An automatic screwing device

Abstract

The application discloses an automatic screw driving equipment, which comprises a machine table, a moving platform, a screw driving device and a screw feeding mechanism. A mechanical hand is arranged on the machine table, and the screw driving device is arranged on the moving platform. The screw driving device comprises a first mounting piece, a hollow suction nozzle, a screw tool, a lifting block and a Z-axis pressure mechanism. The first mounting piece is arranged on the moving platform. The lifting block is slidingly arranged on the first mounting piece. The hollow suction nozzle is arranged below the lifting block. The screw tool is arranged on the lifting block, and a screw driver head of the screw tool extends into the hollow suction nozzle. The Z-axis pressure mechanism is arranged on the first mounting piece and is further connected with the lifting block. The screw feeding mechanism is arranged on the first mounting piece. The screw feeding mechanism feeds, the moving platform finds the assembly position, and the screw driving device is used to drive the screw, so that the screw is automatically and stably screwed to the assembly position, and the automatic effect is good.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic equipment, in particular to an automatic screw driving device. BACKGROUND

[0002] Screws are standard parts commonly used for product fastening, and are widely used in industrial products. They have good detachability, mature assembly and disassembly tools, and low application cost.

[0003] In a general assembly line, such as a heater of a new energy vehicle, the production process involves the assembly of many parts including a main board. The assembly of these parts mainly relies on screw locking. The assembly tool of the screw is commonly a pneumatic screw tool for tightening or loosening the screw. In the overall production line, an air compressor, a pneumatic drive control structure and a high-pressure pipeline are provided, so that high-pressure air can be supplied to the pneumatic screw tool on the production line through the high-pressure pipeline, realizing mass production and low-cost driving of the pneumatic screw tool, thereby improving the efficiency of screw assembly on the production line.

[0004] However, in the production line, workers are still needed at each screw assembly post to realize screw driving in a manual operation mode, which has the problems of high screw driving assembly cost and low processing efficiency. SUMMARY

[0005] To solve the technical problems of high screw driving assembly cost and low processing efficiency in the prior art, one of the purposes of the present application is to provide an automatic screw driving device.

[0006] One of the purposes of the present application is achieved by the following technical solutions:

[0007] An automatic screw driving device, comprising a machine table, a moving platform, a screw driving device and a screw feeding mechanism, the moving platform is arranged on the machine table, and the screw driving device is arranged on the moving platform;

[0008] The screw driving device comprises a first mounting, a hollow suction nozzle, a screw tool, a lifting block and a Z-axis pressure mechanism;

[0009] The first mounting is arranged on the moving platform;

[0010] The lifting block is slidingly arranged on the first mounting, and the sliding direction is the Z-axis direction;

[0011] The hollow suction nozzle is arranged below the lifting block;

[0012] The screw tool is arranged on the lifting block, and a screw driver bit of the screw tool extends into the hollow suction nozzle;

[0013] The Z-axis pressure mechanism is arranged on the first mounting member and is connected with the lifting block to maintain the working pressure of the screwdriver head.

[0014] The screw feeding mechanism is arranged on the first mounting member and is arranged on the first mounting member.

[0015] Optionally, the hollow suction nozzle comprises a suction head, and a suction hole for sucking the screw is arranged at the lower end of the suction head.

[0016] The suction head is provided with a negative pressure cavity and a first through hole, the first through hole penetrates the suction head from top to bottom, the first through hole is in communication with the suction hole, and the negative pressure cavity is in communication with the suction hole.

[0017] The lower end of the screwdriver head extends into the negative pressure cavity through the first through hole.

[0018] Optionally, the upper end of the suction head is provided with a fitting port.

[0019] The hollow suction nozzle further comprises a mounting head and a locking nut, the lower part of the mounting head is provided with a connecting part, the connecting part extends into the fitting port and is connected with the upper end of the suction head, the mounting head is provided with a second through hole through which the screwdriver head passes, and the second through hole is in communication with the negative pressure cavity.

[0020] The screwdriver head extends into the first through hole through the second through hole.

