Intelligent high-reliability screw fastening robot

Abstract

The invention provides an intelligent high-reliability screw fastening robot. The intelligent high-reliability screw fastening robot comprises a mechanical arm head, a box body, a displayer, a flat spring washer vibration disc, a screw machine, a code screw combination storage mechanism, a dispensing device and a product fixing tool structure. The head of the mechanical arm is driven by the mechanical arm to move, the flat gasket and the elastic gasket are dispersed through vibration of the flat gasket and elastic gasket vibration disc, the screw machine outputs screws, the flat gasket, the elastic gasket and the screws are temporarily stored in sequence through the code screw combination storage mechanism, the screws are sequentially sleeved with the elastic gasket and the flat gasket to obtain screw combinations, and the glue dispensing device dispenses anti-loosening glue on threads of the screw combinations. The product fixing tool structure fixes a to-be-assembled product, and the head of the mechanical arm assembles the screw combination on the to-be-assembled product. The functions of automatic screw stacking, screw dispensing, visual positioning and screw fastening detection can be achieved by adopting the flat spring washer and anti-loosening rubber dual fastening process, the reliability is high by adopting the flat spring washer and anti-loosening rubber dual fastening, the reliability and production efficiency of screw fastening are improved, and the production cost is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, and in particular to an intelligent high-reliability screw-fastening robot. Background Art

[0002] Figure 1a , 1b This is a schematic diagram of the structure of an integrated nail and an integrated nail combination. Figure 2a , 2b This is a schematic diagram of the structure of a normal screw and a screw combination. It can be clearly seen that there is a structure similar to a back-cut groove between the nut and the external thread of the integrated screw. This structure can prevent the spring washer and the flat washer from falling off the integrated screw. Because of this structure, the integrated screw is not as safe as the normal screw. Therefore, in some places with high safety and reliability requirements, it is necessary to use normal screws with flat washers and spring washers.

[0003] During the installation of the product, it is usually necessary to fasten the components with screws. The most common anti-loosening process for screw fastening is to add flat spring washers or anti-loosening glue to the threads.

[0004] In the prior art, combining screws and flat spring washers together (coding nails) and gluing the external threads of the screws are usually done manually, and screw tightening is done manually using a screwdriver or a machine, and the coding nail process, gluing process, and screw tightening process are completed on separate workbenches or equipment, that is, the existing equipment cannot satisfy the requirement that the above processes be automatically completed on the same equipment, so the production efficiency is low.

[0005] Therefore, it is necessary to provide an intelligent and highly reliable screw-tightening robot that integrates code nails, screw external thread dispensing and screw fastening processes for the traditional screw fastening process. Summary of the invention

[0006] The present invention aims to solve the problem of intelligent screw fastening and provides an intelligent and highly reliable screw fastening robot, which can realize the functions of automatic nailing, automatic screw dispensing, automatic visual positioning and screw fastening detection, thereby improving production efficiency and fastening reliability.

[0007] The present invention provides an intelligent high-reliability screw-fastening robot, comprising a connected mechanical arm head, a mechanical arm, a box connected to the bottom of the mechanical arm, and a display connected to the box, a flat spring pad vibration plate, a screw machine, a code nail combination storage mechanism, a glue dispensing device, and a product fixing tooling structure;

[0008] The head of the robot arm moves driven by the robot arm, the flat spring washer vibration plate disperses the flat washer and the spring washer through vibration, the screw machine outputs the screws, the code nail combination storage mechanism temporarily stores the flat washer, the spring washer and the screw in sequence and sequentially puts the spring washer and the flat washer on the screw to obtain the screw combination, the glue dispensing device dispenses anti-loosening glue on the thread of the screw combination, the product fixing tooling structure fixes the product to be assembled, and the head of the robot arm installs the screw combination in the threaded hole on the product to be assembled;

[0009] The robot head includes a robot flange connection mechanism and a visual module, a screw combination nozzle, a screw bit, a driving mechanism, a screw clamp, and a flat spring washer nozzle connected to the robot flange connection mechanism. The visual module, the screw combination nozzle, the screw clamp, and the flat spring washer nozzle are respectively connected in different directions of the robot flange connection mechanism.

[0010] The flange connection mechanism of the robot arm is connected to the robot arm and moves under the drive of the robot arm. The visual module is connected to the front end of the flange connection mechanism of the robot arm to identify and locate flat washers, spring washers and threaded holes of the products to be assembled. The screw combination nozzle absorbs the screw combination and puts the screw combination into the threaded hole of the product to be assembled under the drive of the robot arm. The screw bit tightens the screw combination in the threaded hole of the product to be assembled. The driving mechanism drives the screw bit to rotate, the screw clamp clamps the screw, and the flat spring washer nozzle absorbs the flat washer or spring washer.

[0011] The intelligent high-reliability screw-tightening robot described in the present invention, as a preferred embodiment, comprises a screw combination suction nozzle comprising a screw combination suction nozzle fixing tool, a screw combination suction nozzle body connected to the lower end of the screw combination suction nozzle fixing tool, a vacuum generator air pipe connection connected to the front end of the screw combination suction nozzle fixing tool and communicated with the screw combination suction nozzle body, and a slider and a guide rail connected in sequence to the back of the screw combination suction nozzle fixing tool, the bottom of the guide rail of the screw combination suction nozzle fixing tool is connected to one side of the mechanical arm flange connection mechanism, the screw combination suction nozzle body is a hollow structure, and the screw combination suction nozzle sucks the screw combination by vacuum suction and allows the upper part of the screw combination to enter the screw combination suction nozzle body;

[0012] The screwdriver bit passes through the screw combination nozzle body and is connected to the driving mechanism and can move up and down and rotate in the screw combination nozzle body. The driving mechanism includes a cylinder connected to the robot arm flange connection mechanism and a motor, a guide rail, and a slider connected to the cylinder in sequence. The motor of the driving mechanism is connected to the screwdriver bit. The cylinder of the driving mechanism can push the motor to move up and down and drive the screwdriver bit to extend or retract from the screw combination nozzle body.

