WO2022048117A1

WO2022048117A1 - Screw delivery apparatus, screw positioner, and screw locking/attaching machine and locking/attaching method and application

Info

Publication number: WO2022048117A1
Application number: PCT/CN2021/078483
Authority: WO
Inventors: 季荣; 叶际勃; 刘深龙; 谭敏; 章赟; 孙凯; 杨志勇; 范锦宇; 孙淮扬; 卢赛赛; 钱浩东; 周立静; 李风武; 徐孝峰
Original assignee: 江苏新惕姆智能装备有限公司
Priority date: 2020-09-04
Filing date: 2021-03-01
Publication date: 2022-03-10
Also published as: CN214722073U

Abstract

Provided are a screw delivery apparatus, screw positioner, and screw locking/attaching machine and locking/attaching method, the screw locking/attaching machine comprising a screwdriver the lower end of which can form negative pressure, and a screw positioner having a T-shaped screw delivery passageway (430); above the screw delivery passageway (430) is in communication with a material supply passageway (440) extending in a direction perpendicular thereto, the outer end of the material supply channel (440) facing upwards; the screw delivery passageway (430), a screw delivery tube (200), and a screw supply implement (100) have a fitting T-shaped passageway structure. The invention prevents the problem of screws turning over during the process of delivery, and provides the conditions required for subsequent attachment and locking of screws by means of a screwdriver, and provides an effective structure for automated locking/attachment of such screws.

Description

Screw conveying device, screw locator, screw locking machine and locking method and application

technical field

The invention relates to the field of screw machines, in particular to the application of a screw locking machine, a screw conveying device, a screw locator, a screw locking method and a screw locking machine.

Background technique

The screw machine is a small machine that automatically locks screws. Its action structure can generally be divided into two parts: the feeding part and the electric batch part. The feeding part is responsible for screening and providing screws, and the electric batch part is responsible for taking screws and locking screws. The production of the machine not only improves the work efficiency but also reduces the manual work intensity.

The feeding part is the core component of the screw machine, and the stability and accuracy of its feeding directly affect the realization of subsequent batch reclaiming and locking.

In various air-blown feeding structures, screws blown through an air pipe are usually received and limited by screw clamps, such as the screw feeding structure disclosed in Application No. 201710986005.X. The screw clamp usually adopts the structure of at least two rotatable claw bodies. Under normal conditions, the claw body is closed to form a screw positioning slot or hole; when the bit head moves down to contact with them, the claw body can be driven to open. The claw body closes automatically when the head is retracted.

The screw clamp also includes a longitudinal channel for the bit to move to the screw positioning slot or hole to take material and an inclined channel for the screw to be input into the screw positioning slot or hole, that is, the axes of the longitudinal channel and the inclined channel usually maintain an acute angle. Since the size of the batch head and the size of the adsorption tube are larger than the size of the screw, the diameter of the longitudinal channel is usually larger than that of the inclined channel, and since the discharge end of the inclined channel is located at the side wall of the longitudinal channel, the discharge of the inclined channel is There is often a certain drop between the end and the screw positioning slot or hole, so that the screw falls obliquely downward from the inclined channel into the screw positioning slot or hole for positioning.

However, for some small-sized screws, such as screws with a size below M3 and/or a relatively small length and diameter, due to the small size of the screws, when the screws are obliquely dropped from the inclined channel into the longitudinal channel, the height difference and the height difference are relatively small. The large diameter of the reclaiming channel allows the screw to have enough space for turning, so it is difficult to ensure that the screw is in the state of the head end down and the tail end up, which causes the subsequent screwdriver to suck up the screw through vacuum adsorption and perform the locking action , which greatly affects the reliability of screw locking.

At the same time, when working, the jaws need to be opened and closed repeatedly under the force of the bit head, and there is continuous friction loss between the bit head and the jaws. Long-term use, the jaws will also be deformed due to wear, and the jaws will be deformed after being deformed. As a result, the matching accuracy of the plurality of gripping jaws is reduced, and the positioning accuracy of the gripping jaws on the screw is reduced, resulting in the inability to effectively grasp.

SUMMARY OF THE INVENTION

The purpose of the present invention is to solve the above problems existing in the prior art, and to provide a screw locking machine, a screw conveying device, a screw locator, a screw locking method and the application of the screw locking machine.

The object of the present invention is achieved through the following technical solutions:

A screw locking machine, including a screwdriver whose lower end can form a negative pressure and a mechanism for driving the screwdriver to move, and also includes

A screw locator, which comprises a screw conveying channel with a T-shaped longitudinal section, a reclaiming channel whose extension direction is perpendicular to the screw conveying channel is connected above the screw conveying channel, and the outer end of the reclaiming channel is upward;

The feed end of the screw conveying channel is connected to the discharge port of the screw feeder or directly connected to the discharge port of the screw feeder through the screw conveying pipe, and the longitudinal cross-sectional shape of the conveying hole of the screw conveying pipe is the same as that of the screw conveying pipe. A T-shape matching the channel, and the longitudinal section shape of the outlet of the screw feeder is a T-shape matching the screw conveying channel.

Preferably, in the screw locking machine, a trachea is coaxially sleeved on the outer periphery of the bit head of the screw driver, the trachea floats along the axial direction of the bit head, and the lower end area of the central hole of the trachea is a sinker. The lower end of the bit head normally extends to the lower hole section of the counterbore, and the length extending into the lower hole section is equivalent to the depth of the torque transmission hole of the screw to be locked.

Preferably, in the screw locking machine, a through groove is recessed in the hole wall of the upper vertical section of the counterbore.

Preferably, in the screw locking machine, the screw locator includes two claw bodies that are driven to open and close by a power source, and the head of the screw driver is coaxial with the reclaiming channel to drive the screw The mechanism for moving the batch at least includes a lifting mechanism that drives the screwdriver to move to the upper and lower parts of the screw positioner.

Preferably, in the screw locking machine, the feed end of the screw conveying pipe or the feed end of the screw conveying channel is connected to the screw through an engagement hole on an engagement piece that moves between the first position and the second position. The outlet of the supplier is connected, and the connecting hole is consistent with the cross-sectional shape of the screw conveying channel.

Preferably, in the screw locking machine, there are two screwdrivers and are respectively connected with a lifting mechanism. The positioner is connected with one of the screw conveying pipes, and the two screw conveying pipes are connected with the discharge port of the screw feeder through a connecting hole on a connecting piece that moves between the first position and the second position. The hole corresponds to the cross-sectional shape of the screw conveying channel.

Preferably, in the screw locking machine, the reclaiming channel is located at the end of the screw conveying channel, and when the connecting hole is connected to the screw conveying channel or the conveying hole, the screw conveying channel or conveying The hole is communicated with the outlet end of the conveying driving hole, the inlet end of the conveying driving hole is connected with the air supply pipeline, and the screw positioning channel and/or the reclaiming channel are connected with the exhaust channel.

Preferably, in the screw locking machine, the screwdriver is connected to the lifting mechanism through a floating mechanism and/or a pressure testing mechanism.

Preferably, the screw locking machine further includes an image acquisition device and/or a laser sensor.

Preferably, in the screw locking machine, the screw supply, the screw conveying pipe, the connecting piece, the screw positioner, the screw driver and the lifting mechanism are arranged on a carrier board, and the carrier board is connected to drive it to at least on a mechanism that moves horizontally.

Preferably, in the screw locking machine, the carrier plate is the base plate of the front-stage joint of the four-axis mobile robot, and the power source of the lifting mechanism is the motor of the front-stage joint.

Screw conveying device, including at least

The screw positioner includes a screw conveying channel with a T-shaped longitudinal section, and a reclaiming channel whose extension direction is perpendicular to the screw conveying channel is connected above the screw conveying channel;

Preferably, in the screw conveying device, the screw conveying pipe is a straight line or an S shape with a height difference at both ends.

Preferably, in the screw delivery device, the screw delivery tube is assembled from at least two components.

Preferably, in the screw conveying device, the screw positioner includes two claw bodies and a power source for driving them to open and close, and the two claw bodies form the screw conveying channel and the reclaiming channel when the two claw bodies are closed.

Preferably, in the screw conveying device, the discharge port of the screw supply is provided with a connecting piece that moves between the first position and the second position, and the connecting piece is formed with the screw conveying channel. Connection holes with the same cross-sectional shape,

At the first position, the feeding end of the connecting hole is butted with the discharging port of the screw feeder;

At the second position, the discharge end of the connecting hole is butted with the feeding end of the screw conveying pipe, and the feeding end of the connecting hole is butted with a conveying driving hole.

