CN212652992U - Automatic positioning intelligent screw locking equipment - Google Patents
Automatic positioning intelligent screw locking equipment Download PDFInfo
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- CN212652992U CN212652992U CN202021188710.9U CN202021188710U CN212652992U CN 212652992 U CN212652992 U CN 212652992U CN 202021188710 U CN202021188710 U CN 202021188710U CN 212652992 U CN212652992 U CN 212652992U
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- rotating arm
- belt
- connecting piece
- driving motor
- screw
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Abstract
The utility model discloses an automatic positioning intelligent screw locking device, which comprises a frame, a material box, a mechanical arm, an electric screw driver and a detection positioning device, wherein the material box, the mechanical arm, the electric screw driver and the detection positioning device are arranged on the frame; the manipulator comprises a fixed seat, a first rotating arm and a second rotating arm; one end of the first rotating arm is hinged to the fixed seat and is driven to rotate by a first driving motor; the second rotating arm is hinged to the other end of the first rotating arm and is driven to rotate by a second driving motor; the other end of the second rotating arm is provided with a moving base, the moving base is connected with the second rotating arm through a vertical moving mechanism, and the moving base reciprocates up and down relative to the second rotating arm through the vertical moving mechanism; the electric screwdriver is arranged on the movable base; the detection positioning device comprises a CCD (charge coupled device) vision device and a connecting assembly, and the CCD vision device is arranged on the manipulator through the connecting assembly.
Description
Technical Field
The utility model relates to an automatic lock screw technical field specifically is an automatic fix a position intelligence lock screw equipment.
Background
The screw is a tool for fastening machine parts of the device step by utilizing the physics and mathematical principles of the inclined plane circular rotation and the friction force of the object, and in order to improve the installation efficiency, a screw machine is mainly adopted for locking the screw, the screw machine is a small machine for automatically locking the screw, and the performance stability of the quality is the most critical. The traditional screw locking equipment has low automation degree, and partial working procedures need manual cooperation operation, so the production labor intensity is high; furthermore, there still exist some weak points when using current screw machine, for example traditional screw machine adopts the hose to carry the screw, the mode that the hose was carried, appears the hose jam often, and the hose wearing and tearing, buckle etc. cause screw to carry the stability low, influence work, need improve urgently.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem, the utility model aims to provide an automatic positioning intelligent screw locking device, which comprises a frame, a material box arranged on the frame, a mechanical arm, an electric screw driver and a detection positioning device;
the manipulator comprises a fixed seat, a first rotating arm and a second rotating arm; the fixed seat is fixedly arranged on the rack; one end of the first rotating arm is hinged to the fixed seat and is driven to rotate by a first driving motor; the second rotating arm is hinged to the other end of the first rotating arm and is driven to rotate by a second driving motor; the other end of the second rotating arm is provided with a moving base, the moving base is connected with the second rotating arm through a vertical moving mechanism, and the moving base reciprocates up and down relative to the second rotating arm through the vertical moving mechanism; the electric screwdriver is arranged on the movable base, and the pen point of the electric screwdriver faces downwards;
the detection positioning device comprises a CCD (charge coupled device) vision device and a connecting assembly, wherein the CCD vision device is arranged on the connecting assembly and is arranged on the manipulator through the connecting assembly;
the electric screwdriver is driven by the manipulator to move between the workbench of the rack and the material box repeatedly, adsorbs screws in the material box and is brought to the workbench of the rack.
Further, coupling assembling includes first connecting piece, second connecting piece and third connecting piece, first connecting piece one end sets up on the manipulator, and the other end is connected with the second connecting piece is perpendicular, the third connecting piece sets up in second connecting piece lower extreme, the CCD vision ware sets up on the third connecting piece.
Furthermore, set gradually first regulation hole, second regulation hole, third regulation hole on first connecting piece, second connecting piece, the third connecting piece, CCD vision ware realizes the ascending adjustment of X axle, Z axle and Y axle direction through first regulation hole, second regulation hole and third regulation hole.
Furthermore, in order to improve the control precision, the first driving motor and the second driving motor both adopt servo motors.
Furthermore, the electric screwdriver adopts a servo electric screwdriver.
Further, the vertical moving mechanism comprises a third driving motor, a gear and a rack; the third driving motor is installed in the second rotating arm, the gear is installed in a rotating shaft of the third driving motor, the rack can be installed in a vertical groove in the second rotating arm in a vertically movable limiting mode, a vertical strip-shaped hole is formed in the bottom of the vertical groove, the moving base passes through the back of the vertical strip-shaped hole connecting rack, and the front of the rack is in butt joint with the gear through teeth.
Furthermore, in order to improve the control precision, the third driving motor adopts a servo motor.