[0013] When the screw assembly nozzle needs to suck the screw assembly, the screw bit retracts to the rear end of the screw assembly nozzle body. When the screw assembly is placed in the threaded hole of the product to be assembled, the screw bit extends from the screw assembly nozzle body and rotates under the drive of the motor of the driving mechanism to tighten the screw assembly on the product to be assembled.

[0014] The intelligent high-reliability screw-tightening robot described in the present invention, as a preferred embodiment, the screw clamp includes a first clamp body, a second clamp body and an opening and closing cylinder connected to the first clamp body and the second clamp body, the first clamp body and the second clamp body are both block structures, the bottom of the opening and closing cylinder is connected to one end of the mechanical arm flange connection mechanism, the top of the opening and closing cylinder is connected to the first clamp body and the second clamp body, when the opening and closing cylinder is opened, it drives the first clamp body and the second clamp body to move to both sides, and when the opening and closing cylinder is closed, it drives the first clamp body and the second clamp body to move toward the middle and clamp the screw.

[0015] An intelligent high-reliability screw-tightening robot described in the present invention, as a preferred embodiment, the flat spring pad suction nozzle includes a flat spring pad suction nozzle body, a slider, a guide rail and a flat spring pad suction nozzle fixing structure connected in sequence, the flat spring pad suction nozzle fixing structure is connected to the robot arm flange connection mechanism, the flat spring pad suction nozzle body sucks the flat pad and the spring pad by vacuum suction, and the flat spring pad suction nozzle body can move up and down.

[0016] The intelligent high-reliability screw-tightening robot described in the present invention is preferably configured such that the flat spring pad vibration plate comprises a flat pad vibration plate and a spring pad vibration plate placed in parallel, and the flat spring pad vibration plate is controlled by a control cabinet signal to vibrate at a specified frequency to disperse the stacked flat pads and spring pads;

[0017] The screw machine can continuously and stably output M2 and M2.5 screws.

[0018] The intelligent high-reliability screw-fastening robot described in the present invention, as a preferred embodiment, comprises a combination storage mechanism for code nails, which comprises a combination storage mechanism body for code nails vertically connected to a box body, an ejector cylinder connected to one side of the bottom of the combination storage mechanism body for code nails, an ejector fixture connected to the top of the combination storage mechanism body for code nails, and an ejector connected to the ejector fixture and extending from both the upper and lower ends of the ejector fixture, the top of the ejector cylinder is a platform structure and is spaced from the bottom of the ejector fixture, the upper surface of the ejector fixture is a plane structure capable of accommodating a flat washer and a spring washer, and the ejector is a cylinder perpendicular to the upper surface of the box body;

[0019] A spring is connected between the outer side of the ejector and the ejector fixing member to prevent the ejector cylinder from moving downward due to gravity;

[0020] The diameter of the ejector pin is smaller than the inner diameter of the flat washer and the spring washer but larger than the outer diameter of the screw thread;

[0021] The flat spring washer suction nozzle sucks up the flat washer and the spring washer in turn and passes through the ejector pin to place them on the upper surface of the ejector pin fixing part. The screw clamp clamps the screw and presses the ejector pin downward so that the flat washer and the spring washer are sleeved onto the screw thread to obtain a screw combination. The screw combination suction nozzle sucks away the screw combination. After receiving the signal, the ejector cylinder moves upward according to the signal requirements to push the ejector pin to reset and then retracts downward.

[0022] The intelligent high-reliability screw-tightening robot described in the present invention, as a preferred embodiment, the glue dispensing device includes a support frame fixedly connected to the surface of the box, a glue gun fixing device connected to the side of the support frame and rotatable left and right along the lower end of the support frame, a glue gun connected to the glue gun fixing device with its head facing downward, and a glue dispensing controller connected to the glue gun, the glue dispensing controller is used to squeeze the glue gun to discharge glue; the glue gun fixing device is rotatable.

[0023] The intelligent high-reliability screw-tightening robot described in the present invention, as a preferred embodiment, the visual module includes a camera, a light source, a lens and a recognition system connected to one end of the flange connection mechanism of the robot arm, and the recognition system is connected to the control system of the robot arm;

[0024] The recognition system establishes a coordinate system with the center of the flat spring pad vibration disk as the origin. First, use the camera to take a photo, then select the flat pad or spring pad that is easy for the flat spring pad nozzle to pick up according to the visual algorithm and record the corresponding coordinates. The robot arm drives the flat spring pad nozzle to move to the top of the center of the flat spring pad vibration disk, and then moves to the flat pad or spring pad coordinate point selected by the visual algorithm for pickup;

[0025] During the threading process, the vision module first uses a camera to take pictures, the vision algorithm identifies the threaded holes of the product to be assembled, the robotic arm drives the screw combination nozzle to move above the threaded hole of the product, the vision algorithm calculates the threaded hole coordinate compensation value, and then the robotic arm moves the screw combination to the threaded hole coordinate compensation value to screw in the nails.

[0026] The intelligent high-reliability screw-tightening robot described in the present invention is preferably a six-axis robot with six motors disposed inside the robot.

[0027] The box body includes a box body and a control cabinet mechanism and an electrical mechanism connected to the inside of the box body. The box body is a hollow structure with a flat upper surface. The mechanical arm, the display, the flat spring pad vibration disk, the screw machine, the code nail combination storage mechanism, the glue dispensing device, and the product fixing tooling structure are all connected to the box body. The display, the flat spring pad vibration disk, the screw machine, the code nail combination storage mechanism, the glue dispensing device, and the product fixing tooling structure are sequentially placed on the outer peripheral side of the mechanical arm; the control cabinet mechanism is electrically connected to the mechanical arm, the display, the flat spring pad vibration disk, the screw machine, the visual module, the screw combination nozzle, the driving mechanism, the screw clamp, and the flat spring pad nozzle to control the timing and action and display them through the display;

[0028] The products to be assembled include printed boards.

