An intelligent integrated screw removal device

Abstract

The present invention relates to an intelligent integrated screw-removing device applied to the technical field related to screw-removing and locking. A variety of devices can be connected in series. Compared with the traditional manual or multiple devices independently cooperating method, the demand for the number of personnel is greatly reduced, and the floor space occupied by the equipment is greatly reduced, thereby reducing the production cost. In addition, in combination with two staggered carrier flow lines, a circular return line can be formed to realize the integrated return of screw-removing and screw-locking, so that part of the equipment can be shared in the two screw-removing and screw-locking processes, thereby reducing the equipment and further reducing the floor space occupied by the equipment. In addition, in combination with the setting of a clamping position monitoring unit, during the screw-removing and locking process, the clamping condition of the screw can be monitored after the screw is clamped and before it is twisted, so as to timely detect a certain deviation in the established trajectory of the pneumatic finger caused by the accumulated tolerance of the equipment, and the deviation can be automatically corrected after detection, thereby effectively ensuring the accurate and stable progress of the screw-removing and locking process.

Description

Technical Field

[0001] The present invention relates to an integrated screw-removing device, and in particular to an intelligent integrated screw-removing device applied to the technical field related to screw-removing. Background Art

[0002] For product production, the assembly process involves the disassembly and assembly of multiple screws, which is generally done manually through assembly line operations at the beginning. However, this method is cumbersome to operate, and due to the excessive number of screws, the overall efficiency is very low, and it is highly dependent on manual labor, resulting in differences in the tightness of the screws after assembly.

[0003] In order to solve the above problems, in the prior art, there are intelligent devices for automatically disassembling and assembling screws, such as the screw locking and disassembling mechanism and screw machine disclosed in the specification of Chinese patent CN114178834A and an automatically controlled screw locking machine disclosed in the specification of Chinese patent CN113579715A. However, there are many screws for a product, so multiple mechanical equipment is required to realize automatic disassembly of multiple screws. When disassembling the screws, it also involves cleaning the screws in terms of degreasing, impurities, etc., so the equipment involved is large and large, resulting in a large floor area, which is easy to occupy a large space in the factory, and invisibly leads to an increase in cost. Summary of the invention

[0004] In view of the above-mentioned prior art, the technical problem to be solved by the present invention is that a variety of large-scale mechanical equipment is involved in removing the locking screws, resulting in a large area occupied and an invisible increase in costs.

[0005] In order to solve the above problems, the present invention provides an intelligent integrated screw removal device, comprising a tray loading machine, a cleaning machine, a tray unloading machine, an integrated lock removal machine and an integrated loading and unloading machine which are placed in sequence from beginning to end, a front six-axis manipulator is installed on the upper end of the cleaning machine, a visual guide unit and a flip module are installed on the upper end of the tray unloading machine close to the rear side, the flip module and the visual guide unit match each other, and the flip module is located at the upper end of the tray unloading machine close to the integrated lock removal machine, the visual guide unit is located below the flip module, and a ring return line is fixedly installed in the middle of the upper end of the integrated lock removal machine;

[0006] The annular return line includes two tray streamlines which are centrally symmetrical and arranged in parallel, the tray streamlines include a staggered streamline and a mainstream line opposite to the outlet of the staggered streamline. Along the transportation direction of the mainstream line in front, a plurality of evenly distributed screw removing modules are fixedly installed on the upper end of the lock removing integrated machine. Along the transportation direction of the mainstream line in the rear, a plurality of screw locking modules are fixedly installed in sequence on the upper end of the lock removing integrated machine. Two four-axis manipulators are fixedly installed on the upper end of the lock removing integrated machine close to the loading and unloading integrated machine. The two four-axis manipulators are respectively located on the sides away from each other of the two mainstream lines. A carrier manipulator is also fixedly installed on the upper end of the lock removing integrated machine and the upper end of the lock removing integrated machine close to the tray unloading machine. The carrier manipulator corresponds to the flip module. The upper end of the loading and unloading integrated machine is fixedly connected with a rear six-axis manipulator. The tray unloading machine and the upper ends of the loading and unloading integrated machine are also fixedly installed with a tray cache module, and the two tray cache modules correspond to the front six-axis manipulator and the rear six-axis manipulator respectively.

