Cantilever type three-axis positioning balance force arm system

Abstract

A cantilever type three-axis positioning balance force arm system comprises a servo screwdriver, a cantilever type three-axis balance force arm, an absolute value encoder, a positioning system controller and an intelligent tightening controller, and the positioning system controller controls and drives the cantilever type three-axis balance force arm through the absolute value encoder. The positioning controller receives signals of the absolute value encoder and then transmits and controls the intelligent tightening controller, and the intelligent tightening controller controls the servo screwdriver to start, stop and tighten. According to the cantilever type three-axis positioning balance force arm system, the three-axis positioning force arm is arranged to carry a servo screwdriver for turning a screw, a precise encoder is arranged on each section of rotating arm to position and record the moving angle and position of each time, and the cantilever type three-axis positioning balance force arm system is used for fool-proof and mistake-proof of locking and attaching of precise components and parts. The product is composed of a control system and an operation system, has the functions of controlling locking torque, rotating speed, angle and the like, and can record a torsion change curve in the screw locking process.

Description

[Technical field] The invention relates to the technical field of screw locking mechanisms, and in particular to a cantilever type three-axis positioning screw locking mechanism. [Background technology] In the field of modern industrial products, electronic products and large-scale machinery production, there are a large number of screw fastening structures. Screw fastening has gradually become the main means of product assembly due to its fast rhythm, reliable connection, reusability and other advantages. With the development of technology, manufacturing companies have higher and higher requirements for screw fastening. Especially in the automotive and communications industries, the products are large and complex, and the use of articulated robots is not flexible enough, or it costs a lot but has low effect. Similar equipment on the market that solves the above problems is either complex in structure, inconvenient to install and maintain, or has a single function, with only basic functions such as positioning and error correction, and is expensive and has a low cost-effectiveness ratio, which is difficult for small and medium-sized enterprises to afford.

[0003] For example, the patent 202323618739.2 discloses a smart screwdriver fixing tool, which discloses a tool for positioning and tightening the screwdriver to flexibly adjust and fix the position of the screwdriver. This fixing work does not include precision measuring instruments such as distance measurement and angle monitoring. It only provides a mechanical support structure for simple weighing and assistance. It is not suitable for the requirements of intelligence and precision for high-precision and highly specialized large-scale assembly line industries.

[0004] For example, patent CN202420315440.5 cantilever electric thread detection machine discloses a cantilever structure suitable for an electric screwdriver. However, this cantilever structure is suspended on a vertical slide rod by an inclined tension spring. Although a cantilever is provided, the structure cannot meet the accuracy requirements of the industry. It can only realize the downward movement of the cantilever, so that the electric screwdriver is in a weightless state. [Summary of the invention] The present invention proposes a cantilever three-axis positioning balance arm system for the existing technology. The three-axis positioning arm is used to carry the servo screwdriver for screwing. The product can be equipped with a precision encoder for anti-mistake and anti-error locking of precision components. The product consists of a control system and an operating system. It has a small installation space and a variety of flexible installation methods. It also has the functions of controlling the locking torque, speed, angle, etc., and can record the torque change curve of the screw locking process. In addition, it has the function of communicating and interacting with the host computer, supports DXF file import, and reduces a lot of manual settings and teaching time.

[0006] The present invention relates to a cantilever three-axis positioning balancing arm system, which is characterized in that the balancing arm system comprises a servo screwdriver, a cantilever three-axis balancing arm, an absolute value encoder, a positioning system controller, and an intelligent tightening controller, wherein the positioning system controller controls and drives the cantilever three-axis balancing arm through the absolute value encoder, and the positioning system controller receives the signal of the absolute value encoder and transmits and controls the intelligent tightening controller, and the intelligent tightening controller controls the start and stop and tightening action of the servo screwdriver.

[0007] The cantilever three-axis balancing force arm includes a first arm of a balancing mechanism, a second arm of a balancing mechanism, a third arm of a balancing mechanism and a spindle support assembly, wherein a servo screwdriver is installed at the end of the third arm of the balancing mechanism, and an arm of the balancing mechanism is installed on the spindle support assembly, and the second arm of the balancing mechanism is connected between the third arm of the balancing mechanism and the first arm of the balancing mechanism.

