CN211465423U - Screw screwing mechanism of vision positioning robot - Google Patents
Screw screwing mechanism of vision positioning robot Download PDFInfo
- Publication number
- CN211465423U CN211465423U CN201922232973.9U CN201922232973U CN211465423U CN 211465423 U CN211465423 U CN 211465423U CN 201922232973 U CN201922232973 U CN 201922232973U CN 211465423 U CN211465423 U CN 211465423U
- Authority
- CN
- China
- Prior art keywords
- rotating shaft
- mechanical arm
- camera
- screwing mechanism
- screw
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 230000000007 visual effect Effects 0.000 claims abstract description 18
- 230000009286 beneficial effect Effects 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000003028 elevating effect Effects 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a screw twisting mechanism of a vision positioning robot, which comprises a base, a first rotating shaft, a first mechanical arm, a second rotating shaft, a second mechanical arm, a third rotating shaft, a lifting mechanism, a vision camera and an automatic screw twisting mechanism; one end of the first mechanical arm is pivoted with the base through a first rotating shaft, and the other end of the first mechanical arm is pivoted with one end of the second mechanical arm through a second rotating shaft; the other end of the second mechanical arm is connected with the lifting mechanism and the vision camera through a third rotating shaft; the visual camera lens faces downwards, and the machine body is parallel to the automatic screw screwing mechanism; the automatic screw screwing mechanism is arranged on the lifting mechanism and can move up and down on the lifting mechanism. The utility model discloses a position is arrested by the vision camera, fixes a position accurately, is difficult to the deviation to appear, adopts four-axis robot drive to twist the nail mechanism, and the flexibility is high, can beat the screw wantonly at robot stroke within range.
Description
Technical Field
The utility model relates to an automatic twist nail device, concretely relates to vision positioning robot twists nail mechanism belongs to automatic mechanical technical field.
Background
Currently, the way of assembling and locking by screws is used in various manufacturing industries to occupy a main assembly position. Particularly, as products are being developed toward a thinner and lighter volume, the size of screws used is also gradually decreasing. This puts higher demands on the locking screw in the production process, and the high-speed and high-efficiency completion of the locking of the screw becomes a prominent problem in assembly. In the past, the locking is mainly performed manually, the production efficiency is low, and the labor intensity is high.
Some automatic screw devices in the prior art can replace manual installation, but have the problems of inaccurate positioning, easy position error and poor flexibility.
SUMMERY OF THE UTILITY MODEL
The utility model discloses the purpose is: the utility model provides a vision positioning robot screws nail mechanism, fixes a position accurately, and the degree of accuracy is high, is difficult to appear the deviation, uses in a flexible way.
In order to solve the technical problem, the utility model adopts the following technical scheme: a visual positioning robot nail screwing mechanism comprises a base, a first rotating shaft, a first mechanical arm, a second rotating shaft, a second mechanical arm, a third rotating shaft, a lifting mechanism, a visual camera and an automatic nail screwing mechanism; one end of the first mechanical arm is pivoted with the base through a first rotating shaft, and the other end of the first mechanical arm is pivoted with one end of the second mechanical arm through a second rotating shaft; the other end of the second mechanical arm is connected with the lifting mechanism and the vision camera through a third rotating shaft; the visual camera lens faces downwards, and the machine body is parallel to the automatic screw screwing mechanism; the automatic screw screwing mechanism is arranged on the lifting mechanism and can move up and down on the lifting mechanism.
The beneficial effect of adopting above-mentioned technical scheme is: the vision camera is arranged, the screw twisting position of the screw twisting mechanism is aligned, the position is sequentially caught, the positioning is accurate, the deviation is not prone to occurring, the four-axis robot is adopted to drive the screw twisting mechanism, the flexibility is high, and screws can be randomly screwed within the range of the stroke of the robot.
The utility model discloses a further, the pin joint has T shape connecting plate under the third pivot, and lifter plate and diaphragm are connected respectively through the screw at T shape connecting plate top both ends, fixed elevating system on the lifter plate, the diaphragm other end passes through screw connection camera fixed plate upper portion, the vision camera is fixed at camera fixed plate lower half.
The beneficial effect of adopting above-mentioned technical scheme is: the automatic screwing mechanism and the vision camera synchronously rotate through the T-shaped connecting plate, the transverse plate and the camera fixing plate, so that the screwing position is always in the lens range of the vision camera, and the positioning accuracy is guaranteed.
The utility model discloses it is further, camera fixed plate the latter half both sides respectively distribute have two of symmetry to be listed as the aperture, there is the mounting hole on the vision camera casing, can adjust position fixed connection on the aperture.
The beneficial effect of adopting above-mentioned technical scheme is: the visual camera shell is provided with a mounting hole corresponding to the small hole, the mounting hole is relatively connected with the small hole of the upper part, the camera can be mounted at the upper position, the mounting hole is relatively connected with the small hole of the lower part, the camera can be mounted at the lower position, and fine adjustment of the position of the visual camera can be achieved through the mode.