[0007] The visual guidance unit includes a main line installed at the upper end of the lock dismantling machine, a translation station connected to the extension end of the electric translation assembly, and two cameras located on the side of the electric translation assembly away from the flip module. The flip module includes a rotating cylinder and a double-layer electric clamp installed at the rotating end of the rotating cylinder.

[0008] Both the screw removal module and the screw locking module include a three-axis moving component, a screw clamping mechanism installed at the end of the three-axis moving component, the screw clamping mechanism includes an intelligent electric screwdriver, a sliding cylinder installed at the lower end of the intelligent electric screwdriver through a rotary motor, a pneumatic finger fixedly installed at the extended end of the sliding cylinder, and a follower cylinder for driving the pneumatic finger, and the follower cylinder is connected to the pneumatic finger through an air guide tube;

[0009] The clamping fingers of the pneumatic fingers include a positioning section and an adaptive clamping section connected to the lower end of the positioning section. A clamping position monitoring unit is arranged in the adaptive clamping section. The clamping position monitoring unit is connected to the intelligent electric batch signal. The clamping position monitoring unit includes two sensing units respectively installed at one end of the two adaptive clamping sections close to each other, a miniature camera installed at the top of one of the adaptive clamping sections and two indicator light strips respectively electrically connected to the inner wall of the adaptive clamping section, and the indicator light strips are located above the sensing unit.

[0010] In the above-mentioned intelligent integrated screw-removing equipment, multiple devices can be connected in series, which greatly reduces the demand for the number of personnel compared to traditional manual or independent cooperation of multiple devices, and at the same time greatly reduces the equipment footprint and reduces production costs.

[0011] As a further improvement of the present application, the operating end clamps of the front six-axis manipulator and the rear six-axis manipulator are both configured as triangular bidirectional clamps, which include a triangular mounting plate, a jig clamp mounted on one right-angle end face of the triangular mounting plate through a cylinder, and a material tray clamp mounted on the other right-angle end face of the triangular mounting plate through a telescopic cylinder.

[0012] As a further improvement of the present application, an inner groove is opened at the lower end of the positioning section, the middle part of the upper end of the adaptive clamping section extends into the inner groove, an electric push rod is installed between the middle part of the upper end of the adaptive clamping section and the inner wall of the inner groove, and the extended ends of the electric push rod are all facing the side away from the axis of the pneumatic fingers and are fixedly connected to the adaptive clamping section.

[0013] As a further improvement of the present application, the sensing unit includes a sensing groove excavated in the inner wall of the chuck of the adaptive clamping section, a protruding contact piece fixedly connected to the inner wall of the sensing groove, a self-resetting switch fixedly connected to the inner wall of the sensing groove facing the axis of the pneumatic finger, and a follower contact rod fixedly connected to the middle of one end of the protruding contact piece facing the self-resetting switch.

[0014] As a further improvement of the present application, the convex contact piece is an elastic arc-shaped structure, and the curved middle portion of the convex contact piece extends outside the sensing groove.

[0015] As a further improvement of the present application, the self-resetting switch is used to control the opening and closing of the indicator light strip. When no force is applied, the follower contact rod does not contact the self-resetting switch, and the distance between the two is smaller than the distance between the middle of the convex contact piece and the inner wall of the adaptive clamping section.

[0016] As a further improvement of the present application, the follower contact rod is an open hollow structure, the protruding contact piece is made of a transparent material, and an infrared rangefinder is installed on the inner wall of the follower contact rod facing the opening, and the infrared rangefinder is connected to the intelligent electric batch signal.

[0017] As a further improvement of the present application, a method for performing position compensation on two clamping fingers of a pneumatic finger using a clamping position monitoring unit comprises the following steps:

[0018] S1. When the adaptive clamping section clamps the end of the screw under the drive of the follower cylinder, the micro camera obtains the image information between the screw and the clamping head of the adaptive clamping section during clamping and the opening and closing status of the indicator light strip;

[0019] S2. When the micro camera detects that the two indicator lights are on at the same time, it means that the pneumatic finger is holding the screw stably and the screw is coaxial with the pneumatic finger. At this time, continue the subsequent screw removal or screw locking operation;