[0021] Optionally, the negative pressure cavity is located at the upper end of the suction head, the negative pressure cavity is in communication with the fitting port, and the negative pressure cavity is in communication with the first through hole.

[0022] Optionally, the inner wall of the negative pressure cavity is provided with an air inlet hole and an air outlet hole.

[0023] The mounting head is further provided with a protective sleeve, the protective sleeve is located at the lower part of the connecting part, and the protective sleeve extends into the negative pressure cavity and passes through the air inlet hole and the air outlet hole.

[0024] Optionally, the mounting head is provided with a bearing hole.

[0025] The hollow suction nozzle further comprises a sealing bearing and a snap spring, the sealing bearing is arranged in the bearing hole, and the snap spring is arranged in the bearing hole and located outside the sealing bearing.

[0026] The screwdriver head is connected with the mounting head through the sealing bearing.

[0027] Optionally, the automatic screw driving device further comprises a Z-axis sliding mechanism, and the Z-axis sliding mechanism is arranged on the first mounting member.

[0028] The lifting block is arranged on the Z-axis sliding mechanism.

[0029] Optionally, the automatic screw driving device further comprises a height measuring assembly, the height measuring assembly comprises a first distance sensor and a first induction sheet, one of the first distance sensor and the first induction sheet is arranged on the lifting block, and the other of the first distance sensor and the first induction sheet is arranged on the first mounting piece, and the first distance sensor faces the first induction sheet and is used for detecting the lifting distance of the lifting block.

[0030] Optionally, the height measuring assembly further comprises a second distance sensor, the second distance sensor is arranged on the first mounting piece, and the second distance sensor faces downward along the Z-axis and is used for detecting the height of the screw driving device.

[0031] Optionally, the automatic screw driving device further comprises a torque calibration mechanism, the torque calibration mechanism comprises a calibration support, a torque sensor, an adapter and a test seat.

[0032] The calibration support is arranged on the machine table, the torque sensor is arranged on the calibration support, the adapter is arranged on the torque sensor, and the test seat is detachably arranged on the adapter, and the top of the test seat is provided with a test groove matched with the screw driver head.

[0033] Compared with the prior art, the present application has the following advantages:

[0034] In the present application, the screw feeding mechanism supplies screws to the lower end of the hollow suction nozzle, the mechanical arm in the moving platform and the Z-axis module drive the screw driving device to move to find the assembly position of the screw; in the screw driving device, the screw driver head of the screw tool extends into the hollow suction nozzle, the hollow suction nozzle adsorbs the screw, the Z-axis pressure mechanism applies pressure to the lifting block, so that the screw driver head applies pressure to the screw. In this way, when the screw tool drives the screw driver head to rotate, the screw driver head can drive the screw to rotate. And with the rotation of the screw, the Z-axis pressure mechanism continuously applies pressure to the lifting block, so that the screw driver head maintains pressure on the screw during the entire working process, ensuring that the screw driver head stably drives the screw to rotate, realizing automatic screw rotation. In the present application, the screw feeding mechanism can be used for feeding, the moving platform can find the screw assembly position, and the screw driving device can accurately and stably drive the screw, so that the screw is automatically and stably screwed to the assembly position, having good automation effect. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 It is a structural schematic diagram of the automatic screw driving device of the present application;

[0036] Figure 2 It is an exploded schematic diagram of the automatic screw driving device of the present application;

[0037] Figure 3 Structure diagram of the screw driving device 4 and the Z-axis module 3 in the automatic screw driving equipment of the present application;

[0038] Figure 4 Exploded diagram of the screw driving device 4 and the Z-axis module 3 in the automatic screw driving equipment of the present application;

[0039] Figure 5 Structure diagram of the screw driving device 4 in the automatic screw driving equipment of the present application;

[0040] Figure 6 Exploded diagram of the screw driving device 4 in the automatic screw driving equipment of the present application;

[0041] Figure 7 Sectional view of the hollow suction nozzle 42 in the automatic screw driving equipment of the present application;

[0042] Figure 8 Structure diagram of the screw feeding mechanism 5 in the automatic screw driving equipment of the present application;

[0043] Figure 9 Structure diagram of the torque calibration mechanism 8 in the automatic screw driving equipment of the present application.

