Intelligent high-reliability fastening screw robot

Abstract

The application provides a kind of intelligent high-reliability fastening screw robot, including mechanical arm head, box, display, flat elastic pad vibration disc, screw machine, code nail combination storage mechanism, glue dispensing device, product fixing tool structure;Mechanical arm head is moved under the drive of mechanical arm, flat elastic pad vibration disc is dispersed by vibration, screw machine outputs screw, code nail combination storage mechanism temporarily stores flat elastic pad and screw in sequence and makes screw successively cover flat elastic pad and get screw combination, glue dispensing device points anti-loose glue on the thread of screw combination, product fixing tool structure fixes the product to be assembled, and mechanical arm head assembles screw combination on the product to be assembled.The application adopts flat elastic pad and anti-loose glue double fastening process, can realize the functions of automatic code nail, screw glue dispensing, visual positioning and screw fastening detection, adopts flat elastic pad and anti-loose glue double fastening, has high reliability, improves the reliability and production efficiency of screw fastening, and reduces production cost.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical hand, in particular to an intelligent high-reliability screw fastening robot. BACKGROUND

[0002] Figure 1a 、 1b is a structure diagram of an integrated nail and an integrated nail combination, Figure 2a 、 2b is a structure diagram of a normal ordinary screw and a screw combination. It can be clearly observed that there is a structure similar to a tool withdrawal groove between the screw cap and the external thread of the integrated nail. This structure can prevent the spring washer and the flat washer from falling off the integrated nail. Because of this structure, the safety of the integrated nail is not as high as that of the normal ordinary nail. Therefore, normal ordinary nails with flat washers and spring washers are required in places with high safety and reliability requirements.

[0003] During the installation of products, it is often necessary to fasten parts together by screws. The most common anti-loosening process for screw fastening is to add a flat or spring washer or to add anti-loosening glue at the thread.

[0004] In the prior art, the combination of screws and flat or spring washers (nail coding), the glueing of the external thread of the screw is usually completed manually, and the screw fastening is completed manually using a screwdriver or using a machine. The nail coding process, the glueing process, and the screw fastening process are completed on separate workbenches or devices. That is, the existing equipment cannot automatically complete the above processes on the same device, so the production efficiency is low.

[0005] Therefore, it is necessary to provide an intelligent high-reliability screw fastening robot that integrates nail coding, screw external thread glueing, and screw fastening processes in view of the traditional screw fastening process. SUMMARY

[0006] The present application is to solve the problem of intelligent screw fastening, and provides an intelligent high-reliability screw fastening robot. The device can realize automatic nail coding, automatic screw glueing, automatic visual positioning, and detection of screw fastening, thereby improving production efficiency and fastening reliability.

[0007] The present application provides an intelligent high-reliability screw fastening robot, which comprises a connected mechanical arm head, a mechanical arm, a box connected to the bottom of the mechanical arm, and a display, a flat or spring washer vibration disc, a screw machine, a nail coding combination storage mechanism, a glueing device, and a product fixing tool structure connected to the box.

[0008] The mechanical arm head is moved by the mechanical arm, the vibration disc of the flat spring pad makes the flat pad and the spring pad dispersed by vibration, the screw machine outputs the screw, the screw combination storage mechanism temporarily stores the flat pad, the spring pad and the screw in sequence and makes the screw successively sleeved with the spring pad and the flat pad to obtain the screw combination, the dispensing device points the anti-loosening glue on the thread of the screw combination, the product fixing tool structure fixes the product to be assembled, and the mechanical arm head installs the screw combination in the threaded hole on the product to be assembled.

[0009] The mechanical arm head comprises a mechanical arm flange connecting mechanism, a vision module, a screw combination suction nozzle, a batch head, a driving mechanism, a screw clamping jaw and a flat spring pad suction nozzle connected to the mechanical arm flange connecting mechanism.

[0010] The mechanical arm flange connecting mechanism is connected with the mechanical arm and is moved by the mechanical arm, the vision module is connected to the front end of the mechanical arm flange connecting mechanism, and the flat pad, the spring pad and the threaded hole of the product to be assembled are identified and positioned, the screw combination suction nozzle sucks the screw combination and puts the screw combination into the threaded hole of the product to be assembled under the driving of the mechanical arm, the batch head tightens the screw combination in the threaded hole of the product to be assembled, the driving mechanism drives the batch head to rotate, the screw clamping jaw clamps the screw, and the flat spring pad suction nozzle sucks the flat pad or the spring pad.

[0011] The screw combination suction nozzle comprises 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 sliding block and a guide rail connected to the back of the screw combination suction nozzle fixing tool in sequence, the guide rail bottom of the screw combination suction nozzle fixing tool is connected to one side of the mechanical arm flange connecting mechanism, the screw combination suction nozzle body is a hollow structure, the screw combination is sucked by the screw combination suction nozzle in a vacuum suction manner, and the upper part of the screw combination enters the screw combination suction nozzle body.

