A fully automatic screw and nut tightening device applicable to multi-variety products

Abstract

The present invention relates to a flexible automated industrial production line, and particularly to a fully automatic screw and nut tightening device suitable for multi-variety products. It includes a screw automatic feeding and tightening unit, a nut automatic feeding mechanism, a nut anti-torsion transfer mechanism, a vision photographing unit, an X-axis servo feeding mechanism, a Y-axis servo feeding mechanism and a device base. The device base is arranged on one side of the X-axis servo feeding mechanism, the Y-axis servo feeding mechanism is arranged on the top of the device base, and product positioning mechanisms are provided at both ends of the Y-axis servo feeding mechanism; the nut anti-torsion transfer mechanism is arranged on the X-axis servo feeding mechanism, and the screw automatic feeding and tightening unit, the nut automatic feeding mechanism and the vision photographing unit are arranged on the nut anti-torsion transfer mechanism; the screw automatic feeding and tightening unit cooperates with the nut automatic feeding mechanism to complete the assembly process of the screw, nut and the holes to be assembled on the product. The present invention can achieve flexible assembly of multi-variety products, adjust the tightening position online, and does not require stopping the production line.

Description

Technical Field

[0001] The present invention relates to an automatic tightening device in a flexible automated industrial production line, and particularly to a fully automatic screw and nut tightening device applicable to multiple types of products. Background Art

[0002] In an automated industrial production line, the automatic tightening of screws and nuts is an important component, playing an important role in automating the product assembly in the production line.

[0003] During the automatic tightening process of screws and nuts, it is necessary to complete the automatic feeding of screws and nuts, the fixation and anti-torsion of the products to be assembled, the precise coaxial positioning of the through holes, screws, and nuts on the products to be assembled, and the anti-torsion during nut tightening. These actions pose very high requirements for the full automation and stability of the entire tightening operation. Traditional tightening mechanisms have a single function and a complex structure, and there is no fully automatic screw and nut tightening device applicable to multiple types of products in the existing technology. Summary of the Invention

[0004] Aiming at the above problems, the purpose of the present invention is to provide a fully automatic screw and nut tightening device applicable to multiple types of products, which realizes the automatic feeding of screws and nuts of multiple specifications, the anti-torsion fixation of products, the precise coaxial positioning of through holes on products and screws and nuts, and the anti-torsion during nut tightening.

[0005] To achieve the above purpose, the present invention adopts the following technical solutions:

[0006] A fully automatic screw and nut tightening device applicable to multiple types of products, comprising a product positioning mechanism, a screw automatic feeding and tightening unit, a nut automatic feeding mechanism, a nut anti-torsion transfer mechanism, a vision photographing unit, an X-axis servo feeding mechanism, a Y-axis servo feeding mechanism, and a device base. The device base is arranged on one side of the X-axis servo feeding mechanism, the Y-axis servo feeding mechanism is arranged on the top of the device base, and product positioning mechanisms are arranged at both ends of the Y-axis servo feeding mechanism;

[0007] The nut anti-torsion transfer mechanism is arranged on the X-axis servo feeding mechanism, and the nut automatic feeding mechanism and the vision photographing unit are arranged on the nut anti-torsion transfer mechanism; the screw automatic feeding and tightening unit is arranged at the front end of the nut anti-torsion transfer mechanism and is located below the nut automatic feeding mechanism; the vision photographing unit is used to identify the position of the hole to be assembled on the product and feed back the compensation value of the position of the hole to be assembled to the X-axis servo feeding mechanism and the Y-axis servo feeding mechanism; the screw automatic feeding and tightening unit cooperates with the nut automatic feeding mechanism to complete the assembly process of the screw, nut, and the hole to be assembled on the product.

[0008] The nut anti-torsion transfer mechanism includes a nut Y-direction transfer mechanism, a nut lifting mechanism, a nut feeding mechanism mounting plate, a spring telescopic guiding mechanism, a guiding mechanism mounting plate, an anti-torsion tooling, and a product Z-axis pressing block. Among them, the nut lifting mechanism is arranged on the nut Y-direction transfer mechanism, the guiding mechanism mounting plate is arranged on the nut lifting mechanism, the nut feeding mechanism mounting plate is connected to the guiding mechanism mounting plate through the spring telescopic guiding mechanism, and the nut automatic feeding mechanism is installed on the nut feeding mechanism mounting plate; the anti-torsion tooling and the product Z-axis pressing block are arranged at the lower end of the guiding mechanism mounting plate, and the anti-torsion tooling is located below the nut automatic feeding mechanism.

[0009] The anti-torsion tooling has two horizontal U-shaped or V-shaped groove structures with opposite openings.

[0010] The nut Y-direction transfer mechanism includes a horizontal guide rail, a rodless cylinder, a transfer anti-torsion mechanism mounting base, and a nut Y-direction transfer seat. Among them, the transfer anti-torsion mechanism mounting base is arranged on the X-axis servo feeding mechanism, the horizontal guide rail is arranged along the Y-axis direction at the top of the transfer anti-torsion mechanism mounting base, and the nut Y-direction transfer seat is slidably connected to the horizontal guide rail; the rodless cylinder is arranged on the transfer anti-torsion mechanism mounting base and the output end is connected to the nut Y-direction transfer seat.

