Automobile air conditioner assembly robot intelligent screw driving device

Abstract

The application discloses a kind of intelligent screwing equipment of automobile air conditioner assembly robot, including pedestal, movable arm, screwing device and prevent skewing device, prevent skewing device includes mounting plate, linear elastic component and prevent skewing module;The fixed end of linear elastic component is fixed in the bottom surface of mounting plate, and the telescopic end of linear elastic component is connected with prevent skewing module;Prevent skewing module includes shell and prevent skewing mechanism, the screw via hole coaxial with the ejection rod is opened in shell, and prevent skewing mechanism is installed in shell, the middle part of prevent skewing mechanism is formed into the conical guide hole coaxial with the screw via hole, the inner wall of conical guide hole can be integrally expanded along conical guide hole radial under the axial downward force of screw cap portion, so that screw cap end can pass through conical guide hole.The intelligent screwing equipment of automobile air conditioner assembly robot disclosed in the application can accurately position screw locking, which helps to improve the locking quality of screw.

Description

Technical Field

[0001] This invention relates to the field of automotive air conditioning assembly technology, specifically to an intelligent screw-driving device for automotive air conditioning assembly robots. Background Technology

[0002] In traditional automotive air conditioning assembly lines, screw driving is done manually using screwdrivers. More advanced intelligent screw driving equipment, both domestically and internationally, typically uses vision cameras to identify and transmit data to a robotic system. The system then calculates and automatically generates a program, and the screwdriver at the robot's end effector completes the automatic screw driving.

[0003] There are two main screw feeding methods for intelligent screw driving equipment. The first is the air-blowing type, where the screw is blown onto the nozzle of the electric gun by compressed air, and the electric gun automatically locks the screw into the product as it moves downwards. The second is the suction type, where the screw is picked up by the electric gun nozzle using the suction force generated by compressed air, and then positioned on the product hole. The electric gun then automatically locks the screw into the product as it moves downwards. However, the air-blowing type of intelligent screw driving equipment has the following shortcomings: When driving screws, there is a certain gap between the bottom surface of the air-blowing screw feeding component and the screw hole. The height of this gap is generally greater than the length of the screw, while the electric gun head and the screw mating part are clearance fit. This often results in the screw being driven crookedly. Furthermore, since some automotive air conditioning parts are made of PP plastic, the problem of parts breaking due to the screw being driven crookedly can also occur, seriously restricting the product yield. Summary of the Invention

[0004] In view of this, the present invention proposes an intelligent screw-driving device for automotive air conditioning assembly robots, which can accurately position screws for fastening, thereby improving the quality of screw fastening.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A smart screw-driving device for automotive air conditioning assembly robots includes a base, a movable arm, a screw-driving mechanism, and an anti-misalignment device. The bottom end of the movable arm is mounted on the base, and the top end of the movable arm is equipped with the screw-driving mechanism. The screw-driving mechanism includes a mounting frame and a screw-driving module, a vision camera module, and a screw conveying module mounted on the side of the mounting frame away from the movable arm. The screw-driving module and the vision camera module are arranged horizontally side by side. The screw feeding component of the screw conveying module is located directly below the screw delivery rod of the screw-driving module. The anti-misalignment device includes a mounting plate, a linear elastic component, and an anti-misalignment module. The mounting plate is fixed... The linear elastic component is located on the bottom surface of the mounting frame, the bottom surface of the screw-driving module fixing assembly, or the bottom surface of the screw-feeding assembly. The fixed end of the linear elastic component is fixed to the bottom surface of the mounting plate, and the telescopic end of the linear elastic component is connected to an anti-misalignment module. The anti-misalignment module includes a housing and an anti-misalignment mechanism. The housing has a screw through hole coaxial with the screw-feeding rod. The housing is equipped with an anti-misalignment mechanism. The middle part of the anti-misalignment mechanism forms a tapered guide hole coaxial with the screw through hole. The inner wall of the tapered guide hole can be radially expanded along the tapered guide hole by the axial downward force of the screw head, so that the screw head end can pass through the tapered guide hole.

[0007] To better achieve the above technical solution, optionally, the top section of the tapered guide hole has a straight hole section that matches the clearance of the outer circumferential surface of the screw cap.