[0012] The batch head is connected with the driving mechanism and can move up and down and rotate in the screw combination suction nozzle body, the driving mechanism comprises a cylinder connected with the mechanical arm flange connecting mechanism and a motor, a guide rail and a sliding block connected with the cylinder in sequence, the motor of the driving mechanism is connected with the batch head, and the cylinder of the driving mechanism can push the motor to move up and down and drive the batch head to stretch out or retract from the screw combination suction nozzle body.

[0013] When the screw combination suction nozzle needs to suck the screw combination, the batch head is retracted to the rear end of the screw combination suction nozzle body, when the screw combination is placed in the threaded hole of the product to be assembled, the batch head stretches out from the screw combination suction nozzle body and rotates under the driving of the motor of the driving mechanism to tighten the screw combination on the product to be assembled.

[0014] The intelligent high-reliability fastening screw robot has the advantages that the screw clamping jaw comprises oppositely arranged first and second clamping jaw bodies and an opening and closing cylinder connected with the first and second clamping jaw bodies, the first and second clamping jaw bodies are both block-shaped structures, the bottom of the opening and closing cylinder is connected with one end of the mechanical arm flange connecting mechanism, the top of the opening and closing cylinder is connected with the first and second clamping jaw bodies, the first and second clamping jaw bodies are moved to both sides when the opening and closing cylinder is opened, and the first and second clamping jaw bodies are moved to the middle and clamped when the opening and closing cylinder is closed.

[0015] The intelligent high-reliability fastening screw robot has the advantages that the flat and elastic pad suction nozzle comprises a flat and elastic pad suction nozzle body, a sliding block, a guide rail and a flat and elastic pad suction nozzle fixing structure connected in sequence, the flat and elastic pad suction nozzle fixing structure is connected to the mechanical arm flange connecting mechanism, the flat and elastic pad suction nozzle body sucks flat pads and elastic pads in a vacuum suction manner, and the flat and elastic pad suction nozzle body can be moved up and down.

[0016] The intelligent high-reliability fastening screw robot has the advantages that the flat and elastic pad vibration disc comprises parallelly arranged flat pad vibration discs and elastic pad vibration discs, the flat and elastic pad vibration discs are controlled by signals of a control cabinet to vibrate at specified frequencies to shake and scatter flat pads and elastic pads stacked together.

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

[0018] The intelligent high-reliability fastening screw robot has the advantages that the nail combination storage mechanism comprises a nail combination storage mechanism body vertically connected to a box body, a thimble cylinder connected to one side of the bottom of the nail combination storage mechanism body, a thimble fixing piece connected to the top of the nail combination storage mechanism body, and thimbles connected in and extending from the top and bottom of the thimble fixing piece, the top of the thimble cylinder is a platform structure and is spaced apart from the bottom of the thimble fixing piece, the upper surface of the thimble fixing piece is a flat structure and can hold flat pads and elastic pads, and the thimbles are vertical cylinders perpendicular to the upper surface of the box body.

[0019] A spring is connected between the outer side of the thimble and the thimble fixing piece to prevent the thimble cylinder from moving downward due to gravity.

[0020] The diameter of the thimble is smaller than the inner diameters of the flat pads and the elastic pads but needs to be greater than the outer diameter of the threads of the screw.

[0021] The flat and elastic pad suction nozzle sequentially sucks the flat pads and the elastic pads and places them on the upper surface of the thimble fixing piece through the thimbles, the screw clamping jaw clamps the screw and presses the thimbles to move downward to make the flat pads and the elastic pads fit the threads of the screw to obtain a screw combination, and the screw combination suction nozzle sucks away the screw combination; after receiving a signal, the thimble cylinder moves upward according to the signal requirement to push the thimbles to reset and then retract downward.

[0022] The intelligent high-reliability fastening screw robot comprises a support frame fixedly connected to the surface of the box body, a glue gun fixing device connected to the side of the support frame and capable of rotating left and right along the lower end of the support frame, a glue gun connected in the glue gun fixing device and having a head downward, and a glue dispensing controller connected to the glue gun and used for extruding glue from the glue gun; the glue gun fixing device is rotatable.

[0023] The intelligent high-reliability fastening screw robot comprises a support frame fixedly connected to the surface of the box body, a glue gun fixing device connected to the side of the support frame and capable of rotating left and right along the lower end of the support frame, a glue gun connected in the glue gun fixing device and having a head downward, and a glue dispensing controller connected to the glue gun and used for extruding glue from the glue gun; the glue gun fixing device is rotatable.

[0024] The recognition system establishes a coordinate system with the center of the flat spring pad vibration disc as the origin, first uses the camera to take a picture, then selects a flat pad or a spring pad convenient for the flat spring pad suction nozzle to suck according to the visual algorithm and records the corresponding coordinates, and then moves the flat spring pad suction nozzle to above the center of the flat spring pad vibration disc and then moves to the coordinate point of the flat pad or the spring pad selected by the visual algorithm to suck.

[0025] During the screwing process, the visual module first uses the camera to take a picture, the visual algorithm identifies the thread hole of the product to be assembled, the robot arm drives the screw combination suction nozzle to move to above the thread hole of the product, the visual algorithm calculates the thread hole coordinate compensation value, and then the robot arm drives the screw combination to move to the thread hole coordinate compensation value for screwing.