[0029] The intelligent high-reliability screw-tightening robot described in the present invention, as a preferred embodiment, the method for using the intelligent high-reliability screw-tightening robot comprises the following steps:

[0030] S1. The flat spring pad vibration disk shakes the flat pads and spring pads apart, the robot arm drives the robot arm flange connection mechanism to move to one side of the flat spring pad vibration disk, the visual module identifies and locates the scattered flat pads in the flat spring pad vibration disk, the flat spring pad suction nozzle absorbs the positioned flat pads and passes the flat pads through the ejector pin of the code nail combination storage mechanism for storage, the visual module identifies and locates the scattered spring pads in the flat spring pad vibration disk, the flat spring pad suction nozzle absorbs the positioned spring pads and passes the ejector pin of the code nail combination storage mechanism for storage above the flat pad, the screw clamp takes the screw from the screw machine and puts it above the ejector pin of the code nail combination storage mechanism, the robot arm flange connection mechanism drives the screw to press the ejector pin downward and puts the flat pad and the spring pad onto the screw thread to obtain a screw combination;

[0031] S2. Fix the product to be assembled on the product fixing tooling structure. The robot arm drives the robot arm flange connection mechanism to move to one side of the product fixing tooling structure. The vision module locates the threaded hole of the product to be assembled. The screw assembly suction nozzle absorbs the screw assembly from the code nail assembly storage mechanism to the glue dispensing device. The glue dispensing device extrude anti-loosening glue to the threaded side of the screw assembly. Then the robot arm puts the screw assembly to the threaded hole of the product to be assembled. The screwdriver bit rotates and moves downward to tighten the screw assembly. The method for using an intelligent and highly reliable screw tightening robot is completed.

[0032] The present invention is achieved through the following technical solutions:

[0033] An intelligent high-reliability screw fastening robot includes a nailing device, a screwing device, a box mechanism and a mechanical arm. The nailing device includes a screw machine, a screw clamp, a flat spring pad vibration disk, a flat spring pad suction nozzle mechanism, a nailing combination storage mechanism and a screw combination suction nozzle mechanism. The screw machine, the flat spring pad vibration disk and the nailing combination storage mechanism are located above the box structure. The screwing device includes a dispensing device, a product fixing mechanism, a screw combination suction nozzle mechanism, a screw bit, a visual module and a driving mechanism. The visual module can visually locate the required flat pads, spring pads and threaded holes through a camera and a light source, and then perform corresponding mechanical actions according to the located position. The product fixing mechanism and the dispensing device are located above the box structure. The box mechanism includes a control cabinet mechanism and an electrical mechanism. The mechanical arm mechanism is located above the box mechanism. The flat spring pad suction nozzle mechanism, the screw clamp, the screw combination suction nozzle mechanism, the screw bit, the visual module and the driving mechanism are located at the head of the mechanical arm.

[0034] Furthermore, the intelligent high-reliability screw-fastening robot can code M2 ​​and M2.5 screw combinations, such as Figure 2b As shown, the screw assembly includes a screw, a spring washer and a flat washer. The screw head is at the top, the spring washer is in the middle and the flat washer is at the bottom. The spring washer and the flat washer are sleeved on the screw thread.

[0035] Furthermore, the intelligent high-reliability screw-tightening robot can tighten a combination of M2 and M2.5 screws on the product.

[0036] Furthermore, the screw machine can stably and continuously output M2 and M2.5 screws, such as Figure 2a shown.

[0037] Furthermore, the flat spring pad vibration plate is a container for the flat spring pad, which is controlled by a control cabinet and sets a specific vibration frequency. The vibration of the vibration plate is controlled by a signal, which can vibrate the stacked flat spring pads to facilitate visual positioning of the visual module and suction by the flat spring pad suction nozzle.

[0038] Furthermore, the flat spring washer suction nozzle mechanism can suck the flat spring washers required for M2 and M2.5 screws.

[0039] Furthermore, the code nail combination platform mechanism is composed of a thimble cylinder, a horse code nail combination storage mechanism body, a thimble and a thimble fixing part, which can temporarily store flat washers, spring washers and screws in sequence. The thimble cylinder contracts up and down through a signal, and a small spring and a small screw are inserted from the side through hole of the thimble fixing part where the thimble is located, so that the thimble will not move downward due to its own gravity. Only appropriate external force can move the thimble up and down.

[0040] The combination platform mechanism of the code nail can temporarily store flat washers, spring washers and screws in sequence. The flat spring washers suction nozzle mechanism can sequentially absorb the flat washers and spring washers and put them on the ejector pins in the combination platform mechanism of the code nail, so that they are combined up and down, and then the screw clamp mechanism on the head of the robot arm clamps the screw from the screw machine and pushes it on the ejector pin in the combination platform mechanism of the code nail, so that the screw moves down along the trajectory of the ejector pin, so that the ejector pin moves down, so that the flat washers and spring washers are put on the screw threads, and then combined into a screw combination.

[0041] Furthermore, the flat spring washer nozzle mechanism is composed of a flat spring washer nozzle, a slider and a guide rail and a related fixing mechanism. The flat spring washer nozzle can move up and down. The flat spring washer nozzle mechanism can suck the flat spring washer required for M2 and M2.5 screws by vacuum suction.

[0042] Furthermore, the screw clamp mechanism includes a self-made clamp, an opening and closing cylinder, etc. The self-made clamp is fixed on the cylinder, and the self-made clamp is opened and closed by opening and closing the opening and closing cylinder to realize the function of taking and placing screws. The screw clamp mechanism clamps the screws from the screw machine and places them on the nail assembly platform.

[0043] The screwing device includes a glue dispensing device, a product fixing mechanism, a screw combination nozzle mechanism, a screw bit and a visual module, which can realize the functions of sucking the screw combination, dispensing glue on the screw thread and screwing nails on the product.

[0044] Furthermore, the screw assembly suction nozzle mechanism includes a screw assembly suction nozzle fixing tool, a screw assembly suction nozzle, a slider, a guide rail, a cylinder and a driving mechanism. The screw assembly suction nozzle mechanism is used to suck the screw assembly, and can suck the screw assembly from the nail assembly platform to the product by vacuum suction to screw the screws.

