility model is camera, and camera is used to shoot processed product
The image of product；Normal place image is prestored in analyzer-controller, product image and normal place image phase that camera shoots
Mutually compare, obtain the deviation of product space.When being compared, some specific significant structure conducts in product are determined
Benchmark, can be the edge, or product surface of the product specific structure of certain shape, as long as can be accurately identified
The structure for going out can.Analyzer-controller is contrasted two images, then according to the difference of pixel in two images, is passed through
Multiple proportion between image and actual product, further conversion obtains the variation between product physical location and normal place
Value, is represented with corresponding numerical value, is updated to the space coordinates according to mechanical arm, the position that adjustment mechanical arm is stopped when processing is tightened
Put, substrate is properly corresponded into the actual position of product, eliminate the error occurred when product is transported on a production line.
Preferably, normal place image described in the utility model is that camera shoots the figure in normal place product
Picture.When processing first time, first passing through the mode of artificial correction makes product be in normal place, is taken pictures by camera
Normal place image, and normal place image is stored, and several readily identified reference points are chosen, measurement every time later
All it is compared with this normal place image.Before often processing a kind of product, the first step is intended to first obtain normal place image.When
The right, or size by computer according to locus and product in itself carries out ratiometric conversion and obtains, but theoretical calculation
Result may be with physical presence deviation, therefore the directly mode more simple and fast of shooting picture.
Preferably, the camera in the utility model is fixedly installed on substrate 1, is easier to make phase by the stop of mechanical arm
Machine reaches the position for needing, and mechanical arm shoots the image that position shoots product specific.It is of course also possible to camera is fixed on into spy
In fixed supporting construction, not with manipulator motion.But for the product of different size model, the position of shooting may not
Together, if therefore camera is fixed, possibly cannot be applied to different products and shoot.In order to ensure the accuracy of measurement, clap every time
Mechanical arm is rested at the position for pre-setting when taking the photograph, so as to ensure that it be all identical standard to shoot every time.
Camera in the utility model is fixed on the support 6 being fixedly installed on substrate 1, and support 6 is arranged at the side of substrate 1
Edge, in the case where substrate this body structure is not changed, enables camera to shoot the overhead view image of product downwards.Due on production line
Horizontal level do not have on a large scale change, generally only need to determine that two deviations of dimension are i.e. in horizontal direction
Can, it is therefore desirable to which camera is set down, shooting image from the top down.The location of camera should preferably be the center of product
Square in the heart, the image of shooting is more accurate detailed.In addition, if there is demand, camera horizontally toward also can be set, by two
The individual mutual cooperation towards camera, can uniquely determine out product deviation in three dimensions, obtain three errors of dimension.
Camera can also be set to three-dimensional camera, directly gather three-dimensional image information.
In addition, in order to obtain more detailed image information, it shall be guaranteed that sufficient lighting condition, the utility model is in branch
The bottom of frame 6 sets the light fixture 7 for being capable of product irradiation, makes product that there is sufficient illumination to ensure, is not influenceed by ambient light.Lamp
Tool 7 can use LED or fluorescent tube.
In any of the above-described technical scheme and its on the basis of being mutually combined, the utility model sets X-axis displacement on substrate 1
Mechanism 4 and Y-axis pitch-changing mechanism 5, tighten rifle 2 by X-axis pitch-changing mechanism 4 and the adjustment position of Y-axis pitch-changing mechanism 5.Specific structure
It is that X-axis pitch-changing mechanism 4 includes the slideway through whole substrate 1, is that at least one first sliding blocks are set in slideway, is slided first
The surface of block sets slideway, and the second sliding block is set on this slideway, will tighten rifle 2 and is arranged on the second sliding block, tightens rifle 2 in sky
Between on can respectively realize the motion of X-axis and Y-axis, so as to change it in the position of whole horizontal plane, such that it is able to be adapted to not
With the product of dimensional structure, the bolt of diverse location can be tightened.
More specifically, the second sliding block in the first sliding block and Y-axis pitch-changing mechanism 5 in X-axis pitch-changing mechanism 4 is by respective
Servomotor drives, and can realize moving back and forth respectively.
The automatic tightening system that the utility model is provided is calculated product by image shot by camera by analyzer-controller
The deviation that grade is put, and control machinery arm makes corresponding adjustment, the actual deviation of compensation product, so as to eliminate production line fortune
The error occurred during defeated product, it is possible to achieve automatic assembling, without manual intervention, drastically increases production efficiency.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or new using this practicality
Type.Various modifications to these embodiments will be apparent for those skilled in the art, determine herein
The General Principle of justice, can in other embodiments realize in the case where spirit or scope of the present utility model are not departed from.Cause
This, the utility model is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein
The most wide scope consistent with features of novelty.