Preferably, in the screw conveying device, there are two screw conveying pipes, the discharge ends of the two conveying holes are respectively connected with a screw positioner, and the two screw conveying pipes pass through the connecting piece Connect with a screw supply.

Preferably, in the screw conveying device, the reclaiming channel is located at the end of the screw conveying channel, and in the state where the connecting hole and the conveying hole are butted, the feeding end of the conveying hole is connected to a conveying driving hole. The outlet end is connected to the inlet end of the conveying driving hole and is connected to an air supply pipeline, and the screw positioning channel and/or the material taking channel are connected to an exhaust channel.

Screw conveying device, including at least

The screw conveying pipe has a T-shaped longitudinal section of the conveying hole;

The screw locator comprises a screw conveying channel which is consistent with the longitudinal cross-sectional shape of the conveying hole and is butted with the discharge end of the conveying hole.

The screw positioner includes a screw positioning channel with one end exposed and a reclaiming channel communicated with it. The cross-sectional shape of the screw positioning channel is T-shaped, and the reclaiming channel is located above the transverse portion of the screw positioning channel. The extension direction of the reclaiming channel is perpendicular to the extending direction of the screw positioning channel, and the reclaiming channel and the screw positioning channel are composed of two claw bodies which are driven to open and close by a power source.

The screw locking method includes at least the following steps:

Provide any of the above screw locking machines;

The trachea of the screwdriver moves to the reclaiming channel of the screw positioner;

The screw supply machine delivers a screw to the connecting hole of the connecting piece;

The connecting piece is moved to the connecting hole and the feeding end of the conveying hole is butted;

Blowing or pushing the screw in the connecting hole to the position in the screw positioning channel that is directly opposite to the reclaiming channel;

The screwdriver adsorbs the screws in the reclaiming channel;

The screwdriver moves the target position for locking.

Preferably, in the screw locking method,

Before conveying the screw to the screw conveying channel, the two claw bodies of the screw positioner are closed to form a reclaiming channel and a screw conveying channel;

When locking, the two claw bodies of the screw positioner are opened first;

The lifting mechanism drives the screwdriver to move down, and the motor of the screwdriver starts to lock the screw;

After the locking is completed, the screwdriver is lifted and reset, the two claw bodies are closed, and the screw is conveyed to the screw conveying channel again.

Preferably, in the screw locking method,

After sucking the screw and before locking the screw, the end of the trachea is kept under negative pressure, and the bit rotates at a low speed, so that the front end is inserted into the torque transmission groove of the screw and connected with the screw torque transmission.

Preferably, in the screw locking method,

The rotational speed of the motor driving the low-speed rotation of the batch head does not exceed 500 rpm.

Preferably, in the screw locking method,

After the bit rotates at low speed and before locking the screw, it also includes the following steps:

Determine whether the vacuum degree in the trachea meets the requirements;

When the vacuum degree meets the requirements, the screw locking action is performed;

When the vacuum degree does not meet the requirements, the lower end of the trachea forms a positive pressure to discard the screw on the bit head, and then the trachea re-adsorbs a screw in feeding, and then the bit head rotates at a low speed; judge again whether the vacuum degree in the trachea meets the requirements requirements, and select follow-up actions according to the judgment results until the vacuum degree in the trachea meets the requirements.

The above-mentioned screw locking machine is used for screw locking of handheld devices.

The advantages of the technical solution of the present invention are mainly reflected in:

1. The screw positioner of this solution adopts a T-shaped screw conveying channel, and at the same time, the reclaiming channel is perpendicular to the extension direction of the screw conveying channel, and cooperates with the screw conveying pipe and the screw supply. The problem of turning over during the conveying process effectively ensures that the screw facing the reclaiming channel is in the state of head down and tail up, which improves the accuracy of feeding, and is suitable for the supply of screws of various specifications. In particular, it meets the requirements of stable conveying of screws with specifications below M3 and/or relatively small length and diameter, thus providing the preconditions for the subsequent adsorption and locking of screws through screwdrivers, and the realization of automatic locking of such screws. an effective structure.

2. The screw positioner of this scheme is obtained by combining two claw bodies, which is easy to process and realize. At the same time, the two claw bodies are driven to open and close by a cylinder, and are opened when the screw is screwed, which can effectively avoid the wear of the bit head and the claw body, and improve the Long service life, reduce the influence on the screw state, and ensure the accuracy of feeding.

3. The reclaiming channel of this scheme corresponds to the end of the screw conveying channel, which can reduce the difficulty of positioning the screw feeding position. The screw can be directly conveyed to the end of the screw conveying channel, which is easy to implement.

4. The claw body of this scheme is provided with a limiting block and the bottom surface of the limiting block is designed, which can effectively cover the top of the screw conveying channel and avoid the problem that the screw is withdrawn from the screw conveying channel. At the same time, the triangular guide port and the horn The structure of the shaped inlet reduces the difficulty of screws entering the channel from the outside.

5. This scheme uses a screw conveying pipe with a T-shaped conveying hole to cooperate with the conveying hole for screw conveying, which changes the conveying method of the existing hose conveying screw head facing the conveying direction, and the conveying process is smoother and less likely to jam. The problem.

6. The shape of the screw conveying pipe and the design of multi-component assembly can effectively ensure the smooth movement of the screw in it and facilitate the realization of assembly.

7. In this scheme, a connecting piece with a connecting hole is provided, and the screw is transferred between the screw supply and the conveying hole through the connecting piece, and the transfer of the screw is realized by a pure mechanical structure, and the existing technology in the background technology is not required. The vacuum adsorption transfer method has a simpler structure, and saves the energy consumption caused by vacuuming during adsorption transfer, which is beneficial to reduce equipment costs. At the same time, the layout of each component can not only make the whole machine more compact, which is convenient for small space use, but also can effectively shorten the conveying stroke of the screw and improve the conveying efficiency.

8. In this scheme, a connecting piece with two connecting holes is provided, and the two connecting holes and the two screw conveying pipes are alternately connected by the movement of the connecting piece, so that the screwdriver corresponding to one screw conveying pipe can be locked. At the same time, feeding for another screw conveying pipe is beneficial to improve the feeding rhythm of the screw feeder, thereby improving the feeding efficiency, thereby improving the locking efficiency of the screw machine. At the same time, the layout of each component makes the structure of the whole machine more compact, which is convenient for reducing the size of the equipment.

9. In this scheme, by setting the baffle to cooperate with the connecting piece, the screws in the connecting hole can be limited during the moving process of the connecting piece, so as to avoid the risk of loosening the screw from the connecting hole and ensure the reliability of the transfer.

10. The screw locking machine of this scheme integrates the feeding structure and the locking structure, which can effectively move the module as a whole to any position that needs to be processed according to the needs. The structure is more compact and realizes screw feeding and screw bit. Integrated, save space, meet the needs of mobile screwing, modular installation and disassembly, convenient for flexible application.

11. Before locking the screw, perform the torque transmission connection between the bit and the screw, so as to create the basic conditions for the subsequent reliable tightening, which is beneficial to improve the subsequent operation efficiency. At the same time, it can be judged whether the state of the screw meets the requirements according to the vacuum degree in the trachea, so as to ensure the accuracy of subsequent screw tightening and avoid skew when tightening the screw.

12. In this scheme, the screwdriver is connected to the lifting mechanism through the floating structure and is equipped with a force sensor, which can effectively control the pressure control when locking the screw, realize flexible locking, and improve the quality of locking.

13. This scheme can effectively check the status after screwing the screws by setting the laser sensor, so that the screwing operation meets the requirements.

14. The screwdriver and screw supply device of this scheme are integrated with the four-axis robot, and the lifting and lowering of the screwdriver adopts the motor that comes with the four-axis robot, which can effectively utilize the original power source of the four-axis robot and save equipment costs.