Further, the material box comprises a body, a vibration mechanism and a screw discharging platform; the vibration mechanism is arranged in the body, and the screw discharging platform is arranged in a material groove of the body; through the vibration mechanism, the screws in the material grooves vibrate and fall into the screw discharging platform.
Further, the screw discharging platform comprises a front driving wheel, a rear driving wheel and a belt, and the belt is sleeved on the driving wheels and driven by a fourth driving motor; a circle of round holes which are uniformly distributed are formed in the center of the belt, and the diameter of each round hole is between the diameter of the head of each screw and the diameter of the rod of each screw. When the belt conveyor is in work, the vibration mechanism vibrates, the screw vibrates on the belt until the rod part of the screw falls into the round hole in the belt and is taken out by the belt.
Furthermore, the front and the rear driving wheels are composed of a left side wheel and a right side wheel, the two side wheels are arranged in parallel at intervals and connected through a rotating shaft, the intervals between the two side wheels are larger than the diameter of a screw, when the screw on the belt is not adsorbed away by the electric screwdriver, the screw cannot be clamped between the belt and the driving wheels and continues to be taken away by the belt pulley until the screw is taken to the reverse side of the belt and drops in the material groove, or drops in a material collecting box additionally arranged at the bottom of the material groove and the belt and is used for collecting the screw which is not adsorbed away.
Furthermore, the belt is arranged at the bottom of the material groove and is flush with the bottom of the material groove.
Further, the bottom of the material groove has a gradually rising inclination along the belt advancing direction; the side wall of the material groove is an inclined wall.
Furthermore, the middle part in material groove the top of belt is equipped with the perpendicular to the brush area of belt, and the brush area falls into two spaces with the material groove, is used for placing the screw on one side, and after vibrations mechanism started, the screw that the belt will fall into in the round hole area advances the another side, and the screw that scatters on the belt is swept by the brush area, and the separation is in first space.
Furthermore, an infrared sensor is arranged between the driving wheels and used for sensing whether the screws are taken out of the belt or not, when the screws are not taken out, the belt continues to advance, and the electric screwdriver does not fall down temporarily.
Compared with the prior art, the beneficial effects of the utility model are that: this lock screw equipment simple structure utilizes CCD vision ware can realize detecting the location, greatly reduced workman's intensity of labour, overcomes the defect that traditional hose carried the screw simultaneously, can not be because of the jam of a screw, just stops work that follows, and overall equipment structure processing stability is strong.
Drawings
Fig. 1 is a schematic structural diagram of an automatic positioning intelligent screw locking device of the present invention;
fig. 2 is a schematic structural diagram of an automatic positioning intelligent screw locking device of the present invention;
FIG. 3 is a schematic structural view of the detecting and positioning device of the present invention;
fig. 4 is a first structural schematic diagram of a material box of the automatic positioning intelligent screw locking device of the present invention;
fig. 5 is a second schematic structural view of the material box of the automatic positioning intelligent screw locking device of the present invention;
fig. 6 is the utility model relates to an automatic structure schematic diagram of belt of location intelligence lock screw equipment.
In the figure: 10-a rack, 20-a manipulator, 21-a fixed seat, 22-a first rotating arm, 23-a second rotating arm, 30-an electric screwdriver, 40-a material box, 41-a body, 42-a driving wheel, 43-a belt, 44-a round hole, 45-a material receiving box, 46-a brush belt 46, 50-a detection positioning device, 51-a connecting assembly, 511-a first connecting piece, 5111-a first adjusting hole, 512-a second connecting piece, 5121-a second adjusting hole, 513-a third connecting piece, 5131-a third adjusting hole and 52-a CCD visual device.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the present invention, unless otherwise expressly stated or limited, the terms "disposed," "mounted," "connected," "fixed," "sleeved," and the like are to be construed broadly, e.g., as either a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, can be connected inside two elements or can be in an interaction relationship between the two elements, and the specific meaning of the terms in the present invention can be understood according to specific situations by those skilled in the art
Referring to fig. 1 to 3, the automatic positioning intelligent screw locking device includes a rack 10, a manipulator 20 mounted on the rack 10, an electric screw driver 30, a material box 40, and a detection positioning device 50.
Specifically, the manipulator 20 includes a fixed base 21, a first rotating arm 22, and a second rotating arm 23.