[0044] Explanation of the attached drawings:

[0045] 1, machine table;

[0046] 2, mechanical hand;

[0047] 3, Z-axis module;

[0048] 4, screw driving device;

[0049] 41, first mounting piece;

[0050] 42, hollow suction nozzle; 421, suction head; 4211, suction hole; 4212, negative pressure cavity; 4213, first through hole; 4214, assembly opening; 4215, air inlet hole; 4216, air outlet hole; 422, mounting head; 4221, connecting part; 4222, second through hole; 4223, protective sleeve; 4224, bearing hole; 423, locking nut; 424, sealing bearing; 425, clamping spring;

[0051] 43, screw tool; 431, screw driver bit;

[0052] 44, lifting block;

[0053] 45, Z-axis pressure mechanism; 451, pneumatic push rod; 452, pressure controller;

[0054] 46, suction nozzle support;

[0055] 47. Z-axis sliding mechanism.

[0056] 5. Screw feeding mechanism; 51. Third mounting; 52. Screw feeding pipe; 53. Moving module; 54. Screw placing plate; 541. Groove; 542. Sensing hole; 55. Screw sensor;

[0057] 6. Second mounting;

[0058] 71. First distance sensor; 72. First sensing sheet; 73. Second distance sensor;

[0059] 8. Torque calibration mechanism; 81. Calibration support; 82. Torque sensor; 83. Adapter; 84. Test seat;

[0060] 9. Material rack;

[0061] 10. Visual sensing device;

[0062] 110. Conveying device. DETAILED DESCRIPTION

[0063] 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. Figure 1 to the drawings in the embodiments of the present application. Figure 9 It should be explained that the embodiments described are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the present application.

[0064] It should be explained that the directions in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directions also change accordingly.

[0065] In addition, the description of “first”, “second” and the like in the present application is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features defined as “first”, “second” can explicitly or implicitly include at least one of the features. In addition, the technical solutions of various embodiments can be combined with each other, but it must be based on the realization of those skilled in the art, and when the combination of technical solutions contradicts each other or cannot be realized, it should be considered that the combination of technical solutions does not exist, and is not within the protection scope of the present application.

[0066] For example, Figures 1-4The automatic screwing device is used for screwing the mainboard of the product, such as a heater, conveyed by the conveying device 110. The automatic screwing device comprises a machine table 1, a moving platform, a mechanical arm 2, a Z-axis module 3, a screwing device 4 and a screw feeding mechanism 5. In one embodiment of the moving platform, the moving platform comprises the mechanical arm 2 and the Z-axis module 3. The mechanical arm 2 is arranged on the machine table 1, and the Z-axis module 3 is arranged on the mechanical arm 2. The screwing device 4 is arranged on the Z-axis module 3. The mechanical arm 2 drives the Z-axis module 3 and the screwing device 4 to move along the X-axis direction and the Y-axis direction, so that the screwing device 4 moves above the screwing position on the mainboard. Then, the Z-axis module 3 drives the screwing device 4 to move along the Z-axis direction, so that the screwing device 4 is lowered to the screwing position on the mainboard.

[0067] The screwing device 4 comprises a first mounting member 41, a hollow suction nozzle 42, a screw tool 43, a lifting block 44 and a Z-axis pressure mechanism 45. The first mounting member 41 is arranged on the Z-axis module 3, and the first mounting member 41 is a direct or indirect mounting structure of the hollow suction nozzle 42, the screw tool 43, the lifting block 44 and the Z-axis pressure mechanism 45. The lifting block 44 is slidingly arranged on the first mounting member 41 in the Z-axis direction. Specifically, the lifting block 44 can be directly slidingly matched with the first mounting member 41, or the lifting block 44 can be slidingly matched with the first mounting member 41 by means of other structures, so as to guide the screw tool 43 to stably and accurately perform lifting movement. The hollow suction nozzle 42 is arranged below the lifting block 44. The screw tool 43 is arranged on the lifting block 44, and the screw tool 43 is provided with a detachable screw driver bit 431. The screw driver bit 431 of the screw tool 43 extends into the hollow suction nozzle 42. The Z-axis pressure mechanism 45 is arranged on the first mounting member 41, and the Z-axis pressure mechanism 45 is further connected with the lifting block 44 to maintain the working pressure of the screw driver bit 431.