Description of drawings

1 is a perspective view of a screw locking machine of the present invention;

2 is a perspective view of the screw locking machine of the present invention with the screw feeder hidden;

3 is a perspective view of a screw delivery device with an irregular S-shaped screw delivery tube;

Fig. 4 is the perspective view of the regular S-shaped screw conveying pipe of the present invention;

Fig. 5 is the end view of Fig. 4;

Fig. 6 is the enlarged view of B area among Fig. 5;

7 is a partial cross-sectional view of an irregular S-shaped screw delivery tube of the present invention;

FIG. 8 is a schematic view of the joint area of the screw conveying device of FIG. 3;

9 is a perspective view of a screw delivery device having two screw delivery tubes of the present invention;

Figure 10 is an enlarged view of the X region in Figure 9;

Figure 11 is a cross-sectional view of the screw delivery tube and screw positioner area in Figure 9;

Figure 12 is a top view of the screw locator of the present invention;

Figure 13 is an enlarged view of region C in Figure 12;

Figure 14 is a front view of the screw positioner of the present invention;

Fig. 15 is the enlarged view of D area in Fig. 14;

Figure 16 is a side view of the screw positioner of the present invention;

17 is a perspective view of a single claw body of the screw positioner of the present invention (the limiting block is not shown in the figure);

Fig. 18 is a top view of Fig. 17 (restriction blocks are shown in the figure);

Figure 19 is a schematic view of the screw entering the limiting block and the screw conveying channel;

Figure 20 is a perspective view of another claw body of the screw positioner of the present invention;

21 is a schematic diagram of the first embodiment of the screwdriver of the present invention;

Figure 22 is an enlarged view of the E region in Figure 21;

Figure 23 is a partial bottom view of a screwdriver;

Fig. 24 is the second embodiment schematic diagram of the screwdriver of the present invention;

Figure 25 is a partial bottom view of the screwdriver of Figure 24;

Figure 26 is a side view of Figure 1;

Figure 27 is a perspective view of the present invention with two screwdrivers;

Figure 28 is a side view of the structure of Figure 27;

Figure 29 is a schematic diagram of the structure of Figure 1 being driven and moved by a four-axis robot;

Fig. 30 is a schematic diagram of the structure of Fig. 27 being driven and moved by a four-axis robot.

detailed description

The objects, advantages and features of the present invention will be illustrated and explained by the following non-limiting description of the preferred embodiments. These embodiments are only typical examples of applying the technical solutions of the present invention, and all technical solutions formed by taking equivalent replacements or equivalent transformations fall within the scope of protection of the present invention.

In the description of the scheme, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", " The orientation or positional relationship indicated by "inside", "outside", etc. is based on the orientation or positional relationship shown in the drawings, which is only for convenience and simplification of description, rather than indicating or implying that the indicated device or element must have a specific orientation , constructed and operated in a specific orientation, and therefore should not be construed as limiting the invention. Furthermore, the terms "first", "second", and "third" are used for descriptive purposes only and should not be construed to indicate or imply relative importance. In addition, in the description of the solution, with reference to the operator, the direction close to the operator is the proximal end, and the direction away from the operator is the distal end.

The screw conveying device disclosed by the present invention will be described below with reference to the accompanying drawings. As shown in Fig. 1 to Fig. 13, it includes

The screw feeder 100, the discharge port of the screw feeder 100 is a T-shape matching the shape of the screw;

The screw conveying pipe 200 has a conveying hole 210 formed thereon, the cross-sectional shape of the conveying hole 210 is T-shaped, and the horizontal part of the T-shaped part is on the top and the vertical part is on the bottom;

The engaging piece 300 moves between the first position and the second position, and is formed with an engaging hole 310 that is consistent with the cross-sectional shape of the conveying hole 210 and the discharge port of the screw feeder. The inlet end of the connecting hole 310 is butted with the discharge port of the screw feeder 100, and when it is in the second position, the outlet end of the connecting hole is butted with the feeding end of the conveying hole 210;

The screw positioner 400 includes a screw conveying channel 430 that is consistent with the cross-sectional shape of the connecting hole 310 and a reclaiming channel 440 that communicates with the screw conveying channel 430 and is vertically arranged above the screw conveying channel 430. The discharge ends of the conveying holes 210 are butted together.

During operation, the connecting hole 310 on the connecting piece 300 is first connected with the discharge port of the screw feeder 100, and the screw feeder 100 delivers a screw into the connecting hole 310, and then the connecting The component 300 is translated to the connection hole 310 and the conveying hole 210 on the screw conveying pipe 200, and then, blow air to the screw in the connection hole 310 or apply a pushing force to the screw through the push rod to make the screw enter the screw conveying pipe 200. The conveying hole 210 enters into the conveying hole on the screw positioner 400 along the conveying hole 210 and is directly opposite to the reclaiming channel, waiting for the screwdriver to pick up.

The screw feeder 100 is used to automatically supply the screws 3000, and it can be a variety of known automatic screw feeding devices. For example, the screw feeder 100 can be a combination of a vibrating plate feeding mechanism and a feeding channel, The structure disclosed in the application number 201820924864.6 and the like can also be used, which is a known technology here and will not be described in detail here. Of course, the screw supplier 100 may be omitted when the product is actually produced and sold, that is, the screw supplier 100 may not be sold as an integral structure. For subsequent use, the user may purchase another screw supplier 100 to connect to the connecting piece 300 .

The screw delivery tube 200 is used to deliver the screw output from the screw supplier 100 to the screw positioner 400. The delivery hole 210 extends from one end to the other end of the screw delivery tube 200 and the two end faces are parallel so as to It is connected with the screw locator 400 and the connecting piece 300 or the screw supply 100 . The size of the conveying hole 210 is designed according to the size of the screw to be conveyed and is slightly larger than the size of the screw, but its size can ensure the state of the screw in the conveying hole, which is not specifically limited here.

The position of the screw delivery tube 200 is fixed and its shape can be designed according to different structural arrangement needs. In one embodiment, as shown in FIG. 1 to FIG. 4 , the screw delivery tube 200 is shown as S as a whole. The conveying hole 210 is a corresponding S shape. This structure is convenient to apply in the situation where the discharge port of the screw feeder and the feed end of the screw conveying channel 430 of the screw positioner 400 have a height difference. Make the overall structure layout more compact and reduce the volume.

In addition, the specific shape of the S shape can be adaptively adjusted according to the positions of the different suppliers 100 , the screw conveying tube 200 and the connecting piece 300 , for example, as shown in FIG. 1 , FIG. 2 , and FIG. 4 , The discharge port of the screw feeder 100 faces the same direction as the feed end of the screw conveying pipe 200 , the screw conveying pipe 200 is located at the side of the screw supply 100 , and the connecting piece 300 is located at the screw conveying pipe 200 . The conveying pipe 200 and the screw feeder 100 are on the same side, at this time, the horizontal distance between the feeding end of the screw conveying pipe 200 and the feeding end of the screw positioner 400, the distance between the two ends of the screw conveying pipe 200 larger.

In another embodiment, as shown in FIG. 3 , the discharge port of the screw feeder 100 is arranged opposite to the feed end of the screw conveying pipe 200 , and the connecting piece 300 is arranged between them, At this time, the horizontal distance between the feeding end of the screw conveying pipe 200 and the feeding end of the screw positioner 400 is greatly reduced, so the horizontal distance between the two ends of the screw conveying pipe 200 can be greatly shortened. At this time, The screw conveying tube 200 is not a regular S-shaped curve, and a front surface of the screw conveying tube 200 is further formed with a flat surface 203, and the flat surface 203 is provided with a screw hole through which the support structure can be connected.

Of course, in addition to the above-mentioned S-shaped screw delivery tube 200, in other embodiments, the screw delivery tube 200 and the delivery hole 210 can also be of other shapes, for example, they all extend straight. The installation height of the screw feeder 100 is adjusted accordingly so that the discharge port of the screw feeder 100 and the feed end of the screw conveying channel 430 of the screw positioner 400 are at the same height. However, at this time, the height of the screw feeder 100 will cause The height of the overall structure is increased.

The screw conveying tube 200 may be integrally injection-molded or assembled from multiple components. The screw conveying pipe 200 is assembled from a plurality of panels. Specifically, as shown in FIG. 3 and FIG. 5, it includes an S-shaped main plate 220, a first cover plate 230 and a second cover plate 240. S-shaped grooves 223 are formed on the end faces of the first cover plate 230 and the second cover plate 240 on the 220 , and the end faces 221 and 222 on both sides of the groove 223 The end surface 222 protrudes from the end surface 221 on the lower side of the groove 223, the first cover plate 230 is fixed at the position of the protruding end surface 222, and the second cover plate 240 is fixed at the position of the other end surface 221 and covers the groove. Therefore, the contact surfaces 241 and 231 of the second cover plate 240 and the first cover plate 230 are flush with the connecting surfaces 2233 of the first groove bottom 2231 and the second groove bottom 2232 of the groove 223 . The main plate 220, the first cover plate 230 and the second cover plate 240 are enclosed to form the T-shaped delivery hole 210 with a cross-sectional shape consistent with the shape of the screw, so as to effectively ensure that the tip of the screw is not oriented toward the The extension direction of the conveying hole, and keep the state of the screw consistent, so that the subsequent screwdriver can grasp the screw stably.

Of course, in other embodiments, the irregular S-shaped screw conveying pipe 200 shown in the above appendix 3, as shown in FIG. The S-shaped first panel 201 and the first panel 202 are screwed together to form the conveying channel 210 .