[0008] Optionally, the anti-misalignment mechanism includes a rotating disk, a guide plate, a linear slide bar, and a spring seat;

[0009] The rotating disk has a mounting hole at its center, coaxial with the screw through hole and with a diameter larger than the screw through hole. Multiple arc-shaped drive holes are arranged in a circumferential array around the mounting hole on the rotating disk. The inner bottom surface of the housing has a first straight guide groove corresponding to each arc-shaped drive hole and extending radially along the mounting hole. Guide plates are arranged corresponding to each arc-shaped drive hole and distributed in a circumferential array around the mounting hole. One end of each guide plate is fixedly connected to a steering drive rod parallel to the axial direction of the mounting hole. The bottom end of the steering drive rod movably passes through the arc-shaped drive hole. The hole is slidably disposed in the first straight guide groove along the length direction of the corresponding first straight guide groove. The other end of each guide plate has an arc surface, and the arc surfaces of each guide plate form a conical guide hole. The outer circumferential surface of the rotating disk is provided with a driving part along the radial direction of the rotating disk. The spring seat is fixedly disposed on the inner bottom surface of the housing. One end of the linear slide rod is hinged to the driving part, and the other end of the linear slide rod extends movably into the spring seat. The spring seat is provided with a return spring sleeved on the other end of the linear slide rod. The return spring extends and retracts as the linear slide rod moves linearly.

[0010] Optionally, the guide plate includes a first strip guide plate away from the tapered guide hole and a second strip guide plate close to the tapered guide hole, wherein the end of the first strip guide plate close to the tapered guide hole and the end of the second strip guide plate away from the tapered guide hole are fixedly connected vertically.

[0011] Optionally, the number of guide plates is at least six.

[0012] Optionally, the inner top surface of the housing is provided with a second linear guide groove that is directly opposite the first linear guide groove, and the top end of the steering drive rod can be slidably embedded in the second linear guide groove along the length direction of the second linear guide groove.

[0013] Optionally, the depth of the tapered guide hole is at least 3 / 4 of the screw length.

[0014] Optionally, the linear elastic component includes a fixed sleeve, a telescopic rod, and a spring assembly. The inner wall of the fixed sleeve is symmetrically provided with two axial guide grooves about its central axis. The telescopic rod has a guide protrusion in the middle that matches the axial guide grooves. A spring assembly is provided inside the fixed sleeve and above the axial guide grooves, and is sleeved on the top of the telescopic rod. The bottom end of the fixed sleeve is fixed with an end cap that slides with the bottom of the telescopic rod.

[0015] The beneficial effects of this invention are as follows: In an intelligent screw-driving device for automotive air conditioning assembly, when the screw moves along the central axis of the tapered guide hole, each guide plate is pressed and moves outward along the length of its corresponding first guide groove, causing the arc surfaces of the tapered guide hole to unfold. During this movement, each guide plate drives a rotating disk to rotate via a steering drive rod. The rotating disk moves a linear slide rod and compresses a return spring. After the screw is screwed into the hole, the screw cap disengages from the tapered guide hole. Under the action of the return spring, each guide plate is pressed and moves inward along the length of its corresponding first guide groove, closing the arc surfaces of the tapered guide hole. The screw-out rod returns to its original position, completing the screw-driving action. This invention, by incorporating an anti-misalignment device, ensures precise screw insertion into the hole, reducing the risk of misalignment and preventing component breakage due to misaligned screws. Attached Figure Description

[0016] Figure 1 This is a three-dimensional schematic diagram of an intelligent screw-driving device for automotive air conditioning assembly robots according to an embodiment of the present invention;

[0017] Figure 2 yes Figure 1 Enlarged view of point A in the middle;

[0018] Figure 3 yes Figure 2 A three-dimensional schematic diagram of the anti-misalignment device;

[0019] Figure 4yes Figure 3 Schematic diagram of the internal structure of the anti-misalignment device;

[0020] Figure 5 yes Figure 4 A schematic diagram of the structure of the straight sliding rod and spring seat;

[0021] Figure 6 yes Figure 4 A structural diagram of the central fixed sleeve, telescopic rod, and spring assembly;

[0022] Figure 7 for Figure 4 A cross-sectional view of the shell.