[0045] Furthermore, the screwdriver bit is located in the screw combination nozzle mechanism and is controlled by a motor, which can control the rotation of the screwdriver bit so that the screw combination is tightened on the product, and the speed is adjustable from 0 to 30 r / s.

[0046] Furthermore, the driving mechanism includes a motor. The control cabinet can control the up and down movement of the cylinder, thereby controlling the up and down movement of the motor and driving the screwdriver bit to move up and down.

[0047] Furthermore, the visual module includes components such as light source, camera, lens, etc., which can be used to identify and locate threaded holes and compensate for errors in screwing and positioning, and can also be used to identify and locate the position of the flat spring pad in the vibration plate of the flat spring pad, thereby achieving accurate absorption of the flat spring pad.

[0048] Furthermore, the product fixing mechanism can fix products that need to be screwed, including printed circuit boards inside the products.

[0049] Furthermore, the glue dispensing device can dispense anti-loosening glue onto the threads of the screw, and the glue gun fixing device can be rotated to an appropriate angle as needed.

[0050] Glue dispensing is mainly done by squeezing gas. The glue dispensing controller can control the pressure of the gas, the time and frequency of air intake, and then control the time, frequency and amount of glue dispensing. The glue dispensing controller in the equipment is located inside the box. We chose the Nordson glue dispensing controller, which can be directly controlled by the host computer. When dispensing glue, the screw combination nozzle on the robot arm sucks the screw combination to the needle of the glue dispensing device, and then the glue dispensing controller controls the glue dispensing device to dispense glue, which sticks to the screw thread. Then, when tightening the nail, the colloid can be evenly distributed on the screw thread to achieve the effect of preventing loosening.

[0051] When dispensing glue, the screw assembly suction nozzle on the robot arm sucks the screw assembly to the needle of the dispensing device, and then the dispensing controller controls the dispensing device to discharge glue and stick it to the screw thread. Then, when screwing the nail, the colloid can be evenly distributed on the screw thread to achieve a relaxing effect. 1. Further, the visual module includes components such as light source, camera, lens, etc. The visual algorithm in the host computer enables the visual module to meet our needs. When identifying the position of the flat spring pad in the flat spring pad vibration disk, the visual algorithm considers that the entire vibration disk takes the center as the origin, establishes a coordinate system, first uses the camera to take a picture, and then selects a suitable flat spring pad according to the visual algorithm (that is, a flat spring pad that maintains a certain safety distance from other flat spring pads, which is convenient for the flat spring pad suction nozzle to absorb). The robot arm moves the flat spring pad suction nozzle to 50mm above the center of the vibration disk, and then the robot arm executes the move program to the coordinate point of the flat spring pad selected by the visual algorithm to absorb the flat spring pad, thereby achieving accurate absorption. In the process of screwing. The visual module needs to accurately identify the threaded holes based on the algorithm. First, use the camera to take a photo, then the visual algorithm identifies the threaded holes, and the robotic arm moves with the screw combination nozzle to 50mm above the product threaded hole. According to the threaded hole coordinate compensation value given by the visual algorithm (that is, the same product is different, and the same threaded holes are also different, so each time before screwing a nail, visual recognition is required first, and the coordinate difference value of the threaded hole is calculated for compensation), then the robotic arm moves with the screw combination to the calculated coordinate value, so that accurate screwing can be achieved.

[0052] The visual module recognizes the photos taken by the camera and obtains the coordinates of the flat washers, spring washers and threaded holes of the products to be assembled, which are output to the recognition system. The robotic arm moves according to the coordinates output by the recognition system.

[0053] Furthermore, the robot arm is a six-axis robot. The head has a flat spring pad suction nozzle mechanism, a screw combination suction nozzle mechanism, a screwdriver, a visual module and a drive mechanism. The movement of the robot arm mainly completes the action of nailing and screwing. There are 6 motors inside the robot arm itself for its rotation.

[0054] The display is located above the cabinet structure and is mainly used to display images, receive signals from the host computer, and display related images.

[0055] The present invention uses visual positioning of the flat pad and the spring pad in the vibration plate, and can repeat visual positioning, ensuring that the flat pad and the spring pad can be sucked every time, ensuring the stability of the equipment. The threaded hole in the product is visually positioned to improve the accuracy of threading, and the glue dispensing device can automatically dispense glue on the external thread of the screw. The present invention can reduce the frequency of manual participation, improve production efficiency, and reduce production costs.

[0056] The present invention uses visual positioning of the flat pad and the spring pad in the vibration plate, and can repeat visual positioning, ensuring that the flat pad and the spring pad can be sucked every time, ensuring the stability of the equipment. The threaded hole in the product is visually positioned to improve the accuracy of threading, and the glue dispensing device can automatically dispense glue on the external thread of the screw. The present invention can reduce the frequency of manual participation, improve production efficiency, and reduce production costs.

[0057] In order to meet the technical requirements of high-reliability fastening of screws, the present invention adopts a double fastening process of flat spring washers and anti-loosening glue, that is, a flat spring washer is added to the screw and anti-loosening glue is applied to the screw, and then the screw is fastened.

[0058] The present invention has the following advantages:

[0059] The present invention can realize the functions of automatic nail coding, automatic screw glue dispensing, automatic visual positioning, and detection of screw tightening, and adopts flat spring washers and anti-loosening glue for double tightening, with high reliability; flat washers, spring washers, and screws are sucked by the screw combination suction nozzle, screw bit, driving mechanism, screw clamping jaws, and flat spring washers suction nozzle installed on the head of the mechanical arm; the mechanical arm moves and works in sequence among the flat spring washers vibration plate, the screw machine, the nail coding combination storage mechanism, the glue dispensing device, and the product fixing tooling structure, so that the screws are combined with the flat washers and the spring washers to obtain a screw combination, and glue dispensing and threaded assembly are performed, thereby improving the reliability and production efficiency of screw tightening. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1a This is a schematic diagram of the integrated nail structure;

