Intelligent board card installation actuator

Abstract

The invention provides an intelligent board card installation actuator, which comprises an installation frame assembly and a machine vision detection mechanism, and is characterized in that the installation frame assembly comprises a connecting plate, a side support plate and a U-shaped support plate; wherein the side supporting plate is fixedly connected to one side of the connecting plate, and the U-shaped supporting plate is fixedly connected to the other side of the connecting plate; the positions of the board card and the clamping groove are determined through the machine vision detection mechanism by means of the machine vision detection technology, then the board card is grabbed through the grabbing clamping jaw mechanism and transferred to the clamping groove, and then the board card is pushed into the mounting clamping groove through the pressing clamping jaw mechanism to be assembled. According to the assembling device, the board card is arranged on the base, then the bolt on the board card is tightened through the tightening electric screwdriver mechanism, the tightening torque is detected through the torque sensor, it is ensured that the installing precision and torque control can meet the assembling requirement, and therefore assembling operation does not need to be conducted manually, the working efficiency is improved, and the labor cost is reduced.

Description

Technical Field

[0001] The invention relates to an actuator, in particular to an intelligent board installation actuator, belonging to the technical field of actuators. Background Art

[0002] Board installation is one of the important processes in the assembly and production of electronic equipment such as electric control cabinets, industrial computers, and controllers. It mainly involves installing the boards into the corresponding card slots or slots according to actual needs, assembling the electronic equipment, and using boards with specific functions to achieve functional integration of the electronic equipment.

[0003] Traditionally, the board installation method of electric control cabinets is mostly semi-automatic or manual. However, the installation process is too complicated, resulting in low installation efficiency. In addition, the board installation usually requires high positioning accuracy and torque control, which can easily further affect the installation efficiency. Therefore, an intelligent board installation actuator is proposed. Summary of the invention

[0004] In view of this, the present invention provides an intelligent board installation actuator to solve or alleviate the technical problems existing in the prior art and at least provide a beneficial choice.

[0005] The technical solution of the embodiment of the present invention is implemented as follows: an intelligent board installation actuator includes a mounting frame assembly and a machine vision detection mechanism, wherein the mounting frame assembly includes a connecting plate, a side support plate and a U-shaped support plate;

[0006] Wherein, the side support plate is fixedly connected to one side of the connecting plate, the U-shaped support plate is fixedly connected to the other side of the connecting plate, the machine vision detection mechanism is installed at the bottom of the connecting plate, a tightening electric screwdriver mechanism is installed on one side of the side support plate, a clamping claw mechanism is installed on the outer side wall of the U-shaped support plate, and a grabbing claw mechanism is installed in the middle of the inner side wall of the U-shaped support plate;

[0007] Wherein, the machine vision detection mechanism uses machine vision detection technology to determine the position of the board and the card slot;

[0008] Wherein, the grabbing claw mechanism is used to grab the board;

[0009] Wherein, the clamping claw mechanism is used to push the board and card grasped by the grasping claw mechanism into the board and card installation slot;

[0010] The tightening electric screwdriver mechanism is used to tighten the bolts on the board; the tightening electric screwdriver mechanism includes an electric screwdriver driver, a screwdriver body and a torque sensor;

[0011] The torque sensor is mounted on the output shaft of the electric screwdriver driver, and one end of the screwdriver body is mounted on the end of the torque sensor away from the electric screwdriver driver.

[0012] Further preferably, the machine vision detection mechanism includes a detection box, a binocular camera and an illuminator;

[0013] Wherein, the detection box is installed at the bottom of the connecting plate, the binocular camera is installed at the middle of the inner wall of the detection box, and the lighting lamp is installed at the bottom of the inner wall of the detection box.

[0014] Further preferably, the tightening electric screwdriver mechanism further includes two first slide rails, a push block and a propulsion cylinder;

[0015] Among them, the two first slide rails are fixedly connected to one side of the side support plate, the inner side wall of the push block is slidably connected to the outer side walls of the two first slide rails, the electric screwdriver is installed on one side of the push block, the thrust cylinder is installed on one side of the side support plate, and the piston rod of the thrust cylinder is fixedly connected to one side of the push block.

[0016] Further preferably, the grabbing jaw mechanism comprises a grabbing motor, a jaw connecting frame, two chucks, a first screw rod, an internal threaded slider and a plurality of connecting parts;

[0017] Among them, the clamping jaw connecting frame is fixedly connected to the middle part of the inner wall of the U-shaped support plate, the grabbing motor is installed on one side of the clamping jaw connecting frame, one end of the first screw rod is fixedly connected to the output shaft of the grabbing motor, the internal thread slider is arranged on the inner side of the clamping jaw connecting frame, and the outer side wall of the first screw rod is threadedly connected to the inner side wall of the internal thread slider.

