CN210938024U - Product positioning device for batch head device - Google Patents

Abstract

The utility model discloses a product positioning device for a batch head device, which relates to the field of non-standard automation equipment, and the technical proposal is characterized in that the product positioning device comprises a frame and a workbench, wherein the workbench is provided with a material rack for placing products, and the frame is provided with a three-axis manipulator and an electric batch head tool linked by the three-axis manipulator; the material rack comprises a carriage arranged on the rack and an adsorption plate arranged on the carriage, and positioning pins for positioning a product are arranged at the edge of the adsorption plate; the middle part of the adsorption plate is provided with an adsorption hole which is externally connected with a vacuum generating device; the adsorption plate is also provided with a sensor which feeds back whether a product exists on the adsorption plate or not, so that the controller makes a corresponding opening and closing command to the three-axis manipulator. The technical effect is that the first screw positioning coordinate of the product is determined by utilizing the CCD camera. Under the condition that the consistency among the screws of subsequent products is possibly poor, the three-axis manipulator is utilized to carry out position compensation, and the positioning precision of the screws fastened by a plurality of products each time is controlled.

Description

Product positioning device for batch head device

Technical Field

The utility model relates to a nonstandard automation equipment field, in particular to a product positioner for criticizing first device.

Background

At present, automation is greatly promoted in a plurality of factories, and in the production process of electronic products, a screw is the most common station, the screw is locked manually, the working strength is high, the efficiency is low, and the quality cannot be controlled.

Most products need to be screwed up in advance to the screw on the product, then need the screw machine with the screw on the product according to the design requirement, reach the design standard numerical value with the moment of torsion value of screw to reach the standard of product fastening. Ensuring that the quality of the output of each product is uniform.

Most of products are standard products, the screw spacing on the products is uniform, but when some products with high assembly requirements are met, the positions of screws of part of the products are adjusted, so that the positions of the screw machine cannot be well determined when the screw machine works for many times.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a product positioner for criticizing first device, it has the advantage of automated inspection position, in time adjustment location.

The above technical purpose of the present invention can be achieved by the following technical solutions:

a product positioning device for a batch head device comprises a rack and a workbench, wherein a material rack for placing a product is arranged on the workbench, and a three-axis manipulator and an electric batch head tool linked by the three-axis manipulator are arranged on the rack;

the material rack comprises a carriage arranged on the rack and an adsorption plate arranged on the carriage, and positioning pins for positioning a product are arranged at the edge of the adsorption plate; the middle part of the adsorption plate is provided with an adsorption hole which is externally connected with a vacuum generating device; the adsorption plate is also provided with a sensor which feeds back whether a product exists on the adsorption plate or not, so that the controller makes a corresponding opening and closing command to the three-axis manipulator.

By adopting the technical scheme, the CCD camera captures the initial point of the screw, and the initial point and the screws at other positions away from the initial point are determined by taking the product which is calibrated for the first time as a reference to form a photographing coordinate. The screw pitch of the screws on each product may have poor consistency due to assembly requirements. The position of the offset screw needs to be calibrated, the position of the screw may change when a second product is processed, the CCD camera is located at an initial position to photograph and determine the position form of the screw of the product, and when the screw is not located at the original position, the three-axis manipulator is used for position compensation.

Further setting: the three-axis manipulator comprises an X-axis mechanism arranged on the rack, a Y-axis mechanism arranged on the X-axis mechanism and a Z-axis mechanism arranged on the Y-axis mechanism, and the electric screwdriver bit tool is arranged on the Z-axis mechanism.

Through adopting above-mentioned technical scheme, electronic batch head instrument utilizes the three-axis manipulator to move in space.

Further setting: and the second jacking device drives the adsorption plate to lift on the carriage.

By adopting the technical scheme, the distance between the carriage and the adsorption plate can be adjusted, and the height of the product can be adjusted.

Further setting: the bottom of adsorption plate is equipped with U type guide block, and U type guide block inlays to establish to the adsorption plate on, is equipped with U type spout on the U type guide block, and slides in the U type spout and be connected with U type slider, has the butt joint hole with the output shaft linkage of second jacking device on the U type slider.

