An automatic tightening device applicable to single-strap gasket screws

Abstract

An automatic tightening device applicable to a single-strap gasket screw, comprising a frame, a conveying line body fixed on the frame for completing material conveying, an upper and lower return lifting device respectively docked at both ends of the conveying line body, a first robotic arm device fixed on the frame for screw tightening and positioning actions, a second robotic arm device fixed on the frame for screw picking and placing and positioning actions, a screw feeding device fixed on the frame, and a screw tightening device arranged on the first robotic arm device. The automatic tightening device of the present invention solves the problem of gasket picking and placing that cannot be achieved in the automatic tightening of single-strap gasket screws by the method of gripping screws from the screw feeding tray by the screw picking and placing jaws; through the integration of a four-axis robotic arm and a vision system, the device can simultaneously meet the automatic tightening of various specifications of products, realizing flexible automatic production, improving the automation ability of the tightening process and the production efficiency of the process.

Description

Technical Field

[0001] The present invention belongs to the technical field of screw tightening, and particularly relates to an automatic tightening device applicable to a flat head screw with a washer. Background Art

[0002] In the actual production of electrical assembly parts such as circuit boards, the fixing method is mostly realized by screwing the screws, and the screwing and assembling process is often completed manually or by an automatic tightening device. The manual assembly operation is mainly to pick up and place the screw into the screw hole and tighten it with a tightening wrench by hand; the automatic tightening device is a device that picks up and places the screw to the designated screw hole position through a motion module and tightens it. The manual assembly method has flexible operation, can adapt to the tightening of various specifications of screws, and can identify and eliminate the visibly poor installations, but has the disadvantages of high labor intensity, high labor cost, and low production efficiency. The existing automatic tightening devices can now realize tightening methods such as blowing and sucking the screws, but there is a problem of single applicable screw specification, lack of flexibility, and the alignment of the flat head groove and the picking and placing of the washer involved in the tightening of the flat head screw with a washer cannot be applied.

[0003] Therefore, it is necessary to provide a new automatic tightening device that meets the requirements of the flat head screw with a washer to solve the above problems. Summary of the Invention

[0004] In view of the deficiencies of the prior art, the present invention provides an automatic tightening device applicable to a flat head screw with a washer, and the specific technical solutions are as follows:

[0005] An automatic tightening device applicable to a flat head screw with a washer, comprising a frame, a conveyor line body fixed on the frame for completing material transportation, an up and down return lifting device respectively docked at both ends of the conveyor line body, a first robotic arm device fixed on the frame for screw tightening and positioning actions, a second robotic arm device fixed on the frame for screw picking and placing and positioning actions, a screw feeding device fixed on the frame, and a screw tightening device arranged on the first robotic arm device.

[0006] Further, the conveyor line body includes a conveyor line, a feeding stop cylinder, a working position stop cylinder and a cylinder lifting and positioning mechanism installed on the conveyor line, and a carrier tray rotating on the conveyor line.

[0007] Further, the up and down return lifting device includes a hoist, a conveyor belt line arranged on the hoist and an up and down lifting cylinder, the conveyor belt line is docked with one end of the corresponding conveyor line, and the conveyor belt line realizes lifting through the up and down lifting cylinder.

[0008] Further, the first robotic arm device includes a first support fixed to the frame and a first four-axis robotic arm fixed to the first support. A power output end of the first four-axis robotic arm is connected with the screw tightening device.

[0009] Further, the second robotic arm device includes a second support fixed to the frame, a second four-axis robotic arm fixed to the second support, a screw picking and placing jaw device fixed to the second four-axis robotic arm, and a first upper vision camera fixed to the screw picking and placing jaw device.

[0010] Further, the screw picking and placing jaw device includes a first fixing base fixed to the second four-axis robotic arm, a connecting arm vertically connected to a lower end of the first fixing base, and a screw picking and placing jaw disposed at a bottom end of the connecting arm. The screw picking and placing jaw realizes screw picking and placing through linkage of a power output end of the second four-axis robotic arm. A tail end of the first upper vision camera is connected to the first fixing base, and a photographing end of the first upper vision camera faces the screw picking and placing jaw and is arranged parallel to the connecting arm.