The fixed seat 21 is fixedly installed on the frame 10. One end of the first rotating arm 22 is hinged to the fixed base 21 and is driven to rotate by the first driving motor. The second rotating arm 23 is hinged to the other end of the first rotating arm 22 and is driven to rotate by a second driving motor; the other end of the second rotating arm 23 is provided with a moving base, the moving base is connected with the second rotating arm 23 through a vertical moving mechanism, and the moving base reciprocates up and down relative to the second rotating arm 23 through the vertical moving mechanism; the electric screwdriver 30 is installed on the movable base, and the pen point of the electric screwdriver 30 faces downwards. In this embodiment, the vertical moving mechanism adopts a conventional rack-and-pinion driving manner, and includes a third driving motor, a gear, and a rack. Third driving motor installs in second rotor arm 23, and the gear is installed in third driving motor's pivot, and the rack can reciprocate spacing vertical inslot of installing in second rotor arm 23, and vertical bar hole has been seted up to the bottom in vertical groove, and the back of moving the base through vertical bar hole, screw and screw connection rack, the front of rack is through tooth and gear butt joint. Of course, in other embodiments, the air cylinder can be used to push the movable base to move up and down.
The detection positioning device comprises a CCD vision device 52 and a connecting assembly 50, the CCD vision device 52 is arranged on the connecting assembly 50 and is arranged on the mechanical arm 20 through the connecting assembly 50, the CCD vision device 52 of the detection positioning device can complete the function of photographing positioning, and the mechanical arm 20 is used for locking a screw after the positioning is completed; the connecting assembly 50 includes a first connecting member 511, a second connecting member 512, and a third connecting member 513, wherein one end of the first connecting member 511 is disposed on the manipulator, the other end of the first connecting member 511 is vertically connected to the second connecting member 512, the third connecting member 513 is disposed at the lower end of the second connecting member 512, and the CCD vision device 52 is disposed on the third connecting member 513. Preferably, the first connecting piece 511, the second connecting piece 512, and the third connecting piece 513 are sequentially provided with a first adjusting hole 5111, a second adjusting hole 5121, and a third adjusting hole 5131, and the CCD vision device 52 realizes adjustment in the X-axis, Z-axis, and Y-axis directions through the first adjusting hole 5111, the second adjusting hole 5121, and the third adjusting hole 5131, so as to adapt to different products.
In this embodiment, in order to improve the control accuracy, the first driving motor, the second driving motor, and the third driving motor all use servo motors, and the electric screwdriver 30 uses a servo screwdriver.
Referring to fig. 4 to 6, the material box 40 includes a body 41, a vibration mechanism (a conventional mechanism, not shown) and a screw discharging platform; the vibration mechanism is arranged in the body 41, and the screw discharging platform is arranged in a material groove of the body 41; through the vibration mechanism, the screws in the material grooves vibrate and fall into the screw discharging platform.
In this embodiment, the screw discharging platform includes a front driving wheel 42 and a rear driving wheel 43, and the belt 43 is sleeved on the driving wheels 42 and is driven by a fourth driving motor; a circle of evenly distributed round holes 44 are formed in the center of the belt 43, and the diameter of each round hole 44 is between the diameter of the head of each screw and the diameter of the rod of each screw. The belt 43 is arranged at the bottom of the material groove and is flush with the bottom of the material groove. The bottom of the material tank has a gradually rising inclination along the advancing direction of the belt 43; the side wall of the material groove is an inclined wall.
Preferably, the front and rear driving wheels 42 are composed of left and right side wheels, the two side wheels are arranged in parallel at intervals and connected through a rotating shaft, the intervals between the two side wheels are larger than the diameters of the screws, when the screws on the belt 43 are not adsorbed by the electric screwdriver 30, the screws cannot be clamped between the belt 43 and the driving wheels 42 and are continuously taken away by the belt 43 wheels until the screws are taken to the reverse side of the belt 43, and the screws fall off from a material receiving box 45 additionally arranged at the bottom of the material groove and the bottom of the belt 43 and are used for collecting the screws which are not adsorbed.
The brush belt 46 perpendicular to the belt 43 is arranged at the top of the belt 43 in the middle of the material groove, the brush belt 46 divides the material groove into two spaces, one side is used for placing screws, after the vibration mechanism is started, the belt 43 brings the screws falling into the circular holes 44 into the other side, and the screws scattered on the belt 43 are swept down by the brush belt 46 and separated in the first space, so that the electric screwdriver 30 is prevented from interfering with the adsorption of the screws in the circular holes 44 on the belt 43.
In operation, the vibration mechanism vibrates, and the screw vibrates on the belt 43 until the rod part of the screw falls into the round hole 44 on the belt 43, and then is taken out by the belt 43, and the CCD vision device 52 shoots and positions at the same time. The electric screw driver 30 is driven by the manipulator 20 to reciprocate between the worktable of the rack 10 and the material box 40, and the screw on the belt 43 is attracted by the magnetic head and is brought to the worktable of the rack 10.