[0026] The intelligent high-reliability fastening screw robot comprises a support frame fixedly connected to the surface of the box body, a glue gun fixing device connected to the side of the support frame and capable of rotating left and right along the lower end of the support frame, a glue gun connected in the glue gun fixing device and having a head downward, and a glue dispensing controller connected to the glue gun and used for extruding glue from the glue gun; the glue gun fixing device is rotatable.

[0027] The box body comprises a box body and a control cabinet mechanism and an electrical mechanism connected inside the box body, the box body is a hollow flat structure with an upper surface, the robot arm, the display, the flat spring pad vibration disc, the screw machine, the nail combination storage mechanism, the glue dispensing device and the product fixing tool structure are all connected to the box body, and the display, the flat spring pad vibration disc, the screw machine, the nail combination storage mechanism, the glue dispensing device and the product fixing tool structure are placed in turn on the outer peripheral side of the robot arm; the control cabinet mechanism is electrically connected with the robot arm, the display, the flat spring pad vibration disc, the screw machine, the visual module, the screw combination suction nozzle, the driving mechanism, the screw clamping jaw and the flat spring pad suction nozzle and controls the time sequence and action, and displays through the display.

[0028] The product to be assembled comprises a printed board.

[0029] The intelligent high-reliability fastening screw robot comprises a support frame fixedly connected to the surface of the box body, a glue gun fixing device connected to the side of the support frame and capable of rotating left and right along the lower end of the support frame, a glue gun connected in the glue gun fixing device and having a head downward, and a glue dispensing controller connected to the glue gun and used for extruding glue from the glue gun; the glue gun fixing device is rotatable.

[0030] S1. The flat and spring pad vibratory plate disperses the flat pads and spring pads. The robotic arm drives the robotic arm flange connection mechanism to move to one side of the flat and spring pad vibratory plate. The vision module identifies and positions the dispersed flat pads in the flat and spring pad vibratory plate. The flat and spring pad suction nozzle picks up the positioned flat pads and stores them through the pin of the staple combination storage mechanism. The vision module identifies and positions the dispersed spring pads in the flat and spring pad vibratory plate. The flat and spring pad suction nozzle picks up the positioned spring pads and stores them through the pin of the staple combination storage mechanism on top of the flat pads. The screw chuck picks up the screw from the screw machine and places it on top of the pin of the staple combination storage mechanism. The robotic arm flange connection mechanism drives the screw to press the pin down and make the flat pads and spring pads fit onto the threads of the screw to obtain the screw combination.

[0031] S2. The product to be assembled is fixed to the product fixing fixture structure. The robotic arm drives the robotic arm flange connection mechanism to move to one side of the product fixing fixture structure. The vision module positions the threaded hole of the product to be assembled. The screw assembly suction nozzle picks up the screw assembly from the screw assembly storage mechanism and places it at the dispensing device. The dispensing device expels anti-loosening glue onto the threaded side of the screw assembly. Then, the robotic arm places the screw assembly into the threaded hole of the product to be assembled. The screwdriver bit rotates and moves down to tighten the screw assembly. The use method of an intelligent and highly reliable screw fastening robot is completed.

[0032] This invention is achieved through the following technical solution:

[0033] A smart, highly reliable screw-fastening robot includes a screw-stacking device, a screw-tightening device, a housing mechanism, and a robotic arm. The screw-stacking device comprises a screwdriver, screw grippers, a flat spring pad vibratory feeder, a flat spring pad suction nozzle mechanism, a screw-stacking assembly storage mechanism, and a screw assembly suction nozzle mechanism. The screwdriver, flat spring pad vibratory feeder, and screw-stacking assembly storage mechanism are located above the housing structure. The screw-tightening device includes a dispensing device, a product fixing mechanism, a screw assembly suction nozzle mechanism, a screwdriver bit, a vision module, and a drive mechanism. The vision module can visually locate the required flat pads, spring pads, and threaded holes using a camera and light source, and then perform corresponding mechanical actions based on the located positions. The product fixing mechanism and dispensing device are located above the housing structure. The housing mechanism includes a control cabinet mechanism and an electrical mechanism. The robotic arm mechanism is located above the housing mechanism. The flat spring pad suction nozzle mechanism, screw grippers, screw assembly suction nozzle mechanism, screwdriver bit, vision module, and drive mechanism are located at the head of the robotic arm.

[0034] Furthermore, the intelligent, highly reliable screw-fastening robot can fasten combinations of M2 and M2.5 screws, such as... Figure 2b As shown, it includes a screw, a spring washer, and a flat washer. The screw assembly includes a screw, a spring washer, and a flat washer. They are assembled in the order of screw head on top, spring washer in the middle, and flat washer at the bottom, with the spring washer and flat washer fitting onto the screw threads.

[0035] Furthermore, the intelligent, highly reliable screw-tightening robot can tighten combinations of M2 and M2.5 screws on the product.

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

[0037] Further, the flat spring pad vibration disc is a container for flat spring pads, controlled by a control cabinet, and is provided with a specific vibration frequency. The vibration disc is vibrated through signal control, which can vibrate the stacked flat spring pads, facilitate visual positioning of the visual module, and be sucked by the flat spring pad suction nozzle.