[0011] Further, the screw tightening device includes a second fixing base fixed to a power output end of the first four-axis robotic arm, a tightening screwdriver fixed to the second fixing base, a second upper vision camera fixed to the second fixing base, a first upper and lower air cylinder fixed to the second fixing base, an inner jaw connected to the first upper and lower air cylinder, a second upper and lower air cylinder fixed to the second fixing base, and an outer jaw connected to the second upper and lower air cylinder.

[0012] Further, the screw feeding device includes a placing base fixed to the frame and four groups of screw feeding trays arranged on the placing base.

[0013] The beneficial effects of the present invention are as follows:

[0014] The automatic tightening equipment of the present invention adopts a method of placing with multiple groups of feeding trays, which can meet the simultaneous feeding, picking and placing of screws of multiple different specifications. At the same time, the problem of gasket picking and placing that cannot be realized in the automatic tightening of flat head screws with gaskets is solved by the way of picking screws from the screw feeding tray by the screw picking and placing jaw. And it can judge the screw type through the upper vision camera and calculate the angle of the flat head of the screw to cooperate with the robotic arm for slot alignment, ensuring the reliability of the flat head screw automatically tightened into the slot. In addition, through the integration of the four-axis robotic arm and the vision system, the equipment can simultaneously meet the automatic tightening of products of multiple specifications, realizing flexible automatic production, improving the automation ability of the tightening process and the production efficiency of the process. Description of the Drawings

[0015] Figure 1Shows the overall structural schematic diagram of the present invention;

[0016] Figure 2 Shows the assembly structural schematic diagram of the first robotic arm device and the screw tightening device of the present invention;

[0017] Figure 3 Shows the structural schematic diagram of the screw tightening device of the present invention;

[0018] Figure 4 Shows the structural schematic diagram of the second robotic arm device of the present invention;

[0019] Figure 5 Shows the structural schematic diagram of the conveying line body of the present invention;

[0020] Figure 6 Shows the structural schematic diagram of the up and down reflux lifting device of the present invention;

[0021] Figure 7 Shows the structural schematic diagram of the screw feeding device of the present invention.

[0022] As shown in the figure: 1. Frame; 2. Conveying line body; 21. Conveyor line; 22. Feeding stop cylinder; 23. Working position stop cylinder; 24. Cylinder lifting and positioning mechanism; 25. Trolley carrier tray; 3. Up and down reflux lifting device; 31. Hoist; 32. Conveyor belt line; 33. Up and down lifting cylinder; 4. First robotic arm device; 41. First support; 42. First four-axis robotic arm; 5. Second robotic arm device; 51. Second support; 52. Second four-axis robotic arm; 53. Screw picking and placing jaw device; 531. First fixed seat; 532. Connecting arm; 533. Screw picking and placing jaw; 54. First upper vision camera; 6. Screw feeding device; 61. Placing base; 62. Screw feeding tray; 7. Screw tightening device; 71. Second fixed seat; 72. Tightening screwdriver; 73. Second upper vision camera; 74. First up and down cylinder; 75. Second up and down cylinder; 76. Inner jaw; 77. Outer jaw. Detailed implementation manners

[0023] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below in conjunction with embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0024] As Figure 1As shown, an automatic tightening device suitable for straight-belt gasket screws includes a frame 1, a conveyor line body 2 fixed on the frame 1 for completing material transportation, an upper and lower reflux lifting device 3 respectively connected to the two ends of the conveyor line body 2, a first mechanical arm device 4 fixed on the frame 1 for screw tightening and positioning action, a second mechanical arm device 5 fixed on the frame 1 for screw picking and placing positioning action, a screw feeding device 6 fixed on the frame 1, and a screw tightening device 7 arranged on the first mechanical arm device 4.