As shown in FIG. 2 , an adapter 250 is also connected to the discharge end of the screw conveying pipe 200 . The adapter 250 is formed with a T-shaped cross-section and a discharge end of the conveying hole 210 . The docking transfer channel (not shown in the figure), the transfer channel is a straight hole and the cross-sectional area is the same as that of the conveying hole 210, and its feeding end is a bell mouth with a large outside and a small inside, so as to It can effectively facilitate the entry of the screw into the transfer channel from the delivery hole 210 . The adapter 250 is also assembled from multiple parts. At the same time, the existence of the adapter 250 creates conditions for the subsequent installation of the screw positioner 400 . Of course, the adapter 250 is not necessary in some other embodiments, and can be omitted according to the specific site environment, as shown in FIG. 3 .

Moreover, in other embodiments, the screw conveying pipe 200 is not necessary, that is, the limiting groove 310 on the connecting piece 300 can also be directly connected with the feeding end of the screw conveying channel of the screw positioner 400 .

As shown in FIG. 2 , the connecting piece 300 is used for transferring the screws supplied by the screw supplier 100 into the connecting holes 310 thereof into the corresponding screw conveying pipes 200 . The connecting piece 300 includes a block 320, the top surface of the block 320 is recessed with a square sink, and the inlet end of the sink is trumpet-shaped, so that the screw can be guided so that the screw enters the sink. middle. The top of the block 320 is provided with a top cover 330 covering the sink groove. The sink groove and the top cover 330 form the connecting hole 310 . The top cover 330 is provided with a sensor 340 located above the sink. When there is a screw in the sink, the sensor 340 senses the screw and sends a signal to drive the engaging piece 300 to move.

Further, in order to facilitate the delivery of the screw in the connecting hole 310 to the screw conveying pipe 200, the connecting piece 300 is provided with a driving conveying hole (not shown in the figure) that communicates with the inlet end of the connecting hole 310. shown), the drive delivery hole extends as an air channel from the surface of the block 320 to the bottom of the sink (the end face of the slot of the engaging hole), and as shown in FIG. 2 , The air passage is connected with a pipe joint 350, and the valve body is connected with an air supply pipeline (not shown in the figure).

Of course, in addition to using air blowing for screw conveying, when the screw in the connecting piece 300 is conveyed into the screw conveying channel by means of push rod pushing, a connecting hole 310 is formed on the connecting piece 300 to connect with the connecting hole 310. The through hole (not shown in the figure) that is facing and communicated is passed through the through hole and protrudes into the connecting hole 310 through a push rod, and pushes the screw in the connecting hole 310 into the screw conveying In the channel 430, at this time, the screw delivery tube preferably extends straight, and when it is S-shaped, the push rod needs to be made of a deformable and sufficiently rigid material, such as a flexible metal. , the specific structure of the push here can be driven by a cylinder to drive the push rod to reciprocate and linearly move, or a similar structure, which will not be repeated here.

In order to prevent the screws entering the engaging holes 310 from being detached from the engaging holes 310 due to vibration during the movement process, as shown in FIG. There is a baffle 600 , the connecting piece 300 is fitted with a baffle 600 or maintains a small gap, and the engaging hole 310 faces the baffle 600 , and one end of the baffle 600 is close to the outlet of the screw supplier 100 . The other end of the baffle plate 600 extends to the feeding end of the screw conveying pipe and the outer surface of the baffle plate 600 is flush with the end face of the feeding end of the screw conveying pipe, so that the joint When the screw 300 is loaded with screws, the baffle 600 can effectively cover the notch of the engaging hole 310 to prevent the screw from falling out of the engaging hole 310 . The baffle plate 600 is preferably fixed on the feeding end of the screw conveying pipe by bolts and abuts with the outer wall of the screw feeder 100 .

As shown in FIG. 2 , the movement of the connecting piece 300 is realized by a translation mechanism 370 , and the translation mechanism 370 includes an air cylinder 371 , and the air cylinder 371 is connected with a sliding block 372 , and the sliding block 372 is slidably arranged On a guide rail 373 and connected to the block 320 , the guide rail 373 is fixed on a base 374 .

Of course, in other embodiments, the engaging member 300 , the structure for shielding both ends of the engaging hole and the structure for driving the engaging member 300 during movement can also be adjusted according to different structural arrangement requirements. For example, in another embodiment, as shown in FIG. 3 and FIG. 8 , when the connecting piece 300 is located between the screw supplier 100 and the screw conveying tube 200 , the connecting piece 300 includes an upper and lower arrangement. The first member 301 and the second member 302 are combined into the connecting hole 310, the second member 302 is a plate with a certain thickness, the thickness of the first member 301 is greater than the thickness of the second member 302, so A T-shaped through groove is formed on the top of the second member 302, and the main plate 3011 is formed with the driving conveying hole (not shown in the figure) that communicates with the T-shaped through groove.

As shown in FIG. 8 , the end faces of the first member 301 and the second member 302 facing the screw feeder 100 are flush with each other, and are close to or fit with a first stopper 610 , the first stopper 610 The length is not less than the moving stroke of the engaging piece 300 . The second member 302 is a plate with a certain thickness, which is close to or adhered to the end face of the feed end of the screw conveying pipe. A second stopper 620 is further disposed in front of the discharge port of the screw feeder 100 , and the gap between the second stopper 620 and the discharge port of the screw feeder is equal to the thickness of the second member 302 . , the second stopper 620 is in close contact with the screw conveying pipe 200 and its end face facing the discharge port of the screw feeder is flush with the end face where the feeding end of the screw conveying pipe is located. The above structure arrangement can block both ends of the connecting hole 310 during the transfer process of the connecting piece 300 , so as to prevent the screw from withdrawing from the connecting hole 310 .

As shown in FIG. 3 , at this time, the translation mechanism 303 that drives the connecting piece 300 to move includes an air cylinder 3031 , and the telescopic shaft of the air cylinder 3031 is connected to a sliding block 3033 through a connecting piece 3032 , and the sliding block 3033 is slidable The guide rail 3034 is fixed on a base 3035 and the base 3035 is integral with the second stopper 620 .

In the above-mentioned embodiment, all the connecting holes 310 on the connecting piece 300 are one. At this time, the connecting piece 310 is only used for feeding the screw conveying pipe 200. In a more preferred embodiment, in order to make full use of the subsequent screwdrivers The action time of the locking screw is used for feeding, thereby improving the feeding rhythm. As shown in FIG. 9 , the screw conveying pipes 200 are two (the first screw conveying pipe and the second screw conveying pipe) and are arranged in parallel. The discharge end of the screw conveying pipe 200 is connected to a screw positioner 400 , and at this time, one screw supply 100 is used to supply material to the screw positioners 400 connected to the two screw conveying pipes 200 .

Specifically, as shown in FIG. 9 and FIG. 11 , the discharge port of the screw feeder 100 is opposite to the feed ends of the first and second

screw conveying pipes

200a and 200b, and is arranged in a staggered position. The height of the discharge port of the screw feeder 100 is the same as the height of the feed end of the screw conveying pipe 200 , and the first and second

screw conveying pipes

200a and 200b are symmetrically arranged at the discharge port of the screw feeder 100 on both sides of the screw feeder 100, and the horizontal distance from the feed end to the discharge port of the screw feeder 100 is the same.

Correspondingly, the connecting piece 300 is located at the gap between the screw conveyor 100 and the first and second

screw delivery pipes

200a and 200b, and is used to alternately transfer the screws output from the screw conveyor 100 to the screw conveyor 100. The first and second

screw conveying pipes

200a and 200b are used for conveying, and the connecting piece 300 is specifically a plate piece, of course, it can also be a block.

As shown in FIG. 10 , the engaging member 300 has two engaging holes 310 (a first engaging hole and a second engaging hole), the engaging member 300 is at a first position, and the first engaging hole The discharge end of 310a is connected to the feed end of the first screw conveying pipe 200a, the feed end of the first connection hole 310a is connected to a conveying drive hole, and the feed end of the second connection hole 310b is connected to the feed end of the second connection hole 310b. The outlet of the screw feeder 100 is connected.

The connecting piece 300 is at the second position, the feeding end of the first connecting hole 310a is connected to the discharge port of the screw feeder 100, and the discharging end of the second connecting hole 310b is connected to the first connecting hole 310b. The feeding ends of the two screw conveying pipes 200b are butted, and the feeding ends of the second connecting holes are butted with another conveying driving hole 510 .

As shown in FIG. 9 and FIG. 10 , two shielding members 601 are disposed on the side of the connecting member 300 facing the screw supplier 100 , and the shielding members 601 are close to or fit with the connecting member 300 . The two shields 601 are symmetrically located on both sides of the discharge port of the screw feeder and one end of them is adjacent to the discharge port of the screw feeder, and their lengths are longer than the first connecting hole and the second connecting hole. For the moving stroke of the engaging hole, a through hole is formed on each of the shielding members 601 as a conveying driving hole 6011 for blowing or pushing the screw in the engaging hole. At the same time, the other side of the connecting piece 300 is in close contact with a block 602, and the block 602 has a portion located between the first and second screw conveying pipes.