[0011] The nut lifting mechanism includes a lifting slide plate, a vertical guide rail, a lifting cylinder, a cylinder connecting plate, and a vertical guide rail mounting bottom plate. Among them, the vertical guide rail mounting bottom plate is connected to the nut Y-direction transfer seat, the vertical guide rail is arranged on the vertical guide rail mounting bottom plate, the lifting slide plate is slidably connected to the vertical guide rail, the lifting cylinder is arranged on the vertical guide rail mounting bottom plate, and the output end is connected to the lifting slide plate through the cylinder connecting plate; the guiding mechanism mounting plate is connected to the lifting slide plate.

[0012] A buffer mounting seat is arranged at the lower part of the vertical guide rail mounting bottom plate, a buffer and an adjusting screw are arranged on the buffer mounting seat, and the descending stroke of the lifting slide plate is adjusted through the adjusting screw.

[0013] The vision photographing unit includes a camera, a camera protective cover, a light source, a light source bracket, and a vision photographing mounting welding part. Among them, the vision photographing mounting welding part is arranged on the vertical guide rail mounting bottom plate, the camera and the light source bracket are arranged on the vision photographing mounting welding part, the camera protective cover is arranged outside the camera, and the light source is arranged on the light source bracket.

[0014] The X-axis servo feed mechanism includes an X-axis servo motor, an X-axis reduction gear, an X-axis coupling, an X-axis reduction gear mounting seat, an X-axis lead screw, an X-axis mounting seat, an X-axis guide rail, and an X-axis guide rail mounting seat. The X-axis lead screw and the X-axis guide rail are arranged on the X-axis guide rail mounting seat in parallel. The X-axis servo motor is connected to the X-axis reduction gear, and the X-axis reduction gear is connected to the X-axis lead screw through the X-axis coupling. The X-axis mounting seat is slidably connected to the X-axis guide rail and is threadedly connected to the X-axis lead screw. X-axis soft limits and X-axis hard limits are provided at both ends of the X-axis lead screw. A three-color lamp is provided at the outer end of the X-axis guide rail mounting seat.

[0015] The product positioning mechanism includes a positioning cylinder, a product positioning guide rail, a positioning slide plate, a product fixing tooling, a product reference block, and a product positioning mechanism mounting plate. The product positioning mechanism mounting plate is arranged on the Y-axis servo feed mechanism. The product positioning guide rail is arranged on the product positioning mechanism mounting plate along the Y-axis direction. The product fixing tooling is slidably connected to the product positioning guide rail through the positioning slide plate. The positioning cylinder is arranged on the product positioning mechanism mounting plate, and the output end is connected to the positioning slide plate. A buffer is provided at the end of the product positioning guide rail. The product reference block is arranged on the product positioning mechanism mounting plate for product positioning.

[0016] The Y-axis servo feed mechanism includes a Y-axis servo motor, a Y-axis reduction gear, a Y-axis lead screw, a Y-axis guide rail, a Y-axis servo mounting base plate, and a Y-axis guide rail upper mounting plate. The Y-axis servo mounting base plate is arranged on the equipment base. The Y-axis servo motor, the Y-axis reduction gear, the Y-axis lead screw, and the Y-axis guide rail are arranged on the Y-axis servo mounting base plate. The Y-axis lead screw and the Y-axis guide rail are parallel. The Y-axis servo motor is connected to the Y-axis reduction gear, and the Y-axis reduction gear is connected to the Y-axis lead screw through the Y-axis coupling. Y-axis soft limits and Y-axis hard limits are provided at both ends of the Y-axis lead screw. The Y-axis guide rail upper mounting plate is slidably connected to the Y-axis guide rail and is threadedly connected to the Y-axis lead screw. A product mounting base plate is provided on the Y-axis guide rail upper mounting plate. The product positioning mechanism is arranged at both ends of the Y-axis guide rail upper mounting plate.

[0017] The advantages and beneficial effects of the present invention are as follows: When loading screws and nuts in the present invention, a whole bag of products can be poured into the feeding machine, which is convenient for loading. When the workshop is in production, rapid replenishment of materials can be achieved. The nut anti-torsion and product Z-axis fixation are integrated into the nut transfer mechanism, and precise adjustment is carried out by adjusting gaskets and other means, making the overall structure simple in operation and reducing costs. The present invention can achieve flexible assembly of multi-variety products, adjust the tightening position online, and does not require stopping the production line. Description of the Drawings

[0018] Figure 1 is the front view of a fully automatic screw and nut tightening device for multi-variety products according to the present invention;

[0019] Figure 2 isFigure 1 Left view;

[0020] Figure 3 is Figure 1 Top view;

[0021] Figure 4 Isometric view of a fully automatic screw and nut tightening device for multiple product varieties according to the present invention;