[0061] Figure 1b This is a schematic diagram of the structure of the integrated nail, flat washer and spring washer combination;

[0062] Figure 2a This is a schematic diagram of the structure of a normal ordinary screw;

[0063] Figure 2b This is a schematic diagram of the combined structure of a normal ordinary screw, a flat washer and a spring washer;

[0064] Figure 3 This is the front view of an intelligent and highly reliable screw-fastening robot;

[0065] Figure 4 A top view of an intelligent and highly reliable screw-fastening robot;

[0066] Figure 5 This is a schematic diagram of the structure of the mechanical arm head of an intelligent and highly reliable screw-fastening robot;

[0067] Figure 6 This is a schematic diagram of the structure of a combination storage mechanism for nails of an intelligent and highly reliable screw-fastening robot;

[0068] Figure 7 It is a partially enlarged schematic diagram of the structure of a combination storage mechanism for coding nails of an intelligent and highly reliable screw-fastening robot;

[0069] Figure 8 A schematic diagram of a flat spring pad suction nozzle of an intelligent high-reliability screw-fastening robot;

[0070] Fig. 9 This is a cross-sectional view of a flat spring pad suction nozzle of an intelligent high-reliability screw-fastening robot;

[0071] Fig.10 This is a partial enlarged view of the flat spring pad suction nozzle of an intelligent high-reliability screw-fastening robot;

[0072] Fig.11 A schematic diagram of a driving mechanism of a mechanical arm head of an intelligent and highly reliable screw-fastening robot;

[0073] Fig.12 A cross-sectional view of the driving mechanism of the mechanical arm head of an intelligent and highly reliable screw-fastening robot;

[0074] Fig.13 It is a partial enlarged cross-sectional view of a driving mechanism of a mechanical arm head of an intelligent high-reliability screw-fastening robot;

[0075] Fig.14 The schematic diagram of the dispensing device structure of an intelligent and highly reliable screw-tightening robot is shown in FIG.

[0076] Fig.15 This is a schematic diagram of the product fixing tooling structure of an intelligent and highly reliable screw-tightening robot.

[0077] Reference numerals:

[0078] 1. Robot arm head; 11. Robot arm flange connection mechanism; 12. Visual module; 13. Screw combination nozzle; 131. Screw combination nozzle fixing tool; 132. Screw combination nozzle body; 133. Vacuum generator air pipe connection; 14. Batch head; 15. Driving mechanism; 16. Screw clamp; 17. Flat spring pad nozzle; 2. Robot arm; 3. Box; 4. Display; 5. Flat spring pad vibration plate; 6. Screw machine; 7. Code nail combination storage mechanism; 71. Code nail combination storage mechanism body; 72. Ejector cylinder; 73. Ejector fixing piece; 74. Ejector; 8. Gluing device; 81. Support frame; 82. Glue gun fixing device; 83. Glue gun; 9. Product fixing tool structure. DETAILED DESCRIPTION

[0079] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0080] Example 1

[0081] like Figures 3 to 15 The figure shows an intelligent high-reliability screw fastening robot, including a nailing device, a screwing device, a box mechanism and a robotic arm. The nailing device includes a screw machine 6, a screw clamp 16, a flat spring pad vibration plate 5, a flat spring pad suction nozzle mechanism 17, a nailing combination storage mechanism 7 and a screw combination suction nozzle mechanism 13. The screw machine 6, the flat spring pad vibration plate 5 and the nailing combination storage mechanism 7 are located above the box structure 3. The screwing device includes a dispensing device 8, a product fixing mechanism 9, a screw combination suction nozzle mechanism 13, a screw head 14, a visual module 12 and a driving mechanism 15. The visual module 12 can visually locate the required flat pads, spring pads and threaded holes through a camera and a light source, and then perform corresponding mechanical actions according to the located position. The product fixing mechanism 9 and the dispensing device 8 are located above the box structure 3. The robotic arm mechanism 2 is located above the box mechanism 3. The visual module 12, the screw combination suction nozzle mechanism 13, the screw head 14, the driving mechanism 15, the screw clamp 16 and the flat spring pad suction nozzle mechanism 17 are located at the robotic arm head 1.

[0082] The intelligent high-reliability screw-fastening robot can code M2 ​​and M2.5 screw combinations, such as Figure 2b As shown in the figure, the screw assembly includes a screw, a spring washer and a flat washer. The screw head is on the top, the spring washer is in the middle and the flat washer is on the bottom, and the spring washer and the flat washer are sleeved on the screw thread. The intelligent high-reliability screw-tightening robot can tighten the M2 and M2.5 screw assembly on the product, and the screw machine can continuously and stably output M2 and M2.5 screws.

[0083] like Figure 4 As shown, the flat spring pad vibration plate 5 is a container for the flat spring pad, which is controlled by the control cabinet, sets a specific vibration frequency, and controls the vibration of the vibration plate through signals, which can disperse the stacked flat spring pads, facilitate visual positioning of the visual module, and suction by the flat spring pad suction nozzle;

[0084] like Figure 5 As shown, the robot arm 2 is six-axis, and the robot arm head mechanism 1 has a visual module 12, a screw combination nozzle mechanism 13, a screwdriver 14, a drive mechanism 15, a screw clamp mechanism 16 and a flat spring washer nozzle mechanism 17. The movement of the robot arm 2 mainly completes the action of nailing and screwing. The robot arm 2 itself has 6 motors inside for its rotation.

[0085] like Figure 5 As shown, the flat spring pad suction nozzle mechanism 17 is composed of a flat spring pad suction nozzle, a slide block and a guide rail and a related fixing mechanism. The flat spring pad suction nozzle can move up and down.

[0086] The flat spring washer suction nozzle mechanism 17 can suck the flat spring washer required for M2 and M2.5 screws by vacuum suction.

[0087] The screw clamp mechanism 16 includes a self-made clamp, an opening and closing cylinder, etc. The self-made clamp is fixed on the cylinder. The self-made clamp is opened and closed by opening and closing the opening and closing cylinder to realize the function of taking and placing the screw.

