Disc-shaped workpiece robot automatic tightening device

Abstract

This invention belongs to the field of instrument automation assembly and industrial robot end effector applications. Specifically, it is a circular workpiece robotic automatic tightening device. An automatic screw feeding device, an automatic nut feeding device, and a workpiece positioning fixture are respectively mounted on a base platform. The workpiece to be tightened is placed on the workpiece positioning fixture. The robotic tightening end effector is connected to a robot arm component and has a vision component. The robot arm component drives the robotic tightening end effector to pick up materials from the automatic screw feeding device and the automatic nut feeding device, respectively. After picking up the materials, the robotic tightening end effector moves to the workpiece positioning fixture under the drive of the robot arm component. Positioned by the vision component, the robotic tightening end effector performs the tightening operation on the workpiece. This invention improves the quality, efficiency, and reliability of product production. Combined with the flexible operation of robots, it meets the small-batch, multi-variety production mode of the instrument manufacturing industry.

Description

Technical Field

[0001] This invention belongs to the field of instrument automation assembly and industrial robot end effector application. Specifically, it is a disc-shaped workpiece robot automatic tightening device that can be applied to the automatic assembly line of regulating valves in the instrument field. Background Technology

[0002] Instrumentation is a fundamental means and equipment for measuring and controlling information in the material world. It is an indispensable modern tool for conducting scientific research, developing industrial and agricultural production, improving product quality, saving energy, reducing consumption, protecting the environment, and achieving industrial upgrading and transforming the economic growth model. Instrumentation products mainly consist of components such as valves and flanges. These components require high precision in manufacturing to ensure assembly requirements. In the assembly and manufacturing of valve components, many processes involve screw tightening technology. Currently, the assembly process for instrumentation products suffers from low levels of automation in tightening, inconsistent parts processing quality, and low production efficiency. Summary of the Invention

[0003] To address the aforementioned problems in the assembly process of existing instrumentation products, the present invention aims to provide an automatic tightening device for disc-shaped workpieces using a robot. This automatic tightening device achieves the automatic tightening of screws and nuts on workpieces through the use of robots and automated equipment.

[0004] The objective of this invention is achieved through the following technical solution:

[0005] This invention includes a base fixing platform, an automatic screw feeding device, an automatic nut feeding device, a workpiece positioning fixture, a workpiece to be tightened, a robot tightening end effector, and a robot arm component. The automatic screw feeding device, the automatic nut feeding device, and the workpiece positioning fixture are respectively installed on the base fixing platform. A workpiece to be tightened is placed on the workpiece positioning fixture. The robot tightening end effector is connected to the robot arm component and has a vision component. The robot arm component drives the robot tightening end effector to pick up materials from the automatic screw feeding device and the automatic nut feeding device, respectively. After picking up the materials, the robot tightening end effector moves to the workpiece positioning fixture under the drive of the robot arm component, is positioned by the vision component, and then performs the tightening operation on the workpiece.

[0006] The automatic screw feeding device includes a screw disc vibrator, a screw linear vibrator, a screw moving guide block, a screw vibration fixing frame, and a screw lifting cylinder. The screw disc vibrator, screw linear vibrator, and screw lifting cylinder are respectively fixed on the base fixing platform. The screw linear vibrator is equipped with a screw moving guide block. A batch of screws are placed into the screw disc vibrator for sorting and arrangement. The screws sorted by the screw disc vibrator enter from one end of the screw moving guide block and vibrate forward along the screw moving guide block by the screw linear vibrator. The other end of the screw moving guide block is equipped with a screw vibration fixing frame. The screw lifting cylinder is located below the screw vibration fixing frame. When a single screw moves to the screw vibration fixing frame, it stops moving forward and is lifted upward by the screw lifting cylinder to the loading position, waiting for the robot tightening end picker to pick it up.

[0007] The screw moving guide block is groove-shaped, with the groove width being greater than the diameter of the rod and less than the diameter of the head. The screw vibration fixing frame has a through hole A for the rod of a single screw to fall down. The screw vibration fixing frame on one side of the through hole A is equipped with a screw detection sensor to detect the movement of a single screw into place.

[0008] The base fixing platform is respectively fixed with a linear vibration mounting frame and a motion cylinder support frame. The screw linear vibrator is fixed on the linear vibration mounting frame, and the screw lifting cylinder is installed on the motion cylinder support frame.

[0009] The automatic nut feeding device includes a nut disc vibrator, a nut linear vibrator, a nut moving guide block, a nut horizontal pushing cylinder, a nut lifting block, and a nut lifting cylinder A. The nut disc vibrator, nut linear vibrator, nut horizontal pushing cylinder, and nut lifting cylinder A are respectively fixed on the base platform. The nut linear vibrator is equipped with a nut moving guide block. A batch of nuts are placed into the nut disc vibrator for sorting and arrangement. The nuts sorted by the nut disc vibrator enter from one end of the nut moving guide block and vibrate forward along the nut moving guide block by the nut linear vibrator. The nut lifting cylinder A is located below the other end of the nut moving guide block. The piston rod of the nut lifting cylinder A is connected to a nut lifting block that carries a single nut and limits the movement of the next nut. The nut lifting cylinder A drives the nut lifting block to descend to the installation height of the nut horizontal pushing cylinder. The nut horizontal pushing cylinder pushes the nut carried on the nut lifting block to the robot tightening end effector for interactive operation.