[0023] Figure label:

[0024] Base 100, movable arm 200, mounting frame 300, screw-driving module 400, screw-out rod 410, vision camera module 500, screw-feeding assembly 600, anti-misalignment device 700, mounting plate 710, fixing sleeve 721, axial guide groove 7211, telescopic rod 722, protruding strip 7221, spring kit 723, end cap 724, housing 731, screw through hole 7311, first linear guide groove 7312, second linear guide groove 7313, rotating disk 732, mounting hole 7321, arc drive hole 7322, drive unit 7323, first strip guide plate 7341, second strip guide plate 7342, arc surface 7343, tapered guide hole 7344, straight hole section 7345, linear slide rod 735, spring seat 736, steering drive rod 737, return spring 738. Detailed Implementation

[0025] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. Identical components are indicated by the same reference numerals.

[0026] Please see Figures 1 to 7 This invention discloses an intelligent screw-driving device for automotive air conditioning assembly robots, including a base 100, a movable arm 200, a screw-driving device, and an anti-misalignment device 700.

[0027] like Figure 1As shown, the base 100 is fixedly installed on the automotive air conditioning assembly line. The bottom end of the movable arm 200 is mounted on the base 100, and the top end of the movable arm 200 is equipped with a screw-driving device. The movable arm 200 is preferably a robot. The screw-driving device includes a mounting frame 300 and a screw-driving module 400, a vision camera module 500, and a screw conveying module mounted on the side of the mounting frame 300 away from the movable arm 200. The screw conveying module is an air-blowing conveying module. The screw-driving module 400 and the vision camera module 500 are arranged horizontally side by side. The screw feeding component 600 of the screw conveying module is located directly below the screw-out rod 410 of the screw-driving module 400.

[0028] The working principle of the intelligent screw-driving equipment is as follows: the robot establishes the shooting range of the vision camera based on the approximate position of the screw in the car air conditioning box according to the program. The vision camera takes a picture, and the vision system generates the outline coordinates of the image. The image coordinates are transmitted to the robot system, and the robot system generates a program based on the image coordinates. The screw-driving module 400 and the screw conveying module work together to complete the screw driving. This technology is a mature technology and will not be described in detail.

[0029] like Figures 2-4 As shown, the anti-misalignment device 700 includes a mounting plate 710, a linear elastic component, and an anti-misalignment module;

[0030] The mounting plate 710 is fixed on the bottom surface of the mounting frame 300, the bottom surface of the screw module 400 fixing assembly, or the bottom surface of the screw feeding assembly 600. Preferably, the mounting plate 710 is installed on the bottom surface of the mounting frame 300, where there is ample installation space and assembly is convenient.

[0031] like Figure 2 and Figure 3 As shown, the anti-misalignment module includes a housing 731 and an anti-misalignment mechanism. The housing 731 has a screw through hole 7311 coaxial with the screw ejector rod 410 of the screw-driving module 400. The diameter of the screw through hole 7311 is larger than the diameter of the screw ejector rod 410, so that the screw ejector rod 410 can pass smoothly through the screw through hole 7311. The housing 731 is a hollow cube structure or a hollow cylinder structure. The screw through hole 7311 is opened on the central axis of the housing 731.

[0032] like Figure 3 As shown, the housing 731 is equipped with an anti-misalignment mechanism. The middle part of the anti-misalignment mechanism forms a tapered guide hole 7344 coaxial with the screw through hole 7311. The inner wall of the tapered guide hole 7344 can be radially expanded by the downward axial force of the screw head, so that the screw head end can pass through the tapered guide hole 7344.

[0033] This invention discloses an intelligent screw-driving device for automotive air conditioning assembly robots. During the screw-driving process, the bottom surface of the screw head presses against the inner ring wall of the tapered guide hole 7344. When the screw head is subjected to the axial downward force of the electric gun head, the tapered guide hole 7344 can expand radially as a whole, allowing the screw head to move vertically downward. This ensures that the screw can only move along the central axis of the tapered guide hole 7344, thus preventing the screw from being driven crooked during the screw-driving process, effectively ensuring the accuracy of screw driving, and helping to improve the yield rate of automotive air conditioning units.