[0038] Further, the flat spring pad suction nozzle mechanism can suck the flat spring pads required by M2 and M2.5 screws.

[0039] Further, the code pin combination platform mechanism is composed of a thimble air cylinder, a code pin combination storage mechanism body, and a thimble and a thimble fixing piece. It can temporarily store flat pads, spring pads, and screws in sequence according to the order. The thimble air cylinder is contracted up and down through signals. A small spring and a small screw are inserted into the thimble fixing piece from the side hole, so that the thimble cannot move down due to its own gravity, and only appropriate external force can make the thimble move up and down.

[0040] The code pin combination platform mechanism can temporarily store flat pads, spring pads, and screws in sequence according to the order. The flat spring pad suction nozzle mechanism can suck the flat pads and spring pads into the thimble in the code pin combination platform mechanism in sequence, so that they are combined together. The screw clamp jaw mechanism at the head of the mechanical arm clamps the screw from the screw machine and puts it on the thimble in the code pin combination platform mechanism, so that the screw moves down along the track of the thimble, and the flat pad and the spring pad are sleeved on the thread of the screw, and then combined into a screw combination.

[0041] Further, the flat spring pad suction nozzle mechanism is composed of a flat spring pad suction nozzle, a sliding block, a guide rail, and related fixing mechanisms. The flat spring pad suction nozzle can move up and down. The flat spring pad suction nozzle mechanism can suck the flat spring pads required by M2 and M2.5 screws through vacuum suction.

[0042] Further, the screw clamp jaw mechanism includes a self-made clamp jaw and an opening and closing air cylinder. The self-made clamp jaw is fixed on the air cylinder, and the opening and closing of the air cylinder makes the self-made clamp jaw open and close, realizing the function of taking and placing screws. The screw clamp jaw mechanism clamps the screw from the screw machine and places it on the code pin combination platform.

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

[0044] ​Further, the screw combination nozzle mechanism includes a screw combination nozzle fixing tool, a screw combination nozzle, a sliding block, a guide rail, a gas cylinder and a driving mechanism. The screw combination nozzle mechanism can suck the screw combination, and can suck the screw combination from the screw combination platform to the product by vacuum suction to screw the screw.

[0045] Further, the bit is located in the screw combination nozzle mechanism and is controlled by a motor. The bit can be controlled to rotate to screw the screw combination on the product. The rotation speed is adjustable from 0 to 30 r / s.

[0046] Further, the driving mechanism includes a motor. The control cabinet can control the up-down movement of the gas cylinder, thereby controlling the up-down movement of the motor and driving the up-down movement of the bit.

[0047] Further, the vision module includes components such as a light source, a camera and a lens. The vision module can be used to identify and position the threaded hole, compensate for the error in screw positioning, identify and position the position of the flat spring pad in the flat spring pad vibration disc, and accurately suck the flat spring pad.

[0048] Further, the product fixing mechanism can fix the product that needs to be screwed, including the printed board inside the product.

[0049] Further, the dispensing device can dispense anti-loose glue to the screw threads, and the glue gun fixing device can rotate by an appropriate angle as needed.

[0050] Dispensing is mainly performed by extruding gas. The dispensing controller can control the pressure, air inlet time and frequency of the gas, and thus control the dispensing time, frequency and dispensing amount. The dispensing controller in the equipment is located inside the box. We use the Nuxin dispensing controller, which can be directly controlled by the upper computer. When dispensing, the screw combination nozzle on the mechanical arm sucks the screw combination to the needle head of the dispensing device, and then the dispensing controller controls the dispensing device to dispense glue to the screw threads. When screwing the screw, the glue can be evenly distributed on the screw threads, achieving the effect of preventing loosening.

[0051] When dispensing, the mechanical arm sucks the screw combination to the needle of the dispensing device, and then the dispensing controller controls the dispensing device to dispense glue, which is adhered to the threads of the screw, and then when the screw is twisted, the glue can be evenly distributed on the threads of the screw, achieving the effect of relaxation. Further, the vision module includes components such as light source, camera, lens, etc. The vision algorithm in the host computer makes the vision module meet our needs. When identifying the position of the flat spring pad in the vibration disc, the vision algorithm considers the entire vibration disc as the origin of the center to establish a coordinate system. First, the camera takes a picture, and then the vision algorithm selects a suitable flat spring pad (i.e. a flat spring pad that maintains a certain safety distance from other flat spring pads, facilitating the suction of the flat spring pad suction nozzle), and then the mechanical arm moves the flat spring pad suction nozzle to the center of the vibration disc 50mm above, and then the mechanical arm executes the move program to the coordinate point of the flat spring pad selected by the vision algorithm to suck the flat spring pad, thereby achieving precise suction. During the screwing process, the vision module needs to accurately identify the thread hole according to the algorithm. First, the camera takes a picture, and then the vision algorithm identifies the thread hole. The mechanical arm moves the screw combination suction nozzle to the product thread hole 50mm above, and then compensates according to the thread hole coordinate compensation value given by the vision algorithm (i.e. the same product is different, and the same thread hole is also different, so the coordinate difference value of the thread hole needs to be calculated and compensated before screwing each time), and then the mechanical arm moves the screw combination to the calculated coordinate value, thereby achieving precise screwing.