[0010] The nut lifting block has an "L"-shaped side. The vertical side of the "L" shape is a vertical plate with a through hole B at the bottom, and the horizontal side of the "L" shape is a base with a nut groove in the middle. The base is connected to the piston rod of the nut lifting cylinder A. The through hole B is correspondingly set with the nut groove. The nut lifting block is lifted by the nut lifting cylinder A to the point where the through hole B corresponds to the other end of the nut moving guide block. The nut that moves along the nut moving guide block passes through the through hole B and enters the nut groove. The nut lifting block is then lowered by the nut lifting cylinder A to the point where the through hole B corresponds to the execution end of the nut horizontal pushing cylinder. The execution end of the nut horizontal pushing cylinder passes through the through hole B and pushes the nut in the nut groove into the robot tightening end effector.

[0011] A nut limiting and fixing bracket is installed at the other end of the nut moving guide block. One end of the nut limiting and fixing bracket is fixed to the other end of the nut moving guide block. An opening for the nut lifting block to move up and down is provided at the other end of the nut limiting and fixing bracket. The thickness of one end of the nut limiting and fixing bracket is greater than the thickness of the other end. The other end of the nut moving guide block passes through the thicker end of the nut limiting and fixing bracket. A nut detection sensor A for detecting the movement of a single nut into position is installed at the other end of the nut limiting and fixing bracket.

[0012] The base fixing platform is respectively fixed with a nut linear vibration fixing frame and a nut lifting cylinder fixing frame. The nut linear vibrator is fixed on the nut linear vibration fixing frame, and the nut lifting cylinder A and the nut horizontal pushing cylinder are both installed on the nut lifting cylinder fixing frame.

[0013] The robot tightening end effector includes a pressing cylinder, a screw tightening gun, a vision component, a screw push-pull cylinder, a screw push-pull plate, a nut lifting cylinder B, a nut adapter, a screw tightening sleeve, a tightening dynamic torque sensor, a connecting floating joint, a transverse connecting plate, a connecting rod, and a pressing cylinder connecting plate. The pressing cylinder and the screw tightening gun are respectively mounted on the transverse connecting plate. One end of the pressing cylinder connecting plate is connected to the output end of the pressing cylinder. The upper surface of the other end of the pressing cylinder connecting plate is connected to the robot arm component, and the lower surface is connected to the connecting floating joint via the connecting rod. The connecting floating joint is connected to one end of the transverse connecting plate, and the other end of the transverse connecting plate is mounted on... The screw tightening gun is equipped with a vision component that identifies the characteristic hole positions of the tightened workpiece. The output end of the screw tightening gun is sequentially connected to a tightening dynamic torque sensor and a screw tightening sleeve. The vertical fixing base is located on one side below the horizontal connecting plate and is fixed to the horizontal connecting plate or is an integral structure. The screw push-pull cylinder and the nut lifting cylinder B are respectively installed on the vertical fixing base. The output end of the screw push-pull cylinder is connected to a screw push-pull plate that clamps the screw. The output end of the nut lifting cylinder B is connected to a nut adapter seat. The nut adapter seat is located below the screw push-pull plate and is driven to lift by the nut lifting cylinder B. A nut detection sensor B is installed on the nut adapter seat.

[0014] The vision component includes a vision camera, a Y-axis adjustment plate, and an XZ-axis adjustment plate. The XZ-axis adjustment plate is L-shaped, with one side of the L-shape being X-axis and having an X-axis strip hole for connecting to the transverse connecting plate. The other side of the L-shape is Z-axis and has a Z-axis strip hole for connecting to the Y-axis adjustment plate. The Y-axis adjustment plate is L-shaped, with one side of the L-shape being Z-axis and connected to the Z-axis strip hole on the XZ-axis adjustment plate. The other side of the L-shape is Y-axis and has a Y-axis strip hole for connecting to the vision camera.

[0015] The nut adapter includes an outer fixed seat, a nut-retrieving inner fixed sleeve, a locking nut, and a support rod. One side of the outer fixed seat is connected to the nut lifting cylinder B, and the other side of the outer fixed seat is equipped with the nut-retrieving inner fixed sleeve. A through hole C is opened along the height direction on the nut-retrieving inner fixed sleeve. The shape of the hole wall at the top of the through hole C corresponds to the shape of the nut, and the side of the top of the through hole C facing outward is an opening structure to facilitate the entry of the nut. A locking nut is fixedly connected to the bottom surface of the nut-retrieving inner fixed sleeve. The support rod is located in the through hole C. The bottom end of the support rod passes through the nut-retrieving inner fixed sleeve and is threadedly connected to the locking nut. The top end of the support rod is used to support the nut entering the through hole C.

[0016] The workpiece positioning fixture includes a cylindrical centering shaft, a clamping frame, a handwheel, a threaded feed mechanism, a vertical fixing plate, and a platform connecting plate. The platform connecting plate is fixed on the base fixing platform. The cylindrical centering shaft and the vertical fixing plate are respectively installed on the platform connecting plate. The bottom of the tightened workpiece is sleeved on the cylindrical centering shaft. A screw feed mechanism is installed on the vertical fixing plate. The input end of the screw feed mechanism is connected to a handwheel, and the output end of the screw feed mechanism is connected to one side of the clamping frame. The other side of the clamping frame is provided with a clamping groove.