Through adopting above-mentioned technical scheme, the jacking action is more steady, ensures better levelness, controls the error of the course of working of product.

Further setting: the edge on the bottom plate is provided with a hollow part which is sunken towards the middle part.

By adopting the technical scheme, the product is convenient to take.

To sum up, the utility model discloses following beneficial effect has: and determining the first screw positioning coordinate of the product by using the CCD camera. Under the condition that the consistency among the screws of subsequent products is poor, the three-axis manipulator is utilized for position compensation, the positioning accuracy of the screws fastened by a plurality of products at each time is controlled, manual adjustment is avoided, and the positioning accuracy is high.

Drawings

FIG. 1 is a schematic structural diagram of an automatic batch head switching device;

FIG. 2 is a schematic perspective view of a power bit tool;

FIG. 3 is a schematic cross-sectional view of a power bit tool;

FIG. 4 is a schematic perspective view of a lot header tool library;

FIG. 5 is a schematic cross-sectional view of a lot head tool library;

FIG. 6 is a schematic structural view of the elastic clamping mechanism;

fig. 7 is a schematic view of the lower structure of the adsorption plate.

In the figure, 100, an electric bit tool; 101. a sleeve; 102. a bearing; 103. a power plant; 104. a connector; 105. a shaft sleeve; 106. a shaft shoulder; 107. a sliding hole; 108. an inner hexagonal hole; 109. sleeving a hole; 110. a channel; 111. a pusher member; 112. a rolling member; 113. an annular groove; 114. a protrusion; 115. a first elastic member; 116. a second elastic member; 117. a chuck; 118. a pin shaft; 119. a limiting mechanism; 120. Mounting a plate; 121. a support frame;

200. a batch head tool library; 201. a base; 202. a support plate; 203. a guide post; 204. a guide sleeve; 205. a docking mechanism; 206. a first jacking device; 207. changing a sleeve of the screwdriver head; 208. crimping the sleeve; 209. abutting the sleeve; 210. a boss; 211. a third elastic member; 212. an elastic clamping mechanism; 213. a clamping sleeve; 214. a notch; 215. briquetting; 216. a fourth elastic member; 217. an arc-shaped groove; 218. an arc-shaped body; 219. a sliding sleeve; 220. a fifth elastic member; 221. a top rod; 222. an elastic buffer device;

300. a batch head; 301. an annular groove;

400. a material rack; 401. a carriage; 402. an adsorption plate; 403. a second jacking device; 404. positioning pins; 405. an adsorption hole; 406. a U-shaped guide block; 407. a U-shaped slider; 408. a U-shaped chute; 409. a butt joint hole; 410. a hollow-out section; 411. a sensor;

500. a frame;

600. a work table;

700. a three-axis manipulator; 701. an X-axis mechanism; 702. a Y-axis mechanism; 703. a Z-axis mechanism; 704. a CCD camera.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

First preferred embodiment:

an automatic batch head switching device, as shown in fig. 1, includes an electric batch head 300 tool 100 for driving a batch head 300 to rotate and a batch head tool library 200 having a plurality of batch heads 300 for replacing the electric batch head 300 tool 100.

As shown in fig. 2 to 3, the electric batch head 300 tool 100 includes a mounting plate 120 and a supporting frame 121 disposed on the mounting plate 120, a sleeve 101 is disposed on the supporting frame 121, the sleeve 101 is rotatably connected to the supporting frame 121 through a bearing 102 seat and a bearing 102, a power device 103 for linking the sleeve 101 to rotate is disposed on the supporting frame 121, the power device 103 is preferably a torque motor, and an output shaft of the torque motor is connected to the sleeve 101 by a linkage shaft.

The sleeve 101 comprises a connecting head 104 located on one side facing the power device 103, a shaft sleeve 105 located on the middle portion, and a shaft shoulder 106 located on the other end portion, a sliding hole 107 is arranged inside the shaft center of the shaft sleeve 105, the opening direction of the sliding hole 107 faces away from one side of the power device 103, a sleeve hole 109 is arranged inside the shaft center of the shaft shoulder 106, and the diameter of the sleeve hole 109 is larger than that of the sliding hole 107.