[0022] Figure 5 Schematic structural view of the X-axis servo feed mechanism in the present invention;

[0023] Figure 6 Schematic structural view of the product positioning mechanism in the present invention;

[0024] Figure 7 Isometric view of the product positioning mechanism in the present invention;

[0025] Figure 8 Schematic structural view of the nut anti-torsion transfer mechanism in the present invention;

[0026] Figure 9 is Figure 8 Left view;

[0027] Figure 10 is Figure 8 Top view;

[0028] Figure 11 Schematic structural view of the anti-torsion tooling in the present invention;

[0029] Figure 12 Top view of the anti-torsion tooling in the present invention;

[0030] In the figure: 1 is the product positioning mechanism, 1.1 is the positioning cylinder, 1.2 is the product positioning guide rail, 1.3 is the positioning slide plate, 1.4 is the buffer, 1.5 is the product fixing tooling, 1.6 is the product reference block, 1.7 is the product positioning mechanism mounting plate;

[0031] 2 is the screw automatic feeding and tightening unit, 2.2 is the three-stage nail blowing and tightening module;

[0032] 3 is the nut automatic feeding mechanism;

[0033] 4 is the nut anti-torsion transfer mechanism, 4.1 is the nut loading mechanism mounting plate, 4.2 is the spring telescopic guiding mechanism, 4.3 is the guiding mechanism mounting plate, 4.4 is the anti-torsion tooling, 4.5 is the product Z-axis pressing block, 4.6 is the lifting slide plate, 4.7 is the vertical guide rail, 4.8 is the lifting cylinder, 4.9 is the cylinder connecting plate, 4.10 is the buffer, 4.11 is the adjusting screw, 4.12 is the buffer mounting seat, 4.13 is the vertical guide rail mounting bottom plate, 4.14 is the horizontal guide rail, 4.15 is the rodless cylinder, 4.16 is the transfer anti-torsion mechanism mounting base;

[0034] 5 is the vision photographing unit, 5.1 is the camera, 5.2 is the camera protective cover, 5.3 is the light source, 5.4 is the light source bracket, 5.5 is the vision photographing mounting welding part;

[0035] 6 is the X-axis servo feeding mechanism, 6.1 is the X-axis servo motor, 6.2 is the X-axis reduction gear, 6.3 is the X-axis coupling, 6.4 is the X-axis reduction gear mounting seat, 6.5 is the X-axis lead screw fixed end, 6.6 is the X-axis hard limit, 6.7 is the X-axis lead screw, 6.8 is the X-axis nut mounting seat, 6.9 is the X-axis mounting seat, 6.10 is the X-axis guide rail, 6.11 is the X-axis lead screw support seat, 6.12 is the X-axis guide rail mounting seat, 6.13 is the three-color lamp, 6.14 is the X-axis soft limit;

[0036] 7 is the Y-axis servo feeding mechanism, 7.1 is the Y-axis servo motor, 7.2 is the Y-axis reduction gear, 7.3 is the Y-axis reduction gear mounting seat, 7.4 is the Y-axis coupling, 7.5 is the Y-axis lead screw, 7.6 is the Y-axis nut mounting seat, 7.7 is the Y-axis lead screw fixed end, 7.8 is the Y-axis lead screw support seat, 7.9 is the Y-axis hard limit, 7.10 is the Y-axis soft limit, 7.11 is the Y-axis guide rail, 7.12 is the Y-axis servo mounting bottom plate, 7.13 is the Y-axis guide rail upper mounting plate, 7.14 is the product mounting bottom plate;

[0037] 8 is the equipment base; 9 is the product; 10 is the nut; 11 is the protective plate. Detailed implementation mode

[0038] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0039] As Figure 1-4As shown in the figure, a fully automatic screw and nut tightening device for multi-variety products provided by the present invention includes a product positioning mechanism 1, a screw automatic feeding and tightening unit 2, a nut automatic feeding mechanism 3, a nut anti-torsion transfer mechanism 4, a vision photographing unit 5, an X-axis servo feeding mechanism 6, a Y-axis servo feeding mechanism 7 and an equipment base 8. The equipment base 8 is arranged on one side of the X-axis servo feeding mechanism 6, the Y-axis servo feeding mechanism 7 is arranged on the top of the equipment base 8, and product positioning mechanisms 1 are arranged at both ends of the Y-axis servo feeding mechanism 7; the nut anti-torsion transfer mechanism 4 is arranged on the X-axis servo feeding mechanism 6, and the nut automatic feeding mechanism 3 and the vision photographing unit 5 are arranged on the nut anti-torsion transfer mechanism 4; the screw automatic feeding and tightening unit 2 is arranged at the front end of the nut anti-torsion transfer mechanism 4 and is located below the nut automatic feeding mechanism 3; the vision photographing unit 5 is used to identify the position of the hole to be assembled on the product and feed back the compensation value of the position of the hole to be assembled to the X-axis servo feeding mechanism 6 and the Y-axis servo feeding mechanism 7; the screw automatic feeding and tightening unit 2 and the nut automatic feeding mechanism 3 cooperate to complete the assembly process of the screw, nut and the hole to be assembled on the product.