[0034] like Figure 4 As shown, the anti-tilting mechanism includes a rotating disk 732, a guide plate, a linear slide bar 735, and a spring seat 736;

[0035] The rotating disk 732 has a mounting hole 7321 at its center, which is coaxial with the screw through hole 7311 and has a larger diameter than the screw through hole 7311. Multiple arc-shaped driving holes 7322 are arranged in a circular array around the mounting hole 7321 on the rotating disk 732. The number of arc-shaped driving holes 7322 is not less than 6, preferably 10-15. In this embodiment, the number of arc-shaped driving holes 7322 is 15. The inner bottom surface of the housing 731 has arc-shaped driving holes 7322 that correspond one-to-one with the arc-shaped driving holes 7322 and extend radially along the mounting hole 7321. The first linear guide groove 7312, the guide plates and the arc drive holes 7322 are arranged in a one-to-one correspondence and are distributed in a circumferential array around the mounting hole 7321. One end of each guide plate is fixedly provided with a steering drive rod 737 parallel to the axial direction of the mounting hole 7321. The bottom end of the steering drive rod 737 movably passes through the arc drive hole 7322 and slides in the first linear guide groove 7312 along the length direction of the corresponding first linear guide groove 7312. The other end of each guide plate has an arc surface 7343. The arc surfaces 7343 of each guide plate form a conical guide hole 7344.

[0036] like Figure 5 and Figure 6 As shown, a drive unit 7323 is provided on the outer circumferential surface of the rotating disk 732 along the radial direction of the rotating disk 732. The drive unit 7323 and the rotating disk 732 are integral structures. The spring seat 736 is fixed on the inner bottom surface of the housing 731. One end of the linear slide rod 735 is hinged to the drive unit 7323, and the other end of the linear slide rod 735 extends movably into the spring seat 736. A return spring 738 is provided in the spring seat 736 and sleeved on the other end of the linear slide rod 735. The return spring 738 extends and contracts as the linear slide rod 735 moves linearly.

[0037] Based on the above, the working principle of the anti-misalignment mechanism is as follows: the bottom surface of the screw cap presses against the inner wall of the tapered guide hole 7344. During downward rotation, the screw cap pushes the tapered guide hole 7344, causing each guide plate to move along the length of the corresponding first straight guide groove 7312. This expands the overall diameter of the tapered guide hole 7344, allowing the screw to gradually rotate into the screw hole. When the screw cap only presses against a portion of the arcuate surface 7343 of the guide plate, the guide plate pressed against the arcuate surface 7343 has a [missing information - likely a feature or characteristic] along the length of the first straight guide groove 7312. The screw tends to slide outward along the length of the groove 7312, but the guide plate corresponding to the arc surface 7343 that is not pressed by the screw cap end remains stationary. This part of the guide plate will form a resistance to the rotating disk 732. At the same time, the rotating disk 732 needs to overcome the elasticity of the return spring 738 to rotate. Therefore, when the screw cap end cannot fully press against each arc surface 7343 of the tapered guide hole 7344, the tapered guide hole 7344 cannot be enlarged and screwed into the screw hole, thereby preventing the eccentric screw from being driven into the screw hole of the air conditioner.

[0038] In an embodiment of the present invention, in order to avoid screw eccentricity, the top section of the tapered guide hole 7344 has a straight hole section 7345 that fits with the clearance of the outer circumferential surface of the screw head. The straight hole section 7345 can correct the slightly eccentric screw, so that the central axis of the screw is collinear with the central axis of the tapered guide hole 7344.

[0039] In an embodiment of the present invention, the tapered guide hole 7344 also serves to protect the screw, preventing screws from flying and creating safety hazards.

[0040] like Figure 3 As shown, the guide plate includes a first strip guide plate 7341 away from the tapered guide hole 7344 and a second strip guide plate 7342 near the tapered guide hole 7344. The end of the first strip guide plate 7341 near the tapered guide hole 7344 and the end of the second strip guide plate 7342 away from the tapered guide hole 7344 are fixedly connected vertically. Specifically, the end of the second strip guide plate 7342 that mates with the first strip guide plate 7341 has a U-shaped opening structure, dividing the guide plate into the first strip guide plate 7341 and the second strip guide plate 7342, which facilitates assembly to form the tapered guide hole 7344.