[0020] S31. When the micro camera detects that the two indicator lights are lit up front and back, it means that the pneumatic finger and the screw are not coaxial, resulting in an operating tolerance. At this time, the intelligent electric screwdriver analyzes and determines the offset of the pneumatic finger relative to the screw based on the image information obtained by the micro camera, and then the intelligent electric screwdriver controls the sliding cylinder and the electric push rod to compensate the position of the pneumatic finger in the X-axis and Y-axis directions;

[0021] S32, first perform position compensation on the X-axis: control the pneumatic finger to move toward the side of the screw axis on the X-axis by the sliding cylinder. During this process, the data obtained by the sensing slot gradually decreases and then increases. When the data increases, control the pneumatic finger to move in the opposite direction, so that the pneumatic finger stops at the position where the sensing slot data is the smallest.

[0022] S33, then perform position compensation on the Y-axis: the intelligent electric screwdriver controls the two adaptive clamping segments to move in the same direction on the Y-axis through two electric push rods, so that the data of the two sensing slots gradually tend to be consistent until the two data are the same, making the screw coaxial with the pneumatic finger and completing the position compensation. At this time, continue the subsequent operation of removing or locking the screws.

[0023] In summary, a variety of equipment can be connected in series, which greatly reduces the demand for the number of personnel compared to the traditional manual or independent cooperation of multiple equipment. At the same time, it greatly reduces the equipment footprint and reduces production costs. In addition, with the two staggered carrier flow lines, a circular return line can be formed to achieve integrated return flow for screw removal and screw locking, so that some equipment can be shared in the two screw removal and screw locking processes, thereby reducing the equipment and further reducing the equipment footprint. In addition, with the setting of the clamping position monitoring unit, during the process of screw removal and locking, the clamping condition of the screw can be monitored before the screw is twisted after clamping, so as to timely detect certain deviations in the established trajectory of the pneumatic finger caused by the accumulated tolerance of the equipment, and the deviation can be automatically corrected after detection, thereby effectively ensuring the accuracy and stability of the screw removal and locking process. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is an overall stereogram of the first embodiment of the present application;

[0025] Figure 2 It is an overall top view of the first embodiment of the present application;

[0026] Figure 3 A top view of the annular return line of the first embodiment of the present application;

[0027] Figure 4 A top view of part of the first embodiment of the present application;

[0028] Figure 5This is a three-dimensional schematic diagram of the cooperation between the flip module and the visual guide unit of the first embodiment of the present application;

[0029] Figure 6 A three-dimensional diagram of a wire removal module or a screw locking module according to a first embodiment of the present application;

[0030] Figure 7 This is a side view of a wire removal module or a screw locking module according to a first embodiment of the present application;

[0031] Figure 8 A three-dimensional diagram of a triangular bidirectional clamp according to a first embodiment of the present application;

[0032] Fig. 9 A three-dimensional diagram of a pneumatic finger portion of a second embodiment of the present application;

[0033] Fig.10 A cross-sectional view of the clamping finger portion of the pneumatic finger according to the second embodiment of the present application;

[0034] Fig.11 A partial cross-sectional view of a clamping head with two clamping fingers according to a second embodiment of the present application;

[0035] Fig.12 This is a cross-sectional view of the chuck portion of the second embodiment of the present application when the screw is normally clamped;

[0036] Fig.13 A cross-sectional view of a follower contact rod portion of a second embodiment of the present application;

[0037] Fig.14 This is a schematic diagram of the second embodiment of the present application when the pneumatic gripper finger deviates only from the Y-axis and the screw;

[0038] Fig.15 This is a schematic diagram of the pneumatic gripper fingers of the second embodiment of the present application when both the X and Y axes are deviated from the screw.

[0039] Description of the numbers in the figure:

[0040] 1 tray loader, 2 cleaning machine, 3 tray unloader, 31 front six-axis manipulator, 4 all-in-one lock disassembly machine, 401 main flow line, 402 offset flow line, 41 flip module, 301 electric translation assembly, 302 translation station, 303 camera, 411 rotary cylinder, 412 double-layer electric fixture, 42 carrier robot, 43 screw disassembly module, 431 intelligent electric screwdriver, 432 sliding cylinder, 433 follower cylinder, 434 three-axis moving assembly, 44 four-axis manipulator, 45 screw locking module, 46 visual inspection module, 5 loading and unloading all-in-one machine, 51 rear six-axis manipulator, 61 triangular mounting plate, 62 fixture, 63 tray fixture;

[0041] 7 pneumatic fingers, 71 positioning section, 72 adaptive clamping section, 73 indicator light strip, 701 micro camera, 702 electric push rod, 8 sensing unit, 81 convex contact piece, 82 follow-up contact rod, 83 self-resetting switch, 801 sensing slot, 802 infrared rangefinder. DETAILED DESCRIPTION

[0042] Two implementation modes of the present application are described in detail below with reference to the accompanying drawings.