[0068] The screw feeding mechanism 5 is arranged on the first mounting member 41 and used for supplying the hollow suction nozzle 42 with screws.

[0069] In the application, the screw feeding mechanism 5 supplies screws to the lower end of the hollow suction nozzle 42, the manipulator 2 and the Z-axis module 3 drive the screw driving device 4 to move to find the screw assembly position; in the screw driving device 4, the screw driver bit 431 of the screw tool 43 extends into the hollow suction nozzle 42, the hollow suction nozzle 42 is used to suck the screw, the Z-axis pressure mechanism 45 applies pressure to the lifting block 44, so that the screw driver bit 431 applies pressure to the screw. In this way, when the screw tool 43 drives the screw driver bit 431 to rotate, the screw driver bit 431 can drive the screw to rotate. And with the rotation of the screw, the Z-axis pressure mechanism 45 continuously applies pressure to the lifting block 44, so that the screw driver bit 431 maintains pressure on the screw throughout the working process, ensuring that the screw driver bit 431 stably drives the screw to rotate, achieving automatic screw driving. In the application, the screw feeding mechanism 5 can be used for feeding, the manipulator 2 and the Z-axis module 3 can find the screw assembly position, and the screw driving device 4 can accurately and stably drive the screw, so that the screw can be automatically and stably screwed to the assembly position, having good automation effect.

[0070] In addition, the Z-axis module 3 is provided with a module sliding block which moves up and down along the Z-axis direction, and the first mounting member 41 is in a vertical plate structure and is arranged on the module sliding block.

[0071] As shown in Figure 3 , a second mounting member 6 is further arranged between the manipulator 2 and the Z-axis module 3. Specifically, the second mounting member 6 comprises a mounting plate and a mounting seat, the mounting plate is arranged in a number, and the mounting seat is arranged on the back surface of the mounting plate. The Z-axis module 3 is arranged on the front surface of the mounting plate.

[0072] As shown in Figure 6 , Figure 7 , the hollow suction nozzle 42 comprises a suction head 421, and the lower end of the suction head 421 is provided with a suction hole 4211 for sucking the screw. The suction head 421 is provided with a negative pressure cavity 4212 and a first through hole 4213, the first through hole 4213 penetrates the suction head 421 from top to bottom, the first through hole 4213 is in communication with the suction hole 4211, and the negative pressure cavity 4212 is in communication with the suction hole 4211. The lower end of the screw driver bit 431 extends into the negative pressure cavity 4212 through the first through hole 4213. The suction head 421 itself is connected to an external negative pressure device such as an air suction pump through a pipeline, so that negative pressure is generated in the negative pressure cavity 4212. In the suction head 421, the negative pressure in the negative pressure cavity 4212 enables the suction hole 4211 to suck the screw, and at least the head of the screw is in the suction hole 4211 before the screw is completely assembled, so as to realize stable suction of the screw and prevent the screw from falling during assembly.

[0073] Further, as shown in Figure 7As shown, the upper end of the suction head 421 is provided with a fitting opening 4214. The hollow suction nozzle 42 further comprises a mounting head 422 and a locking nut 423, the lower part of the mounting head 422 is provided with a connecting part 4221 which extends into the fitting opening 4214 and is connected with the upper end of the suction head 421, the mounting head 422 is provided with a second through hole 4222 through which the screwdriver head 431 can pass, the second through hole 4222 is communicated with the negative pressure cavity 4212. The screwdriver head 431 extends into the first through hole 4213 through the second through hole 4222. In addition, the first mounting member 41 is provided with a suction nozzle support 46, the suction nozzle support 46 is provided with a mounting hole, the mounting head 422 passes through the mounting hole and is locked by the locking nut 423. The suction head 421 is connected with the connecting part 4221 of the mounting head 422 through the fitting opening 4214, thus, the fixed mounting of the suction head 421 is realized, and the fixed mounting of the hollow suction nozzle 42 is also realized.