[0041] like Figure 7 As shown, in an embodiment of the present invention, the inner top surface of the housing 731 is provided with a first linear guide groove 7312 and a second linear guide groove 7313 that are directly opposite each other. The top end of the steering drive rod 737 can slide and be housed in the second linear guide groove 7313 along the length direction of the second linear guide groove 7313. The first linear guide groove 7312 and the second linear guide groove 7313 jointly guide the steering drive rod 737, which can further improve the stability of the steering drive rod 737.

[0042] In an embodiment of the present invention, the depth of the tapered guide hole 7344 is at least 3 / 4 of the screw length, which can further improve the accuracy of screw threading.

[0043] like Figure 6 As shown, the linear elastic component includes a fixed sleeve 721, a telescopic rod 722, and a spring assembly 723. The inner wall of the fixed sleeve 721 is symmetrically provided with two axial guide grooves 7211 about its central axis. The telescopic rod 722 has a guide protrusion 7221 in the middle that matches the axial guide grooves 7211. Through the axial guide grooves 7211 and the guide protrusion 7221, the telescopic rod 722 can only be extended and cannot be rotated. The spring assembly 723 is provided inside the fixed sleeve 721 and above the guide grooves 7211, and is sleeved on the top of the telescopic rod 722. The bottom end of the fixed sleeve 721 is fixed with an end cap 724 that slides with the bottom of the telescopic rod 722. By setting the linear elastic component, the linear elastic component can be extended and retracted for screw holes at different positions, so that the tapered guide hole 7344 and the screw can be brought closer together for engagement.

[0044] In this invention, an intelligent screw-driving device for automotive air conditioning assembly robots is described. When the screw moves along the central axis of the tapered guide hole 7344, each guide plate is pressed and moves outward along the length direction of the corresponding first guide groove 7211, causing the arc surfaces 7343 of the tapered guide hole 7344 to unfold. During the movement, each guide plate drives the rotating disk 732 to rotate via the steering drive rod 737. The rotation of the rotating disk 732 drives the linear slide rod 735 to move and compress the return spring 738. When the screw is screwed into the screw hole, the screw cap end disengages from the tapered guide hole 7344. Under the action of the return spring 738, each guide plate is pressed and moves inward along the length direction of the corresponding first guide groove 7211, closing the arc surfaces 7343 of the tapered guide hole 7344. The screw ejector rod 410 returns to its original position, and the screw-driving action is completed.

[0045] The present invention discloses an intelligent screw-driving device for automotive air conditioning assembly robots. By setting an anti-misalignment device 700, the screw can be accurately locked into the screw hole, reducing the risk of the screw being misaligned and avoiding the problem of parts breaking due to misaligned screws during screw driving.

[0046] The technical solution of the present invention has been described in detail above with reference to specific embodiments. The specific embodiments described are used to help understand the concept of the present invention. Derivations and modifications made by those skilled in the art based on the specific embodiments of the present invention also fall within the scope of protection of the present invention.