[0040] As Figure 5 shown, in the embodiment of the present invention, the X-axis servo feeding mechanism 6 includes an X-axis servo motor 6.1, an X-axis reducer 6.2, an X-axis coupling 6.3, an X-axis reducer mounting seat 6.4, an X-axis lead screw 6.7, an X-axis mounting seat 6.9, an X-axis guide rail 6.10 and an X-axis guide rail mounting seat 6.12. The X-axis lead screw 6.7 and the X-axis guide rail 6.10 are arranged on the X-axis guide rail mounting seat 6.12 in parallel. The X-axis servo motor 6.1 is connected to the X-axis reducer 6.2, and the X-axis reducer 6.2 is connected to the X-axis lead screw 6.7 through the X-axis coupling 6.3. The X-axis reducer 6.2 is fixed through the X-axis reducer mounting seat 6.4. The X-axis mounting seat 6.9 is slidably connected to the X-axis guide rail 6.10, and the X-axis mounting seat 6.9 is threadedly connected to the X-axis lead screw 6.7 through an X-axis nut mounting seat 6.8; X-axis soft limits 6.14 and X-axis hard limits 6.6 are arranged on the X-axis lead screw fixed ends 6.5 at both ends of the X-axis lead screw 6.7 to limit the extreme positions of the nut. The X-axis soft limit 6.14 is composed of a sensor and a sensor mounting seat. Both ends of the X-axis lead screw 6.7 are supported by X-axis lead screw support seats 6.11. A three-color lamp 6.13 is arranged at the outer end of the X-axis guide rail mounting seat 6.12, and the nut anti-torsion transfer mechanism 4 is installed on the X-axis mounting seat 6.9.

[0041] As Figure 1 and Figure 3As shown, in the embodiment of the present invention, the Y-axis servo feed mechanism 7 includes a Y-axis servo motor 7.1, a Y-axis speed reducer 7.2, a Y-axis lead screw 7.5, a Y-axis guide rail 7.11, a Y-axis servo mounting base plate 7.12, and a Y-axis guide rail upper mounting plate 7.13. Among them, the Y-axis servo mounting base plate 7.12 is arranged on the equipment base 8, and the Y-axis servo motor 7.1, the Y-axis speed reducer 7.2, the Y-axis lead screw 7.5, and the Y-axis guide rail 7.11 are arranged on the Y-axis servo mounting base plate 7.12. The Y-axis lead screw 7.5 and the Y-axis guide rail 7.11 are parallel. The Y-axis servo motor 7.1 is connected to the Y-axis speed reducer 7.2. The Y-axis speed reducer 7.2 is fixed through a Y-axis speed reducer mounting seat 7.3. The output shaft of the Y-axis speed reducer 7.2 is connected to the Y-axis lead screw 7.5 through a Y-axis coupling 7.4. Both ends of the Y-axis lead screw 7.5 are supported by Y-axis lead screw support seats 7.8. Y-axis soft limits 7.10 and Y-axis hard limits 7.9 are provided on the Y-axis lead screw fixed ends 7.7 at both ends of the Y-axis lead screw 7.5. The Y-axis guide rail upper mounting plate 7.13 is slidably connected to the Y-axis guide rail 7.11 and is threadedly connected to the Y-axis lead screw 7.5. A product mounting base plate 7.14 is provided on the Y-axis guide rail upper mounting plate 7.13. The product positioning mechanism 1 is arranged at both ends of the Y-axis guide rail upper mounting plate 7.13.

[0042] As Figure 6-7 shown, in the embodiment of the present invention, the product positioning mechanism 1 includes a positioning cylinder 1.1, a product positioning guide rail 1.2, a positioning slide plate 1.3, a product fixing tooling 1.5, a product reference block 1.6, and a product positioning mechanism mounting plate 1.7. Among them, the product positioning mechanism mounting plate 1.7 is arranged on the Y-axis servo feed mechanism 7. The product positioning guide rail 1.2 is arranged on the product positioning mechanism mounting plate 1.7 along the Y-axis direction. The product fixing tooling 1.5 is slidably connected to the product positioning guide rail 1.2 through the positioning slide plate 1.3. The positioning cylinder 1.1 is arranged on the product positioning mechanism mounting plate 1.7, and its output end is connected to the positioning slide plate 1.3. A buffer 1.4 is provided at the end of the product positioning guide rail 1.2. The product reference block 1.6 is arranged on the product positioning mechanism mounting plate 1.7 for product positioning. When the positioning cylinder 1.1 moves, the product fixing tooling 1.5 pushes the product onto the product reference block 1.6 to complete the fixation of the product and prevent the product from moving during the tightening process.

[0043] In the embodiment of the present invention, the equipment base 8 includes a welded frame and a protective cover, etc.