The structure that drives the connecting piece 300 to move includes conventional structures such as air cylinders, sliders, and guide rails, which will not be described in detail here.

Of course, in some embodiments, the connecting piece 300 is not necessary. For example, the discharge port of the screw feeder 100 can be directly connected to the feed end of the screw conveying pipe 200, and the screw feeder 100 can First supply a plurality of screws to fill the screw conveying pipe 200 and the screw conveying channel. As the screw supply 100 continues to supply screws, the frontmost screw can be conveyed to the position directly opposite to the reclaiming channel. Or in other embodiments, the screw conveying pipe 200, the connecting piece 300 and the structure for driving the connecting piece 300 to move can be omitted. The screw conveying channels of the screw positioner 400 are butted together.

The screw locator 400 is located at the discharge port of the lower end of the screw conveying pipe 200. As shown in FIG. 12 to FIG. 15, one end of the screw conveying channel 430 on it is exposed for connecting with the screw. The discharge end of the conveying pipe 200 is connected, and the cross-section of the screw conveying channel 430 is T-shaped and the size is consistent with the size of the screw, that is, the diameter of the rod and tail of the screw is the same as the horizontal portion 432 of the screw conveying channel 430 and vertical. The width of the portion 434 is equivalent, and the shape of the inner end 431 of the screw conveying channel 430 may be a circular arc, a square, an isosceles trapezoid, or the like. As shown in FIG. 12 and FIG. 13 , the screw positioner 400 further includes a reclaiming channel 440 communicating with the screw conveying channel 430 , and the extension direction of the reclaiming channel 440 is the same as the length of the screw conveying channel 430 . The extending direction is vertical and located above the screw conveying channel 430 . The cross-sectional shape of the reclaiming channel 440 is designed according to the shape of the trachea at the lower end of the screw driver, and may be a circle, a square, or a regular polygon. As shown in FIG. 14 and FIG. 15 , the reclaiming channel 440 is located above the transverse portion 432 of the screw conveying channel 430 and is surrounded by the inner end 431 of the screw conveying channel 430 , as shown in FIG. 13 As shown, the reclaiming channel 440 is concentric with a virtual circle A, the virtual circle A passes through the end center point 433 of the screw conveying channel and is connected to the two

side walls

4341, 434, 434 of the vertical portion 434 of the screw conveying channel 430. 4342 Tangent. At the same time, in order to facilitate the entry of the screw into the screw conveying channel 430, as shown in FIG. 13, the feed end 435 of the screw conveying channel 430 is a trumpet-shaped mouth with a large outer and an inner small, that is, the width of the outer end is larger than that of the inner end. width, the feed end of the screw conveying channel is butted with the discharge end of the transition channel of the adaptor 250 .

The screw conveying channel 430 and the reclaiming channel 440 may be a structure formed on one piece, and the specific forming method may be to form a block containing the above-mentioned structure by injection molding or drilling holes on a block to obtain the above-mentioned

screw conveying channel

430 and 440. Reclaim channel 440.

More preferably, in order to facilitate processing and facilitate the subsequent screwdriver locking screw action, as shown in Figures 12 and 16, the screw conveying channel 430 and the reclaiming channel 440 are composed of two relatively movable claw bodies 420. The shape of the two claw bodies 420 is the same. As shown in FIG. 10 , they are driven to close and open by a cylinder 410 as a power source. The position of the cylinder 410 is fixed. When the two claw bodies 420 are closed, The screw conveying channel 430 and the reclaiming channel 440 are formed.

The following description takes a claw body 420 as an example. As shown in FIG. 17 , the claw body 420 includes a base 421, and the base 421 can be a plate or block with a certain thickness. The surface 4211 includes a first flat surface 4211, an arc surface 4212 and a second flat surface 4213 which are connected in sequence. The first flat surface 4211 and the second flat surface 4213 are parallel and not flush, that is, the second flat surface 4213 protrudes outward from the first flat surface 4213. Plane 4211. A notch 4214 is formed on the base 421 at its first vertex position (the upper right corner position shown in the figure) and extends from the outer end of the first plane to the inner end of the arc surface, and the side wall is connected to the inner end of the arc surface. The first plane is parallel, the bottom surface is parallel to the top surface, and the entire notch is approximately J-shaped. The base 421 is provided with a stopper 422, and the stopper 422 is located outside the arc surface 4212 and is connected to the arc surface 4212. Surface 4212 is concentric with arcuate surface 4221.

When the two claw bodies 420 are closed, the second planes 4213 of the two claw bodies 420 fit together, and the gap between the two notches 4214 , the first plane 4211 and the arc surface 4212 forms a T-shaped cross section. The screw conveying channel 430, and the end of the screw conveying channel 430 is arc-shaped.

In addition, since the upper part of the area enclosed by the gap 4214 is open, it is necessary to close the upper end opening of the screw conveying channel 430 formed by them through a certain structure, so as to prevent the screw from being damaged by external force (especially wind force). Abnormal conditions such as jumping or turning over in the screw conveying channel 430 affect the state of the screw.

Therefore, in a more preferred manner, as shown in FIG. 18 , a limiting block 423 is provided on the base 421 , and the limiting block 423 is detachably connected with the blocking block 422 , such as screwing, of course, also possible It is integrally formed. The limiting block 423 has a side surface 4231 that is flush with the second plane 4213 , that is, the portion of the limiting block 423 protruding out of the first plane covers half of the width of the screw conveying channel 430 , the side surface 4231 Extends from the outer end of the screw conveying channel to proximate the take-up channel. As shown in FIG. 19 , the bottom surface 4232 of the limiting block 423 is an inclined surface or an inclined plane, and the bottom surface 4232 and the top surface of the base 421 form a triangular guide port whose opening height gradually decreases from outside to inside 424 , so that the screw 3000 can be smoothly entered into the screw conveying channel 430 .

The claw body 420 also includes other structures to facilitate connection, and its specific structure is not an innovative point of this solution, and can be adaptively designed according to actual needs, which will not be repeated here.

Further, when the screw is conveyed into the screw conveying channel 430 by blowing air, if the end of the screw conveying channel 430 is closed, the airflow will be blocked during blowing, and the screw cannot be conveyed to the screw conveying channel at this time. At the inner end of 430, in order to ensure that the screw is delivered to the inner end of the screw delivery channel 430, at this time, the screw delivery channel 430 is connected to an exhaust channel that is at least communicated with its inner end 431, so as to blow into the screw. The gas in the conveying channel 430 can be exhausted to the outside through the exhaust channel, so the airflow can continue to enter the end of the screw conveying channel 430 and the screws can be effectively moved to the end of the screw conveying channel under the action of wind. end. When the screw conveying channel 430 is groove-shaped, that is, the lower end of the screw conveying channel 430 is closed, at this time, the exhaust channel can extend downward from the groove bottom of the screw conveying channel 430 to the Bottom of base 421 . In the above-mentioned preferred embodiment, as shown in FIG. 12 and FIG. 13 , the entire screw conveying channel 430 is a U-shaped through groove, so the airflow can be effectively discharged.

Of course, the exhaust passage is not necessary, for example, in the manner of pushing with a push rod, the above-mentioned exhaust passage can be omitted. In addition, the structure of the screw positioner 400 may adopt other structures as required, for example, the structure of the existing screw limiting clip described in the background art may be adopted, and the discharge end of the screw conveying pipe is connected to the screw limiting clip superior.

In another embodiment, as shown in FIG. 20 , the claw body 420 may also have a simpler structure. In this case, the abutting surfaces of the two claw bodies are flat and are respectively formed with stepped assembly grooves 424 . When the two claw bodies are closed, the two stepped assembly grooves form the T-shaped screw conveying channel 430 , the reclaiming channel is a countersunk hole at this time, and the butting surface of each claw body 420 has a T-shaped screw conveying channel 430 . The groove 425 constitutes a half structure of the counterbore. In addition, the exhaust channel is a hole coaxial with the reclaiming channel, and the abutting surface of each claw body is formed with a combined exhaust channel. The semi-circular arc through slot 426 of the channel.

This scheme further discloses a screw locking machine, as shown in Fig. 1, Fig. 2, Fig. 26-Fig. 30, which includes the screw conveying device of the above-mentioned embodiment, and also includes a screw driver 700, the screw The batch 700 sucks and locks the screws from the reclaiming channel of the screw positioner by means of adsorption.