The utility model discloses it is further, it is electric screwdriver to twist nail mechanism automatically.
The beneficial effect of adopting above-mentioned technical scheme is: light weight, small volume and good use flexibility,
the utility model discloses it is further, automatic twist and have the confession screw device on the nail mechanism.
The beneficial effect of adopting above-mentioned technical scheme is: the screw can be automatically provided, and the automation degree is high.
The utility model discloses it is further, elevating system is servo cylinder.
The beneficial effect of adopting above-mentioned technical scheme is: the servo cylinder structure is easy to realize, low in cost and flexible in switching, and work efficiency is improved.
Drawings
Fig. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view showing a pressing state of the heating plate according to the present invention;
fig. 3 is a schematic structural view of a camera fixing plate according to the present invention;
wherein: 1. the automatic nail screwing machine comprises a base, 2, a first rotating shaft, 3, a first mechanical arm, 4, a second rotating shaft, 5, a second mechanical arm, 6, a third rotating shaft, 7, a T-shaped connecting plate, 8, a lifting mechanism, 9, a vision camera, 10, a transverse plate, 11, an automatic nail screwing mechanism, 12, a lifting plate, 13, a camera fixing plate, 14 and a small hole.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The utility model discloses an embodiment: as shown in fig. 1, a vision positioning robot nail screwing mechanism comprises a base 1, a first rotating shaft 2, a first mechanical arm 3, a second rotating shaft 4, a second mechanical arm 5, a third rotating shaft 6, a lifting mechanism 8, a vision camera 9 and an automatic nail screwing mechanism 11; one end of the first mechanical arm 3 is pivoted with the base 1 through a first rotating shaft 2, and the other end of the first mechanical arm is pivoted with one end of a second mechanical arm 5 through a second rotating shaft 4; the other end of the second mechanical arm 5 is connected with a lifting mechanism 8 and a vision camera 9 through a third rotating shaft 6; the lens of the vision camera 9 is downward, and the machine body is parallel to the automatic nail screwing mechanism 11; the automatic screw screwing mechanism 11 is arranged on the lifting mechanism 8 and can move up and down on the lifting mechanism 8. The vision camera is arranged, the screw twisting position of the screw twisting mechanism is aligned, the position is sequentially caught, the positioning is accurate, the deviation is not prone to occurring, the four-axis robot is adopted to drive the screw twisting mechanism, the flexibility is high, and screws can be randomly screwed within the range of the stroke of the robot.
1. The automatic nail screwing machine comprises a base, 2, a first rotating shaft, 3, a first mechanical arm, 4, a second rotating shaft, 5, a second mechanical arm, 6, a third rotating shaft, 7, a T-shaped connecting plate, 8, a lifting mechanism, 9, a vision camera, 10, a transverse plate, 11, an automatic nail screwing mechanism, 12, a lifting plate, 13, a camera fixing plate, 14 and a small hole.
In other embodiments of the present invention, the rest of the embodiments are the same as the above embodiments, except that, as shown in fig. 1 and fig. 2, the third shaft 6 is pivoted with a T-shaped connecting plate 7, two ends of the top of the T-shaped connecting plate 7 are respectively connected with a lifting plate 12 and a transverse plate 10 through screws, the lifting mechanism 8 is fixed on the lifting plate 12, the other end of the transverse plate 10 is connected with the upper portion of a camera fixing plate 13 through screws, and the vision camera 9 is fixed on the lower half portion of the camera fixing plate 13. The automatic screw screwing mechanism 11 and the vision camera 9 synchronously rotate through the T-shaped connecting plate 7, the transverse plate 10 and the camera fixing plate 13, so that the screw screwing position is always in the lens range of the vision camera, and the positioning accuracy is guaranteed.
In other embodiments of the present invention, the other embodiments are the same as the above embodiments, except that, as shown in fig. 3, two columns of symmetric small holes 14 are distributed on two sides of the bottom half of the camera fixing plate 13, and the visual camera 9 has a mounting hole on the casing, so that the fixed position connection can be adjusted on the small holes 14. The visual camera shell is provided with a mounting hole corresponding to the small hole, the camera can be mounted at the upper position by oppositely connecting the mounting hole with the small hole 14 of the upper part, and the camera can be mounted at the lower position by oppositely connecting the mounting hole with the small hole of the lower part, so that the fine adjustment of the position of the visual camera can be realized.
In other embodiments of the present invention, the rest of the embodiments are the same as the above embodiments, except that the automatic screw driving mechanism 11 is an electric screw driver as shown in fig. 1. Light weight, small volume and good use flexibility,
in other embodiments of the present invention, the rest of the embodiments are the same as the above embodiments, except that, as shown in fig. 1, the automatic screw tightening mechanism 11 is provided with a screw supplying device. The screw can be automatically provided, and the automation degree is high.