[0008] The absolute value encoder includes three absolute value encoders, namely a first absolute value encoder, a second absolute value encoder and a third absolute value encoder, wherein the first absolute value encoder collects position information of the first arm of the balancing mechanism and controls the movement of the first arm of the balancing mechanism; the second absolute value encoder collects position information of the second arm of the balancing mechanism and controls the movement of the second arm of the balancing mechanism; the third absolute value encoder collects position information of the third arm of the balancing mechanism and controls the movement of the third arm of the balancing mechanism.

[0009] The cantilever three-axis balancing force arm also includes a base, a spindle supporting assembly, a first bearing assembly, a first encoder mounting assembly, a second bearing assembly, a second encoder mounting assembly, a third arm supporting seat, a third encoder mounting assembly and a screwdriver fixing seat, wherein the base is at the very bottom, the spindle supporting assembly is mounted and fixed on the base, a first bearing assembly is provided at the top end of the spindle supporting assembly, the first arm of the balancing mechanism is connected to the top end of the spindle supporting assembly through the first bearing assembly, and a first encoder mounting assembly and a first absolute value encoder are provided on the first bearing assembly; a second bearing assembly is provided at the other end of the first arm of the balancing mechanism, the second arm of the balancing mechanism is connected to the first arm of the balancing mechanism through the second bearing assembly, and a second encoder mounting assembly and a second absolute value encoder are provided on the second bearing assembly; a third arm supporting seat is provided at the other end of the second arm of the balancing mechanism, the third arm of the balancing mechanism is connected to the second arm of the balancing mechanism through the third arm supporting seat, and a third encoder mounting assembly and a third absolute value encoder are provided on the third arm supporting seat.

[0010] The first encoder mounting assembly, the second encoder mounting assembly and the third encoder mounting assembly each include an encoder mounting plate, an encoder connecting shaft and an encoder cover, wherein the encoder plate is mounted on a bearing, the encoder connecting shaft passes through the encoder plate and is connected to an absolute encoder, and the encoder cover covers the absolute encoder.

[0011] The third arm of the balancing mechanism includes two connecting arms, a nitrogen spring, a gas spring floating seat, and a gas spring fixed seat. The two connecting arms in the third arm of the balancing mechanism are fixedly connected in parallel between the third arm support seat and the screwdriver fixed seat. A gas spring floating seat is arranged in the third arm support seat, and a gas spring fixed seat is arranged at the farthest end of the connecting arm. The nitrogen spring is mounted between the gas spring floating seat and the gas spring fixed seat. The nitrogen spring is arranged along the diagonal of the parallelogram formed by the two connecting arms.

[0012] The screwdriver fixing base includes a fixing base rotating shaft, a front end connecting column, a front end left side plate, a front end right side plate, a handle, a chuck mounting block, a handle, and a tool chuck, wherein the fixing base rotating shaft is arranged at the farthest end of the connecting arm, and a front end left side plate and a front end right side plate are respectively arranged on both sides of the farthest end of the connecting arm, the front end left side plate and the front end right side plate are relatively connected by the front end connecting column, and the two connecting arms are respectively hinged between the front end left side plate and the front end right side plate through two fixing base rotating shafts.

[0013] A chuck mounting block is fixedly mounted between the front left plate and the front right plate, a tool chuck is arranged on the chuck mounting block, a handle is arranged on one side of the tool chuck, and a fixing position for fixing a servo screwdriver is arranged on the tool chuck.

[0014] The present invention relates to a cantilever three-axis positioning balanced arm system, which is equipped with a three-axis positioning arm to carry a servo screwdriver for tightening screws, and a precision encoder is arranged on each section of the rotating arm to locate and record each movement angle and position, which is used for foolproofing and error-proofing of precision component locking. The product consists of a control system and an operating system, and also has functions of controlling locking torque, rotation speed, angle, etc., and can record the torque change curve of the screw locking process. In addition, it has the function of communicating and interacting with a host computer, supports DXF file import, and greatly reduces manual setting and teaching time.