[0074] In addition, the negative pressure cavity 4212 can be located at the middle or lower end of the suction head 421, or can be located at the upper end of the suction head 421, and the negative pressure cavity 4212 is preferably located at the upper end of the suction head 421.

[0075] In addition, the negative pressure cavity 4212 is communicated with the fitting opening 4214, and the negative pressure cavity 4212 is communicated with the first through hole 4213. To be exact, the fitting opening 4214 and the negative pressure cavity 4212 are the same cavity structure, the fitting opening 4214 is at the outer end, and the negative pressure cavity 4212 is at the inner end, that is, the fitting opening 4214 is located at the upper end, and the negative pressure cavity 4212 is located at the lower end. More specifically, the fitting opening 4214 is provided with an internal thread, the connecting part 4221 is provided with an external thread, and the connecting part 4221 is threadedly connected with the upper end of the suction head 421. The screwdriver head 431 passes through the mounting head 422, the negative pressure cavity 4212 and the first through hole 4213 in sequence.

[0076] In some specific embodiments of the hollow suction nozzle 42, as shown in Figure 7As shown, the inner wall of the negative pressure cavity 4212 is provided with an air inlet hole 4215 and an air outlet hole 4216, and interfaces are arranged at the air inlet hole 4215 and the air outlet hole 4216. The interface at the air inlet hole 4215 is connected with a high-pressure pipeline, and the interface at the air outlet hole 4216 is connected with a negative pressure pipeline. The high-pressure pipeline and the negative pressure pipeline are respectively connected with a high-pressure gas source and a gas suction pump. The mounting head 422 is further provided with a protective sleeve 4223 located at the lower part of the connecting part 4221. The protective sleeve 4223 extends into the negative pressure cavity 4212 and beyond the air inlet hole 4215 and the air outlet hole 4216. When the screwdriver bit 431 passes through the negative pressure cavity 4212, the airflow in the negative pressure cavity 4212 will flow rapidly to the air outlet hole 4216, generating a large lateral pressure on the screwdriver bit 431. Due to the large length of the screwdriver bit 431, the screwdriver bit 431 will be slightly deviated laterally, increasing the friction between the screwdriver bit 431 and the hollow suction nozzle 42, reducing the rotation speed of the screwdriver bit 431, increasing the wear of the screwdriver bit 431, and reducing the service life. After the protective sleeve 4223 is arranged, the protective sleeve 4223 extends to the area where the lateral airflow is generated seriously. The lateral pressure is borne by the protective sleeve 4223 on the mounting head 422. The protective sleeve 4223 is located at the mounting head 422 and has a low overall length, so it has a greater pressure-bearing capacity, thereby effectively protecting the screwdriver bit 431, avoiding the deviation of the screwdriver blade under pressure, and enabling the screwdriver bit 431 to be normally assembled and rotated.

[0077] In some further embodiments of the screw driving device 4, as shown in Figure 7 The mounting head 422 is provided with a bearing hole 4224, specifically, the upper end of the mounting head 422 is provided with the bearing hole 4224. The hollow suction nozzle 42 further includes a sealing bearing 424 and a snap spring 425. The sealing bearing 424 is arranged in the bearing hole 4224, and the snap spring 425 is arranged in the bearing hole 4224 and located outside the sealing bearing 424, for assembly limiting of the sealing bearing 424. The screwdriver bit 431 is connected with the mounting head 422 through the sealing bearing 424. By arranging the sealing bearing 424 at the upper end of the mounting head 422, the sealing effect of the mounting head 422 is increased, preventing or reducing air leakage of the mounting head 422.

[0078] In some further embodiments of the screw driving device 4, as shown in Figure 5 , Figure 6 The screw driving device 4 further includes a Z-axis sliding mechanism 47 arranged on the first mounting member 41. The lifting block 44 is arranged on the Z-axis sliding mechanism 47. Specifically, the Z-axis sliding mechanism 47 includes a Z-axis guide rail arranged on the first mounting member 41 along the Z-axis direction, and a Z-axis sliding block slidingly arranged on the Z-axis guide rail. The lifting block 44 is arranged on the Z-axis sliding block.