[0043] The first implementation method:

[0044] Figure 1-2 An intelligent integrated screw loosening device is shown, comprising a tray loader 1, a cleaning machine 2, a tray unloading machine 3, an integrated lock loosening machine 4 and an integrated loading and unloading machine 5 which are placed in sequence. A front six-axis manipulator 31 is installed on the upper end of the cleaning machine 2. The processes involved in the screw loosening process, such as tray loading, cleaning, tray unloading, carrier loading and unloading, and screw loosening, can be connected in series on a line and integrated into an overall device. Compared with the traditional manual or independent cooperation of multiple devices, the demand for the number of personnel is greatly reduced, and at the same time the equipment footprint is greatly reduced, thereby reducing the production cost.

[0045] A visual guide unit and a flip module 41 are installed at the upper end of the tray feeder 3 near the rear side. The flip module 41 matches the visual guide unit, and the flip module 41 is located at the upper end of the tray feeder 3 near the lock disassembly integrated machine 4. Figure 5 , a in the figure represents a fixture, the visual guidance unit includes a main flow line 401 installed at the upper end of the lock dismantling machine 4, a translation station 302 connected to the extended end of the electric translation assembly 301, and two cameras 303 located on the side of the electric translation assembly 301 away from the flip module 41, the flip module 41 includes a rotating cylinder 411, a double-layer electric clamp 412 installed at the rotating end of the rotating cylinder 411, the visual guidance unit is located below the flip module 41, and a ring return line is fixedly installed in the middle of the upper end of the lock dismantling machine 4; as shown in FIG. Figure 3 In the figure, c represents a carrier. The annular reflux line includes two carrier streamlines that are centrally symmetrical and parallel. The carrier streamline includes a staggered streamline 402 and a main stream 401 opposite to the outlet of the staggered streamline 402. The annular reflux line formed by the two staggered carrier streamlines realizes an integrated reflux for removing and locking screws, which effectively reduces the floor space. At the same time, at the reflux turning point, the loading and unloading integrated machine 5 can be shared by the two screw removal and screw locking processes, thereby reducing the equipment and further reducing the floor space of the equipment.

[0046] like Figure 4, along the transportation direction of the main line 401 in front, a plurality of evenly distributed screw removing modules 43 are fixedly installed on the upper end of the lock removing integrated machine 4, and along the transportation direction of the main line 401 in the rear, a plurality of screw locking modules 45 are fixedly installed on the upper end of the lock removing integrated machine 4 in sequence, and two four-axis manipulators 44 are fixedly installed on the upper end of the lock removing integrated machine 4 close to the loading and unloading integrated machine 5. The two four-axis manipulators 44 are respectively located on the sides away from each other of the two main lines 401. A carrier manipulator 42 is also fixedly installed on the upper end of the lock removing integrated machine 4 and the upper end of the lock removing integrated machine 4 close to the tray unloading machine 3. The carrier manipulator 42 corresponds to the flip module 41. A rear six-axis manipulator 51 is fixedly connected to the upper end of the loading and unloading integrated machine 5. A tray cache module is also fixedly installed on the upper ends of the tray unloading machine 3 and the loading and unloading integrated machine 5, and the two tray cache modules correspond to the front six-axis manipulator 31 and the rear six-axis manipulator 51, respectively. Figure 8 The operating end clamps of the front six-axis manipulator 31 and the rear six-axis manipulator 51 are both set as triangular two-way clamps, which are installed on the operating end of the front six-axis manipulator 31 or the rear six-axis manipulator 51 through a rotating motor. The triangular two-way clamp includes a triangular mounting plate 61, a fixture clamp 62 installed on a right-angle end face of the triangular mounting plate 61 through a cylinder, and a material tray clamp 63 installed on the other right-angle end face of the triangular mounting plate 61 through a telescopic cylinder, so that the triangular two-way clamp has the functions of grabbing the fixture and grabbing the material tray at the same time. When loading and unloading materials, the clamp can be directly rotated and switched without setting up a manipulator, thereby simplifying the equipment and further reducing the footprint.