[0025] The conveyor line body 2 is connected with the upper and lower reflux lifting devices 3 on the outside of the frame 1 to form a reflux flow line for the transportation of the product materials to be processed so as to realize continuous automatic production of the equipment.

[0026] like Figure 5 As shown, the conveyor line body 2 includes a conveyor line 21, a feed stop cylinder 22 installed on the conveyor line 21, a working position stop cylinder 23 and a cylinder lifting and positioning mechanism 24, and a carrier plate 25 arranged to circulate on the conveyor line 21.

[0027] like Figure 6 As shown, the up and down reflux lifting device 3 includes a hoist 31, a conveyor belt line 32 and an up and down lifting cylinder 33 arranged on the hoist 31. The conveyor belt line 32 is connected to one end of the corresponding conveyor line 21, and the conveyor belt line 32 is lifted and lowered by the up and down lifting cylinder 33.

[0028] like Figure 2 As shown, the first robotic arm device 4 includes a first support 41 fixed on the frame 1, a first four-axis robotic arm 42 fixed on the first support 41, and a power output end of the first four-axis robotic arm 42 is connected to the screw tightening device 7.

[0029] like Figure 4 As shown, the second robotic arm device 5 includes a second support 51 fixed on the frame 1, a second four-axis robotic arm 52 fixed on the second support 51, a screw picking and placing clamping device 53 fixed on the second four-axis robotic arm 52, and a first upper visual camera 54 fixed on the screw picking and placing clamping device 53.

[0030] like Figure 4As shown in the figure, the screw picking and placing jaw device 53 includes a first fixed seat 531 fixed on the second four-axis robotic arm 52, a connecting arm 532 vertically connected to the lower end of the first fixed seat 531, and a screw picking and placing jaw 533 arranged at the bottom end of the connecting arm 532. The screw picking and placing jaw 533 realizes the picking and placing of screws through the linkage of the power output end of the second four-axis robotic arm 52. The tail end of the first upper vision camera 54 is connected to the first fixed seat 531, and the photographing end of the first upper vision camera 54 faces the screw picking and placing jaw 533 and is arranged parallel to the connecting arm 532.

[0031] Through the above technical solution, the screw picking and placing jaw device 53 is fixed on the flange of the second four-axis robotic arm 52. During operation, the second four-axis robotic arm 52 moves to the picking position of the screw feeding device 6. The screw picking and placing jaw 533 opens to pick up the screw. After picking up is completed, the second four-axis robotic arm 52 moves to the screw discharging position. The screw picking and placing jaw 533 opens to place the screw. After the screw is placed, the entire picking and placing operation is completed.

[0032] As Figure 3 shown in the figure, the screw tightening device 7 includes a second fixed seat 71 fixed on the power output end of the first four-axis robotic arm 42, a tightening screwdriver 72 fixed on the second fixed seat 71, a second upper vision camera 73 fixed on the second fixed seat 71, a first upper and lower air cylinder 74 fixed on the second fixed seat 71, an inner jaw 76 connected to the first upper and lower air cylinder 74, a second upper and lower air cylinder 75 fixed on the second fixed seat 71, and an outer jaw 77 connected to the second upper and lower air cylinder 75.

[0033] Through the above technical solution, the first robotic arm device 4 and the screw tightening device 7 are fixed on the mounting flange of the first four-axis robotic arm 42 through the second fixed seat 71, enabling the screw tightening device 7 to complete the realization of the screw tightening operation at various positions following the movement of the first four-axis robotic arm 42. During operation, the first four-axis robotic arm 42 moves to the screw discharging position of the second four-axis robotic arm 52. The inner jaw 76 and the outer jaw 77 move to pick up the screw. The first four-axis robotic arm 42 moves to the screw hole position of the workpiece to be processed. The inner jaw 76 and the outer jaw 77 open, place the screw into the screw hole, and the tightening screwdriver 72 starts to tighten the screw.

[0034] As Figure 7 shown in the figure, the screw feeding device 6 includes a placing base 61 fixed on the frame 1 and four groups of screw feeding trays 62 arranged on the placing base 61.