In other embodiments, an infrared sensor is disposed between the driving wheels 42, and emits infrared light perpendicular to the screw falling into the circular hole 44 or parallel to the axis of the circular hole 44, and passes through the circular hole 44 corresponding to the falling position of the electric screwdriver 30, for sensing whether the screw is taken out from the belt 43, and when the screw is not taken out, the belt 43 continues to advance, and the electric screwdriver 30 does not fall temporarily.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. An automatic positioning intelligent screw locking device is characterized by comprising a rack, a material box, a mechanical arm, an electric screwdriver and a detection positioning device, wherein the material box is arranged on the rack;
the manipulator comprises a fixed seat, a first rotating arm and a second rotating arm; the fixed seat is fixedly arranged on the rack; one end of the first rotating arm is hinged to the fixed seat and is driven to rotate by a first driving motor; the second rotating arm is hinged to the other end of the first rotating arm and is driven to rotate by a second driving motor; the other end of the second rotating arm is provided with a moving base, the moving base is connected with the second rotating arm through a vertical moving mechanism, and the moving base reciprocates up and down relative to the second rotating arm through the vertical moving mechanism; the electric screwdriver is arranged on the movable base, and the pen point of the electric screwdriver faces downwards;
the detection positioning device comprises a CCD (charge coupled device) vision device and a connecting assembly, wherein the CCD vision device is arranged on the connecting assembly and is arranged on the manipulator through the connecting assembly;
the electric screwdriver is driven by the manipulator to move between the workbench of the rack and the material box in a reciprocating mode.
2. The automatic intelligent screw locking device in positioning according to claim 1, wherein the connecting assembly comprises a first connecting piece, a second connecting piece and a third connecting piece, one end of the first connecting piece is arranged on the manipulator, the other end of the first connecting piece is vertically connected with the second connecting piece, the third connecting piece is arranged at the lower end of the second connecting piece, and the CCD vision device is arranged on the third connecting piece.
3. The automatic positioning intelligent screw locking device according to claim 2, wherein a first adjusting hole, a second adjusting hole and a third adjusting hole are sequentially formed in the first connecting piece, the second connecting piece and the third connecting piece, and the CCD vision device realizes adjustment in the X-axis direction, the Z-axis direction and the Y-axis direction through the first adjusting hole, the second adjusting hole and the third adjusting hole.
4. The automatic positioning intelligent screw locking device according to claim 1, wherein the first driving motor and the second driving motor are servo motors; the electric screwdriver adopts a servo electric screwdriver.
5. An automatic positioning intelligent screw locking device according to claim 1, wherein the vertical moving mechanism comprises a third driving motor, a gear and a rack; the third driving motor is installed in the second rotating arm, the gear is installed in a rotating shaft of the third driving motor, the rack can be installed in a vertical groove in the second rotating arm in a vertically movable limiting mode, a vertical strip-shaped hole is formed in the bottom of the vertical groove, the moving base passes through the back of the vertical strip-shaped hole connecting rack, and the front of the rack is in butt joint with the gear through teeth.
6. An automatic positioning intelligent screw locking device according to claim 5, wherein the third driving motor is a servo motor.
7. The automatic positioning intelligent screw locking equipment according to claim 1, wherein the material box comprises a body, a vibration mechanism and a screw discharging platform; the vibration mechanism is arranged in the body, and the screw discharging platform is arranged in a material groove of the body; the screw discharging platform comprises a front driving wheel, a rear driving wheel and a belt, and the belt is sleeved on the driving wheels and driven by a fourth driving motor; a circle of round holes which are uniformly distributed are formed in the center of the belt, and the diameter of each round hole is between the diameter of the head of each screw and the diameter of the rod of each screw.
8. The automatic positioning intelligent screw locking device according to claim 7, wherein the front and rear transmission wheels are composed of a left side wheel and a right side wheel, the two side wheels are arranged in parallel at intervals and connected through a rotating shaft, and the interval between the two side wheels is larger than the diameter of a screw; the belt is arranged at the bottom of the material groove and is flush with the bottom of the material groove.
9. The automatic positioning intelligent screw locking device according to claim 8, wherein the bottom of the material groove has a gradually rising inclination along the belt advancing direction; the side wall of the material groove is an inclined wall.
10. The automatic positioning intelligent screw locking device according to claim 9, wherein a brush belt perpendicular to the belt is arranged at the top of the belt in the middle of the material groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021188710.9U CN212652992U (en) | 2020-06-24 | 2020-06-24 | Automatic positioning intelligent screw locking equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021188710.9U CN212652992U (en) | 2020-06-24 | 2020-06-24 | Automatic positioning intelligent screw locking equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212652992U true CN212652992U (en) | 2021-03-05 |
Family
ID=74752754
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021188710.9U Active CN212652992U (en) | 2020-06-24 | 2020-06-24 | Automatic positioning intelligent screw locking equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212652992U (en) |
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2020
- 2020-06-24 CN CN202021188710.9U patent/CN212652992U/en active Active
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