[0047] When the device is in use, the tray loader 1 first loads the tray with the jig, and then enters the cleaning machine 2, and undergoes cleaning, rinsing, spraying, drying and other processes in the cleaning machine 2 to remove oil, impurities and the like in the tray, and then discharges the material. At this time, the front six-axis manipulator 31 clamps the tray unloading material and places it in the tray buffer module, and then the front six-axis manipulator 31 switches the clamp, and absorbs the jig and places it on the translation station 302 of the visual guidance unit, and under the guidance of the two electric translation components 301, it is transported to the bottom of the flip module 41, and then the flip module 41 clamps the jig and flips it to face upwards for easy access, completing the first stage of cleaning and loading and unloading;

[0048] Then the front six-axis manipulator 31 clamps the jig after position adjustment and places it in the carrier. Then the carrier manipulator 42 clamps the carrier and places it on the front side of the offset flow line 402, and then it is transferred to the main flow line 401. At this time, multiple screw removal modules 43 can remove the screws on the surface cover of the jig on the carrier. After the cooperation of multiple screw removal modules 43, most of the target screws on the carrier are removed, completing the second stage of screw removal.

[0049] The carrier continues to move along the main flow line 401. When it reaches the four-axis robot 44, the four-axis robot 44 opens the cover on the fixture, and then the six-axis robot 51 unloads the carrier and places another offset flow line 402. When it flows to the main flow line 401, another four-axis robot 44 clamps the product and places it on the fixture. After that, it passes the screw locking module 45 to lock the screws. Finally, it passes the visual inspection module 46 to visually inspect the status of the screws. If it is qualified, the carrier robot 42 clamps and unloads the material. If it is unqualified, the carrier robot 42 can clamp and place it separately. The above process completes the entire process of removing the screws.

[0050] like Figure 6-7 The screw removing module 43 and the screw locking module 45 both include a three-axis moving component 434 and a screw clamping mechanism installed at the end of the three-axis moving component 434. The screw clamping mechanism includes an intelligent electric screwdriver 431, a sliding cylinder 432 installed at the lower end of the intelligent electric screwdriver 431 through a rotary motor, a pneumatic finger 7 fixedly installed at the extended end of the sliding cylinder 432, and a follower cylinder 433 for driving the pneumatic finger 7. The follower cylinder 433 is connected to the pneumatic finger 7 through an air guide tube. When removing and locking screws, each screw removing module 43 or screw locking module 45 is set with a predetermined moving path to remove the screws at the target position. During removal, air is supplied to the pneumatic finger 7 through the follower cylinder 433. Under the action of the air pressure of the compressed gas, the two clamping fingers of the pneumatic finger 7 are driven to clamp the screw. Then, the intelligent electric screwdriver 431 controls the rotation of the rotary motor to drive the pneumatic finger 7 to rotate, thereby removing or locking the screw.

[0051] A variety of equipment can be connected in series, which greatly reduces the need for personnel compared to traditional manual or independent coordination of multiple equipment. At the same time, it greatly reduces the equipment footprint and reduces production costs. In addition, two staggered carrier flow lines can form a circular return line to achieve integrated return flow for removing and locking screws, so that some equipment can be shared when removing and locking screws, thereby reducing equipment and further reducing the equipment footprint.

[0052] The second implementation method:

[0053] This embodiment is based on the first embodiment, and a clamping position monitoring unit is added, and the rest of the parts are consistent with the first embodiment.