Claims (8)
1. a kind of automatic tightening system, it is characterised in that the substrate (1) including mechanical arm can be fixedly connected, the substrate (1)
On be provided for tightening operation tighten rifle (2)；Also include that the position-measurement device of product to be processed present position can be detected
(3), position-measurement device (3) signal is connected to analyzer-controller, and the analyzer-controller is according to institute's position measurement dress
The deviation that the signal that (3) measure determines product space is put, and the rigging position of the mechanical arm is corrected according to the deviation.
2. automatic tightening system according to claim 1, it is characterised in that the position-measurement device (3) is camera, institute
Camera is stated for shooting the image of product to be processed；Product image and normal bit that the analyzer-controller shoots the camera
Put image to be compared to each other, obtain the deviation of product space.
3. automatic tightening system according to claim 2, it is characterised in that the normal place image is that the camera is clapped
Take the photograph the image in normal place product.
4. automatic tightening system according to claim 2, it is characterised in that the camera is fixedly installed on the substrate
(1) on, the mechanical arm shoots the image that position shoots product specific.
5. automatic tightening system according to claim 4, it is characterised in that the camera is fixed on the substrate edges and sets
On the support (6) put；The overhead view image of product is shot downwards.
6. automatic tightening system according to claim 5, it is characterised in that support (6) bottom is set can be irradiated
The light fixture (7) of product.
7. the automatic tightening system according to any one of claim 1 to 6, it is characterised in that X is set on the substrate (1)
Axle pitch-changing mechanism (4) and Y-axis pitch-changing mechanism (5), the rifle (2) of tightening are become by the X-axis pitch-changing mechanism (4) and the Y-axis
Spacing mechanism (5) adjustment position.
8. automatic tightening system according to claim 7, it is characterised in that the X-axis pitch-changing mechanism (4) and the Y-axis
Pitch-changing mechanism (5) is driven by respective servomotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621360017.9U CN206253877U (en) | 2016-12-12 | 2016-12-12 | A kind of automatic tightening system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621360017.9U CN206253877U (en) | 2016-12-12 | 2016-12-12 | A kind of automatic tightening system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206253877U true CN206253877U (en) | 2017-06-16 |
Family
ID=59029389
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621360017.9U Active CN206253877U (en) | 2016-12-12 | 2016-12-12 | A kind of automatic tightening system |
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| CN (1) | CN206253877U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107645904A (en) * | 2017-11-08 | 2018-01-30 | 无锡市正先自动化设备有限公司 | A kind of chip mounter |
| CN108057584A (en) * | 2017-11-17 | 2018-05-22 | 常德烟草机械有限责任公司 | A kind of automatic butt system |
| CN108247331A (en) * | 2018-03-05 | 2018-07-06 | 合肥艾迪麦自动化设备有限公司 | Full-automatic screw system of beating |
| CN109290780A (en) * | 2018-10-19 | 2019-02-01 | 深圳市宝源机电设备有限公司 | A kind of automatic screwing device |
| CN115229488A (en) * | 2022-09-16 | 2022-10-25 | 爱夫迪(沈阳)自动化科技有限公司 | Tightening device and control method |
-
2016
- 2016-12-12 CN CN201621360017.9U patent/CN206253877U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107645904A (en) * | 2017-11-08 | 2018-01-30 | 无锡市正先自动化设备有限公司 | A kind of chip mounter |
| CN108057584A (en) * | 2017-11-17 | 2018-05-22 | 常德烟草机械有限责任公司 | A kind of automatic butt system |
| CN108247331A (en) * | 2018-03-05 | 2018-07-06 | 合肥艾迪麦自动化设备有限公司 | Full-automatic screw system of beating |
| CN109290780A (en) * | 2018-10-19 | 2019-02-01 | 深圳市宝源机电设备有限公司 | A kind of automatic screwing device |
| CN109290780B (en) * | 2018-10-19 | 2024-02-02 | 深圳市宝源机电设备有限公司 | Automatic tightening machine |
| CN115229488A (en) * | 2022-09-16 | 2022-10-25 | 爱夫迪(沈阳)自动化科技有限公司 | Tightening device and control method |
| CN115229488B (en) * | 2022-09-16 | 2023-01-17 | 爱夫迪(沈阳)自动化科技有限公司 | Tightening device and control method |
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