Claims

1. An intelligent screw-driving device for automotive air conditioning assembly robots, comprising a base (100), a movable arm (200), and a screw-driving device, wherein the bottom end of the movable arm (200) is mounted on the base (100), and the top end of the movable arm (200) is mounted with a screw-driving device, the screw-driving device comprising a mounting frame (300) and a screw-driving module (400), a vision camera module (500), and a screw conveying module mounted on the side of the mounting frame (300) away from the movable arm (200), wherein the screw-driving module (400) and the vision camera module (500) are arranged horizontally side by side, and the screw feeding component (600) of the screw conveying module is located directly below the screw-out rod (410) of the screw-driving module (400), characterized in that: It also includes an anti-misalignment device (700), which includes a mounting plate (710), a linear elastic component, and an anti-misalignment module; The mounting plate (710) is fixed to the bottom surface of the mounting frame (300), the bottom surface of the screw-driving module (400) fixing assembly, or the bottom surface of the screw-feeding assembly (600). The fixed end of the linear elastic component is fixed to the bottom surface of the mounting plate (710), and the telescopic end of the linear elastic component is connected to an anti-tilting module. The anti-misalignment module includes a housing (731) and an anti-misalignment mechanism. The housing (731) has a screw through hole (7311) coaxial with the screw rod (410). The housing (731) is equipped with an anti-misalignment mechanism. The middle part of the anti-misalignment mechanism forms a tapered guide hole (7344) coaxial with the screw through hole (7311). The inner wall of the tapered guide hole (7344) can be radially expanded by the downward force of the screw head, so that the screw head end can pass through the tapered guide hole (7344). The anti-misalignment mechanism includes a rotating disk (732), a guide plate, a linear slide bar (735), and a spring seat (736); The rotating disk (732) has a mounting hole (7321) at its center, which is coaxial with the screw through hole (7311) and has a larger diameter than the screw through hole (7311). Multiple arc-shaped drive holes (7322) are arranged in a circular array around the mounting hole (7321) on the rotating disk (732). The inner bottom surface of the housing (731) has a first straight guide groove (7312) that corresponds one-to-one with the arc-shaped drive holes (7322) and extends radially along the mounting hole (7321). The guide plate is configured to correspond one-to-one with the arc-shaped drive holes (7322). The guide plates are arranged in a circular array around the mounting hole (7321). One end of each guide plate is fixedly provided with a steering drive rod (737) parallel to the axial direction of the mounting hole (7321). The bottom end of the steering drive rod (737) movably passes through the arc drive hole (7322) and slides in the first straight guide groove (7312) along the length direction of the corresponding first straight guide groove (7312). The other end of each guide plate has an arc surface (7343). The arc surfaces (7343) of each guide plate form a conical guide hole (7344). The outer circumferential surface of the rotating disk (732) is provided with a driving part (7323) along the radial direction of the rotating disk (732), and the driving part (7323) and the rotating disk (732) are an integral structure; The spring seat (736) is fixed to the inner bottom surface of the housing (731). One end of the linear slide rod (735) is hinged to the drive unit (7323), and the other end of the linear slide rod (735) extends movably into the spring seat (736). The spring seat (736) is provided with a return spring (738) sleeved on the other end of the linear slide rod (735). The return spring (738) extends and retracts as the linear slide rod (735) moves linearly.

2. The intelligent screw-driving equipment for automotive air conditioning assembly robots according to claim 1, characterized in that: The top section of the tapered guide hole (7344) has a straight hole section (7345) that mates with the clearance of the outer circumferential surface of the screw cap.

3. The intelligent screw-driving equipment for automotive air conditioning assembly robots according to claim 1, characterized in that: The guide plate includes a first strip guide plate (7341) away from the tapered guide hole (7344) and a second strip guide plate (7342) near the tapered guide hole (7344). The end of the first strip guide plate (7341) near the tapered guide hole (7344) and the end of the second strip guide plate (7342) away from the tapered guide hole (7344) are fixedly connected vertically.

4. The intelligent screw-driving equipment for automotive air conditioning assembly robots according to claim 3, characterized in that: The number of guide plates is at least six.

5. The intelligent screw-driving equipment for automotive air conditioning assembly robots according to claim 4, characterized in that: The inner top surface of the housing (731) is provided with a first linear guide groove (7312) and a second linear guide groove (7312) directly opposite each other. The top end of the steering drive rod (737) can slide and be built into the second linear guide groove (7312) along the length direction of the second linear guide groove (7312).

6. The intelligent screw-driving equipment for automotive air conditioning assembly robots according to claim 5, characterized in that: The depth of the tapered guide hole (7344) is at least 3 / 4 of the screw length.

7. The intelligent screw-driving equipment for automotive air conditioning assembly robots according to claim 1, characterized in that: The linear elastic component includes a fixed sleeve (721), a telescopic rod (722), and a spring assembly (723). The inner wall of the fixed sleeve (721) is symmetrically provided with two axial guide grooves (7211) about its central axis. The telescopic rod (722) has a guide protrusion (7221) in the middle that is adapted to the axial guide groove (7211). The spring assembly (723) is provided inside the fixed sleeve (721) and above the axial guide groove (7211) and is sleeved on the top of the telescopic rod (722). The bottom end of the fixed sleeve (721) is fixed with an end cap (724) that slides with the bottom of the telescopic rod (722).

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