[0054] Figure 9-10As shown, b in the figure represents a screw, the clamping finger of the pneumatic finger 7 includes a positioning section 71, an adaptive clamping section 72 connected to the lower end of the positioning section 71, a clamping position monitoring unit is arranged in the adaptive clamping section 72, and the clamping position monitoring unit is connected to the intelligent electric screwdriver 431 signal, and the clamping position monitoring unit includes two sensing units 8 respectively installed at one end of the two adaptive clamping sections 72 close to each other, a miniature camera 701 installed at the top of one of the adaptive clamping sections 72, and two indicator light strips 73 respectively electrically connected to the inner wall of the adaptive clamping section 72, and the indicator light strip 73 is located above the sensing unit 8, and an inner slide groove is cut at the lower end of the positioning section 71. The middle part of the upper end of the adaptive clamping section 72 extends into the inner slide groove, and an electric push rod 702 is installed between the middle part of the upper end of the adaptive clamping section 72 and the inner wall of the inner slide groove. The extended ends of the electric push rod 702 are all facing the side away from the axis of the pneumatic finger 7 and are fixedly connected to the adaptive clamping section 72, so that the adaptive clamping section 72 can move relative to the pushing and positioning section 71 of the electric push rod 702. When the screw removing module 43 or the screw locking module 45 accumulates tolerances after long-term work, it makes it difficult for the pneumatic finger 7 to remain coaxial with the screw, and X-axis position compensation can be performed, thereby reducing the influence of the accumulated tolerances on the efficiency and stability of screw removing and locking.

[0055] like Fig.11 The sensing unit 8 includes a sensing groove 801 excavated on the inner wall of the clamping head of the adaptive clamping section 72, a convex contact piece 81 fixedly connected to the inner wall of the sensing groove 801, a self-resetting switch 83 fixedly connected to the inner wall of the sensing groove 801 toward the axis of the pneumatic finger 7, and a follow-up contact rod 82 fixedly connected to the middle of one end of the convex contact piece 81 toward the self-resetting switch 83, the follow-up contact rod 82 is an open hollow structure, the convex contact piece 81 is made of transparent material, and the follow-up contact rod 82 is directly opposite to the opening. An infrared rangefinder 802 is installed on the inner wall, and the infrared rangefinder 802 is connected to the signal of the intelligent electric screwdriver 431. The convex contact piece 81 is an elastic arc structure, and the bent middle part of the convex contact piece 81 extends outside the sensing groove 801. The self-resetting switch 83 is used to control the opening and closing of the indicator light strip 73. When no force is applied, the follow-up contact rod 82 does not contact the self-resetting switch 83, and the distance between the two is less than the distance between the middle part of the convex contact piece 81 and the inner wall of the adaptive clamping section 72, which effectively ensures that Fig.12 When the screw is stably clamped, the convex contact piece 81 can be squeezed to move it into the sensing groove 801, thereby triggering the self-reset switch 83 to light up the indicator light strip 73, so that the micro camera 701 can obtain the image information, thereby understanding whether the clamping is stable, so as to facilitate timely correction when abnormalities occur.

[0056] The method for performing position compensation on two clamping fingers of the pneumatic finger 7 using the clamping position monitoring unit comprises the following steps:

[0057] S1. When the adaptive clamping section 72 clamps the end of the screw under the drive of the follower cylinder 433, the micro camera 701 obtains the image information between the screw and the clamping head of the adaptive clamping section 72 during clamping and the opening and closing status of the indicator light strip 73;

[0058] S2. When the micro camera 701 detects that the two indicator light strips 73 are lit at the same time, it indicates that the pneumatic finger 7 is stably holding the screw and the screw is coaxial with the pneumatic finger 7. At this time, the subsequent screw removal or screw locking operation is continued;

[0059] S31, when the micro camera 701 detects that the two indicator light strips 73 are lit up front and back, it means that the pneumatic finger 7 is not coaxial with the screw, resulting in an operating tolerance. At this time, the smart electric screwdriver 431 analyzes and determines the offset of the pneumatic finger 7 relative to the screw based on the image information obtained by the micro camera 701, and then the smart electric screwdriver 431 controls the sliding cylinder 432 and the electric push rod 702 to compensate the position of the pneumatic finger 7 in the X-axis and Y-axis directions;

[0060] S32, such as Figure 14-15 , firstly, the X-axis position compensation is performed: the pneumatic finger 7 is controlled by the sliding cylinder 432 to move toward the side of the screw axis on the X-axis. During this process, the data obtained by the sensing slot 801 gradually decreases and then increases. When the data increases, the pneumatic finger 7 is controlled to move in the opposite direction, so that the pneumatic finger 7 stops at the position where the data of the sensing slot 801 is the smallest;

[0061] S33, perform position compensation on the Y-axis: the intelligent electric screwdriver 431 controls the two adaptive clamping sections 72 to move in the same direction on the Y-axis through the two electric push rods 702, so that the data of the two sensing slots 801 gradually tend to be consistent until the data of the two are the same, so that the screw is coaxial with the pneumatic finger 7, and the position compensation is completed. At this time, the subsequent operation of removing or locking the screws can be continued.