The inside of the sleeve 101 is inserted with a chuck 117 which is linked with the batch head 300 to rotate, the chuck 117 is arranged in a column shape, the head of the chuck 117 is provided with an inner hexagonal hole 108 which is inserted with the batch head 300, the tail of the batch head 300 is embedded in the inner hexagonal hole 108, and the chuck 117 is provided with a limiting mechanism 119 which locks or releases the position of the batch head 300.

The limiting mechanism 119 comprises a channel 110 radially arranged on the outer ring of the chuck 117, a rolling element 112 arranged in the channel 110, and a pushing element 111 driving the rolling element 112 to reciprocate radially in the channel 110. The pushing piece 111 is annularly sleeved on the outer side of the chuck 117, the pushing piece 111 comprises a protrusion 114 towards the axial inner side and an annular groove 113 connected with the protrusion 114, the annular groove 113 is arranged at the middle section of the pushing piece 111, and the two shaft ends are limited by the protrusion 114 in stroke. The conventional headpiece 300 is generally hexagonal in shape with an annular groove 301 in the tail section. When the batch head 300 is embedded or the dragging piece exerts power by external force, the batch head and the dragging piece are axially dislocated, and in the axial dislocating process, the rolling piece 112 radially reciprocates and is limited in the annular groove 301 of the batch head 300 or is separated from the annular groove 301 to relieve the limit of the batch head 300. After the limiting, the collet 117 links the bit 300 to rotate due to the hexagonal fitting relationship between the bit 300 and the collet 117.

A first elastic member 115 acting on the collet 117 is provided in the slide hole 107 of the sleeve 101, and a second elastic member 116 is provided in the socket hole 109 of the sleeve 101. The sliding hole 107 and the sleeving hole 109 of the chuck 117 are inserted into each other, a pin 118 is disposed on the body of the chuck 117, a slide way (not shown) extending axially for slidably connecting the pin 118 is disposed at the shoulder 106, and the axial movement amount of the chuck 117 is determined by the length of the slide way. The second elastic member 116 acts on the shaft end surface of the urging member 111.

As shown in fig. 4 to 5, the batch head tool magazine 200 includes a base 201 and a supporting plate 202 disposed on the base 201, wherein a guide post 203 is disposed below the supporting plate 202, a guide sleeve 204 is disposed on the base 201, and the guide post 203 on the supporting plate 202 is slidably connected to the guide sleeve 204 of the base 201. The supporting plate 202 is provided with a docking mechanism 205 for docking with the batch head 300 for placing and taking, and the base 201 is provided with a first jacking device 206 for driving the supporting plate 202 to lift.

The docking mechanism 205 comprises a screwdriver head sleeve 207, a crimping sleeve 208 and an abutting sleeve 209, wherein the crimping sleeve 208 and the abutting sleeve 209 are limited to axially slide in the screwdriver head sleeve 207, and axial holes of the crimping sleeve 208 and the abutting sleeve 209 are located on the same axis for the screwdriver head 300 to penetrate through. The inner side surfaces of the pressure welding sleeve 208 and the abutting sleeve 209 opposite to each other are provided with bosses 210, a third elastic member 211 is arranged between the two bosses 210 of the pressure welding sleeve 208 and the abutting sleeve 209, and the elastic force of the third elastic member 211 is larger than that of the first elastic member 115.

An elastic clamping mechanism 212 which radially acts on the outer ring of the batch head 300 is further arranged below the supporting plate 202, the elastic clamping mechanism 212 comprises a clamping sleeve 213 abutted to the lower portion of the abutting sleeve 209, the clamping sleeve 213 is connected with the abutting sleeve 209, a notch 214 is arranged below the clamping sleeve 213, and the notch 214 enables only one half of the arc-shaped body 218 of the sleeve 101 to be formed. The elastic clamping mechanism 212 further includes a pressing piece 215 and a fourth elastic member 216 for pushing the pressing piece 215 to reciprocate radially toward the notch 214 side. The surface of the pressing block 215 is provided with an arc-shaped groove 217, the arc-shaped groove 217 and the arc-shaped body 218 form a clamping space, and the pressing block 215 is pressed towards one side of the arc-shaped body 218 all the time by the elasticity of the fourth elastic member 216.