[0044] As Figure 8-12As shown in the figure, in the embodiment of the present invention, the nut anti-torsion transfer mechanism 4 includes a nut Y-direction transfer mechanism, a nut lifting mechanism, a nut feeding mechanism mounting plate 4.1, a spring telescopic guiding mechanism 4.2, a guiding mechanism mounting plate 4.3, an anti-torsion tooling 4.4 and a product Z-axis pressing block 4.5. Among them, the nut lifting mechanism is arranged on the nut Y-direction transfer mechanism, the guiding mechanism mounting plate 4.3 is arranged on the nut lifting mechanism, the nut feeding mechanism mounting plate 4.1 is connected to the guiding mechanism mounting plate 4.3 through the spring telescopic guiding mechanism 4.2, and a nut automatic feeding mechanism 3 is installed on the nut feeding mechanism mounting plate 4.1; the anti-torsion tooling 4.4 and the product Z-axis pressing block 4.5 are arranged at the lower end of the guiding mechanism mounting plate 4.3, and the anti-torsion tooling 4.4 is located below the nut automatic feeding mechanism 3.

[0045] In the embodiment of the present invention, the nut automatic feeding mechanism 3 is a prior art, and specifically, a magnetic adsorption method is adopted to realize the picking up of a single nut and the precise positioning of the nut after picking up.

[0046] Specifically, the anti-torsion tooling 4.4 has two horizontal U-shaped or V-shaped groove structures with opposite openings. The position of the anti-torsion tooling 4.4 is adjusted through shims to ensure the coaxiality position accuracy with the nut picked up by the nut automatic feeding mechanism 3.

[0047] In the embodiment of the present invention, the nut Y-direction transfer mechanism includes a horizontal guide rail 4.14, a rodless cylinder 4.15, a transfer anti-torsion mechanism mounting base 4.16 and a nut Y-direction transfer seat. Among them, the transfer anti-torsion mechanism mounting base 4.16 is arranged on the X-axis servo feeding mechanism 6 and moves together with the feeding mechanism. A horizontal guide rail 4.14 is arranged along the Y-axis direction at the top of the transfer anti-torsion mechanism mounting base 4.16, and the nut Y-direction transfer seat is slidably connected to the horizontal guide rail 4.14; the rodless cylinder 4.15 is arranged on the transfer anti-torsion mechanism mounting base 4.16 and the output end is connected to the nut Y-direction transfer seat. When selecting the rodless cylinder 4.15, a rodless cylinder with buffers and adjustment screws at both front and rear ends is selected, aiming to achieve precise position adjustment during nut transfer.

[0048] In the embodiment of the present invention, the nut lifting mechanism includes a lifting slide plate 4.6, a vertical guide rail 4.7, a lifting cylinder 4.8, a cylinder connecting plate 4.9 and a vertical guide rail mounting bottom plate 4.13. Among them, the vertical guide rail mounting bottom plate 4.13 is connected to the nut Y-direction transfer seat, the vertical guide rail 4.7 is arranged on the vertical guide rail mounting bottom plate 4.13, the lifting slide plate 4.6 is slidably connected to the vertical guide rail 4.7, the lifting cylinder 4.8 is arranged on the vertical guide rail mounting bottom plate 4.13, and the output end is connected to the lifting slide plate 4.6 through the cylinder connecting plate 4.9; the guiding mechanism mounting plate 4.3 is connected to the lifting slide plate 4.6.

[0049] Further, an adjusting shim is provided between the vertical guide rail 4.7 and the lifting slide plate 4.6. A buffer mounting seat 4.12 is provided at the lower part of the vertical guide rail mounting base plate 4.13. A buffer 4.10 and an adjusting screw 4.11 are provided on the buffer mounting seat 4.12. By adjusting the position of the adjusting screw 4.11, the descending stroke of the lifting slide plate 4.6 can be accurately adjusted.

[0050] In the embodiment of the present invention, the spring telescopic guiding mechanism 4.2 is guided by a copper sleeve and a spring is arranged inside, so that the nut can be compressed on the Z axis. When the nut is transferred to the tightening position, the lifting cylinder 4.8 moves downward. The nut first contacts the product. At this time, the lifting cylinder 4.8 continues to move downward. Under the action of the spring, the nut is pressed into the anti-torsion tooling 4.4 until the cylinder connecting plate 4.9 moves to the adjusting screw 4.11. The depth of the nut pressed into the anti-torsion tooling 4.4 is adjusted by the adjusting screw 4.11, and the total compression amount of the spring of the spring telescopic guiding mechanism 4.2 is higher than the thickness of the nut. The purpose of such a design is to ensure that when the screw and nut are tightened, the nut still has slight floating when it is pressed into the anti-torsion tooling, which is more conducive to the tightening of the screw and nut. By the adjusting shim provided between the vertical guide rail 4.7 and the lifting slide plate 4.6 and the adjusting screw in the rodless cylinder 4.15, the position of picking up the nut is accurately adjusted, ensuring the coaxial position accuracy between the nut and the screw in the three-stage blow nail tightening module 2.2.