In one embodiment, the screw conveying device can be kept at a fixed position, and the screw driver 700 can be driven by a moving device to move to the screw conveying device to take the screw and move to the position where the screw needs to be locked for locking. attached. For example, the screwdriver 700 is set on a multi-axis mobile robot. At this time, the two claw bodies 420 of the screw positioner 400 can be kept in a closed state without opening, or the screw positioner 400 can be directly A block with the above-mentioned screw conveying channel 430, reclaiming channel 440 and exhaust channel.

However, in this structure, the screwdriver needs to move in a large range to obtain the screw, which reduces the locking efficiency. In order to save the time cost caused by the screwdriver moving from the locking position to the reclaiming position to take the screw and improve the integration degree .

In a better way, as shown in FIG. 1 and FIG. 2 , the screwdriver 700 is integrated with the screw conveying device, that is, the screwdriver 700 is arranged in the reclaiming material of the screw locator 400 . Right above the channel 440, the bit head 720 of the screwdriver 700 is coaxial with the reclaiming channel 440, the screwdriver 700 is connected to the lifting mechanism 800 that drives it to rise and fall, the screw supply 100, the screw conveying pipe, the connection The component 300 , the screw positioner 400 , the screw driver 700 and the lifting mechanism 800 are located on a carrier 500 , and the carrier 500 may be a board or other supporting structures.

The screwdriver 700 can be various known electric screwdrivers. In order to ensure the stability of the screwdriver grasping the screw, the end of the screwdriver can form a negative pressure, so that the screw can be adsorbed by vacuum.

Specifically, as shown in FIG. 21 , the screwdriver 700 includes a casing 710 , a power supply located in the casing 710 , a control board, a motor, a transmission mechanism, and other structures that conventional screwdrivers have. The bit 720 is driven by the motor to rotate and extend out of the casing. The bit 720 can be various feasible bits, which can be adjusted according to the type of screw to be screwed, and the end of the bit has Therefore, the screws on the screw locator 400 can be magnetically attracted effectively. Preferably, the bit 720 includes three

sections

721 , 722 and 723 , the upper two sections are cylindrical, and the cross-sectional shape of the lowermost section 723 is inline shape, cross shape, triangle shape or hexagon shape.

As shown in FIG. 21 , the front end of the housing 710 is provided with a head 730 , the head 730 is coaxial with the bit 720 , and a tube communicating with the inner cavity of the head 730 is disposed on the side wall. Joints 740, the pipe joints 740 are symmetrically arranged on both sides of the head 730, and the connection point between the pipe joint 740 and the head 730 is located at the lower end of the partition plate 731 in the head 730, so as to facilitate Subsequent vacuum adsorption.

As shown in FIG. 21 , the head 730 is coaxially connected to the first air duct 750 , and the first air duct 750 is movably limited in the inner cavity of the head 720 by a limiting sleeve 770 . The first air duct 750 can reciprocate along the axial direction of the bit. At the same time, the upper end of the first air duct 750 abuts or is fixed with one end of a spring 770 set on the outer periphery of the bit 720 and partially located in the groove of the upper end of the spring 770, and the other end of the spring 770 is connected to the The partition plate 731 is abutted or fixed, so that the first air duct 750 can float for a certain stroke along the extending direction of the bit 720 .

As shown in FIG. 21 , the lower end of the first air duct 750 is coaxially connected to a second air duct 760 . The second air duct 760 and the first air duct 750 together form an air duct, and the second air duct 760 The second air duct 760 and the first air duct 750 are connected and fixed by a fixing member 780 and are sleeved on the outer periphery of the bit head 720 . As shown in FIG. 22 and FIG. 23 , the lower end area on the center hole of the second air duct 760 is a countersink 761 , the countersink 761 is coaxial with the bit 720 , and the countersink 761 is coaxial with the bit 720 . The diameter of the lower circular hole 7611 (the lower hole section of the counterbore) is larger than the diameter of the upper circular hole 7612. At the same time, the diameter of the lower hole 7611 is equal to the diameter of the tail of the screw to be screwed and slightly larger than the diameter of the tail of the screw, so that the screw can be effectively limited, and the depth of the lower hole 7611 is larger than that of the screw to be locked The thickness of the tail of the screw. The diameter of the upper circular hole 7612 is equal to or slightly larger than the maximum diameter of the lowermost section 723 of the bit 720 . At this time, in order to ensure the smooth circulation of the air flow, as shown in FIG. 23, a circular arc-shaped gap 7613 is concavely formed at the hole wall of the upper circular hole 7612. Of course, the gap 7613 can also be of other shapes. , so that even after the bit is in contact with the hole wall of the upper circular hole 7612 , airflow can still be achieved through the gap 7613 .

Of course, in other embodiments, the counterbore 761 can also be a straight hole, the straight hole is a round hole, and the diameter of the round hole is slightly larger than the maximum diameter of the lowermost section 723 of the bit 720 diameter or equivalent.

The end of the bit 720 can be slightly protruded out of the end surface of the second air duct 760 under normal conditions, or it can be located in the first air duct 760. In a preferred structure, the end of the bit 720 It extends into the lower circular hole 7611 of the counterbore, and does not protrude beyond the end surface of the first air duct 760. More preferably, the length of the bit extending into the lower circular hole 7611 is the same as the length to be The depth of the torque transmission groove at the end of the locking screw is comparable.

Of course, in other embodiments, the screwdriver 700 may also have other feasible structures. For example, as shown in FIG. 24 , it also includes the structures of a conventional screwdriver such as a casing, a bit, and a power supply. The front end of the housing 710a is provided with a head 730a, the head 730a is connected to an air duct 750a through a locking sleeve 740a, the air duct 750a is inserted into the socket of the head 730a and can be opposite to the head 730a moves along its axial direction, the upper end of the air duct 750a is formed with a counterbore, the stepped surface in the counterbore is connected with the lower end of a spring 760a, and the upper end of the spring 760a abuts in the head 730a below the bearing. A pair of coaxial through holes 751a are formed on the air duct 750a, and pipe joints (not shown in the figure) are respectively provided at the through holes. The trachea for sucking the screw, the straw 770a is sleeved on the outer periphery of the bit 200a and the end of the bit is flush with the end of the straw 770a under normal conditions, and the diameter of the end region of the central hole of the straw 770a It is smaller than the pipe diameter of the upper area, but the pipe diameter of the end area is slightly larger than the diameter of the end portion of the bit 200a, so that it can effectively form a negative pressure at the lower end of the suction pipe 770a after the pipe joint 740a is connected to the suction pipe. Press to attach the screw. And, as shown in FIG. 25 , the end of the central hole is a counterbore 772a, the lower hole section of the counterbore is in the shape of a truncated cone that matches the tail of the screw, and the hole of the upper straight hole section of the counterbore is in the shape of a truncated cone. Several grooves 771a are formed on the wall, so that the cross-sectional shape of the hole in the end region of the central hole of the suction pipe 770a is close to a trident or spline shape, which is convenient for air in and out.

The lifting mechanism 800 for driving the screwdriver 700 can be any known mechanism capable of generating linear movement, such as an air cylinder, an oil cylinder, etc. In a preferred embodiment, as shown in FIG. 26 , the lifting mechanism 800 Including a motor 810, the motor shaft of the motor 810 is connected to the pulley 820, the pulley 820 is connected to the driven pulley 840 through the synchronous belt 830, the driven pulley 840 is connected to the screw of the lead screw 850, and the movable block of the lead screw 850 Connect the screwdriver 700.

Further, as shown in FIG. 26, the screwdriver 700 is connected to the lifting mechanism 800 through the floating mechanism 900, so that the impact of the screwdriver 700 can be effectively buffered when working. Specifically, the floating mechanism 900 includes a The mounting plate 910 connected with the movable block of the lead screw 850, the mounting plate 910 is provided with two guide pieces 920, the guide pieces 920 are slidably provided with a sliding piece 930, and the sliding piece is slidable The guide member 920 is provided with a spring 950 between the sliding member 930 and the installation plate 910 on the outer periphery of the guide member 920 .

At the same time, in order to effectively control the force when screwing the screw, a pressure sensor (not shown in the figure) is provided at the floating mechanism 900, and the pressure sensor can be arranged on the upper end of the spring 950, and of course can also be placed on other Possible locations are, for example, between the mounting plate 910 and the slider 930 .