[0018] Further preferably, the two chucks are symmetrically arranged on one side of the clamp connecting frame, one end of several connecting members are respectively hinged to the inner wall of the clamp connecting frame and the outer wall of the internal threaded slider, and the other ends of several connecting members are respectively hinged to one side of the two chucks.

[0019] Further preferably, the clamping claw mechanism includes an upper propulsion motor, a lower propulsion motor, two second screw rods, two slide plates, four second slide rails and two push plates;

[0020] Among them, the upper propulsion motor is installed on the upper surface of the U-shaped support plate, the lower propulsion motor is installed on the lower surface of the U-shaped support plate, the two second screws are respectively fixedly connected to the output shafts of the upper propulsion motor and the lower propulsion motor, the four second slide rails are symmetrically fixedly connected to the upper surface and lower surface of the U-shaped support plate, the inner side walls of the two slide plates are respectively slidably connected to the outer side walls of the four second slide rails, the outer side walls of the two second screws are respectively threadedly connected to the inner side walls of the two slide plates, and the two push plates are respectively fixedly connected to the side of the two slide plates away from the U-shaped support plate.

[0021] Further preferably, a guide plate is fixedly connected to one side of the side support plate, the outer wall of the screwdriver body is slidably connected to the inner wall of the guide plate, and a positioning plate is provided at one end of the two first slide rails, and the positioning plate is fixedly connected to one side of the side support plate.

[0022] Since the embodiment of the present invention adopts the above technical scheme, it has the following advantages: the present invention uses machine vision detection technology through a machine vision detection mechanism to determine the position of the board and the slot, then uses a grabbing claw mechanism to grab the board and transfer it to the slot, and then uses a clamping claw mechanism to push the board into the installation slot for assembly, and then tightens the bolts on the board by tightening the electric screw mechanism, and uses a torque sensor to detect the tightening torque to ensure that the installation accuracy and torque control can meet the assembly requirements, thereby eliminating the need for manual assembly operations, improving work efficiency and reducing labor costs.

[0023] The above summary is for illustrative purposes only and is not limiting in any way. In addition to the illustrative aspects, embodiments and features described above, further aspects, embodiments and features of the present invention will be readily apparent by reference to the accompanying drawings and the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 It is a structural diagram of the present invention;

[0026] Figure 2 It is a side view structural schematic diagram of the present invention;

[0027] Figure 3 It is an isometric view of the electric screwdriver of the present invention;

[0028] Figure 4 It is an isometric view of the grab motor and the clamping claw connecting frame of the present invention;

[0029] Figure 5 It is a side structural schematic diagram of the U-shaped support plate and the upper propulsion motor of the present invention.

[0030] 1. Mounting frame assembly; 2. Machine vision inspection mechanism; 3. Tightening electric screwdriver mechanism; 4. Grasping jaw mechanism; 5. Pressing jaw mechanism; 101. Connecting plate; 102. Side support plate; 103. U-shaped support plate; 201. Inspection box; 202. Binocular camera; 203. Illuminating lamp; 301. First slide rail; 302. Push block; 303. Push cylinder; 304. Electric screwdriver driver; 305. Screwdriver body; 306. Torque sensor; 401. Grasping motor; 402. Clamping jaw connecting frame; 403. Chuck; 404. First screw; 405. Internal threaded slider; 406. Connecting piece; 501. Upper push motor; 502. Lower push motor; 503. Second screw; 504. Slide plate; 505. Second slide rail; 506. Push plate; 61. Guide plate; 62. Positioning plate. DETAILED DESCRIPTION

[0031] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present invention. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0032] It should be noted that the terms "first", "second", "symmetrical", "array", etc. are only used to distinguish between description and position description purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the definition of "first", "symmetrical", etc. can explicitly or implicitly include one or more of these features; similarly, when the number of certain features is not limited in the form of words such as "two" or "three", it should be noted that this feature also explicitly or implicitly includes one or more feature quantities.