[0079] For the aforementioned Z-axis pressure mechanism 45, specifically, the Z-axis pressure mechanism 45 comprises a pneumatic push rod 451 or a pneumatic cylinder or the like. The present application preferably uses the pneumatic push rod 451.

[0080] Further, as shown in Figure 5 the Z-axis pressure mechanism 45 further comprises a pressure controller 452, which is electrically connected to the Z-axis pressure mechanism 45, for controlling the pressure applied by the Z-axis pressure mechanism 45 to the lifting block 44.

[0081] In some other embodiments of the Z-axis pressure mechanism 45, the Z-axis pressure mechanism 45 comprises an electric push rod and a pressure sensor, the output end of the electric push rod is connected to the pressure sensor, and the pressure sensor is connected to the lifting block 44. In this way, the electric push rod can maintain pressure on the lifting block 44, and the output of the electric push rod can be controlled by the electrical signal generated by the pressure sensor, so that the screwdriver bit 431 can maintain appropriate pressure on the screw during operation.

[0082] In some embodiments of the screw feeding mechanism 5, as shown in Figure 8 the screw feeding mechanism 5 comprises a third mounting 51, a screw feeding pipe 52, a moving module 53 and a screw placement plate 54. The third mounting 51 is connected to the first mounting 41, and the screw feeding pipe 52 is arranged on the third mounting 51. The screw placement plate 54 is arranged on the moving module 53 and is located below the screw feeding pipe 52, and the screw placement plate 54 is provided with a groove 541 for receiving a screw. The moving module 53 is arranged on the third mounting 51, and the moving module 53 drives the screw placement plate 54 to move, so that the groove 541 on the screw placement plate 54 moves to below the screw feeding pipe 52. After the screw falls into the groove 541, the moving module 53 drives the screw placement plate 54 to move below the hollow suction nozzle 42, so that the groove 541 is aligned with the suction hole 4211 at the lower end of the suction head 421. This repeated movement can achieve continuous feeding of the screw.

[0083] For the screw feeding pipe 52, it is specifically connected to an external screw feeding device, which supplies screws to the screw feeding pipe 52 in a pipeline manner. Moreover, the screws are supplied to the screw feeding pipe 52 in a single and controllable manner, and then fall into the groove 541. In addition, for the moving module 53, it can be a sliding table cylinder, and the sliding table on the sliding table cylinder can move linearly. The screw placement plate 54 is specifically arranged on the sliding table.

[0084] Further, as shown in Figure 8As shown, the side of the screw placement plate 54 is also provided with an induction hole 542 communicating with the recess 541, and the screw induction device 55 is arranged on the screw placement plate 54 through the induction mounting plate and faces the induction hole 542, which is used to induct whether there is a screw in the recess 541. After the screw induction device 55 senses that the screw in the recess 541 is sucked away, the screw supply device supplies screws to the screw feeding pipe 52 through the pipeline.

[0085] In some embodiments of the automatic screw driving device, as shown in Figure 4 、 Figure 5 、 Figure 6 As shown, the automatic screw driving device further comprises a height measuring assembly, which comprises a first distance sensor 71 and a first induction sheet 72, one of the first distance sensor 71 and the first induction sheet 72 is arranged on the lifting block 44, and the other of the first distance sensor 71 and the first induction sheet 72 is arranged on the first mounting member 41, and the first distance sensor 71 faces the first induction sheet 72 and is used to detect the lifting distance of the lifting block 44. For example, the first distance sensor 71 is arranged on the lifting block 44, the first induction sheet 72 is arranged on the first mounting member 41, and the first distance sensor 71 is located above the first induction sheet 72, so that the first distance sensor 71 faces the first induction sheet 72 below. Through the induction of the first distance sensor 71, the distance from the screw tool 43 to the hollow suction nozzle 42 can be determined, specifically the position of the screw driver bit 431 extending into the suction head 421. When the suction head 421 adsorbs the screw, whether the screw driver bit 431 moves to the appropriate screw driving position can be determined by the distance sensed by the first distance sensor 71, that is, whether the screw driver bit 431 moves to abut against the screw. By arranging the first distance sensor 71 and the first induction sheet 72, the position of the screw driver bit 431 can be controlled, so as to ensure that the screw tool 43 is lowered to the position where the screw driver bit 431 abuts against the screw, thereby facilitating the subsequent screw driving work.