Brief Description of the Drawings

[0017] In the description of the present invention, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0018] The cantilever three-axis positioning balancing arm system involved in the present invention can support the import of DXF format files, and can realize basic functions such as sequential locking, positioning, error correction, and misoperation alarm. It also has functions such as controlling locking torque, speed, angle, etc., and can record the torque change curve of the screw locking process.

[0019] Please refer to the attached Figure 1 and attached Figure 2 , which shows a conceptual diagram and a design architecture block diagram of a cantilever three-axis positioning balance arm system, wherein the balance arm system includes a servo screwdriver 100, a cantilever three-axis balance arm 200, an absolute value encoder 300, a positioning system controller 400, and an intelligent tightening controller 500, wherein the positioning system controller 400 controls and drives the cantilever three-axis balance arm 200 through the absolute value encoder 300, and the positioning system controller 400 receives the signal of the absolute value encoder 300 and transmits and controls the intelligent tightening controller 500, and the intelligent tightening controller 500 controls the start and stop and tightening action of the servo screwdriver 100.

[0020] Furthermore, the cantilever three-axis balancing force arm we designed includes three sections of rotating arms, and the cantilever three-axis balancing force arm 200 includes a first arm 10 of the balancing mechanism, a second arm 20 of the balancing mechanism, a third arm 30 of the balancing mechanism and a spindle support assembly 40, wherein the servo screwdriver 100 is installed at the end of the third arm 30 of the balancing mechanism, and the first arm 10 of the balancing mechanism is installed on the spindle support assembly 40, and the second arm 20 of the balancing mechanism is connected between the third arm 30 of the balancing mechanism and the first arm 10 of the balancing mechanism.

[0021] In order to accurately control and drive each section of the rotating arm, we set up three absolute value encoders respectively. The absolute value encoder 300 includes three absolute value encoders, namely the first absolute value encoder 301, the second absolute value encoder 302 and the third absolute value encoder 303. The first absolute value encoder 301 collects the position information of the first arm 10 of the balancing mechanism and controls the movement of the first arm 10 of the balancing mechanism; the second absolute value encoder 302 collects the position information of the second arm 20 of the balancing mechanism and controls the movement of the second arm 20 of the balancing mechanism; the third absolute value encoder 303 collects the position information of the third arm 30 of the balancing mechanism and controls the movement of the third arm 30 of the balancing mechanism.

[0022] Please refer to the attached Figure 3 and attached Figure 4 , wherein the interface schematic diagrams of the positioning system controller and the encoder are respectively shown; Figure 3 The figure shows the wiring diagram of the positioning system controller, encoder and external IO port.

[0023] In the overall machine architecture, the three absolute encoders and the positioning system controller 400 also interact and transmit information in real time. The positioning system controller 400 feeds back the real-time data collection control results to the smart screwdriver controller 500, and the smart screwdriver controller 500 controls the servo motor through encoding and decoding to perform reverse forward transmission and tightening processes with a certain torque.

[0024] The combination of the screwdriver controller and the positioning system controller completes the main control unit of the equipment with the positioning system controller, realizing the import of DXF files from the PC into the system, the batch start-up and anti-wrong screwing function of the screwdriver, the current screw position identification function, the screw position teaching and torque parameter setting, etc.

[0025] Please refer to the attached Figure 5 and attached Figure 6 , which shows the specific mechanical structure of the cantilever three-axis balancing arm 200. The cantilever three-axis balancing arm 200 is a cantilever three-axis rotational linear motion balancing mechanism, which ultimately cooperates with the movement of the servo screwdriver and the positioning system, and can provide real-time feedback and record the working position coordinates of the servo screwdriver. At the same time, the system also reviews the drawings and actual working positions according to the preset time, and performs error prevention, omission correction and recording processes. Once an error occurs, there will be an automatic alarm indication, and the system will make a backup of the error record for review.