[0017] The advantages and positive effects of this invention are as follows:

[0018] 1. Compared with the prior art, the present invention uses a vision component for pre-measurement, providing positional compensation accuracy for robot tightening operations; it uses an automatic screw feeding mechanism and an automatic nut feeding mechanism to interface with the robot tightening end effector to achieve automated screw and nut operations; and it uses a screw tightening gun and a nut tightening mechanism to achieve automation of the tightening process and consistency of tightening quality.

[0019] 2. This invention solves the problem of automated docking and tightening of screws and nuts for disc-shaped components in confined spaces, improving the quality, efficiency and reliability of product manufacturing. Combined with the flexible operation of robots, it meets the small-batch, multi-variety production mode of the instrument manufacturing industry. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 This is a schematic diagram of the automatic screw feeding device of the present invention;

[0022] Figure 3 This is a schematic diagram of the automatic screw feeding device of the present invention after removing the screw disc vibrator.

[0023] Figure 4 for Figure 2 A magnified view of a section at point A in the middle;

[0024] Figure 5 This is a schematic diagram of the automatic nut feeding device of the present invention;

[0025] Figure 6 This is a front view of the automatic nut feeding device of the present invention;

[0026] Figure 7 for Figure 5 A magnified view of a section at point B in one direction;

[0027] Figure 8 for Figure 5 A magnified view of a section at point B in another direction;

[0028] Figure 9 This is a schematic diagram of the robot tightening end effector of the present invention;

[0029] Figure 10 This is a schematic diagram of the workpiece positioning fixture of the present invention;

[0030] Figure 11 This is a schematic diagram of the nut adapter of the present invention;

[0031] Figure 12 This is a schematic diagram of the structure of the visual component of the present invention;

[0032] The components are as follows: 1 is the base fixing platform; 2 is the automatic screw feeding device; 3 is the automatic nut feeding device; 4 is the workpiece positioning fixture; 5 is the workpiece tightening device; 6 is the robot tightening end effector; 7 is the robot arm component; 8 is the screw detection sensor; 9 is the screw disc vibrator; 10 is the screw linear vibrator; 11 is the screw moving guide block; 12 is the screw vibration fixing frame; 13 is the screw lifting cylinder; 14 is the linear vibration mounting frame; 15 is the motion cylinder support frame; and 16 is the nut disc vibrator. The components are as follows: 17 is a linear vibrator for nuts; 18 is a moving guide block for nuts; 19 is a horizontal pushing cylinder for nuts; 20 is a nut limiting and fixing bracket; 21 is a nut lifting block; 22 is a nut lifting cylinder A; 23 is a linear vibrator fixing bracket for nuts; 24 is a nut lifting cylinder fixing bracket; 25 is a pressing cylinder; 26 is a screw tightening gun; 27 is a vision component; 28 is a vision camera; 29 is a tightening gun fixing plate; 30 is a torque sensor clamping plate; 31 is a screw push-pull cylinder; 32 is a screw push-pull plate. 33 is the nut lifting cylinder connecting block; 34 is the nut lifting cylinder B; 35 is the nut lifting guide rail; 36 is the vertical fixing seat; 37 is the nut adapter seat; 38 is the nut detection sensor B; 39 is the screw tightening sleeve; 40 is the tightening dynamic torque sensor; 41 is the connecting floating joint; 42 is the horizontal connecting plate; 43 is the connecting rod; 44 is the downward pressing cylinder connecting plate; 45 is the robot arm adapter seat; 46 is the cylindrical centering shaft; 47 is the clamping frame; 48 is the handwheel; 49 is the straight... Linear bearing, 50 is guide shaft, 51 is screw feed mechanism, 52 is vertical fixing plate, 53 is platform connecting plate, 54 is fixing seat, 55 is inner fixing sleeve for nut removal, 56 is locking nut, 57 is support rod, 58 is XZ two-way adjustment plate, 59 is X-direction strip hole, 60 is Y-direction adjustment plate, 61 is nut detection sensor A, 62 is vertical plate, 63 is base, 64 is nut groove, 65 is Z-direction strip hole, 66 is Y-direction strip hole, 67 is through hole C, 68 is tightening groove. Detailed Implementation

[0033] The invention will now be described in further detail with reference to the accompanying drawings.

[0034] like Figure 1As shown, the present invention includes a base fixing platform 1, an automatic screw feeding device 2, an automatic nut feeding device 3, a workpiece positioning fixture 4, a tightening workpiece 5, a robot tightening end effector 6, and a robot arm component 7. The automatic screw feeding device 2, the automatic nut feeding device 3, and the workpiece positioning fixture 4 are respectively installed on the base fixing platform 1. The workpiece to be tightened 5 is placed on the workpiece positioning fixture 4. The robot tightening end effector 6 is connected to the robot arm component 7 and has a vision component 27. Through the movement of the robot arm component 7, the robot tightening end effector 6 is driven to pick up materials from the automatic screw feeding device 2 and the automatic nut feeding device 3, respectively. After picking up the materials, the robot tightening end effector 6 moves to the workpiece positioning fixture 4 under the drive of the robot arm component 7, is positioned by the vision component 27, and the workpiece is tightened by the robot tightening end effector 6 to complete one work cycle.