As shown in FIG. 27 , when the screw conveying device has two screw positioners 400 , one screw driver 700 is disposed above each screw positioner 400 , and each screw driver 700 is connected to a screw driver 700 . The lifting mechanism 800 that drives the lifting and lowering mechanism 800, at this time, in order to facilitate the installation of the two motors 810a, as shown in FIG. The shaft faces downward and is connected to a pulley (not shown in the figure), the pulley is connected to a driven pulley 840a through a timing belt 830a, and the driven pulley 840a is connected to the screw of a lead screw 850a, and the lead screw 850a is fixed On the inner side of the stand, and the driven pulley 840a is located below the lead screw 850a, the movable block of the lead screw 850a is connected to a sliding plate 860a through a connecting block 820a, and the sliding plate 860a can slide The screwdriver 700 is arranged on the guide rail 870a on the stand, the screwdriver 700 is arranged on the sliding plate 860a, and the lifting mechanism 800 drives the bit head of the screwdriver 700 from the top of the screw locator 400 Move to below the screw positioner 400 .

As shown in FIG. 28 , in this embodiment, the floating mechanism 900 in the single screwdriver structure can be omitted, and the screwdriver 700 can be directly connected to the lifting mechanism 800 through a pressure testing mechanism 5000, the pressure testing mechanism 5000 includes a mounting plate 5100 fixed on the top of the sliding plate 860a, a pressure sensor 5200 is arranged below the mounting plate 5100, a connecting bolt 5300 is arranged below the pressure sensor 5200, and the connecting bolt 5300 is fixed to a bolt seat 5400 Above, the bolt seat 5400 is fixed on a lifting plate 5500, the lifting plate 5500 is movably arranged on the sliding guide rail 5600 provided on the front end surface of the sliding plate 860a, and the lower end of the sliding plate 860a is provided with a limited The limiting plate 5700 at the lowest position of the lifting plate 5500 .

When the screwdriver 700 only has a lifting action, the screw locking of different workpieces and different positions on the workpiece can be realized by moving the workpiece.

In actual work, as shown in Fig. 29 and Fig. 30, a moving device 2000 is used to drive the carrier 500 to move, so as to drive all the structures on it to move as a whole. The moving device 2000 can be various feasible Mobile equipment, such as a six-axis robot or a multi-axis mobile module or a manually controlled moving mechanism, such as a balance crane, etc., when the automatic control of the movement of the carrier 500 is adopted, the control program of the control software in the controller can be used according to the setting. The movement control of the carrier is carried out through a predetermined path, and the movement control of the carrier can also be carried out by means of visual positioning. Therefore, as shown in FIG. 1, the screw locking machine also includes an image acquisition device 1000. The acquisition device 1000 can also be used to acquire images after screwing to determine whether there is any missing screwing or unsatisfactory screwing. Of course, in order to ensure that each point is screwed with screws and the screws are tightened to meet the requirements and avoid skewing, the screw locking machine also includes a laser sensor (not shown in the figure), and the laser sensor can be a laser rangefinder. or a feasible device such as a laser flatness measuring instrument.

When the whole device is working, the work of each part can be controlled by the controller in combination with various sensors, etc. The implementation of the specific control process is a known technology, which will not be repeated here.

When the whole equipment works, its working process is as follows:

S1, the lifting mechanism 800 moves the screwdriver 700 to the feeding height. Of course, in other embodiments, the trachea of the screwdriver 700 is normally located in the reclaiming channel 440. During subsequent work, each screw When the batch 700 is reset and the two jaws are closed, the trachea is still located in the reclaiming channel 440 .

S2, the cylinder 410 of the screw positioner 400 drives the two claw bodies 420 to close, at this time, the feeding end of the screw conveying channel 430 formed by them is butted with the discharging end of the transfer channel, and the The lower end of the trachea of the screw driver 700 is inserted into the reclaiming channel 440 .

S3, the connecting hole 310 is butted with the discharge port of the screw supplier 100. At this time, the screw supplier 100 supplies a screw into the connecting hole 310.

S4, the air cylinder 371 of the translation mechanism 370 is activated to drive the engaging member 300 to move to the second position, until the engaging hole 310 is connected to the feeding end of the conveying hole 210.

S5, supply air into the connecting hole 310 through the air supply pipeline to transfer the screw in the connecting hole 310 to the conveying hole 210, and at the same time continue to supply air until the screw moves to the inside of the screw conveying channel 430 The feeding position of the end. At this time, whether the screw enters the inner end of the screw conveying channel 430 can also be determined by a sensor.

S6, the air extraction pipeline connected to the screw driver 700 starts to air extraction, so that the lower end of the air tube forms a negative pressure to adsorb the screw in the counterbore at the end thereof.

S7, maintaining the negative pressure at the lower end of the trachea, the motor in the screwdriver 700 drives the bit head 720 to rotate at a low speed, and makes the distal end of the bit head 720 embedded in the tail of the screwdriver The two are connected in the torque transmission groove on the end face, and after the torque transmission connection, the bit head can keep rotating at a low speed, or can stop rotating. At this time, the rotational speed of the motor of the screwdriver is controlled below 500 rpm. In this scheme, the bit is rotated at a low speed before the locking action, and when the end of the bit is rotated to connect with the torque transmission groove on the end face of the screw, the screw can move to the bit under the action of the adsorption force, so that the The end of the batch head is inserted into the torque transmission slot to realize the torque transmission connection, and then when the screw is locked, the screw can be positioned by the bit head, so that it will not tilt when it contacts the hole to be connected, effectively The quality of locking is guaranteed, the effectiveness of locking is improved, and the efficiency of multi-point locking is improved. Combined with the motor speed control when the batch head rotates at low speed, the position adjustment and torque transmission connection between the batch head and the screw can be effectively realized, and the stability is improved.

S8, keep evacuating the trachea, and judge whether the vacuum degree in the trachea meets the requirements, according to the vacuum degree in the trachea, it can be judged whether the state of the screw on the bit meets the requirements, that is, determine whether the bit head 720 and the screw are The torque transmission connection is effective. When the torque transmission connection is effective, the screw is coaxial with the bit head and the end of the bit head is inserted into the torque transmission groove of the screw. At this time, the bit head can lock the screw. Effectively ensure the coaxial state of the screw and the screw hole, ensure the effectiveness of the screw locking, and avoid the skewed state when the screw is locked. The specific judgment principle is: when the bit head is connected with the screw in a twisted manner, the tail of the screw can effectively cover the upper round hole 7612 of the counterbore 761. At this time, the vacuum in the trachea The degree of rotation is higher than when the screw and the bit are not effectively torque-transmitting connection, because when the bit is not inserted into the torque-transmitting groove at the end of the screw, the screw is extended into the lower circular hole by the bit. Therefore, the end face of the screw cannot fit with the fitting surface of the counterbore 761, and there is a gap. At this time, gas will continue to be drawn into the trachea, and the vacuum degree is relatively low, so it can be judged by the vacuum degree. .

S9, when the state of the screw meets the requirements, perform the locking operation according to the following S30-S40; when it is determined that the state of the screw on the bit does not meet the requirements according to the degree of vacuum, stop the vacuuming of the trachea, and apply the vacuum to the Blowing air in the trachea makes the end of the trachea form a positive pressure, so that the screw on the bit head is blown away from the bit head and discarded. At disposal, the screws can be discarded into a recycling container or screw feeder. In the specific operation, the two claw bodies can be opened first, and then the screwdriver is moved to the upper opening of the recycling container or screw feeder for disposal. After disposal, the two claw bodies are closed again for feeding. Of course, when discarding, the screw can also be directly blown back into the screw conveying channel.

Here, the vacuum degree is used to judge whether the torque transmission connection between the screw and the bit is effective. If the screw is not up to standard, the corresponding screw is discarded, which greatly ensures that the screw and the bit are reliably connected in torque transmission. The low level ensures the quality of the lock.

S10, suck a screw from the screw positioner 400 again through the trachea. At this time, the screw can be a newly delivered screw or a screw discarded by the trachea, and repeat steps S7-S9 to the trachea. If the vacuum degree meets the requirements, the locking action can be performed.

S20, the moving device 2000 drives the screwdriver to move to the position where the screw is to be screwed.

S30, the end of the trachea maintains negative pressure, and the cylinder 410 of the screw positioner 400 drives the two claw bodies 420 to open.

S40, the lifting mechanism 800 drives the screwdriver to move down to the target position, and the motor of the screwdriver starts to drive the bit head to drive the screw to rotate to achieve locking.

S50, the process of S1-40 is repeated.

Of course, the above process is not the only limitation to the specific locking process, for example, the S20 may be performed before or after any other step. Alternatively, the claw body can also be closed first, and then the screwdriver is inserted into the reclaiming channel formed on the claw body. Of course, when the claw body is opened, the connecting piece can also move to the first position to take material at the same time. And when the claw body is closed, the engaging piece moves to the second position synchronously. Alternatively, in other embodiments, some of the above steps may be omitted. For example, after the batch head rotates at a low speed, the process of judging the degree of vacuum in the trachea may not be performed. It is even possible to directly perform the process of judging the vacuum degree in the trachea without performing the low-speed rotation process of the batch head, but in this way, the efficiency of material reclaiming is relatively low.