In other embodiments of the present invention, the rest of the embodiments are the same as the above embodiments, except that the lifting mechanism 8 is a servo cylinder as shown in fig. 1. The servo cylinder structure is easy to realize, low in cost and flexible in switching, and work efficiency is improved.
The above-mentioned embodiments are only for illustrating the technical concept and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and to implement the present invention, which should not be construed as limiting the scope of the present invention. All equivalent changes or modifications made according to the spirit of the main technical solution of the present invention should be covered within the protection scope of the present invention.
Claims (6)
1. A visual positioning robot nail screwing mechanism is characterized by comprising a base, a first rotating shaft, a first mechanical arm, a second rotating shaft, a second mechanical arm, a third rotating shaft, a lifting mechanism, a visual camera and an automatic nail screwing mechanism; one end of the first mechanical arm is pivoted with the base through a first rotating shaft, and the other end of the first mechanical arm is pivoted with one end of the second mechanical arm through a second rotating shaft; the other end of the second mechanical arm is connected with the lifting mechanism and the vision camera through a third rotating shaft; the visual camera lens faces downwards, and the machine body is parallel to the automatic screw screwing mechanism; the automatic screw screwing mechanism is arranged on the lifting mechanism and can move up and down on the lifting mechanism.
2. The screw screwing mechanism of the visual positioning robot as claimed in claim 1, wherein a T-shaped connecting plate is pivoted under the third rotating shaft, two ends of the top of the T-shaped connecting plate are respectively connected with a lifting plate and a transverse plate through screws, the lifting mechanism is fixed on the lifting plate, the other end of the transverse plate is connected with the upper part of the camera fixing plate through screws, and the visual camera is fixed on the lower half part of the camera fixing plate.
3. The screw tightening mechanism of a visual positioning robot as claimed in claim 2, wherein two rows of small holes are symmetrically distributed on each side of the lower half portion of the camera fixing plate, and the visual camera housing is provided with mounting holes, and the position fixing connection can be adjusted on the small holes.
4. The vision positioning robot screwing mechanism of claim 1, wherein said automatic screwing mechanism is an electric screwdriver.
5. The visual positioning robot screwing mechanism of claim 1 or 4, wherein the automatic screwing mechanism is provided with a screw supplying device.
6. The visual positioning robot screwing mechanism of claim 1 or 2, wherein the lifting mechanism is a servo cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922232973.9U CN211465423U (en) | 2019-12-13 | 2019-12-13 | Screw screwing mechanism of vision positioning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922232973.9U CN211465423U (en) | 2019-12-13 | 2019-12-13 | Screw screwing mechanism of vision positioning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211465423U true CN211465423U (en) | 2020-09-11 |
Family
ID=72358097
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922232973.9U Expired - Fee Related CN211465423U (en) | 2019-12-13 | 2019-12-13 | Screw screwing mechanism of vision positioning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211465423U (en) |
-
2019
- 2019-12-13 CN CN201922232973.9U patent/CN211465423U/en not_active Expired - Fee Related
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208824903U (en) | For producing the automatic double surface gluer of battery | |
| CN210595184U (en) | Cap size automatic adjustment cap screwing machine | |
| CN209755192U (en) | automatic change pay-off manipulator | |
| CN104259836A (en) | Automatic picking and assembly device of tiny thread pair parts | |
| CN110919339A (en) | High-precision screw locking and positioning device | |
| CN211465423U (en) | Screw screwing mechanism of vision positioning robot | |
| CN211687179U (en) | Automatic turn-over device of numerical control blade | |
| CN209638708U (en) | A kind of three shaft coupling pieces for mirror surface canopy of the heavens LED display | |
| CN214540180U (en) | Angle adjusting structure of optical lens | |
| CN210817840U (en) | Welding pressure head assembly | |
| CN210703343U (en) | Welding fixture | |
| CN208392036U (en) | A kind of mechanical system of parallel robot | |
| CN208622850U (en) | A kind of tab fixture | |
| CN206190679U (en) | Two round pin positioner of one side | |
| CN107470402B (en) | Bending machine for trapezoidal bending of plate and application method of bending machine | |
| CN216359280U (en) | Multi-functional formula base of inserting soon of adjustable mould of bender | |
| CN220547803U (en) | Rotary welding robot with pin hole positioning function | |
| CN220278734U (en) | Welding frock is used in battery frame rubber coating nailing | |
| CN219819533U (en) | Clamping device for aircraft wing assembly | |
| CN209520908U (en) | A kind of flexible flexible mechanical arm of multi-joint | |
| CN220783955U (en) | Manipulator jig capable of quickly and manually changing mold | |
| CN219837800U (en) | Integrated clamping jaw device | |
| CN220592333U (en) | Clamp for machining part with inclined plane | |
| CN219998616U (en) | Intermediate frequency magnetron sputtering power supply with anticreep connection structure | |
| CN212445212U (en) | Micro gripper with rubbing function |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200911 |