[0035] like Figures 1-4 As shown, the automatic screw feeding device 2 in this embodiment includes a screw disc vibrator 9, a screw linear vibrator 10, a screw moving guide block 11, a screw vibration fixing frame 12, a screw lifting cylinder 13, a linear vibration mounting frame 14, and a motion cylinder support frame 15. The screw disc vibrator 9 is fixed on the base fixing platform 1. The linear vibration mounting frame 14 and the motion cylinder support frame 15 are respectively fixed on the base fixing platform 1. The screw linear vibrator 10 is fixed on the linear vibration mounting frame 14. The screw lifting cylinder 13 is installed on the motion cylinder support frame 15, and the screws fed by the vibration are exchanged with the robot. The screw moving guide block 11 is installed on the screw linear vibrator 10. A batch of screws are put into the screw disc vibrator 9 for sorting and arrangement. The vibration causes the screws to be arranged into the feed channel. One end of the screw moving guide block 11 is located at the feed channel outlet and connects with the screw disc vibrator 9 to transmit the screws. The screws sorted by the screw disc vibrator 9 enter from one end of the screw moving guide block 11 and are guided forward by the screw linear vibrator 10 along the screw moving guide block 11. The other end of the screw moving guide block 11 is equipped with a screw vibration fixing frame 12. The screw linear vibrator 10 pushes the screws to the screw vibration fixing frame 12. The screw lifting cylinder 13 is located below the screw vibration fixing frame 12. When a single screw moves to the screw vibration fixing frame 12, it stops moving forward and is lifted upward by the screw lifting cylinder 13 to the loading position, waiting for the robot tightening end picker 6 to pick it up.

[0036] In this embodiment, the screw moving guide block 11 is groove-shaped, with the groove width being greater than the diameter of the rod and less than the diameter of the head. The screw vibration fixing bracket 12 has a through hole A for the rod of a single screw to fall down. The screw vibration fixing bracket 12 on one side of the through hole A is provided with a screw detection sensor 8 for detecting the movement of a single screw into place.

[0037] The automatic nut feeding device 3 is used to automatically sort and feed nuts and to dock with the robot tightening end-effector 6. For example... Figure 1 and Figures 5-8 As shown, the automatic nut feeding device 3 of this embodiment includes a nut disc vibrator 16, a nut linear vibrator 17, a nut moving guide block 18, a nut horizontal pushing cylinder 19, a nut limiting fixing frame 20, a nut lifting block 21, a nut lifting cylinder A22, a nut linear vibration fixing frame 23, and a nut lifting cylinder fixing frame 24. The nut disc vibrator 16 is fixed on the base fixing platform 1. The nut linear vibration fixing frame 23 and the nut lifting cylinder fixing frame 24 are respectively fixed on the base fixing platform 1. The nut linear vibrator 17 is fixed on the nut linear vibration fixing frame 23. The nut lifting cylinder A22 and the nut horizontal pushing cylinder 19 are both installed on the nut lifting cylinder fixing frame 24. The nut moving guide block 18 is installed on the nut linear vibrator 17. A batch of nuts are put into the nut disc vibrator 16 for sorting and arrangement. Through vibration, the nuts are arranged into the material channel. One end of the female moving guide block 18 is located at the material outlet and is connected to the nut disc vibrator 16 to transmit nuts. The nuts sorted by the nut disc vibrator 16 enter from one end of the nut moving guide block 18 and vibrate forward along the nut moving guide block 18 through the nut linear vibrator 17. The nut moving guide block 18 fixes the running posture of the nuts. The other end of the nut moving guide block 18 is equipped with a nut limiting and fixing frame 20. One end of the nut limiting and fixing frame 20 is fixed to the other end of the nut moving guide block 18. The other end of the nut limiting and fixing frame 20 has an opening for the nut lifting block 21 to lift and lower. The thickness of one end of the nut limiting and fixing frame 20 is greater than the thickness of the other end. The other end of the nut moving guide block 18 passes through the thicker end of the nut limiting and fixing frame 20. The other end of the nut limiting and fixing frame 20 is equipped with a nut detection sensor A61 to detect the movement of a single nut into position. Nut lifting cylinder A22 is located below the other end of nut moving guide block 18. The piston rod of nut lifting cylinder A22 is connected to nut lifting block 21, which carries a single nut and limits the next nut. Nut lifting cylinder A22 drives nut lifting block 21 down to the installation height of nut horizontal pushing cylinder 19. Nut horizontal pushing cylinder 19 pushes the nut carried on nut lifting block 21 to the robot tightening end effector 6 for interactive operation.

[0038] In this embodiment, the nut lifting block 21 has an "L"-shaped side. The vertical side of the "L" shape is a vertical plate 62 with a through hole B at the bottom, and the horizontal side of the "L" shape is a base 63 with a nut groove 64 in the middle. The base 63 is connected to the piston rod of the nut lifting cylinder A22. The through hole B and the nut groove 64 are correspondingly set. The nut lifting block 21 is lifted by the nut lifting cylinder A22 to the through hole B, which corresponds to the other end of the nut moving guide block 18. The nut that moves along the nut moving guide block 18 passes through the through hole B and enters the nut groove 64. The nut lifting block 21 is then lowered by the nut lifting cylinder A22 to the through hole B, which corresponds to the execution end of the nut horizontal pushing cylinder 19. At the same time, the vertical plate 62 blocks and limits the next nut. The execution end of the nut horizontal pushing cylinder 19 passes through the through hole B and pushes the nut in the nut groove 64 into the robot tightening end effector 6 for interactive operation.