[0051] As Figure 9 shown, in the embodiment of the present invention, the vision photographing unit 5 includes a camera 5.1, a camera protective cover 5.2, a light source 5.3, a light source bracket 5.4 and a vision photographing mounting weldment 5.5. Among them, the vision photographing mounting weldment 5.5 is arranged on the vertical guide rail mounting base plate 4.13. The camera 5.1 and the light source bracket 5.4 are arranged on the vision photographing mounting weldment 5.5. A camera protective cover 5.2 is arranged outside the camera 5.1, and a light source 5.3 is arranged on the light source bracket 5.4. The purpose of the vision photographing unit 5 is to accurately identify the position of the through hole on the product through vision photographing. Since the product is a sheet metal bending part and has poor consistency, and this equipment needs to adapt to multi-variety mixed-line production, after the product positioning mechanism 1 positions the product, the positions of the through holes are different.

[0052] In the embodiment of the present invention, the screw automatic feeding and tightening unit 2 is a mature device on the market and is purchased from Wuxi Danniker Automation Technology Co., Ltd. This device includes a 1.25L one-to-one stepped nail feeder, a three-stage blow nail tightening module 2.2, etc. The one-to-one stepped nail feeder is placed on the ground for convenient manual replenishment of materials. The three-stage blow nail tightening module 2.2 is installed on the transfer anti-torsion mechanism mounting base 4.16. The screw is blown from the nail feeder to the bit head of the tightening module by blowing nails, and the tightening action is completed during the process of lifting the screw upward under the drive of the tightening gun and the cylinder in the tightening module.

[0053] A fully automatic screw and nut tightening device applicable to multi-variety products provided by the present invention has the following working process:

[0054] After the product is transferred to the workbench, it is first fixed, and the product information is transmitted to the tightening device. The tightening device uses the X-axis servo feeding mechanism 6 to transfer the three-stage blow nail tightening module 2.2, nut automatic feeding mechanism 3, nut anti-torsion transfer mechanism 4, vision photographing unit 5, etc. to the position to be assembled. The screw automatic feeding and tightening unit 2 sends the screws to the three-stage blow nail tightening module 2.2 through a 1.25L one-to-one stepped screw feeder. The nut automatic feeding mechanism 3 first completes the positioning and picking of the nuts, and then uses the rodless cylinder 4.15 in the nut anti-torsion transfer mechanism 4 to transfer the nuts and the vision photographing unit 5 to the vision photographing position. The camera 5.1 accurately identifies the position of the hole to be assembled on the product. After the camera takes a photo, the compensation value of this position is fed back to the X-axis servo feeding mechanism 6 and the Y-axis servo feeding mechanism 7 to meet the coaxiality assembly requirements of the screw, nut and the hole to be assembled on the product. The coaxiality accuracy between the screw and the nut has been adjusted by adjusting shims and other means when installing the equipment. The lifting cylinder 4.8 in the nut anti-torsion transfer mechanism 4 moves downward to press the nut onto the product and press it into the anti-torsion tooling 4.4. At the same time, the product Z-axis pressing block 4.5 also fixes the product in the Z-axis direction to prevent the product from being lifted by the tightening gun and the nut from rotating during tightening. When the magnetic switch of the lifting cylinder 4.8 has a signal, the three-stage blow nail tightening module 2.2 operates to transport the screw to the tightening position and start tightening. During the tightening process, the nut anti-torsion transfer mechanism 4 and the nut Z-axis spring adjustment unit work together to complete the automatic tightening of the screw and nut. After tightening is completed, the tightening gun gives a tightening completion signal, and all mechanisms return to their original positions.

[0055] The present invention installs the three-stage blow nail tightening module 2.2 on the nut anti-torsion transfer mechanism 4 and accurately positions it through pin holes. The nuts picked up by the nut anti-torsion transfer mechanism 4 are then accurately adjusted in position through adjusting shims and adjusting screws in the rodless cylinder, ensuring the coaxiality position accuracy of the nuts and screws. When tightening the screw and nut, the nut is not completely fixed but has some adjustment amounts, which further ensures the tightening success rate and stability of the screw and nut. In addition, the anti-torsion tooling 4.4 and the product Z-axis pressing block 4.5 are directly installed on the guide mechanism mounting plate 4.3 without arranging additional power mechanisms, and the functions of nut feeding, nut anti-torsion and product Z-axis fixing are completed synchronously through a set of cylinders.

[0056] In the present invention, when loading the screws and nuts, the whole bag of products can be poured into the feeding machine, which is convenient for loading. During the workshop production, rapid replenishment of materials can be achieved. The nut anti-torsion and the product Z-axis fixation are integrated into the nut transfer anti-torsion mechanism, and precise adjustment can be carried out by adjusting gaskets and other means, making the overall structure simple in operation and reducing costs. Therefore, the nut anti-torsion transfer mechanism realizes the transfer of the nut from the material-taking position to the tightening position, and completes the nut anti-torsion function during the tightening process. When the screw and nut are tightened, the nut has a certain adjustment amount on the Z-axis, ensuring the success rate of the screw and nut tightening.