[0052] The vision module identifies the photos taken by the camera and obtains the coordinates of the flat pad, the spring pad and the threaded hole of the product to be assembled, and outputs them to the recognition system. The mechanical arm moves according to the coordinates output by the recognition system.

[0053] Further, the mechanical arm is a six-axis arm, and the head has a flat spring pad suction nozzle mechanism, a screw combination suction nozzle mechanism, a bit, a vision module and a driving mechanism. The movement of the mechanical arm mainly completes the actions of screwing and screwing. The mechanical arm itself has six motors for rotation.

[0054] The display is above the box structure, mainly for displaying images, receiving signals from the host computer and displaying related images.

[0055] The present application uses visual positioning of the flat pad and the spring pad in the vibration disc, and can repeatedly visually position the flat pad and the spring pad, ensuring that the flat pad and the spring pad can be sucked every time, and ensuring the stability of the equipment. The present application uses visual positioning of the threaded hole in the product, improves the accuracy of screwing, and the dispensing device can automatically dispense glue on the outer threads of the screw. The present application can reduce the frequency of manual participation, improve production efficiency and reduce production cost.

[0056] The invention uses visual positioning of the flat pad and elastic pad in the vibration disc, and the visual positioning can be repeated, so that the flat pad and elastic pad can be sucked every time, and the stability of the equipment is ensured. The threaded hole in the product is used for visual positioning, the accuracy of screwing is improved, and the glue dispensing device can automatically glue on the outer thread of the screw. The invention can reduce the frequency of manual participation, improve the production efficiency, and reduce the production cost.

[0057] To meet the technical requirements of high-reliability screw fastening, the invention adopts flat and elastic pad and anti-loose glue double fastening process, that is, the screw is added with flat and elastic pad, and anti-loose glue is applied on the screw, and then the screw is fastened.

[0058] The invention has the following advantages:

[0059] The invention can realize the functions of automatic nail coding, automatic screw glue dispensing, automatic visual positioning, and screw fastening detection, adopts flat and elastic pad and anti-loose glue double fastening, and has high reliability; the flat pad, elastic pad, and screw are sucked by the screw combination suction nozzle, batch head, driving mechanism, screw clamping jaw, and flat and elastic pad suction nozzle installed on the mechanical arm head, the mechanical arm moves between the flat and elastic pad vibration disc, screw machine, nail coding and storage mechanism, glue dispensing device, and product fixing tool structure, and works in time sequence, so that the screw and flat and elastic pad combination are screwed, and glue dispensing and thread assembly are performed, the reliability and production efficiency of screw fastening are improved. BRIEF DESCRIPTION OF DRAWINGS

[0060] Figure 1a It is a schematic diagram of an integrated nail structure;

[0061] Figure 1b It is a schematic diagram of an integrated nail and flat pad, elastic pad combination structure;

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

[0063] Figure 2b It is a schematic diagram of a normal ordinary screw and flat pad, elastic pad combination structure;

[0064] Figure 3 It is a front view of an intelligent high-reliability screw fastening robot;

[0065] Figure 4 It is a top view of an intelligent high-reliability screw fastening robot;

[0066] Figure 5 It is a schematic diagram of the head structure of the mechanical arm of an intelligent high-reliability screw fastening robot;

[0067] Figure 6 It is a schematic diagram of the nail coding and storage mechanism structure of an intelligent high-reliability screw fastening robot;

[0068] Figure 7 It is a local enlarged view of the code nail combination storage mechanism structure of the intelligent high-reliability fastening screw robot;

[0069] Figure 8 It is a schematic view of the flat spring pad suction nozzle of the intelligent high-reliability fastening screw robot;

[0070] Figure 9 It is a sectional view of the flat spring pad suction nozzle of the intelligent high-reliability fastening screw robot;

[0071] Figure 10 It is a local enlarged view of the flat spring pad suction nozzle of the intelligent high-reliability fastening screw robot;

[0072] Figure 11 It is a schematic view of the driving mechanism of the head of the mechanical arm of the intelligent high-reliability fastening screw robot;

[0073] Figure 12 It is a sectional view of the driving mechanism of the head of the mechanical arm of the intelligent high-reliability fastening screw robot;

[0074] Figure 13 It is a sectional local enlarged view of the driving mechanism of the head of the mechanical arm of the intelligent high-reliability fastening screw robot;

[0075] Figure 14 It is a schematic view of the dispensing device structure of the intelligent high-reliability fastening screw robot;

[0076] Figure 15 It is a schematic view of the product fixing tool structure of the intelligent high-reliability fastening screw robot.

[0077] Reference signs:

[0078] 1, head of mechanical arm; 11, flange connection mechanism of mechanical arm; 12, visual module; 13, screw combination suction nozzle; 131, screw combination suction nozzle fixing tool; 132, screw combination suction nozzle body; 133, vacuum generator air pipe connection; 14, batch head; 15, driving mechanism; 16, screw clamping jaw; 17, flat spring pad suction nozzle; 2, mechanical arm; 3, box body; 4, display; 5, flat spring pad vibration disc; 6, screw machine; 7, code nail combination storage mechanism; 71, code nail combination storage mechanism body; 72, thimble air cylinder; 73, thimble fixing piece; 74, thimble; 8, dispensing 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 application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments.