[0088] The screw clamp mechanism 16 clamps the screws from the screw machine 6 and places them on the nail assembly platform 7.

[0089] like Figure 6 , 7 As shown, the code nail combination platform mechanism 7 is composed of a code nail combination storage mechanism body 71, an ejector cylinder 72, an ejector fixing member 73 and an ejector 74. The ejector cylinder 72 contracts up and down by a signal, and a small spring and a small screw are inserted from the side through hole in the structural block where the ejector 74 is located, so that the ejector 74 will not move down due to its own gravity, and only appropriate external force can move the ejector 74 up and down.

[0090] The code nail combination platform mechanism 7 can temporarily store flat washers, spring washers, and screws in sequence. The flat spring washers suction nozzle mechanism 17 can sequentially absorb the flat washers and spring washers and put them on the ejector pins 74 in the code nail combination platform mechanism, so that they are combined up and down, and then the screw clamping claw mechanism 16 at the head of the mechanical arm clamps the screws from the screw machine and pushes them on the ejector pins 74 in the code nail combination platform mechanism, so that the screws move down along the trajectory of the ejector pin, so that the ejector pin moves down, so that the flat washers and spring washers are put on the screw threads, and then combined into a screw combination.

[0091] The screwing device includes a glue dispensing device 8, a product fixing mechanism 9, a visual module 12, a screw combination nozzle mechanism 13, a screw bit 14 and a driving mechanism 15, which can realize the functions of sucking the screw combination, dispensing glue on the screw thread and screwing nails on the product.

[0092] The screw assembly suction nozzle mechanism is used to suck the screw assembly, and can suck the screw assembly from the nail assembly platform to the product by vacuum suction to tighten the screws.

[0093] like Figures 8 to 10 As shown, the screw combination suction nozzle 13 includes a screw combination suction nozzle fixing tool 131, a screw combination suction nozzle body 132 connected to the lower end of the screw combination suction nozzle fixing tool 131, a vacuum generator air pipe connection 133 connected to the front end of the screw combination suction nozzle fixing tool 131 and communicated with the screw combination suction nozzle body 132, and a slider and a guide rail connected to the back of the screw combination suction nozzle fixing tool 131 in sequence;

[0094] like Figures 11 to 13 As shown, the screwdriver bit 14 is located in the screw assembly suction nozzle mechanism, connected in the coupling, and controlled by the motor. The screwdriver bit can be controlled to rotate so that the screw assembly is tightened on the product, and the speed is adjustable from 0 to 30 r / s.

[0095] The driving mechanism 15 includes a motor. The control cabinet can control the up and down movement of the cylinder so as to control the up and down movement of the motor and drive the screwdriver bit to move up and down.

[0096] When the screw combination suction nozzle 13 sucks the screw and moves to the product thread, the vacuum generator is turned off, and the upper computer turns off the air source of the cylinder on the driving mechanism, so that the cylinder and the motor and the screwdriver bit 14 on the cylinder move downward, and the motor drives the screwdriver bit 14 to slowly rotate half a circle first, so that the flat-blade screwdriver bit is buckled, that is, the flat blade of the flat-blade screwdriver bit 14 enters the flat blade of the screw nut, and then the motor drives the flat-blade screwdriver bit 14 to rotate and move downward to tighten the screw to achieve the set screw torque requirement.

[0097] The visual module 12 includes components such as a light source, a camera, and a lens, and can be used to identify and locate threaded holes and compensate for errors in screwing and positioning. It can also be used to identify and locate the position of the flat spring pad in the vibration plate of the flat spring pad, thereby achieving accurate absorption of the flat spring pad.

[0098] The glue dispensing device 8 can dispense anti-loosening glue to the threads of the screws, and the glue gun fixture can be rotated to an appropriate angle as needed. The glue dispensing device 8 includes a support frame 81 fixedly connected to the surface of the box body 3, a glue gun fixture 82 connected to the side of the support frame 81 and rotatable left and right along the lower end of the support frame 81, a glue gun 83 connected to the glue gun fixture 82 with its head facing downward, and a glue dispensing controller connected to the glue gun 83.

[0099] When dispensing glue, the screw assembly suction nozzle 13 on the robot arm 2 sucks the screw assembly to the needle head of the glue dispensing device 8, and then the glue dispensing controller controls the glue dispensing device 8 to discharge glue, which sticks to the thread of the screw. Then, when tightening the nail, the colloid can be evenly distributed on the thread of the screw to achieve the effect of preventing loosening.

[0100] The product fixing mechanism 9 can fix products that need to be screwed, including printed circuit boards inside the products.

[0101] Working principle: the flat spring pad vibration disk 5 shakes the flat spring pad apart, and the visual module 12 locates the scattered flat spring pads. The flat spring pad vibration disk 5 can be repeatedly vibrated and visually positioned. After the visual positioning is successful, the host computer controls the flat spring pad suction nozzle 17 at the head of the robot arm 2 to suck the positioned flat pads and spring pads to the thimble 74 of the code nail combination storage mechanism 7 in turn, and the screw clamp 16 at the head of the robot arm clamps the screw from the screw machine 6 and puts it to the thimble 74 of the code nail combination storage mechanism 7. The screw presses the thimble downward, so that the flat pad and spring pad are sleeved onto the thread of the screw to form a screw combination. Fix the product, use the camera to visually locate the threaded hole of the product, move the screw combination suction nozzle 13 to the code nail combination storage mechanism 7, and the upper computer controls the vacuum generator to start, so that the screw combination suction nozzle 13 connected to the vacuum generator generates a suction force, and the screw combination suction nozzle 13 sucks the screw combination from the code nail combination storage mechanism 7 to the glue dispensing device 8. The control cabinet controls the glue dispensing device to dispense glue to the thread of the screw combination, apply anti-loosening glue, and then put the screw combination into the positioned product threaded hole. The control cabinet controls the cylinder that drives the motor and the screwdriver bit 14 to move downward, and the motor in the drive mechanism 15 rotates to drive the screwdriver bit 14 to move downward while rotating to tighten the screw.