[0057] The present invention can achieve the flexible assembly of multi-variety products, and adjust the tightening position online without stopping the production line. Since the workpiece is a sheet metal bending part, the consistency of the products is very poor, and it is a multi-variety mixed-line production. Therefore, a vision photography unit is used to accurately identify the position of the hole, and then this position is fed back to the X-axis and Y-axis servo feeding mechanisms to transfer the screws and nuts to this position for tightening. The present invention realizes the full-automatic assembly of screws and nuts during the mixed-line production of sheet metal products, and on the basis of completing the nut picking and transfer, synchronously realizes the functions of nut anti-torsion and product positioning, effectively solving the problems of single equipment function and the lack of automatic equipment for screw and nut tightening in the prior art.

[0058] The above description is only the embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A fully automatic screw and nut tightening device applicable to multi-variety products, characterized in that, It includes a product positioning mechanism (1), a screw automatic feeding and tightening unit (2), a nut automatic feeding mechanism (3), a nut anti-torsion transfer mechanism (4), a vision photographing unit (5), an X-axis servo feeding mechanism (6), a Y-axis servo feeding mechanism (7) and an equipment base (8). The equipment base (8) is arranged on one side of the X-axis servo feeding mechanism (6), the Y-axis servo feeding mechanism (7) is arranged on the top of the equipment base (8), and product positioning mechanisms (1) are arranged at both ends of the Y-axis servo feeding mechanism (7). The nut anti-torsion transfer mechanism (4) is arranged on the X-axis servo feeding mechanism (6), and the nut automatic feeding mechanism (3) and the vision photographing unit (5) are arranged on the nut anti-torsion transfer mechanism (4). The screw automatic feeding and tightening unit (2) is arranged at the front end of the nut anti-torsion transfer mechanism (4) and is located below the nut automatic feeding mechanism (3). The vision photographing unit (5) is used to identify the position of the hole to be assembled on the product, and feedback the compensation value of the position of the hole to be assembled to the X-axis servo feeding mechanism (6) and the Y-axis servo feeding mechanism (7), and transplant the screw and nut to this position for tightening. The screw automatic feeding and tightening unit (2) and the nut automatic feeding mechanism (3) cooperate to complete the assembly process of the screw, nut and the hole to be assembled on the product. The nut anti-torsion transfer mechanism (4) includes a nut Y-direction transfer mechanism, a nut lifting mechanism, a nut feeding mechanism mounting plate (4.1), a spring telescopic guiding mechanism (4.2), a guiding mechanism mounting plate (4.3), an anti-torsion tooling (4.4) and a product Z-axis pressing block (4.5). The nut lifting mechanism is arranged on the nut Y-direction transfer mechanism, the guiding mechanism mounting plate (4.3) is arranged on the nut lifting mechanism, the nut feeding mechanism mounting plate (4.1) is connected to the guiding mechanism mounting plate (4.3) through the spring telescopic guiding mechanism (4.2), and the nut automatic feeding mechanism (3) is mounted on the nut feeding mechanism mounting plate (4.1). The anti-torsion tooling (4.4) and the product Z-axis pressing block (4.5) are arranged at the lower end of the guiding mechanism mounting plate (4.3), and the anti-torsion tooling (4.4) is located below the nut automatic feeding mechanism (3). The anti-torsion tooling (4.4) has two horizontal U-shaped or V-shaped groove structures with opposite openings.

2. The fully automatic screw and nut tightening device applicable to multi-variety products according to claim 1, characterized in that, The nut Y-direction transfer mechanism includes a horizontal guide rail (4.14), a rodless cylinder (4.15), a transfer anti-torsion mechanism mounting base (4.16) and a nut Y-direction transfer seat. The transfer anti-torsion mechanism mounting base (4.16) is arranged on the X-axis servo feeding mechanism (6), the horizontal guide rail (4.14) is arranged along the Y-axis direction on the top of the transfer anti-torsion mechanism mounting base (4.16), and the nut Y-direction transfer seat is slidably connected to the horizontal guide rail (4.14). The rodless cylinder (4.15) is arranged on the transfer anti-torsion mechanism mounting base (4.16) and the output end is connected to the nut Y-direction transfer seat.

3. The fully automatic screw and nut tightening device applicable to multi-variety products according to claim 2, characterized in that, The nut lifting mechanism includes a lifting slide plate (4.6), a vertical guide rail (4.7), a lifting cylinder (4.8), a cylinder connecting plate (4.9), and a vertical guide rail mounting base plate (4.13). Among them, the vertical guide rail mounting base plate (4.13) is connected to the nut Y-direction transplanting seat. The vertical guide rail (4.7) is arranged on the vertical guide rail mounting base plate (4.13). The lifting slide plate (4.6) is slidably connected to the vertical guide rail (4.7). The lifting cylinder (4.8) is arranged on the vertical guide rail mounting base plate (4.13), and the output end is connected to the lifting slide plate (4.6) through the cylinder connecting plate (4.9). The guiding mechanism mounting plate (4.3) is connected to the lifting slide plate (4.6).