[0080] Embodiment 1

[0081] As Figures 3 to 15 shown is a kind of intelligent high-reliability fastening screw robot, including code nail device, screw device, box mechanism and mechanical arm.Code nail device includes screw machine 6, screw clamp jaw 16, flat spring pad vibration disc 5, flat spring pad suction nozzle mechanism 17, code nail combination storage mechanism 7 and screw combination suction nozzle mechanism 13, screw machine 6, flat spring pad vibration disc 5, code nail combination storage mechanism 7 are located above box structure 3, screw device includes dispensing device 8, product fixing mechanism 9, screw combination suction nozzle mechanism 13, batch head 14, visual module 12 and driving mechanism 15, visual module 12 can be positioned by camera, light source vision required flat pad, spring pad and screw hole, then according to the position of positioning corresponding mechanical action, product fixing mechanism 9 and dispensing device 8 are located above box structure 3, mechanical arm mechanism 2 is located above box mechanism 3, visual module 12, screw combination suction nozzle mechanism 13, batch head 14, driving mechanism 15, screw clamp jaw 16 and flat spring pad suction nozzle mechanism 17 are located in mechanical arm head 1.

[0082] Intelligent high-reliability fastening screw robot can code M2 and M2.5 screw combination, as Figure 2b shown; Screw combination includes screw, spring pad and flat pad.Screw head, spring pad in the middle, flat pad in the order of combination together, wherein spring pad and flat pad are sleeved on the screw thread;Intelligent high-reliability fastening screw robot can tighten M2 and M2.5 screw combination on product, screw machine can continuously and stably output M2 and M2.5 screw;

[0083] As Figure 4 shown, flat spring pad vibration disc 5 is the container of flat spring pad, which is controlled by control cabinet, sets specific vibration frequency, and vibrates through signal control vibration disc, can vibrate the flat spring pad stacked together, convenient for visual module visual positioning, flat spring pad suction nozzle suction;

[0084] As Figure 5 shown, mechanical arm 2 is six-axis, and mechanical arm head mechanism 1 has visual module 12, screw combination suction nozzle mechanism 13, batch head 14, driving mechanism 15, screw clamp jaw mechanism 16 and flat spring pad suction nozzle mechanism 17, the movement of mechanical arm 2 mainly completes the action of code nail and screwing nail.Mechanical arm 2 itself has 6 motors for its rotating action.

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

[0086] Flat spring pad suction nozzle mechanism 17 can suck M2 and M2.5 screw required flat spring pad by suction vacuum.

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

[0088] The screw clamping mechanism 16 takes the screw from the screw machine 6 and places it on the screw combination platform 7.

[0089] As shown in Figure 6 , 7 , the screw combination platform mechanism 7 is composed of a screw combination storage mechanism body 71, a thimble cylinder 72, a thimble fixing part 73 and a thimble 74. The thimble cylinder 72 is contracted up and down by signals, and a small spring and a small screw are inserted into a through hole from the side of the structure block where the thimble 74 is located, so that the thimble 74 cannot move downward due to its own gravity, and only appropriate external force can make the thimble 74 move up and down.

[0090] The screw combination platform mechanism 7 can temporarily store flat pads, elastic pads and screws in sequence. The flat and elastic pad suction nozzle mechanism 17 can suction flat pads and elastic pad sleeves to the thimble 74 in the screw combination platform mechanism in sequence, so that they are combined together, and then the screw clamping mechanism 16 of the mechanical arm head takes the screw from the screw machine and puts it on the thimble 74 in the screw combination platform mechanism, so that the screw moves downward along the track of the thimble, and the thimble moves downward, so that the flat pad and the elastic pad sleeve are on the threads of the screw, and then a screw combination is formed.

[0091] The screw combination suction nozzle mechanism 13 can suction the screw combination from the screw combination platform to the product for screwing.

[0092] The screw combination suction nozzle mechanism is used for suction of the screw combination, which can suction the screw combination from the screw combination platform to the product for screwing.

[0093] As shown in Figures 8 to 10 , 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.

[0094] As shown in Figures 11 to 13 , the batch head 14 is located in the screw combination suction nozzle mechanism, is connected in the shaft coupling and is controlled by a motor, so as to control the rotation of the batch head, make the screw combination tighten on the product, and the rotation speed is adjustable at 0-30r / 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 up and down movement of the chuck.

[0096] When the screw combination suction nozzle 13 sucks the screw to the product thread, the vacuum generator is turned off, the upper computer turns off the air source of the cylinder on the driving mechanism, so that the cylinder and the motor and the chuck 14 on the cylinder are lowered, the motor drives the chuck 14 to slowly rotate half a circle first, so that the character chuck enters the buckle, that is, the character of the character chuck 14 enters the character of the screw cap, then the motor drives the character chuck 14 to rotate and lower, and the screw is tightened to meet the set screw torque requirement.