[0039] The workpiece positioning fixture 4 clamps and releases the tightened workpiece 5. The robot docks with the screw feed mechanism 51, and force control is used to achieve consistent positioning of the tightened workpiece 5. Figure 1 , Figure 10 As shown, the workpiece positioning fixture 4 in this embodiment includes a cylindrical centering shaft 46, a clamping bracket 47, a handwheel 48, a linear bearing 49, a guide shaft 50, a threaded feed mechanism 51, a vertical fixing plate 52, and a platform connecting plate 53. The platform connecting plate 53 is fixed on the base fixing platform 1. The cylindrical centering shaft 46 and the vertical fixing plate 52 are respectively installed on the platform connecting plate 53. The bottom of the tightening workpiece 5 is sleeved on the cylindrical centering shaft 46. The tightening workpiece 5 needs to be assembled and disassembled on the cylindrical centering shaft 46. The screw feed mechanism 51 is installed on the vertical fixed plate 52. The input end of the screw feed mechanism 51 is connected to the handwheel 48 to realize manual rotation feeding. The output end of the screw feed mechanism 51 is connected to one side of the clamping frame 47. The other side of the clamping frame 47 is provided with a clamping groove 68. The screw feed mechanism 51 drives the clamping frame 47 to feed the screw workpiece 5, so that the bottom of the square frame of the screw workpiece 5 is inserted into the clamping groove 68, thereby realizing the clamping and loosening of the screw workpiece 5.

[0040] The robot tightening end effector 6 connects with the automatic screw feeder 2, the automatic nut feeder 3, and the workpiece 5 to automatically tighten the screws and nuts on the workpiece 5. This is a crucial component of the entire equipment. Figures 1-9 and Figure 11 , Figure 12As shown, the robot tightening end effector 6 in this embodiment includes a pressing cylinder 25, a screw tightening gun 26, a vision component 27, a tightening gun fixing plate 29, a torque sensor clamping plate 30, a screw push-pull cylinder 31, a screw push-pull plate 32, a nut lifting cylinder connecting block 33, a nut lifting cylinder 34, a nut lifting guide rail 35, a vertical fixing seat 36, a nut adapter seat 37, a nut detection sensor 38, a screw tightening sleeve 39, a tightening dynamic torque sensor 40, a connecting floating joint 41, a horizontal connecting plate 42, a connecting rod 43, a pressing cylinder connecting plate 44, and a robot arm adapter seat 45. The pressing cylinder 25 is fixed to the horizontal connecting plate. On plate 42, screw tightening gun 26 is mounted on transverse connecting plate 42 via tightening gun fixing plate 29. One end of pressing cylinder connecting plate 44 is connected to the output end of pressing cylinder 25. Robot arm adapter 45 is fixed to the upper surface of the other end of pressing cylinder connecting plate 44. Robot arm component 7 is connected to robot arm adapter 45. The lower surface of the other end of pressing cylinder connecting plate 44 is connected to connecting floating joint 41 via connecting rod 43. Pressing cylinder connecting plate 44 and connecting rod 43 slide together. Connecting floating joint 41 is connected to one end of transverse connecting plate 42. The other end of transverse connecting plate 42 is equipped with feature holes for tightening workpiece 5. The visual component 27 performs recognition; the vertical fixing base 36 is located on one side below the horizontal connecting plate 42, and is fixedly connected to the horizontal connecting plate 42 or is an integral structure; the screw push-pull cylinder 31 and the nut lifting cylinder B34 are fixedly connected to one side of the vertical fixing base 36; the output end of the screw tightening gun 26 is sequentially connected to the tightening dynamic torque sensor 40 and the screw tightening sleeve 39; the tightening dynamic torque sensor 40 is fixed to the other side of the vertical fixing base 36 by the torque sensor clamping plate 30; the output end of the screw push-pull cylinder 31 is connected to the screw push-pull plate 32, which is located below the screw tightening sleeve 39 and is used to connect with the automatic screw feeding device 2. The screw is clamped by the screw push-pull plate 32, and the clamping end of the screw push-pull plate 32 has an arc-shaped groove corresponding to the shape of the screw shank. The output end of the nut lifting cylinder B34 is connected to the nut adapter 37 through the nut lifting cylinder connecting block 33. The nut lifting cylinder connecting block 33 passes through the vertical fixing seat 36. The lower end of the other side of the vertical fixing seat 36 is fixed to the nut lifting guide rail 35 along the length direction. The nut adapter 37 is located below the screw push-pull plate 32 and is driven by the nut lifting cylinder B34 to move up and down along the nut lifting guide rail 35. A nut detection sensor B38 is installed on the nut adapter 37. The nut adapter 37 is used to dock with the automatic nut feeding device 3.

[0041] The vision component 27 in this embodiment includes a vision camera 28, a Y-axis adjustment plate 60, and an XZ-axis adjustment plate 58. The vision component 27 needs to adjust the position of the vision camera 28 according to the actual position. The XZ-axis adjustment plate 58 is L-shaped. One side of the L-shape is in the X direction (i.e., the length direction of the horizontal connecting plate 42) and has an X-axis strip hole 59 for connecting with the horizontal connecting plate 42. The other side of the L-shape is in the Z direction (i.e., the vertical direction) and has a Z-axis strip hole 65 for connecting with the Y-axis adjustment plate 60. The Y-axis adjustment plate 60 is L-shaped. One side of the L-shape is in the Z direction and is connected to the Z-axis strip hole 65 on the XZ-axis adjustment plate 58. The other side of the L-shape is in the Y direction (i.e., the width direction of the horizontal connecting plate 42) and has a Y-axis strip hole 66 for connecting with the vision camera 28. The adjusted vision camera 28 takes pictures of the tightened workpiece 5 for comparison, corrects the robot's position, and guides the robot to tighten the end effector 6 accurately.