[0033] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0034] like Figure 1-Figure 5 As shown, an embodiment of the present invention provides an intelligent board installation actuator, including a mounting frame assembly 1 and a machine vision detection mechanism 2, wherein the mounting frame assembly 1 includes a connecting plate 101, a side support plate 102 and a U-shaped support plate 103;

[0035] Among them, the side support plate 102 is fixedly connected to one side of the connecting plate 101, the U-shaped support plate 103 is fixedly connected to the other side of the connecting plate 101, the machine vision detection mechanism 2 is installed at the bottom of the connecting plate 101, a tightening electric screwdriver mechanism 3 is installed on one side of the side support plate 102, a clamping claw mechanism 5 is installed on the outer side wall of the U-shaped support plate 103, and a grabbing claw mechanism 4 is installed in the middle of the inner side wall of the U-shaped support plate 103;

[0036] Among them, the machine vision detection mechanism 2 uses machine vision detection technology to determine the position of the board and the card slot;

[0037] Among them, the grabbing claw mechanism 4 is used to grab the board;

[0038] The clamping claw mechanism 5 is used to push the board captured by the grabbing claw mechanism 4 into the board installation slot;

[0039] The tightening electric screwdriver mechanism 3 is used to tighten the bolts on the board; the tightening electric screwdriver mechanism 3 includes an electric screwdriver driver 304, a screwdriver body 305 and a torque sensor 306;

[0040] The torque sensor 306 is mounted on the output shaft of the electric screwdriver driver 304 , and one end of the screwdriver body 305 is mounted on the end of the torque sensor 306 away from the electric screwdriver driver 304 .

[0041] In one embodiment, the machine vision inspection mechanism 2 includes an inspection box 201, a binocular camera 202, and an illuminating lamp 203;

[0042] The detection box 201 is installed at the bottom of the connecting plate 101 , the binocular camera 202 is installed at the middle of the inner wall of the detection box 201 , and the lighting lamp 203 is installed at the bottom of the inner wall of the detection box 201 .

[0043] The binocular camera 202 is used to capture images of the board and the board installation slot, so as to determine the position of the board and the slot using machine vision detection technology. The lighting lamp 203 is used to assist the binocular camera 202 in fill light to ensure its image capture effect.

[0044] In one embodiment, the tightening electric screwdriver mechanism 3 further includes two first slide rails 301, a push block 302 and a push cylinder 303;

[0045] Among them, the two first slide rails 301 are fixedly connected to one side of the side support plate 102, the inner wall of the push block 302 is slidably connected to the outer wall of the two first slide rails 301, the electric screwdriver driver 304 is installed on one side of the push block 302, the thrust cylinder 303 is installed on one side of the side support plate 102, and the piston rod of the thrust cylinder 303 is fixedly connected to one side of the push block 302.

[0046] The piston rod of the propulsion cylinder 303 pushes the push block 302 to move along the first slide rail 301, and the moving push block 302 drives the electric screwdriver driver 304, the torque sensor 306 and the screwdriver body 305 to move, so that one end of the screwdriver body 305 can be inserted into the bolt on the board, and then the torque sensor 306 is used to drive the screwdriver body 305 to rotate through the output shaft of the electric screwdriver driver 304, and the propulsion cylinder 303 drives the push block 302 to drive the screwdriver body 305 to move, so as to tighten the bolt on the board.

[0047] In one embodiment, the grabbing jaw mechanism 4 includes a grabbing motor 401, a jaw connecting frame 402, two clamping heads 403, a first screw rod 404, an internal thread slider 405 and a plurality of connecting members 406;

[0048] Among them, the clamping jaw connecting frame 402 is fixedly connected to the middle part of the inner wall of the U-shaped support plate 103, the grabbing motor 401 is installed on one side of the clamping jaw connecting frame 402, one end of the first screw rod 404 is fixedly connected to the output shaft of the grabbing motor 401, the internal thread slider 405 is arranged on the inner side of the clamping jaw connecting frame 402, the outer wall of the first screw rod 404 is threadedly connected to the inner wall of the internal thread slider 405, the two chucks 403 are symmetrically arranged on one side of the clamping jaw connecting frame 402, one end of a plurality of connecting members 406 are respectively hinged to the inner wall of the clamping jaw connecting frame 402 and the outer wall of the internal thread slider 405, and the other ends of the plurality of connecting members 406 are respectively hinged to one side of the two chucks 403.

[0049] The first screw 404 is driven to rotate by the output shaft of the grabbing motor 401, and the rotating first screw 404 drives the internal thread slider 405 to move through the thread, and the moving internal thread slider 405 cooperates with the connecting piece 406 to drive the chuck 403 to open. When the output shaft of the grabbing motor 401 rotates in the opposite direction, the chuck 403 can be closed.