[0097] The vision module 12 includes components such as light source, camera, lens, etc., which can be used to identify and position the thread hole, compensate for the error when positioning the thread, and also can be used to identify and position the position of the flat spring pad in the flat spring pad vibration disc, so as to realize accurate suction of the flat spring pad.

[0098] The glue dispensing device 8 can point the anti-loose glue to the screw thread, and the glue gun fixing device can rotate by a proper angle according to the need. The glue dispensing device 8 includes a support frame 81 fixedly connected to the surface of the box 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 in the glue gun fixing device 82 and having a head downward, and a glue dispensing controller connected to the glue gun 83,

[0099] When dispensing glue, the screw combination suction nozzle 13 on the mechanical arm 2 sucks the screw combination to the needle of the glue dispensing device 8, and then the glue dispensing controller controls the glue dispensing device 8 to dispense glue, which is adhered to the screw thread. Then when the screw is tightened, the glue can be evenly distributed on the screw thread, achieving the effect of anti-loose.

[0100] The product fixing mechanism 9 can fix the product that needs to be screwed, including the printed board inside the product.

[0101] Working principle: the flat spring pad vibration disc 5 scatters the flat spring pad, the visual module 12 positions the scattered flat spring pad, the flat spring pad vibration disc 5 can vibrate repeatedly and the visual module 12 can position repeatedly, after the visual positioning is successful, the upper computer controls the flat spring pad suction nozzle 17 on the head of the mechanical arm 2 to suction the positioned flat pad and spring pad to the top needle 74 of the combined pin storage mechanism 7 in turn, the screw clamping jaw 16 on the head of the mechanical arm clamps the screw from the screw machine 6 and places the screw on the top needle 74 of the combined pin storage mechanism 7, the screw presses the top needle to move downward, so that the flat pad and the spring pad are sleeved on the screw thread, becoming the screw combination. The product is fixed, the camera visually positions the product screw thread hole, the screw combination suction nozzle 13 moves to the combined pin storage mechanism 7, the upper computer controls the vacuum generator to start, so that the screw combination suction nozzle 13 connected with the vacuum generator generates suction force, the screw combination suction nozzle 13 sucks the screw combination from the combined pin storage mechanism 7 to the glue dispensing device 8, the control cabinet controls the glue dispensing device to glue on the screw thread of the screw combination, and then the screw combination is placed in the positioned product screw thread hole, the control cabinet controls the motor and the air cylinder of the batch head 14 to move downward, the motor in the driving mechanism 15 rotates to drive the batch head 14 to rotate and move downward, and the screw is tightened.

[0102] The above is only the preferred specific embodiment of the present application, but the protection scope of the present application is not limited to this, any person skilled in the art can make equivalent replacement or change according to the technical scheme and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered in the protection scope of the present application.

Claims

1. A smart high-reliability fastening screw robot, characterized by: The utility model relates to a kind of automatic screw combination assembly device, including connected mechanical arm head (1), mechanical arm (2), the box (3) connected in the bottom of the mechanical arm (2) and display (4) connected on the box (3), flat elastic pad vibration disc (5), screw machine (6), code nail combination storage mechanism (7), glue dispensing device (8), product fixed tool structure (9); The mechanical arm head (1) is moved under the driving of the mechanical arm (2), the flat elastic pad vibration disc (5) is dispersed by vibration, the screw machine (6) outputs screw, the code nail combination storage mechanism (7) temporarily stores the flat pad, the elastic pad and the screw in order and makes the screw be successively fitted on the elastic pad, the flat pad to obtain screw combination, the glue dispensing device (8) is on the thread of the screw combination Point anti-loose glue, the product fixed tool 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 mechanical arm head (1) includes mechanical arm flange connecting mechanism (11) and visual module (12) connected on the mechanical arm flange connecting mechanism (11), screw combination suction nozzle (13), batch head (14), driving mechanism (15), screw clamping jaw (16), flat elastic pad suction nozzle (17), the visual module (12), the screw combination suction nozzle (13), the screw clamping jaw (16) and the flat elastic pad suction nozzle (17) are connected in different directions of the mechanical arm flange connecting mechanism (11) respectively; The mechanical arm flange connecting mechanism (11) is connected with the mechanical arm (2) and moved under the driving of the mechanical arm (2), the visual module (12) is connected at the front end of the mechanical arm flange connecting mechanism (11), and identification, positioning of the flat pad, the elastic pad and the threaded hole of the product to be assembled are carried out, the screw combination suction nozzle (13) sucks the screw combination and places the screw combination into the threaded hole of the product to be assembled under the driving of the mechanical arm (2), the batch head (14) tightens the screw combination in the threaded hole of the product to be assembled, the driving mechanism (15) drives the batch head (14) to rotate, the screw clamping jaw (16) clamps the screw, and the flat elastic pad suction nozzle (17) sucks the flat pad or the elastic pad.