[0042] The nut adapter 37 of this embodiment includes an outer fixing seat 54, a nut-retrieving inner fixing sleeve 55, a locking nut 56, and a support rod 57. One side of the outer fixing seat 54 is connected to the nut lifting cylinder B34, and the other side of the outer fixing seat 54 is equipped with the nut-retrieving inner fixing sleeve 55. A through hole C67 is opened along the height direction on the nut-retrieving inner fixing sleeve 55. The shape of the hole wall at the top of the through hole C67 corresponds to the shape of the nut, and the side of the top of the through hole C67 facing outward is an opening structure to facilitate the entry of the nut, so that the nut adapter 37 also has a nut orientation function. The locking nut 56 is fixedly connected to the bottom surface of the nut-retrieving inner fixing sleeve 55. The support rod 57 is located in the through hole C67. The bottom end of the support rod 57 passes through the nut-retrieving inner fixing sleeve 55 and is threadedly connected to the locking nut 56. The top end of the support rod 57 is used to support the nut entering the through hole C67, which ensures the alignment and tightening of the nut and the screw.

[0043] The screw disc vibrator 9, screw linear vibrator 10, nut disc vibrator 16, nut linear vibrator 17, screw tightening gun 26, screw tightening sleeve 39, and screw feed mechanism 51 of this invention are all commercially available products. The screw disc vibrator 9 was purchased from Shenzhen Yiqi Electronic Equipment Co., Ltd., model M8 screw; the screw linear vibrator 10 was purchased from Shenzhen Yiqi Electronic Equipment Co., Ltd., model 120pz linear; the nut disc vibrator 16 was purchased from Shenzhen Yiqi Electronic Equipment Co., Ltd., model M8 nut; the nut linear vibrator 17 was purchased from Shenzhen Yiqi Electronic Equipment Co., Ltd., model 120pz linear; the screw tightening gun 26 was purchased from Pilima Industrial Equipment (Wuhan) Co., Ltd., model PAQ-100Y; the screw tightening sleeve 39 was purchased from Pilima Industrial Equipment (Wuhan) Co., Ltd., model 60721016; and the screw feed mechanism 51 was purchased from Dezhou Ruichi Reducer Co., Ltd., model SWL0.5T.

[0044] The working principle of this invention is as follows:

[0045] The robot tightening end effector of this invention enables automatic pickup of screws and nuts and automatic tightening of workpieces; the automatic nut feeding device and the automatic screw feeding device enable automatic sorting of screws and nuts and individual separation; the workpiece positioning fixture enables positioning of disc-shaped workpieces; the vision component is used to detect the position and orientation of the workpiece, ensuring the positional accuracy of the workpiece tightening, improving the robot's operational capabilities, and meeting the workpiece's operational process requirements. Specifically:

[0046] When the robot tightening end effector 6 moves to the automatic screw feeding device 2 under the drive of the robot arm component 7, a batch of screws are sorted and arranged in the screw disc vibrator 9. The screws sorted by the screw disc vibrator 9 are sent to the screw moving guide block 11 through the material channel, and are guided to move along the screw moving guide block 11 by the screw linear vibrator 10. After the screw detection sensor 8 detects that the screw has reached the screw vibration fixing frame 12, the screw linear vibrator 10 stops vibrating forward. The lifting cylinder 13 lifts the individual screws that have vibrated to the screw vibration fixing frame 12, and the lifted and separated screws are ready to be picked up by the robot tightening end effector 6. Driven by the robotic arm component 7, the robotic tightening end effector 6 descends to pick up the screw. The screw tightening gun 26 begins to rotate, and the tightening dynamic torque sensor 40 and the screw tightening sleeve 39 rotate together with the screw tightening gun 26. The screw tightening sleeve 39 descends and rotates simultaneously, loading the ejected individual screws into the screw tightening sleeve 39. After the screw picking action is completed, the rotation and movement stop, and the screw push-pull cylinder 31 drives the screw push-pull plate 32 to push out, clamping the loaded screws and preventing them from falling out of the screw tightening sleeve 39. Subsequently, the robotic tightening end effector 6, driven by the robotic arm component 7, reaches the automatic nut feeding device 3 for docking. A batch of nuts are sorted and arranged in the nut disc vibrator 16. The sorted nuts are sent to the nut moving guide block 18 and moved along the nut moving guide block 18 by the nut linear vibrator 17, which also fixes the nut's running posture. The nut lifting block 21 rises under the action of the nut lifting cylinder A22. At this time, the nut vibrates through the nut linear vibrator 17, passes through the through hole A in the middle of the bottom of the vertical plate 62, and enters the nut groove 64. When the nut detection sensor A61 detects the nut, the nut linear vibrator 17 stops vibrating, and the vertical plate simultaneously limits the next nut. The nut lifting block 21 descends under the action of the nut lifting cylinder A, bringing the nut to the lower position. The nut horizontal pushing cylinder 19 pushes the descended nut into the nut adapter 37 in the robot tightening end effector 06 for interactive operation. The nut detection sensor B38 detects the nut entry signal and completes the docking operation. The nut adapter 37 also has a nut orientation function, and the nut is fixed in a certain posture to enter the robot tightening end effector 6.The robot tightening end effector 6 continues to move to the tightening workpiece 5. A vision component 27 is fixedly installed on the transverse connecting plate 42. The vision camera 28 identifies the characteristic hole positions of the tightening workpiece 5 and transmits the actual measurement values ​​to the robot arm component 7 for position compensation. After completing the position correction, the robot arm component 7 lowers the screw tightening sleeve 39, causing the screw to enter the working hole position of the tightening workpiece 5. At this time, the downward pressure cylinder 25 is compressed, and the tightening gun fixing plate 29, along with the floating connecting component, moves upward. The downward pressure cylinder 25 is in a compressed state, used to compensate for the vertical deviation of the system during the robot tightening and movement. When the screw is... After the workpiece 5 is inserted into the working hole, the nut lifting cylinder B34 drives the nut lifting cylinder connecting block 33, the nut adapter 37 and the nut inside to rise together to the screw. The screw tightening gun 26 starts, driving the screw tightening sleeve 39 and the screw to rotate. Under the guidance of the nut adapter 37, the nut and the screw cooperate to move upward through the thread rotation. Finally, the screw and the nut tighten the workpiece 5. The nut lifting cylinder B34 drives the nut adapter 37 to move downward and retract. The robot arm component 7 drives the robot tightening end effector 6 to leave the workpiece 5, completing one tightening process and entering the next tightening cycle.