[0086] Further, as shown in Figure 3 、 Figure 4 The height measuring assembly further comprises a second distance sensor 73, which is arranged on the first mounting member 41 and faces downward along the Z-axis, which is used to detect the height of the screw driving device 4. The manipulator 2 drives the screw tool 43 to move above the screw assembly position, and then the second distance sensor 73 measures the height, thereby obtaining the height parameter of the screw driver bit 431. The Z-axis module 3 drives the screw driving device 4 to move up and down along the Z-axis, thereby driving the hollow suction nozzle 42 and the screw driver bit 431 to move up and down, and the position of the hollow suction nozzle 42 and the screw driver bit 431 is controlled by the pre-set height position, thereby accurately controlling the suction head 421 to align with the screw assembly position.

[0087] In some embodiments of the automatic screw driving device, as shown in Figure 1 , Figure 2 and Figure 9 , the automatic screw driving device further comprises a torque calibration mechanism 8, which comprises a calibration support 81, a torque sensor 82, an adapter 83 and a test seat 84. The calibration support 81 is arranged on the machine table 1, the torque sensor 82 is arranged on the calibration support 81, the adapter 83 is arranged on the torque sensor 82, and the test seat 84 is detachably arranged on the adapter 83. The top of the test seat 84 is provided with a test groove matched with the screwdriver bit 431.

[0088] In the calibration mechanism, the calibration support 81 is arranged on the machine table 1, and the torque sensor 82 is arranged on the calibration support 81. When the screwdriver bit 431 in the screw tool 43 is connected with the test seat 84, the torque sensor 82 can sense the torque transmitted by the screwdriver bit 431, and the screw tool 43 can adjust the output power accordingly to match different screws or different assembled products, thereby improving the adaptability of the screw tool 43 to different products.

[0089] The test seat 84 is detachably arranged on the adapter 83. Specifically, the adapter 83 is provided with a mounting groove, and the bottom of the test seat 84 is provided with a connecting head which is detachably embedded in the mounting groove. Further, the connecting head is magnetically attached to the adapter 83.

[0090] For the foregoing mechanical hand 2, specifically, the mechanical hand 2 can be a multi-axis robot arm or a two-dimensional moving platform. The two-dimensional moving platform specifically drives the screw driving device 4 to move in two dimensions of X-axis direction and Y-axis direction.

[0091] In some embodiments of the automatic screw driving device, the machine table 1 is located on one side of the conveying device 110, and the machine table 1 has two stations. One is the automatic station for driving screws as described above, and the other is a manual station located upstream of the automatic station. Among them, the mechanical hand 2, the Z-axis module 3, the screw driving device 4 and the screw feeding mechanism 5 are located in the automatic station. As shown in Figure 1 , Figure 2 , the automatic screw driving device further comprises a material rack 9 for storing parts, such as some sealing rings, rubber pads, etc. The material rack 9 comprises a material support and a material box. The material support is provided with a rolling bar extending to the outside of the automatic screw driving device, or a fluent bar. A plurality of rollers are arranged on the rolling bar. The material box can move on the material support with low resistance, so as to facilitate the rapid and convenient access of the material box to the automatic screw driving device.

[0092] In some embodiments of the automatic screw driving device, as shown in Figure 3 , Figure 4As shown, the automatic screwing device further comprises a visual sensing device 10, which comprises a visual sensing lens and a lamp for lighting the visual sensing lens to improve the sensing brightness. The visual sensing lens and the lamp can be arranged on the manipulator 2 or the second mounting member 6. When the visual sensing lens and the lamp are arranged on the second mounting member 6, they are specifically arranged on the mounting plate. The manipulator 2 drives the second mounting member 6 to move, and the visual sensing lens checks and identifies the assembly position. Then, the manipulator 2 accurately adjusts the position of the hollow suction nozzle 42 according to the identified assembly position, specifically adjusts the position of the suction head 421, so that the suction head 421 can accurately align with the assembly position. Then, the Z-axis module 3 drives the suction head 421 to descend to the assembly position.