[0102] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An intelligent and highly reliable screw-fastening robot, characterized in that: It comprises a connected mechanical arm head (1), a mechanical arm (2), a box (3) connected to the bottom of the mechanical arm (2), a display (4) connected to the box (3), a flat spring pad vibration plate (5), a screw machine (6), a code nail combination storage mechanism (7), a glue dispensing device (8), and a product fixing tooling structure (9); The mechanical arm head (1) moves under the drive of the mechanical arm (2), the flat spring washer vibration plate (5) disperses the flat washer and the spring washer through vibration, the screw machine (6) outputs the screw, the code nail combination storage mechanism (7) temporarily stores the flat washer, the spring washer and the screw in sequence and sequentially puts the spring washer and the flat washer on the screw to obtain a screw combination, the glue dispensing device (8) dispenses anti-loosening glue on the thread of the screw combination, the product fixing tooling structure (9) fixes the product to be assembled, and the mechanical arm head (1) installs the screw combination in the threaded hole on the product to be assembled; The robot arm head (1) comprises a robot arm flange connection mechanism (11) and a visual module (12), a screw combination suction nozzle (13), a screw bit (14), a driving mechanism (15), a screw clamp (16), and a flat spring washer suction nozzle (17) connected to the robot arm flange connection mechanism (11); the visual module (12), the screw combination suction nozzle (13), the screw clamp (16), and the flat spring washer suction nozzle (17) are respectively connected to the robot arm flange connection mechanism (11) in different directions; The robot arm flange connection mechanism (11) is connected to the robot arm (2) and moves under the drive of the robot arm (2); the visual module (12) is connected to the front end of the robot arm flange connection mechanism (11) to identify and locate the flat washer, the spring washer and the threaded hole of the product to be assembled; the screw assembly suction nozzle (13) sucks the screw assembly and puts the screw assembly into the threaded hole of the product to be assembled under the drive of the robot arm (2); the screw bit (14) tightens the screw assembly in the threaded hole of the product to be assembled; the driving mechanism (15) drives the screw bit (14) to rotate; the screw clamp (16) clamps the screw; and the flat spring washer suction nozzle (17) sucks the flat washer or the spring washer.

2. The intelligent high-reliability screw-fastening robot according to claim 1, characterized in that: The screw combination suction nozzle (13) comprises a screw combination suction nozzle fixing tool (131), a screw combination suction nozzle body (132) connected to the lower end of the screw combination suction nozzle fixing tool (131), a vacuum generator air pipe connection (133) connected to the front end of the screw combination suction nozzle fixing tool (131) and communicating with the screw combination suction nozzle body (132), and a slider and a guide rail connected in sequence to the back of the screw combination suction nozzle fixing tool (131), the bottom of the guide rail of the screw combination suction nozzle fixing tool (131) is connected to one side of the robot arm flange connection mechanism (11), the screw combination suction nozzle body (132) is a hollow structure, and the screw combination suction nozzle (13) sucks the screw combination by vacuum suction and allows the upper part of the screw combination to enter the screw combination suction nozzle body (132); The screwdriver bit (14) passes through the screw assembly suction nozzle body (132) and is connected to the driving mechanism (15) and can move up and down and rotate in the screw assembly suction nozzle body (132). The driving mechanism (15) includes a cylinder connected to the mechanical arm flange connection mechanism (11) and a motor, a guide rail, and a slider connected to the cylinder in sequence. The motor of the driving mechanism (15) is connected to the screwdriver bit (14). The cylinder of the driving mechanism (15) can push the motor to move up and down and drive the screwdriver bit (14) to extend or retract from the screw assembly suction nozzle body. When the screw assembly suction nozzle (13) needs to suck the screw assembly, the screw bit (14) retracts to the rear end of the screw assembly suction nozzle body (132); when the screw assembly is placed in the threaded hole of the product to be assembled, the screw bit (14) extends from the screw assembly suction nozzle body (132) and rotates under the drive of the motor of the driving mechanism (15) to tighten the screw assembly onto the product to be assembled.

3. The intelligent high-reliability screw-fastening robot according to claim 1, characterized in that: The screw clamp (16) includes a first clamp body, a second clamp body and an opening and closing cylinder connected to the first clamp body and the second clamp body. The first clamp body and the second clamp body are both block structures. The bottom of the opening and closing cylinder is connected to one end of the mechanical arm flange connection mechanism (11), and the top of the opening and closing cylinder is connected to the first clamp body and the second clamp body. When the opening and closing cylinder is opened, it drives the first clamp body and the second clamp body to move to both sides. When the opening and closing cylinder is closed, it drives the first clamp body and the second clamp body to move to the middle and clamp the screw.

4. The intelligent high-reliability screw-fastening robot according to claim 1, characterized in that: The flat spring pad suction nozzle (17) comprises a flat spring pad suction nozzle body, a slider, a guide rail and a flat spring pad suction nozzle fixing structure which are connected in sequence, the flat spring pad suction nozzle fixing structure is connected to the robot arm flange connection mechanism (11), the flat spring pad suction nozzle body sucks the flat pad and the spring pad by vacuum suction, and the flat spring pad suction nozzle body can move up and down.

5. The intelligent high-reliability screw-fastening robot according to claim 1, characterized in that: The flat spring pad vibration plate (5) comprises a flat pad vibration plate and a spring pad vibration plate placed in parallel, and the flat spring pad vibration plate (5) is controlled by a control cabinet signal to vibrate at a specified frequency to disperse the stacked flat pads and the spring pads; The screw machine (6) can continuously and stably output M2 and M2.5 screws.