[0047] The above description is merely an embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, extensions, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. A robotic disc-shaped workpiece automatic tightening apparatus, characterized by: The device includes a base fixing platform, an automatic screw feeding device, an automatic nut feeding device, a workpiece positioning fixture, a workpiece to be tightened, a robot tightening end effector, and a robot arm component. The automatic screw feeding device, the automatic nut feeding device, and the workpiece positioning fixture are respectively installed on the base fixing platform. The workpiece to be tightened is placed on the workpiece positioning fixture. The robot tightening end effector is connected to the robot arm component and has a vision component. The robot arm component drives the robot tightening end effector to pick up the workpiece from the automatic screw feeding device and the automatic nut feeding device, respectively. After picking up the workpiece, the robot tightening end effector moves to the workpiece positioning fixture under the drive of the robot arm component. Positioned by the vision component, the robot tightening end effector performs the tightening operation on the workpiece. The robot tightening end effector includes a pressing cylinder, a screw tightening gun, a vision component, a screw push-pull cylinder, a screw push-pull plate, a nut lifting cylinder B, a nut adapter, a screw tightening sleeve, a tightening dynamic torque sensor, a connecting floating joint, a transverse connecting plate, a connecting rod, and a pressing cylinder connecting plate. The pressing cylinder and the screw tightening gun are respectively mounted on the transverse connecting plate. One end of the pressing cylinder connecting plate is connected to the upper end of the pressing cylinder. The upper surface of the other end of the pressing cylinder connecting plate is connected to the robot arm component, and the lower surface is connected to the connecting floating joint via the connecting rod. The connecting floating joint is connected to one end of the transverse connecting plate, and the other end of the transverse connecting plate... The screw tightening gun is equipped with a vision component that identifies the characteristic hole positions of the tightened workpiece. The output end of the screw tightening gun is sequentially connected to a tightening dynamic torque sensor and a screw tightening sleeve. The vertical fixing base is located on one side below the horizontal connecting plate and is fixed to the horizontal connecting plate or is an integral structure. The screw push-pull cylinder and the nut lifting cylinder B are respectively installed on the vertical fixing base. The output end of the screw push-pull cylinder is connected to a screw push-pull plate that clamps the screw. The output end of the nut lifting cylinder B is connected to a nut adapter. The nut adapter is located below the screw push-pull plate and is driven to lift by the nut lifting cylinder B. A nut detection sensor B is installed on the nut adapter. The automatic nut feeding device includes a nut disc vibrator, a nut linear vibrator, a nut moving guide block, a nut horizontal pushing cylinder, a nut lifting block, and a nut lifting cylinder A. The piston rod of the nut lifting cylinder A is connected to a nut lifting block that carries a single nut and limits the movement of the next nut. The nut lifting cylinder A drives the nut lifting block to descend to the installation height of the nut horizontal pushing cylinder. The nut horizontal pushing cylinder pushes the nut carried on the nut lifting block to the nut adapter in the robot tightening end effector for interactive operation.

2. The robotic disc-shaped workpiece torquing apparatus of claim 1, wherein: The automatic screw feeding device includes a screw disc vibrator, a screw linear vibrator, a screw moving guide block, a screw vibration fixing frame, and a screw lifting cylinder. The screw disc vibrator, screw linear vibrator, and screw lifting cylinder are respectively fixed on the base fixing platform. The screw linear vibrator is equipped with a screw moving guide block. A batch of screws are placed into the screw disc vibrator for sorting and arrangement. The screws sorted by the screw disc vibrator enter from one end of the screw moving guide block and vibrate forward along the screw moving guide block by the screw linear vibrator. The other end of the screw moving guide block is equipped with a screw vibration fixing frame. The screw lifting cylinder is located below the screw vibration fixing frame. When a single screw moves to the screw vibration fixing frame, it stops moving forward and is lifted upward by the screw lifting cylinder to the loading position, waiting for the robot tightening end picker to pick it up.