[0062] In summary, a variety of equipment can be connected in series, which greatly reduces the demand for the number of personnel compared to the traditional manual or independent cooperation of multiple equipment. At the same time, it greatly reduces the equipment footprint and reduces production costs. In addition, with the two staggered carrier flow lines, a circular return line can be formed to achieve integrated return flow for removing and locking screws, so that some equipment can be shared in the two processes of removing and locking screws, thereby reducing the equipment and further reducing the equipment footprint. In addition, with the setting of the clamping position monitoring unit, during the process of removing and locking screws, the clamping condition of the screw can be monitored before the screw is twisted after being clamped, so as to timely detect certain deviations in the established trajectory of the pneumatic finger 7 caused by the accumulated tolerance of the equipment, and the deviation can be automatically corrected after detection, thereby effectively ensuring the accuracy and stability of the screw removing and locking process.

[0063] In view of current practical needs, the above-mentioned implementation mode adopted in this application is not limited to the scope of protection. Various changes made within the knowledge scope of technical personnel in this field without departing from the concept of this application still fall within the scope of protection of the present invention.

Claims

1. An intelligent integrated screw removal device, characterized in that: It includes a tray loading machine, a cleaning machine, a tray unloading machine, a lock-removing integrated machine and a loading and unloading integrated machine which are placed in sequence from beginning to end. A front six-axis manipulator is installed on the upper end of the cleaning machine. A visual guide unit and a flip module are installed on the upper end of the tray unloading machine near the rear side. The flip module and the visual guide unit match each other, and the flip module is located at the upper end of the tray unloading machine near the lock-removing integrated machine. The visual guide unit is located below the flip module. A circular return line is fixedly installed in the middle of the upper end of the lock-removing integrated machine. The annular return flow line includes two tray flow lines that are centrally symmetrical and parallel, and the tray flow line includes a staggered flow line and a mainstream line opposite to the staggered flow line outlet. Along the transportation direction of the mainstream line in front, a plurality of evenly distributed screw removing modules are fixedly installed on the upper end of the lock removing integrated machine, and along the transportation direction of the mainstream line at the rear, a plurality of locking screw modules are fixedly installed in sequence on the upper end of the lock removing integrated machine, and two four-axis manipulators are fixedly installed on the upper end of the lock removing integrated machine close to the loading and unloading integrated machine, and the two four-axis manipulators are respectively located on the sides away from each other of the two mainstream lines, and a carrier manipulator is also fixedly installed on the upper end of the lock removing integrated machine close to the tray unloading machine, and the carrier manipulator corresponds to the flip module, and the upper end of the loading and unloading integrated machine is fixedly connected with a rear six-axis manipulator, and the upper ends of the tray unloading machine and the loading and unloading integrated machine are also fixedly installed with a tray cache module, and the two tray cache modules correspond to the front six-axis manipulator and the rear six-axis manipulator respectively; The visual guidance unit includes an electric translation assembly installed at the upper end of the lock dismantling machine, a translation station connected to the extended end of the electric translation assembly, and two cameras located on the side of the electric translation assembly away from the flip module. The flip module includes a rotating cylinder and a double-layer electric clamp installed at the rotating end of the rotating cylinder. The screw removal module and the screw locking module both include a three-axis moving assembly, a screw clamping mechanism installed at the end of the three-axis moving assembly, the screw clamping mechanism includes an intelligent electric screwdriver, a sliding cylinder installed at the lower end of the intelligent electric screwdriver through a rotary motor, a pneumatic finger fixedly installed at the extended end of the sliding cylinder, and a follower cylinder for driving the pneumatic finger, the follower cylinder is connected to the pneumatic finger through an air guide tube; The clamping fingers of the pneumatic fingers include a positioning section and an adaptive clamping section connected to the lower end of the positioning section. A clamping position monitoring unit is arranged in the adaptive clamping section. The clamping position monitoring unit is connected to the intelligent electric batch signal. The clamping position monitoring unit includes two sensing units respectively installed at one end of the two adaptive clamping sections close to each other, a miniature camera installed at the top of one of the adaptive clamping sections, and two indicator light strips respectively electrically connected to the inner wall of the adaptive clamping section, and the indicator light strips are located above the sensing unit.