[0050] In one embodiment, the clamping claw mechanism 5 includes an upper propulsion motor 501, a lower propulsion motor 502, two second screws 503, two slide plates 504, four second slide rails 505 and two push plates 506;

[0051] Among them, the upper propulsion motor 501 is installed on the upper surface of the U-shaped support plate 103, the lower propulsion motor 502 is installed on the lower surface of the U-shaped support plate 103, the two second screws 503 are respectively fixedly connected to the output shafts of the upper propulsion motor 501 and the lower propulsion motor 502, and the four second slide rails 505 are symmetrically fixedly connected to the upper surface and lower surface of the U-shaped support plate 103; the inner walls of the two slide plates 504 are respectively slidably connected to the outer walls of the four second slide rails 505, the outer walls of the two second screws 503 are respectively threadedly connected to the inner walls of the two slide plates 504, and the two push plates 506 are respectively fixedly connected to the side of the two slide plates 504 away from the U-shaped support plate 103.

[0052] The output shafts of the upper propulsion motor 501 and the lower propulsion motor 502 respectively drive the two second screw rods 503 to rotate, and the two rotating second screw rods 503 use threads to drive the slide plate 504 to move. The moving slide plate 504 drives the push plate 506 to push the clamped board so as to push the board into the card slot. The second slide rail 505 is provided to guide the moving slide plate 504.

[0053] In one embodiment, a guide plate 61 is fixedly connected to one side of the side support plate 102, the outer wall of the screwdriver body 305 is slidably connected to the inner wall of the guide plate 61, and a positioning plate 62 is provided at one end of the two first slide rails 301, and the positioning plate 62 is fixedly connected to one side of the side support plate 102.

[0054] The positioning plate 62 is provided to limit the push block 302 moving along the first slide rail 301 , and the guide plate 61 is provided to guide the screwdriver body 305 .

[0055] When the present invention is working: firstly, according to actual needs, the actuator is integrally mounted and fixed on a motion machine such as a mechanical arm, a screw module, etc. by using a connecting plate 101 .

[0056] When the board needs to be assembled, first use the binocular camera 202 to capture images of the board and the board installation slot, and feed the captured images back to the motion mechanical control terminal so that the position of the board and the slot can be determined using machine vision detection technology. After the position is determined, the motion mechanically uses the connecting plate 101 and the U-shaped support plate 103 to drive the grabbing claw mechanism 4 to move to the board.

[0057] When it is necessary to grab the board, the output shaft of the grabbing motor 401 drives the first screw 404 to rotate, and the rotating first screw 404 drives the internal thread slider 405 to move by the thread, and the moving internal thread slider 405 cooperates with the connecting piece 406 to drive the chuck 403 to open, and then the motion machinery drives the actuator to move as a whole, so as to move the chuck 403 to both sides of the board, and then the output shaft of the grabbing motor 401 drives the first screw 404 to rotate in the opposite direction, and the reversely rotating first screw 404 drives the chuck 403 to clamp by the internal thread slider 405 and the connecting piece 406, so as to grab the board.

[0058] When the board and card are grabbed, the motion machinery is used to drive the actuator to move as a whole so as to move the grabbed board and card to the card slot, and then the output shafts of the upper propulsion motor 501 and the lower propulsion motor 502 are used to drive the second screw rod 503 to rotate respectively, and the rotating second screw rod 503 drives the slide plate 504 to move by the thread, and the moving slide plate 504 drives the push plate 506 to push the clamped board and card so as to push the board and card into the card slot, and the second slide rail 505 is provided to guide the moving slide plate 504.

[0059] After the board is loaded into the card slot, the actuator is driven to move as a whole through the motion machinery so that the tightening electric screwdriver mechanism 3 is moved above the board, and then the piston rod of the propulsion cylinder 303 pushes the push block 302 to move along the first slide rail 301, and the moving push block 302 drives the electric screwdriver driver 304, the torque sensor 306 and the screwdriver body 305 to move, so that one end of the screwdriver body 305 is inserted into the bolt on the board, and then the output shaft of the electric screwdriver driver 304 is used to drive the screwdriver body 305 to rotate by using the torque sensor 306, and the propulsion cylinder 303 is used to push the push block 302 to drive the screwdriver body 305 to move, so as to tighten the bolts on the board, and the tightening torque is detected by using the torque sensor 306. When the data detected by the torque sensor 306 reaches the threshold value, the electric screwdriver driver 304 stops working, and the electric screwdriver driver 304 is reset as a whole by using the push block 302 through the propulsion cylinder 303 to complete the assembly and fixing operation.