The screw locking machine of this solution is used for screw locking of various handheld devices, and the handheld devices can be electronic devices such as mobile phones, tablet computers, PDAs, notebook computers, code readers, etc.

The present invention still has multiple embodiments, and all technical solutions formed by using equivalent transformations or equivalent transformations fall within the protection scope of the present invention.

Claims

The screw locking machine includes a screwdriver whose lower end can form a negative pressure and a mechanism for driving the screwdriver to move, and is characterized in that: it also includes

A screw locator, which comprises a screw conveying channel with a T-shaped longitudinal section, a reclaiming channel whose extension direction is perpendicular to the screw conveying channel is connected above the screw conveying channel, and the outer end of the reclaiming channel is upward;

The feed end of the screw conveying channel is connected to the discharge port of the screw feeder or directly connected to the discharge port of the screw feeder through the screw conveying pipe, and the longitudinal cross-sectional shape of the conveying hole of the screw conveying pipe is the same as that of the screw conveying pipe. A T-shape matching the channel, and the longitudinal section shape of the outlet of the screw feeder is a T-shape matching the screw conveying channel.
The screw locking machine according to claim 1, characterized in that: the outer periphery of the bit head of the screw driver is coaxially sleeved with a trachea, the trachea floats along the axial direction of the bit head, and the central hole of the trachea The lower end area is a counterbore, and the lower end of the bit extends to the lower hole section of the counterbore normally, and the length extending into the lower hole section is equivalent to the depth of the torque transmission hole of the screw to be locked.
The screw locking machine according to claim 1, wherein the screw positioner comprises two claw bodies which are driven to open and close by a power source, and the bit head of the screw driver is coaxial with the reclaiming channel, The mechanism for driving the screwdriver to move at least includes a lifting mechanism for driving the screwdriver to move above and below the screw positioner.
The screw locking machine according to claim 3, wherein the feeding end of the screw conveying pipe or the feeding end of the screw conveying channel passes through a connecting piece on a connecting piece that moves between the first position and the second position. The connecting hole is connected with the discharge port of the screw feeder, and the connecting hole is consistent with the cross-sectional shape of the screw conveying channel.
The screw locking machine according to claim 3, characterized in that: there are two screwdrivers and are respectively connected with a lifting mechanism, and the bit head of each screwdriver is coaxial with the reclaiming channel of a screw positioner , each screw locator is connected with one of the screw conveying pipes, and the two screw conveying pipes are connected with the discharge port of the screw supply through a connecting hole on the connecting piece that moves between the first position and the second position , the connecting hole is consistent with the cross-sectional shape of the screw conveying channel.
The screw positioner according to claim 4 or 5, characterized in that: the reclaiming channel is located at the end of the screw conveying channel, and in a state where the connecting hole is connected to the screw conveying channel or the conveying hole, the The screw conveying channel or the conveying hole is communicated with the outlet end of the conveying driving hole, the inlet end of the conveying driving hole is connected to the air supply pipeline, and the screw positioning channel and/or the material reclaiming channel is connected with the exhaust channel.
The screw locking machine according to claim 3, wherein the screwdriver is connected to the lifting mechanism through a floating mechanism and/or a pressure testing mechanism.
The screw locking robot according to claim 3, further comprising an image acquisition device and/or a laser sensor.
The screw locking machine according to claim 3, wherein the screw supply, the screw conveying pipe, the connecting piece, the screw positioner, the screw driver and the lifting mechanism are arranged on a carrier board, and the carrier board is connected to the on the mechanism that drives it to move at least horizontally.
The screw-locking robot according to claim 9, wherein the carrier plate is the base plate of the front-stage joint of the four-axis mobile robot, and the power source of the lifting mechanism is the motor of the front-stage joint.
The screw locking machine according to any one of claims 1-10, characterized in that it is used for screw locking of handheld devices.
Screw conveying device, it is characterized in that: comprise at least

A screw locator, which comprises a screw conveying channel with a T-shaped longitudinal section, a reclaiming channel whose extension direction is perpendicular to the screw conveying channel is connected above the screw conveying channel, and the outer end of the reclaiming channel is upward;

The feed end of the screw conveying channel is connected to the discharge port of the screw feeder or directly connected to the discharge port of the screw feeder through the screw conveying pipe, and the longitudinal cross-sectional shape of the conveying hole of the screw conveying pipe is the same as that of the screw conveying pipe. A T-shape matching the channel, and the longitudinal section shape of the outlet of the screw feeder is a T-shape matching the screw conveying channel.
The screw conveying device according to claim 12, wherein the screw conveying pipe is a straight line or an S shape with a height difference at both ends.
The screw delivery device according to claim 12, wherein the screw delivery tube is assembled from at least two components.
The screw conveying device according to claim 12, wherein the screw positioner comprises two claw bodies and a power source for driving them to open and close, and the two claw bodies form the screw conveying passage and the two claw bodies in a closed state. Pickup channel.
The screw conveying device according to any one of claims 12-15, wherein the discharge port of the screw feeder is provided with a connecting piece that moves between the first position and the second position, and the connecting piece is formed on the connecting piece. There are connecting holes consistent with the cross-sectional shape of the screw conveying channel,

At the first position, the feeding end of the connecting hole is butted with the discharging port of the screw feeder;

At the second position, the discharge end of the connecting hole is butted with the feeding end of the screw conveying pipe, and the feeding end of the connecting hole is butted with a conveying driving hole.
The screw conveying device according to claim 16, wherein there are two screw conveying pipes, the discharge ends of the two conveying holes are respectively connected with a screw positioner, and the two screw conveying pipes pass through The connector is connected with a screw supply.
The screw conveying device according to claim 16, wherein the reclaiming channel is located at the end of the screw conveying channel, and in a state where the connecting hole and the conveying hole are butted, the feeding end of the conveying hole is connected to a The outlet ends of the conveying drive holes communicate with each other.
The screw conveying device is characterized in that: at least it includes

The screw conveying pipe has a T-shaped longitudinal section of the conveying hole;

The screw locator comprises a screw conveying channel which is consistent with the longitudinal cross-sectional shape of the conveying hole and is butted with the discharge end of the conveying hole.
The screw positioner is characterized in that it includes a screw positioning channel with one end exposed and a reclaiming channel communicated with it. Above, the extending direction of the reclaiming channel is perpendicular to the extending direction of the screw positioning channel, and the reclaiming channel and the screw positioning channel are composed of two claw bodies that are driven to open and close by a power source.
The screw locking method is characterized in that: at least the following steps are included:

Provide the screw locking machine according to any one of claims 1-10;

The trachea of the screwdriver moves to the reclaiming channel of the screw positioner;

The screw supply machine delivers a screw to the connecting hole of the connecting piece;

The connecting piece is moved to the connecting hole and the feeding end of the conveying hole is butted;

Blowing or pushing the screw in the connecting hole to the position in the screw positioning channel that is directly opposite to the reclaiming channel;

The screwdriver adsorbs the screws in the reclaiming channel;

The screwdriver moves the target position for locking.
The screw locking method according to claim 21, wherein:

Before conveying the screw to the screw conveying channel, the two claw bodies of the screw positioner are closed to form a reclaiming channel and a screw conveying channel;

When locking, the two claw bodies of the screw positioner are opened first;

The lifting mechanism drives the screwdriver to move down, and the motor of the screwdriver starts to lock the screw;

After the locking is completed, the screwdriver is lifted and reset, the two claw bodies are closed, and the screw is conveyed to the screw conveying channel again.
The screw locking method according to claim 21, wherein: after sucking the screw and before locking the screw, the end of the trachea is kept at a negative pressure, and the bit rotates at a low speed, so that its front end is inserted into the It is connected with the screw in the torque transmission groove of the screw.
The screw locking method according to claim 23, wherein the rotational speed of the motor driving the low-speed rotation of the bit head does not exceed 500 rpm.
The screw locking method according to claim 23, characterized in that: after the bit rotates at a low speed and before locking the screw, it further comprises the following steps:

Determine whether the vacuum degree in the trachea meets the requirements;

When the vacuum degree meets the requirements, the screw locking action is performed;

When the vacuum degree does not meet the requirements, the lower end of the trachea forms a positive pressure to discard the screw on the bit head, and then the trachea re-adsorbs a screw in feeding, and then the bit head rotates at a low speed; judge again whether the vacuum degree in the trachea meets the requirements requirements, and select follow-up actions according to the judgment results until the vacuum degree in the trachea meets the requirements.