An elastic buffer device 222 is arranged on the base 201 below the axis of the bit changing sleeve 207, and the elastic buffer device 222 includes a sliding sleeve 219, a top rod 221 arranged in the sliding sleeve 219, and a fifth elastic member 220 arranged in the sliding sleeve 219 and acting on the top rod 221. The sliding sleeve 219 is installed on the base 201, the top rod 221 is disposed at the center of the sliding sleeve 219, and the top rod 221 is coaxial with the axis of the bit exchanging sleeve 207.

When the tool 100 of the electric batch head 300 needs to mount the batch head 300, the tool 100 of the electric batch head 300 is moved by external power, the chuck 117 of the tool 100 of the electric batch head 300 is pressed and sleeved in the sleeve hole 109 of the chuck 117, the chuck 117 partially extends into the crimping sleeve 208 along with the continuous descending of the tool 100 of the electric batch head 300, the shaft end of the pushing piece 111 is abutted against the shaft end of the crimping sleeve 208, the process enables the annular groove 113 of the pushing piece 111 to axially move to the position of the rolling piece 112, the rolling piece 112 can radially move to the position of the annular groove 113 according to the channel 110, and the limiting mechanism 119 is in a state of releasing the batch head 300.

As shown in fig. 5 and 6, the pressing sleeve 208 is lowered properly according to the remaining elastic variable of the lower third elastic member 211, and the elastic force of the third elastic member 211 below the pressing sleeve 208 is larger than that of the first elastic member 115, so as to have proper restoring force to the pushing member 111 and the chuck 117, thereby ensuring that the converting process is lowered slowly. During the lowering of the batch head 300, the elastic clamping mechanism 212 below the supporting plate 202 radially acts on the outer ring of the batch head 300,

the batch head 300 is embedded in a clamping space formed by the arc-shaped groove 217 and the arc-shaped body 218, the arc-shaped body 218 is pressed and held by the fourth elastic piece 216 towards one side of the arc-shaped groove 217, the elastic force of the fourth elastic piece 216 is overcome by the descending power of the batch head 300, the elastic clamping mechanism 212 has a restraining force on the batch head 300, the influence of the first elastic piece and the third elastic piece 211 on the batch head 300 is reduced, and the control of the lifting action of the batch head 300 is more stable.

When the batch head 300 is completely lowered to the bottom, the base 201 is provided with an elastic buffer device 222 for buffering, so as to prevent the tip of the batch head 300 from being worn.

The first jacking device 206, the first jacking device 206 is linked with the supporting plate 202 to ascend and descend, and the height between the supporting plate 202 and the base 201 is adjustable and is adapted to batch heads 300 with various lengths.

A batch head device comprises a frame 500 and a workbench 600, wherein a material rack 400 for placing products is arranged on the workbench 600. The material rack 400 comprises a carriage 401 arranged on the rack 500, an adsorption plate 402 arranged on the carriage 401, and a second jacking device 403 arranged on the carriage 401 and used for driving the adsorption plate 402 to lift, wherein the structure of the second jacking device 403 is the same as that of the first jacking device 206, and the adsorption plate 402 is driven to lift.

As shown in fig. 1 and 7, the edge of the suction plate 402 is provided with a positioning pin 404 for positioning the product. The middle part of adsorption plate 402 is equipped with adsorption hole 405, and adsorption hole 405 external vacuum station or other vacuum generating device adsorb fixedly to the product on the planking 401.