6. The intelligent high-reliability screw-fastening robot according to claim 1, characterized in that: The code nail combination storage mechanism (7) comprises a code nail combination storage mechanism body (71) vertically connected to the box body (3), a pin cylinder (72) connected to one side of the bottom of the code nail combination storage mechanism body (71), a pin fixing piece (73) connected to the top of the code nail combination storage mechanism body (71), and a pin (74) connected to the pin fixing piece (73) and extending from the upper end and the lower end of the pin fixing piece (73), the top of the pin cylinder (72) is a platform structure and is spaced from the bottom of the pin fixing piece (73), the upper surface of the pin fixing piece (73) is a plane structure capable of accommodating the flat pad and the spring pad, and the pin (74) is a cylinder vertical to the upper surface of the box body (3); A spring is connected between the outer side of the ejector pin (74) and the ejector pin fixing member (73) so that the ejector pin cylinder (72) does not move downward due to gravity; The diameter of the ejector pin (74) is smaller than the inner diameter of the flat washer and the inner diameter of the spring washer; the diameter of the ejector pin (74) is larger than the outer diameter of the screw thread; The flat spring washer suction nozzle (17) sequentially sucks the flat washer and the spring washer and passes through the ejector pin (74) to place them on the upper surface of the ejector pin fixing member (73); the screw clamp (16) clamps the screw and presses the ejector pin (74) to move downward so that the flat washer and the spring washer are sleeved onto the screw thread to obtain the screw assembly; the screw assembly suction nozzle (13) sucks away the screw assembly; after receiving the signal, the ejector pin cylinder (72) moves upward according to the signal requirement to push the ejector pin (74) to reset and then retracts downward.

7. The intelligent high-reliability screw-fastening robot according to claim 1, characterized in that: The glue dispensing device (8) comprises a support frame (81) fixedly connected to the surface of the box body (3), a glue gun fixing device (82) connected to the side of the support frame (81) and rotatable left and right along the lower end of the support frame (81), a glue gun (83) connected to the glue gun fixing device (82) with its head facing downward, and a glue dispensing controller connected to the glue gun (83), wherein the glue dispensing controller is used to squeeze the glue gun (83) to dispense glue; the glue gun fixing device (82) is rotatable.

8. The intelligent high-reliability screw-fastening robot according to claim 1, characterized in that: The visual module (12) comprises a camera, a light source, a lens and a recognition system connected to one end of the mechanical arm flange connection mechanism (11), and the recognition system is connected to the control system of the mechanical arm (2); The recognition system establishes a coordinate system with the center of the flat spring pad vibration disk (5) as the origin, first uses a camera to take a photo, then selects the flat pad or the spring pad that is convenient for the flat spring pad suction nozzle (17) to suck according to the visual algorithm and records the corresponding coordinates, and the mechanical arm (2) drives the flat spring pad suction nozzle (17) to move first to the top of the center of the flat spring pad vibration disk (5), and then moves to the flat pad or the spring pad coordinate point selected by the visual algorithm for suction; During the threading process, the visual module (12) first uses a camera to take a photo, and the visual algorithm identifies the threaded hole of the product to be assembled. The robotic arm (2) drives the screw assembly suction nozzle (13) to move above the threaded hole of the product, and the visual algorithm calculates the threaded hole coordinate compensation value. Then, the robotic arm (2) moves the screw assembly to the threaded hole coordinate compensation value to screw the screw.

9. The intelligent high-reliability screw-fastening robot according to claim 1, characterized in that: The mechanical arm (2) is a six-axis mechanical arm, and six motors are arranged inside the mechanical arm (2); The box body (3) comprises a box body and a control cabinet mechanism and an electrical mechanism connected to the inside of the box body. The box body is a hollow structure with a flat upper surface. The mechanical arm (2), the display (4), the flat spring pad vibration disk (5), the screw machine (6), the code nail combination storage mechanism (7), the glue dispensing device (8), and the product fixing tooling structure (9) are all connected to the upper surface of the box body. The display (4), the flat spring pad vibration disk (5), the screw machine (6), the code nail combination storage mechanism (7), the glue dispensing device (8), and the product fixing tooling structure (9) are all connected to the upper surface of the box body. The storage mechanism (7), the dispensing device (8), and the product fixing tooling structure (9) are sequentially placed on the outer peripheral side of the mechanical arm (2); the control cabinet mechanism is electrically connected to the mechanical arm (2), the display (4), the flat spring pad vibration plate (5), the screw machine (6), the visual module (12), the screw combination suction nozzle (13), the driving mechanism (15), the screw clamp (16), and the flat spring pad suction nozzle (17) to control the timing and action, and display through the display (4); The product to be assembled includes a printed circuit board.

10. An intelligent high-reliability screw-fastening robot according to any one of claims 1 to 9, characterized in that: The method for using the intelligent high-reliability screw-tightening robot comprises the following steps: S1, the flat spring pad vibration disk (5) shakes the flat pads and spring pads apart, the mechanical arm (2) drives the mechanical arm flange connection mechanism (11) to move to one side of the flat spring pad vibration disk (5), the visual module (12) identifies and locates the flat pads dispersed in the flat spring pad vibration disk (5), the flat spring pad suction nozzle (17) sucks the positioned flat pads and stores them through the ejector pin (74) of the code nail combination storage mechanism (7), and the visual module (12) identifies and locates the flat spring pad vibration disk (5), the flat spring washer suction nozzle (17) sucks the positioned spring washer and stores the spring washer above the flat washer through the ejector pin (74) of the stud assembly storage mechanism (7), the screw clamp (16) clamps the screw from the screw machine (6) and places it above the ejector pin (74) of the stud assembly storage mechanism (7), the mechanical arm flange connection mechanism (11) drives the screw to press the ejector pin downward and causes the flat washer and the spring washer to be sleeved onto the screw thread to obtain the screw assembly; S2. The product to be assembled is fixed on the product fixing tooling structure (9), the robot arm (2) drives the robot arm flange connection mechanism (11) to move to one side of the product fixing tooling structure (9), the visual module (12) locates the threaded hole of the product to be assembled, the screw assembly suction nozzle (13) absorbs the screw assembly from the code nail assembly storage mechanism (7) to the glue dispensing device (8), the glue dispensing device (8) extrude anti-loosening glue to one side of the thread of the screw assembly, and then the robot arm (2) places the screw assembly on the threaded hole of the product to be assembled, the screw bit (14) rotates and moves downward to tighten the screw assembly, and a method for using an intelligent high-reliability screw-tightening robot is completed.

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