[0026] Attached Figure 5 The balancing arm involved in the whole realizes the three-axis operation process of the rotation of the first arm 10 of the balancing mechanism, the rotation of the second arm 20 of the balancing mechanism, and the up and down swinging of the third arm 30 of the balancing mechanism. From the overall structure, it also includes a base 50, a spindle support assembly 40, a first bearing assembly 11, a first encoder mounting assembly 12, a second bearing assembly 21, a second encoder mounting assembly 22, a third arm support seat 31, a third encoder mounting assembly 32 and a screwdriver fixing seat 60. The base 50 is at the bottom, the spindle support assembly 40 is installed and fixed on the base 50, and a first bearing assembly 11 is provided at the top of the spindle support assembly 40. The first arm 10 of the balancing mechanism is connected to the spindle support assembly 40 through the first bearing assembly 11. At the top, a first encoder mounting assembly 12 and a first absolute value encoder 301 are provided on the first bearing assembly 11; a second bearing assembly 21 is provided at the other end of the first arm 10 of the balancing mechanism, the second arm 20 of the balancing mechanism is connected to the first arm 10 of the balancing mechanism through the second bearing assembly 21, and a second encoder mounting assembly 22 and a second absolute value encoder 302 are provided on the second bearing assembly 21; a third arm support seat 31 is provided at the other end of the second arm 20 of the balancing mechanism, the third arm 30 of the balancing mechanism is connected to the second arm 20 of the balancing mechanism through the third arm support seat 31, and a third encoder mounting assembly 32 and a third absolute value encoder 303 are provided on the third arm support seat 31.

[0027] The first bearing assembly 11 includes a bearing seat 111 and a bearing 112 .

[0028] The first encoder mounting assembly 12, the second encoder mounting assembly 22 and the third encoder mounting assembly 32 all include an encoder mounting plate 121, an encoder connecting shaft 122 and an encoder cover 123, wherein the encoder plate 121 is mounted on a bearing, that is, the encoder plate 121 in the first encoder assembly 12 is mounted on a bearing of the first bearing assembly, and the encoder plate in the second encoder assembly 22 is mounted on a bearing of the second bearing assembly 21. The encoder connecting shaft 122 penetrates the encoder plate 121 and is connected to the absolute encoder, and the encoder cover 123 covers the absolute encoder to protect the absolute encoder from dust and water.

[0029] The third arm 30 of the balancing mechanism includes two connecting arms 33, a nitrogen spring 34, a gas spring floating seat 35 and a gas spring fixed seat 36. The two connecting arms 31 in the third arm 30 of the balancing mechanism are fixedly connected in parallel between the third arm support seat 31 and the screwdriver fixed seat 60, and the third arm 30 of the balancing mechanism can complete the movement trajectory of moving up and down. The gas spring floating seat 35 is set in the third arm support seat 31, and the gas spring fixed seat 36 is set at the farthest end of the connecting arm 33. The nitrogen spring 34 is set between the gas spring floating seat 35 and the gas spring fixed seat 36. The nitrogen spring 34 is set along the diagonal of the parallelogram formed by the two connecting arms 33. Through the stretching and contraction of the nitrogen spring 34, the diagonal distance of the parallelogram is actually extended and compressed, so that the structure with two connecting arms 33 as parallel sides can be lifted and lowered up and down. Thereby, the movement range of the third arm 30 of the balancing mechanism is limited.

[0030] The screwdriver fixing base 60 includes a fixing base rotating shaft 61, a front connecting column 62, a front left side plate 63, a front right side plate 64, a handle 65, a chuck mounting block 66, a handle 67, and a tool chuck 68, wherein the fixing base rotating shaft 61 is arranged at the farthest end of the connecting arm 33, and the front left side plate 63 and the front right side plate 64 are respectively arranged on both sides of the farthest end of the connecting arm 33, and the front left side plate 63 and the front right side plate 64 are relatively connected by the front connecting column 62, and the two connecting arms 33 are respectively hinged between the front left side plate and the front right side plate through two fixing base rotating shafts 61.

[0031] A chuck mounting block 66 is fixedly mounted between the front left side plate 63 and the front right side plate 64 , a tool chuck 67 is disposed on the chuck mounting block 66 , a handle 65 is disposed on one side of the tool chuck 68 , and a fixing position for fixing the servo screwdriver 100 is disposed on the tool chuck 67 .