2. The intelligent integrated screw-removing device according to claim 1, characterized in that: The operating end clamps of the front six-axis manipulator and the rear six-axis manipulator are both configured as triangular bidirectional clamps, which include a triangular mounting plate, a jig clamp mounted on one right-angle end face of the triangular mounting plate via a cylinder, and a material tray clamp mounted on the other right-angle end face of the triangular mounting plate via a telescopic cylinder.

3. The intelligent integrated screw-removing device according to claim 1, characterized in that: An inner groove is formed at the lower end of the positioning section, and the middle part of the upper end of the adaptive clamping section extends into the inner groove. An electric push rod is installed between the middle part of the upper end of the adaptive clamping section and the inner wall of the inner groove. The extended ends of the electric push rod are all facing the side away from the axis of the pneumatic finger and are fixedly connected to the adaptive clamping section.

4. The intelligent integrated screw-removing device according to claim 3 is characterized in that: The sensing unit includes a sensing groove excavated on the inner wall of the chuck of the adaptive clamping section, a convex contact piece fixedly connected to the inner wall of the sensing groove, a self-resetting switch fixedly connected to the inner wall of the sensing groove facing the axis of the pneumatic finger, and a follower contact rod fixedly connected to the middle of one end of the convex contact piece facing the self-resetting switch.

5. The intelligent integrated screw-removing device according to claim 4, characterized in that: The convex contact piece is an elastic arc-shaped structure, and the bent middle part of the convex contact piece extends outside the sensing groove.

6. The intelligent integrated screw-removing device according to claim 5, characterized in that: The self-resetting switch is used to control the opening and closing of the indicator light strip. When no force is applied, the follower contact rod does not contact the self-resetting switch, and the distance between the two is smaller than the distance between the middle of the convex contact piece and the inner wall of the adaptive clamping section.

7. The intelligent integrated screw-removing device according to claim 6, characterized in that: The follower contact rod is an open hollow structure, the convex contact piece is made of transparent material, and an infrared rangefinder is installed on the inner wall of the follower contact rod facing the opening, and the infrared rangefinder is connected to the intelligent electric batch signal.

8. The intelligent integrated screw-removing device according to claim 7, characterized in that: The method for performing position compensation on two clamping fingers of a pneumatic finger by using the clamping position monitoring unit comprises the following steps: S1. When the adaptive clamping section clamps the end of the screw under the drive of the follower cylinder, the micro camera obtains the image information between the screw and the clamping head of the adaptive clamping section during clamping and the opening and closing status of the indicator light strip; S2. When the micro camera detects that the two indicator lights are on at the same time, it means that the pneumatic finger is holding the screw stably and the screw is coaxial with the pneumatic finger. At this time, continue the subsequent screw removal or screw locking operation; S31. When the micro camera detects that the two indicator lights are lit up front and back, it means that the pneumatic finger and the screw are not coaxial, resulting in an operating tolerance. At this time, the intelligent electric screwdriver analyzes and determines the offset of the pneumatic finger relative to the screw based on the image information obtained by the micro camera, and then the intelligent electric screwdriver controls the sliding cylinder and the electric push rod to compensate the position of the pneumatic finger in the X-axis and Y-axis directions; S32, first perform position compensation on the X-axis: control the pneumatic finger to move toward the side of the screw axis on the X-axis by the sliding cylinder. During this process, the data obtained by the sensing slot gradually decreases and then increases. When the data increases, control the pneumatic finger to move in the opposite direction, so that the pneumatic finger stops at the position where the sensing slot data is the smallest. S33, then perform position compensation on the Y-axis: the intelligent electric screwdriver controls the two adaptive clamping segments to move in the same direction on the Y-axis through two electric push rods, so that the data of the two sensing slots gradually tend to be consistent until the two data are the same, making the screw coaxial with the pneumatic finger and completing the position compensation. At this time, continue the subsequent operation of removing or locking the screws.

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