[0035] The working principle of the present invention is:

[0036] Step 1: Loading. The product to be screwed is fixed on the carrier tray 25 in advance. The carrier tray 25 is placed in the waiting material area of the conveying line body 2. When the equipment starts, the carrier tray 25 is automatically sent into the working position of the equipment; for screw feeding, the screw feeding tray 62 is placed in the screw feeding area in advance, and the equipment automatically grabs the screws in the corresponding screw feeding tray 62 according to the production requirements.

[0037] Step 2: Product identification. The carrier tray 25 carrying the product in Step 1 enters the working position and automatically completes the precise positioning action. The first four-axis robotic arm 42 moves to the product photographing position, takes an image to calculate the installation position of the screw hole, and then grabs the screw for the tightening action.

[0038] Step 3: Automatic screw feeding. The second four-axis robotic arm 52 takes out the screws of the corresponding specification according to the production instruction. The second four-axis robotic arm 52 moves to the screw picking position, the screw picking and placing jaw 533 opens to grab the screw. After the grabbing is completed, the second four-axis robotic arm 52 moves to the screw placing position, and the screw picking and placing jaw 533 opens to release the screw. The second upper vision camera 73 takes a photo to calculate the angle of the slot of the current straight screw. After the calculation is completed, the second four-axis robotic arm 52 continues to complete the next picking action and sends the calculation result to the first robotic arm device 4 at the same time.

[0039] Step 4: According to the angle result of the straight screw calculated by the second upper vision camera 73, the first robotic arm device 4 starts the tightening screwdriver 72 and rotates it by a specified angle. The first four-axis robotic arm 42 moves to accurately align the tip of the tightening screwdriver 72 with the slot of the screw at the screw placing position. At the same time, the inner jaw 76 and the outer jaw 77 cooperate to grab the screw. The inner jaw 76 grabs the screw head part of the straight screw, and the outer jaw 77 grabs the screw rod part of the straight screw. After the grabbing is completed, the first four-axis robotic arm 42 moves to send the screw into the tightening screw hole position. After reaching the specified position, the outer jaw 77 releases, and the screw enters the screw hole. Then the inner jaw 76 releases, and the tightening screwdriver 72 is started to tighten the screw; when the tightening screwdriver 72 is started, the first upper and lower cylinder 74 and the second upper and lower cylinder 75 move to lift the inner jaw 76 installed on the first upper and lower cylinder 74 and the outer jaw 77 installed on the second upper and lower cylinder 75 at the same time to avoid the space at the screw tightening position; after the above actions are completed, continue to cycle to complete the tightening process of all the screws of the product to be produced.

[0040] Step 5: After the screw tightening process is completed, the conveying line body 2 starts, the working position stop cylinder 23 retracts, and the conveying line 21 conveys the carrier tray 25 (containing the product with the screws tightened) out of the equipment working position and enters the up and down reflux lifting device 3. The up and down reflux lifting device 3 sends the carrier tray 25 into the waiting material processing area for manual removal.

[0041] Repeat the above steps 1-5, and the automatic tightening process of the required production materials can be completed.

[0042] The present invention can stably and efficiently complete the automatic tightening process of slotted screws; realize the full set of automatic tightening process actions of automatic feeding, automatic picking and placing, automatic alignment of screwdriver bits, automatic tightening, and automatic loading and unloading of screws with washers; and effectively detect defective tightened products during assembly through automatic photo screening technology to ensure that the assembled parts meet the quality requirements.