3. A robotic disc-shaped workpiece torquing apparatus as defined in claim 2, wherein: The screw moving guide block is groove-shaped, with the groove width being greater than the diameter of the rod and less than the diameter of the head. The screw vibration fixing frame has a through hole A for the rod of a single screw to fall down. The screw vibration fixing frame on one side of the through hole A is equipped with a screw detection sensor to detect the movement of a single screw into place.

4. The robotic disc-shaped workpiece torquing apparatus of claim 2, wherein: The base fixing platform is respectively fixed with a linear vibration mounting frame and a motion cylinder support frame. The screw linear vibrator is fixed on the linear vibration mounting frame, and the screw lifting cylinder is installed on the motion cylinder support frame.

5. The robotic disc-shaped workpiece torquing apparatus of claim 1, wherein: The nut disc vibrator, nut linear vibrator, nut horizontal pushing cylinder, and nut lifting cylinder A are respectively fixed on the base platform. The nut linear vibrator is equipped with a nut moving guide block. A batch of nuts are placed into the nut disc vibrator for sorting and arrangement. The nuts sorted by the nut disc vibrator enter from one end of the nut moving guide block and vibrate forward along the nut moving guide block through the nut linear vibrator. The nut lifting cylinder A is located below the other end of the nut moving guide block.

6. The robotic disc-shaped workpiece torquing apparatus of claim 5, wherein: The nut lifting block has an "L"-shaped side. The vertical side of the "L" shape is a vertical plate with a through hole B at the bottom, and the horizontal side of the "L" shape is a base with a nut groove in the middle. The base is connected to the piston rod of the nut lifting cylinder A. The through hole B is correspondingly set with the nut groove. The nut lifting block is lifted by the nut lifting cylinder A to the through hole B, which corresponds to the other end of the nut moving guide block. The nut that moves along the nut moving guide block passes through the through hole B and enters the nut groove. The nut lifting block is then lowered by the nut lifting cylinder A to the through hole B, which corresponds to the execution end of the nut horizontal pushing cylinder. The execution end of the nut horizontal pushing cylinder passes through the through hole B and pushes the nut in the nut groove into the robot tightening end effector.

7. A disc-shaped workpiece robot automatic tightening device according to claim 6, characterized in that: A nut limiting and fixing bracket is installed at the other end of the nut moving guide block. One end of the nut limiting and fixing bracket is fixed to the other end of the nut moving guide block. An opening for the nut lifting block to move up and down is provided at the other end of the nut limiting and fixing bracket. The thickness of one end of the nut limiting and fixing bracket is greater than the thickness of the other end. The other end of the nut moving guide block passes through the thicker end of the nut limiting and fixing bracket. A nut detection sensor A for detecting the movement of a single nut into position is installed at the other end of the nut limiting and fixing bracket.

8. The robotic disc-shaped workpiece torquing apparatus of claim 5, wherein: The base fixing platform is respectively fixed with a nut linear vibration fixing frame and a nut lifting cylinder fixing frame. The nut linear vibrator is fixed on the nut linear vibration fixing frame, and the nut lifting cylinder A and the nut horizontal pushing cylinder are both installed on the nut lifting cylinder fixing frame.

9. The robotic disc-shaped workpiece torquing apparatus of claim 1, wherein: The vision component includes a vision camera, a Y-axis adjustment plate, and an XZ-axis adjustment plate. The XZ-axis adjustment plate is L-shaped, with one side of the L-shape being X-axis and having an X-axis strip hole for connecting to the transverse connecting plate. The other side of the L-shape is Z-axis and has a Z-axis strip hole for connecting to the Y-axis adjustment plate. The Y-axis adjustment plate is L-shaped, with one side of the L-shape being Z-axis and connected to the Z-axis strip hole on the XZ-axis adjustment plate. The other side of the L-shape is Y-axis and has a Y-axis strip hole for connecting to the vision camera.

10. The robotic disc-shaped workpiece torquing apparatus of claim 1, wherein: The nut adapter includes an outer fixed seat, a nut-retrieving inner fixed sleeve, a locking nut, and a support rod. One side of the outer fixed seat is connected to the nut lifting cylinder B, and the other side of the outer fixed seat is equipped with the nut-retrieving inner fixed sleeve. A through hole C is opened along the height direction on the nut-retrieving inner fixed sleeve. The shape of the hole wall at the top of the through hole C corresponds to the shape of the nut, and the side of the top of the through hole C facing outward is an opening structure to facilitate the entry of the nut. A locking nut is fixedly connected to the bottom surface of the nut-retrieving inner fixed sleeve. The support rod is located in the through hole C. The bottom end of the support rod passes through the nut-retrieving inner fixed sleeve and is threadedly connected to the locking nut. The top end of the support rod is used to support the nut entering the through hole C.

11. The robotic disc-shaped workpiece torquing apparatus of claim 1, wherein: The workpiece positioning fixture includes a cylindrical centering shaft, a clamping frame, a handwheel, a threaded feed mechanism, a vertical fixing plate, and a platform connecting plate. The platform connecting plate is fixed on the base fixing platform. The cylindrical centering shaft and the vertical fixing plate are respectively installed on the platform connecting plate. The bottom of the tightened workpiece is sleeved on the cylindrical centering shaft. A screw feed mechanism is installed on the vertical fixing plate. The input end of the screw feed mechanism is connected to a handwheel, and the output end of the screw feed mechanism is connected to one side of the clamping frame. The other side of the clamping frame is provided with a clamping groove.

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