[0093] The above-described embodiments are merely preferred embodiments of the present application, and cannot be used to limit the scope of protection of the present application. Any non-essential changes and replacements made by those skilled in the art on the basis of the present application shall fall within the scope of protection of the present application.

Claims

1. An automatic screwing apparatus characterized by comprising: The automatic screw driving device comprises a machine table, a moving platform, a screw driving device and a screw feeding mechanism, the moving platform is arranged on the machine table, and the screw driving device is arranged on the moving platform; The screw driving device comprises a first mounting piece, a hollow suction nozzle, a screw tool, a lifting block and a Z-axis pressure mechanism; The first mounting piece is arranged on the moving platform; The lifting block is slidingly arranged on the first mounting piece, and the sliding direction is the Z-axis direction; The hollow suction nozzle is arranged below the lifting block; The screw tool is arranged on the lifting block, and a screw driver head of the screw tool extends into the hollow suction nozzle; The Z-axis pressure mechanism is arranged on the first mounting piece, and the Z-axis pressure mechanism is further connected with the lifting block to maintain the working pressure of the screw driver head; The screw feeding mechanism is arranged on the first mounting piece and is used for supplying screws to the hollow suction nozzle; The hollow suction nozzle comprises a suction head, a mounting head and a locking nut; The upper end of the suction head is provided with an assembly opening, the lower end of the suction head is provided with a suction hole for sucking screws, a negative pressure cavity and a first through hole are arranged in the suction head, the first through hole penetrates the suction head up and down, and the first through hole is in communication with the suction hole; The negative pressure cavity is located below the assembly opening and is in communication with the assembly opening, the negative pressure cavity is in communication with the first through hole, and the inner wall of the negative pressure cavity is provided with an air inlet hole and an air outlet hole; The lower part of the mounting head is provided with a connecting part, the connecting part extends into the assembly opening and is connected with the upper end of the suction head, the lower part of the connecting part is provided with a protective sleeve, the protective sleeve extends into the negative pressure cavity and passes through the air inlet hole and the air outlet hole, a second through hole for the screw driver head to pass through is arranged in the mounting head, and the second through hole is in communication with the negative pressure cavity; The screw driver head extends into the first through hole through the second through hole.

2. The automatic screw driving apparatus of claim 1, wherein A bearing hole is arranged on the mounting head; The hollow suction nozzle further comprises a sealing bearing and a snap spring, the sealing bearing is arranged in the bearing hole, and the snap spring is arranged in the bearing hole and located outside the sealing bearing; The screw driver head is connected with the mounting head through the sealing bearing.

3. The automatic screw driving apparatus of claim 1 wherein, The automatic screw driving device further comprises a Z-axis sliding mechanism, and the Z-axis sliding mechanism is arranged on the first mounting piece; The lifting block is arranged on the Z-axis sliding mechanism.

4. The automatic screw driving apparatus of claim 1 wherein, The automatic screw driving device further comprises a height measuring assembly, the height measuring assembly comprises a first distance sensor and a first sensing sheet, one of the first distance sensor and the first sensing sheet is arranged on the lifting block, the other of the first distance sensor and the first sensing sheet is arranged on the first mounting piece, and the first distance sensor faces the first sensing sheet and is used for detecting the lifting distance of the lifting block.

5. The automatic screw driving apparatus of claim 4, wherein The height measuring assembly further comprises a second distance sensor, the second distance sensor is arranged on the first mounting piece, the second distance sensor faces downward along the Z-axis, and is used for detecting the height of the screw driving device.

6. The automatic screw driving apparatus of claim 1 wherein, The automatic screw driving device further comprises a torque calibration mechanism, the torque calibration mechanism comprises a calibration support, a torque sensor, an adapter and a test seat; The calibration support is arranged on the machine table, the torque sensor is arranged on the calibration support, the adapter is arranged on the torque sensor, and the test seat is detachably arranged on the adapter. The top of the test seat is provided with a test groove matched with the screwdriver head.

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