[0043] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An automatic tightening device applicable to a flat washer screw, characterized in that: It includes a frame (1), a conveyor line body (2) fixed on the frame (1) for material conveyance, an up-and-down reflux lifting device (3) respectively docked with both ends of the conveyor line body (2), a first robotic arm device (4) fixed on the frame (1) for screw tightening and positioning actions, a second robotic arm device (5) fixed on the frame (1) for screw picking and placing and positioning actions, a screw feeding device (6) fixed on the frame (1), and a screw tightening device (7) arranged on the first robotic arm device (4); the first robotic arm device (4) includes a first support (41) fixed on the frame (1) and a first four-axis robotic arm (42) fixed on the first support (41), and the power output end of the first four-axis robotic arm (42) is connected with the screw tightening device (7); the second robotic arm device (5) includes a second support (51) fixed on the frame (1), a second four-axis robotic arm (52) fixed on the second support (51), a screw picking and placing jaw device (53) fixed on the second four-axis robotic arm (52), and a first upper vision camera (54) fixed on the screw picking and placing jaw device (53); the screw picking and placing jaw device (53) includes a first fixed seat (531) fixed on the second four-axis robotic arm (52), a connecting arm (532) vertically connected to the lower end of the first fixed seat (531), and a screw picking and placing jaw (533) arranged at the bottom end of the connecting arm (532), and the screw picking and placing jaw (533) realizes screw picking and placing through the linkage of the power output end of the second four-axis robotic arm (52); the tail end of the first upper vision camera (54) is connected with the first fixed seat (531), the photographing end of the first upper vision camera (54) faces the screw picking and placing jaw (533) and is arranged parallel to the connecting arm (532); the screw tightening device (7) includes a second fixed seat (71) fixed on the power output end of the first four-axis robotic arm (42), a tightening screwdriver (72) fixed on the second fixed seat (71), a second upper vision camera (73) fixed on the second fixed seat (71), a first upper and lower air cylinder (74) fixed on the second fixed seat (71), an inner jaw (76) connected with the first upper and lower air cylinder (74), a second upper and lower air cylinder (75) fixed on the second fixed seat (71), and an outer jaw (77) connected with the second upper and lower air cylinder (75);The second upper vision camera (73) takes a photo to calculate the angle of the slot of the current slotted screw. After the calculation is completed, the second four-axis robotic arm (52) moves to continue with the next material taking action, and at the same time sends the calculation result to the first robotic arm device (4). The first robotic arm device (4) starts the screwdriver (72) to rotate by a specified angle according to the slotted screw angle result calculated by the second upper vision camera (73). The first four-axis robotic arm (42) moves to accurately align the tip of the screwdriver (72) with the slot of the screw at the screw feeding position. At the same time, the inner clamping jaw (76) and the outer clamping jaw (77) cooperate to clamp the screw. The inner clamping jaw (76) clamps the screw head part of the slotted screw, and the outer clamping jaw (77) clamps the screw rod part of the slotted screw. After the clamping is completed, the first four-axis robotic arm (42) moves to send the screw to the screw tightening hole position. After reaching the specified position, the outer clamping jaw (77) releases, and the screw enters the screw hole. Then the inner clamping jaw (76) releases, and the screwdriver (72) is started to tighten the screw. At the same time as the screwdriver (72) is started, the first upper and lower air cylinder (74) and the second upper and lower air cylinder (75) move to lift the inner clamping jaw (76) installed on the first upper and lower air cylinder (74) and the outer clamping jaw (77) installed on the second upper and lower air cylinder (75) simultaneously to avoid the space at the screw tightening position.; 2. The automatic tightening device applicable to the single-strap gasket screw according to claim 1, characterized in that: The conveyor line body (2) includes a conveyor line (21), a feeding stop cylinder (22), a working position stop cylinder (23), and a cylinder lifting and positioning mechanism (24) installed on the conveyor line (21), and a carrier tray (25) that rotates on the conveyor line (21).

3. The automatic tightening device applicable to the one-word belt spacer screw according to claim 2, characterized in that: The up and down return lifting device (3) includes a hoist (31), a conveyor belt line (32) provided on the hoist (31), and an up and down lifting cylinder (33). The conveyor belt line (32) is docked with one end of the corresponding conveyor line (21), and the conveyor belt line (32) is lifted and lowered by the up and down lifting cylinder (33).

4. An automatic tightening device applicable to a stud with a flat washer according to claim 1, characterized in that: The screw feeding device (6) includes a placement base (61) fixed on the frame (1) and four groups of screw feeding trays (62) provided on the placement base (61).

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