4. The fully automatic screw and nut tightening device applicable to multi-variety products according to claim 3, characterized in that, A buffer mounting seat (4.12) is provided at the lower part of the vertical guide rail mounting base plate (4.13). A buffer (4.10) and an adjusting screw (4.11) are provided on the buffer mounting seat (4.12). The descending stroke of the lifting slide plate (4.6) is adjusted by the adjusting screw (4.11).

5. The fully automatic screw and nut tightening device applicable to multi-variety products according to claim 3, characterized in that, The vision photographing unit (5) includes a camera (5.1), a camera protective cover (5.2), a light source (5.3), a light source bracket (5.4), and a vision photographing mounting welded part (5.5). Among them, the vision photographing mounting welded part (5.5) is arranged on the vertical guide rail mounting base plate (4.13). The camera (5.1) and the light source bracket (5.4) are arranged on the vision photographing mounting welded part (5.5). A camera protective cover (5.2) is arranged outside the camera (5.1). The light source (5.3) is arranged on the light source bracket (5.4).

6. The fully automatic screw and nut tightening device applicable to multi-variety products according to claim 1, characterized in that, The X-axis servo feeding mechanism (6) includes an X-axis servo motor (6.1), an X-axis speed reducer (6.2), an X-axis coupling (6.3), an X-axis speed reducer mounting seat (6.4), an X-axis lead screw (6.7), an X-axis mounting seat (6.9), an X-axis guide rail (6.10), and an X-axis guide rail mounting seat (6.12). Among them, the X-axis lead screw (6.7) and the X-axis guide rail (6.10) are arranged in parallel on the X-axis guide rail mounting seat (6.12). The X-axis servo motor (6.1) and the X-axis speed reducer (6.2) are connected, and the X-axis speed reducer (6.2) is connected to the X-axis lead screw (6.7) through the X-axis coupling (6.3). The X-axis mounting seat (6.9) is slidably connected to the X-axis guide rail (6.10) and is threadedly connected to the X-axis lead screw (6.7). X-axis soft limits (6.14) and X-axis hard limits (6.6) are provided at both ends of the X-axis lead screw (6.7). A three-color lamp (6.13) is provided at the outer end of the X-axis guide rail mounting seat (6.12).

7. The fully automatic screw and nut tightening device applicable to multi-variety products according to claim 1, characterized in that, The product positioning mechanism (1) includes a positioning cylinder (1.1), a product positioning guide rail (1.2), a positioning slide plate (1.3), a product fixing tooling (1.5), a product reference block (1.6), and a product positioning mechanism mounting plate (1.7). Among them, the product positioning mechanism mounting plate (1.7) is arranged on the Y-axis servo feeding mechanism (7). The product positioning guide rail (1.2) is arranged on the product positioning mechanism mounting plate (1.7) along the Y-axis direction. The product fixing tooling (1.5) is slidably connected to the product positioning guide rail (1.2) through the positioning slide plate (1.3). The positioning cylinder (1.1) is arranged on the product positioning mechanism mounting plate (1.7), and its output end is connected to the positioning slide plate (1.3). A buffer (1.4) is provided at the end of the product positioning guide rail (1.2). The product reference block (1.6) is arranged on the product positioning mechanism mounting plate (1.7) for product positioning.

8. The automatic full-tightening equipment for screws and nuts applicable to multi-variety products according to claim 1, characterized in that, The Y-axis servo feeding mechanism (7) includes a Y-axis servo motor (7.1), a Y-axis reducer (7.2), a Y-axis lead screw (7.5), a Y-axis guide rail (7.11), a Y-axis servo mounting base plate (7.12), and a Y-axis guide rail upper mounting plate (7.13). Among them, the Y-axis servo mounting base plate (7.12) is arranged on the equipment base (8). The Y-axis servo motor (7.1), the Y-axis reducer (7.2), the Y-axis lead screw (7.5), and the Y-axis guide rail (7.11) are arranged on the Y-axis servo mounting base plate (7.12). The Y-axis lead screw (7.5) and the Y-axis guide rail (7.11) are parallel. The Y-axis servo motor (7.1) is connected to the Y-axis reducer (7.2). The Y-axis reducer (7.2) is connected to the Y-axis lead screw (7.5) through a Y-axis coupling (7.4). Y-axis soft limits (7.10) and Y-axis hard limits (7.9) are provided at both ends of the Y-axis lead screw (7.5). The Y-axis guide rail upper mounting plate (7.13) is slidably connected to the Y-axis guide rail (7.11) and is threadedly connected to the Y-axis lead screw (7.5). A product mounting base plate (7.14) is provided on the Y-axis guide rail upper mounting plate (7.13). The product positioning mechanism (1) is arranged at both ends of the Y-axis guide rail upper mounting plate (7.13).

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