The bottom of adsorption plate 402 is equipped with U type guide block 406, and U type guide block 406 inlays to establish to adsorption plate 402 on, is equipped with U type spout 408 on the U type guide block 406, and U type spout 408 interior sliding connection has U type slider 407, has the butt joint hole 409 with the output shaft linkage of second jacking device 403 on the U type slider 407, and the jacking action is more steady, ensures better levelness, controls the course of working's of product error. The edge on the bottom plate is provided with a hollow part 410 which is sunken towards the middle part, so that an external mechanical arm or a hand of a human body can take products conveniently.

The rack 500 is further provided with a three-axis manipulator 700, and the three-axis manipulator 700 comprises an X-axis mechanism 701 arranged on the rack 500, a Y-axis mechanism 702 arranged on the X-axis mechanism 701, and a Z-axis mechanism 703 arranged on the Y-axis mechanism 702.

The rack 500 is further provided with the automatic batch head switching device in the first embodiment, the mounting plate 120 of the electric batch head 300 tool 100 of the automatic batch head switching device is mounted on the Z-axis mechanism 703, and the base 201 of the batch head tool magazine 200 is mounted on the rack 500.

The mounting plate 120 is further provided with a CCD camera 704 for assisting in determining the position of the screws on the product, specifically, the product is provided with a plurality of screws to be tightened, and the pre-tightening state of the screws on the product is rotated again, so that the torque value reaches a certain value, and the standard of product fastening is reached after the force correction. The CCD camera 704 captures the initial point of the screw, and determines the initial point and other screws from the initial point position using the product of the first calibration as a reference, forming photographing coordinates. The screw pitch of the screws on each product may have poor consistency due to assembly requirements. The position of the screw needs to be calibrated after the offset, the position of the screw may change during the processing of the second product, the CCD camera 704 is located at the initial position to photograph and determine the position form of the screw of the product, and when the screw is not located at the original position, the three-axis manipulator 700 is used for position compensation.

The sensor 411 is arranged on the adsorption plate 402 of the rack 400, and the sensor 411 feeds back a signal whether a product exists on the adsorption plate 402, so that the controller makes a corresponding opening and closing command for the three-axis manipulator 700.

The above-mentioned embodiments are merely illustrative of the present invention, and are not intended to limit the present invention, and those skilled in the art can make modifications of the present embodiments without inventive contribution as required after reading the present specification, but all the embodiments are protected by patent law within the scope of the present invention.

Claims (4)

1. The utility model provides a product positioner for criticizing first device, includes frame (500) and workstation (600), is equipped with work or material rest (400) of placing the product on workstation (600), its characterized in that: the rack (500) is provided with a three-axis manipulator (700) and an electric batch head (300) tool (100) linked by the three-axis manipulator (700);

the material rack (400) comprises a carriage (401) arranged on the rack (500) and an adsorption plate (402) arranged on the carriage (401), and positioning pins (404) for positioning products are arranged at the edge of the adsorption plate (402); the middle part of the adsorption plate (402) is provided with an adsorption hole (405), and the adsorption hole (405) is externally connected with a vacuum generating device; still be equipped with sensor (411) on adsorption plate (402), sensor (411) feedback adsorption plate (402) is gone up the signal whether has the product for the controller makes corresponding start-stop command to triaxial manipulator (700).

2. The product positioning device for the batch head device according to claim 1, wherein: the three-axis manipulator (700) comprises an X-axis mechanism (701) arranged on the rack (500), a Y-axis mechanism (702) arranged on the X-axis mechanism (701) and a Z-axis mechanism (703) arranged on the Y-axis mechanism (702), and the electric batch head (300) tool (100) is arranged on the Z-axis mechanism (703).

3. The product positioning device for the batch head device according to claim 1, wherein: and the carriage (401) is provided with a second jacking device (403) for driving the adsorption plate (402) to lift.

4. The product positioning device for the batch head device according to claim 1, wherein: the bottom of adsorption plate (402) is equipped with U type guide block (406), and U type guide block (406) are inlayed and are established to adsorption plate (402) on, are equipped with U type spout (408) on U type guide block (406), and U type spout (408) internal slipping is connected with U type slider (407), have butt joint hole (409) with the output shaft linkage of second jacking device (403) on U type slider (407).

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