[0060] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of various changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. An intelligent board installation actuator, comprising a mounting frame assembly (1) and a machine vision detection mechanism (2), characterized in that: The mounting frame assembly (1) comprises a connecting plate (101), a side support plate (102) and a U-shaped support plate (103); The side support plate (102) is fixedly connected to one side of the connecting plate (101), the U-shaped support plate (103) is fixedly connected to the other side of the connecting plate (101), the machine vision detection mechanism (2) is installed at the bottom of the connecting plate (101), a tightening screwdriver mechanism (3) is installed on one side of the side support plate (102), a clamping claw mechanism (5) is installed on the outer side wall of the U-shaped support plate (103), and a grabbing claw mechanism (4) is installed in the middle of the inner side wall of the U-shaped support plate (103); The machine vision detection mechanism (2) uses machine vision detection technology to determine the position of the board and the card slot; Wherein, the grabbing claw mechanism (4) is used to grab the board; The clamping claw mechanism (5) is used to push the board grasped by the grasping claw mechanism (4) into the board installation slot; The tightening electric screwdriver mechanism (3) is used to tighten the bolts on the board; the tightening electric screwdriver mechanism (3) comprises an electric screwdriver driver (304), a screwdriver body (305) and a torque sensor (306); The torque sensor (306) is mounted on the output shaft of the electric screwdriver driver (304), and one end of the screwdriver body (305) is mounted on an end of the torque sensor (306) away from the electric screwdriver driver (304).

2. The intelligent board installation actuator according to claim 1, characterized in that: The machine vision detection mechanism (2) comprises a detection box (201), a binocular camera (202) and an illuminating lamp (203); The detection box (201) is installed at the bottom of the connecting plate (101), the binocular camera (202) is installed at the middle of the inner wall of the detection box (201), and the lighting lamp (203) is installed at the bottom of the inner wall of the detection box (201).

3. The intelligent board installation actuator according to claim 2, characterized in that: The tightening electric screwdriver mechanism (3) also includes two first slide rails (301), a push block (302) and a propulsion cylinder (303); The two first slide rails (301) are fixedly connected to one side of the side support plate (102), the inner wall of the push block (302) is slidably connected to the outer walls of the two first slide rails (301), the electric screwdriver (304) is installed on one side of the push block (302), the propulsion cylinder (303) is installed on one side of the side support plate (102), and the piston rod of the propulsion cylinder (303) is fixedly connected to one side of the push block (302).

4. The intelligent board installation actuator according to claim 1, characterized in that: The grabbing jaw mechanism (4) comprises a grabbing motor (401), a jaw connecting frame (402), two clamping heads (403), a first screw rod (404), an internal threaded slider (405) and a plurality of connecting parts (406); The clamping jaw connecting frame (402) is fixedly connected to the middle part of the inner wall of the U-shaped support plate (103), the grabbing motor (401) is installed on one side of the clamping jaw connecting frame (402), one end of the first screw rod (404) is fixedly connected to the output shaft of the grabbing motor (401), the internal thread slider (405) is arranged on the inner side of the clamping jaw connecting frame (402), and the outer side wall of the first screw rod (404) is threadedly connected to the inner side wall of the internal thread slider (405).

5. The intelligent board installation actuator according to claim 4, characterized in that: The two clamps (403) are symmetrically arranged on one side of the clamping jaw connecting frame (402), one end of a plurality of connecting members (406) is respectively hinged to the inner wall of the clamping jaw connecting frame (402) and the outer wall of the internal threaded slider (405), and the other end of a plurality of connecting members (406) is respectively hinged to one side of the two clamps (403).

6. The intelligent board installation actuator according to claim 1, characterized in that: The clamping claw mechanism (5) comprises an upper propulsion motor (501), a lower propulsion motor (502), two second screw rods (503), two slide plates (504), four second slide rails (505) and two push plates (506); Among them, the upper propulsion motor (501) is installed on the upper surface of the U-shaped support plate (103), the lower propulsion motor (502) is installed on the lower surface of the U-shaped support plate (103), the two second screws (503) are respectively fixedly connected to the output shafts of the upper propulsion motor (501) and the lower propulsion motor (502), and the four second slide rails (505) are symmetrically fixedly connected to the upper surface and the lower surface of the U-shaped support plate (103).

7. The intelligent board installation actuator according to claim 6, characterized in that: The inner side walls of the two slides (504) are respectively slidably connected to the outer side walls of the four second slide rails (505), the outer side walls of the two second screw rods (503) are respectively threadedly connected to the inner side walls of the two slides (504), and the two push plates (506) are respectively fixedly connected to the side of the two slides (504) away from the U-shaped support plate (103).

8. The intelligent board installation actuator according to claim 3, characterized in that: A guide plate (61) is fixedly connected to one side of the side support plate (102), the outer wall of the screwdriver body (305) is slidably connected to the inner wall of the guide plate (61), and a positioning plate (62) is provided at one end of the two first slide rails (301), and the positioning plate (62) is fixedly connected to one side of the side support plate (102).

Images