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

3. The intelligent high-reliability fastening screw robot of claim 1, wherein: The screw clamp jaw (16) includes oppositely arranged first and second clamp jaw bodies and an opening and closing cylinder connected with the first and second clamp jaw bodies. The first and second clamp jaw bodies are block-shaped structures, the bottom of the opening and closing cylinder is connected with one end of the mechanical arm flange connection mechanism (11), and the top of the opening and closing cylinder is connected with the first and second clamp jaw bodies. When the opening and closing cylinder is opened, it drives the first and second clamp jaw bodies to move to both sides, and when the opening and closing cylinder is closed, it drives the first and second clamp jaw bodies to move to the middle and clamp the screw.

4. The intelligent high-reliability fastening screw robot of claim 1, wherein: The flat spring pad suction nozzle (17) 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 mechanical 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 fastening screw robot of claim 1, wherein: The flat and elastic pad vibration disc (5) includes flat pad vibration discs and elastic pad vibration discs arranged side by side, and the flat and elastic pad vibration discs (5) are controlled by the control cabinet signal to vibrate at a specified frequency respectively to disperse the flat pads and the elastic pads stacked together. The screw machine (6) can continuously and stably output M2 and M2.5 screws.

6. The intelligent high-reliability fastening screw robot of claim 1, wherein: The pin and screw combination storage mechanism (7) comprises a pin and screw 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 pin and screw combination storage mechanism body (71), a pin fixing piece (73) connected to the top of the pin and screw combination storage mechanism body (71), and a pin (74) connected in 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 flat structure and can hold the flat pad and the elastic pad. The pin (74) is a cylinder perpendicular to the upper surface of the box body (3). Springs are connected between the outer side of the pin (74) and the pin fixing piece (73) to prevent the pin cylinder (72) from moving downward due to gravity. The diameter of the pin (74) is smaller than the inner diameters of the flat pad and the elastic pad. The diameter of the pin (74) is greater than the outer diameter of the screw thread. The flat and elastic pad suction nozzle (17) sequentially sucks the flat pad and the elastic pad and places them on the upper surface of the pin fixing piece (73) through the pin (74). The screw jaw (16) clamps the screw and presses the pin (74) to move downward, so that the flat pad and the elastic pad are sleeved on the screw thread of the screw to obtain the screw combination. The screw combination suction nozzle (13) sucks away the screw combination. After receiving the signal, the pin cylinder (72) moves upward according to the signal requirement, pushes the pin (74) to reset, and then retracts downward.

7. The intelligent high-reliability fastening screw robot of claim 1, wherein: The 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 in the glue gun fixing device (82) with the head downward, and a dispensing controller connected to the glue gun (83) and used for extruding the glue gun (83) to discharge glue. The glue gun fixing device (82) is rotatable.

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

9. The intelligent high-reliability fastening screw robot of claim 1, wherein: The mechanical arm (2) is a six-axis mechanical arm, and six motors are arranged inside the mechanical arm (2); The box body (3) includes a box body and a control cabinet mechanism and an electrical mechanism connected inside the box body. The box body is a hollow flat structure with a flat upper surface. The mechanical arm (2), the display (4), the flat spring pad vibration disc (5), the screw machine (6), the nail combination storage mechanism (7), the glue dispensing device (8), and the product fixing tool structure (9) are all connected to the upper surface of the box body. The display (4), the flat spring pad vibration disc (5), the screw machine (6), the nail combination storage mechanism (7), the glue dispensing device (8), and the product fixing tool structure (9) are placed in sequence on the outer periphery 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 disc (5), the screw machine (6), the visual module (12), the screw combination suction nozzle (13), the driving mechanism (15), the screw clamping jaw (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 board.

10. The use method of the intelligent high-reliability fastening screw robot according to claim 6, characterized in that: The method comprises the following steps: S1, the flat and elastic pad vibration disc (5) scatters flat pads and elastic pads, the mechanical arm (2) drives the mechanical arm flange connecting mechanism (11) to move to one side of the flat and elastic pad vibration disc (5), the vision module (12) identifies and positions the flat pads scattered in the flat and elastic pad vibration disc (5), the flat and elastic pad suction nozzle (17) sucks the positioned flat pads and stores the flat pads through the thimble (74) of the code pin combination storage mechanism (7), the vision module (12) identifies and positions the elastic pads scattered in the flat and elastic pad vibration disc (5), the flat and elastic pad suction nozzle (17) sucks the positioned elastic pads and stores the elastic pads above the flat pads through the thimble (74) of the code pin combination storage mechanism (7), the screw clamp jaw (16) clamps screws from the screw machine (6) and puts the screws above the thimble (74) of the code pin combination storage mechanism (7), the mechanical arm flange connecting mechanism (11) drives the screws to press the thimble to move downward and make the flat pads and the elastic pads be sleeved on the threads of the screws to obtain the screw combination; S2, the product to be assembled is fixed on the product fixing tool structure (9), the mechanical arm (2) drives the mechanical arm flange connecting mechanism (11) to move to one side of the product fixing tool structure (9), the vision module (12) positions the threaded hole of the product to be assembled, the screw combination suction nozzle (13) sucks the screw combination from the code pin combination storage mechanism (7) to the glue dispensing device (8), the glue dispensing device (8) extrudes the anti-loose glue to one side of the screw combination, and then the mechanical arm (2) puts the screw combination to the threaded hole of the product to be assembled, and the batch head (14) rotates and moves downward to tighten the screw combination.

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