[0032] The working process of the cantilever three-axis positioning balancing arm is as follows: the servo screwdriver is fixed at the farthest end of the third arm 30 of the balancing mechanism, the second arm 20 of the balancing mechanism is connected to the first arm 10 of the balancing mechanism through a rotating shaft, the servo screwdriver 100 is manually held to move the third arm 30 of the balancing mechanism vertically downward, and at the same time, the first and second arms rotate angles, and the three absolute encoders can measure and record the rotation angles in real time.

[0033] The first arm 10 of the balancing mechanism is mounted on the main shaft support assembly 40 and can rotate around the main shaft; it can rotate freely 360 degrees and the arm span can extend outward by a maximum of 820 mm; the third arm 30 of the balancing mechanism contains a nitrogen spring 34 to maintain the parked position.

[0034] After setting the screw locking parameters, hold the handle 65 near the servo screwdriver 100, move the rotating arm, and adjust the position of the servo screwdriver 100. When the servo screwdriver 100 is observed to be above the screw hole, press down the servo screwdriver, observe and fine-tune the screwdriver position in time until the screw enters vertically into the screw hole to be locked, and press the servo screwdriver start button to lock the screw in place. Repeat the above actions and lock the screws one by one in the set order. If an error alarm occurs during the process, stop locking.

[0035] Angle control link: The current angle of the XYZ axis is fed back by the absolute value rotary encoder, and there is no need to start the machine and return to zero; encoder specification: TS5705N250.

[0036] The servo screwdriver is installed at the front end of the cantilever three-axis positioning balance arm. It is the direct drive part of the screw locking. It is equipped with an independent controller, which can set the torque, speed, angle, and group screw locking tasks, and can record and feedback the current data. At the same time, its working position and operating status are controlled by the positioning system controller. Different models of servo screwdrivers can be matched according to customer needs.

[0037] Screw locking process: First, set the screw locking task parameters such as torque, angle value, speed, etc. through the servo screwdriver controller. Multiple groups of tasks can be set, up to 12 groups.

[0038] In the positioning system controller interface, edit the screw position, locking sequence and corresponding screw locking tasks.

[0039] Then, click "Run", manually hold the screwdriver handle, rotate the three-axis positioning balancing mechanism, rotate the first arm 10 of the balancing mechanism and the second arm 20 of the balancing mechanism, control the angle between the two rotating arms, and adjust the position of the servo screwdriver 100 in real time. The third arm of the balancing mechanism moves vertically downward. When the servo screwdriver 100 reaches the set point position and the serial number is consistent, the positioning system interface will prompt that it can be locked. At this time, press the start button on the servo screwdriver and press down the servo screwdriver. The servo screwdriver will perform the locking work according to the corresponding task and cooperate with the manual operation.

[0040] The beneficial effects of the equipment applied for in this patent are: it fills the gap in the domestic market in terms of screw positioning and error correction systems, and the system is stable and reliable; the cantilever three-axis positioning balance arm takes up little space and has a variety of flexible installation methods. The operation is light and simple, and the arm can rotate freely 360 degrees, and the arm span can extend outward up to 820mm; it contains a nitrogen spring to maintain the parking position, making it easier and more convenient to grab. It uses an absolute encoder to feedback the angle, has a power-off memory function, and does not require a zeroing operation when it is turned on; it is the first in the industry to support DXF file import, which greatly reduces the user's debugging workload; the equipment is a comprehensive system that combines high reliability and high-quality management.

[0041] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention is disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technician familiar with this profession can make some changes or modifications to equivalent embodiments of equivalent changes by using the technical contents disclosed above without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent changes and modifications made to the above embodiments according to the technology of the present invention are within the scope of the technical solution of the present invention without departing from the content of the technical solution of the present invention.

Claims

1. A cantilever three-axis positioning balance arm system, characterized in that: The balancing arm system includes a servo screwdriver, a cantilever three-axis balancing arm, an absolute value encoder, a positioning system controller, and an intelligent tightening controller, wherein the positioning system controller controls and drives the cantilever three-axis balancing arm through the absolute value encoder, and the positioning system controller receives the signal of the absolute value encoder and transmits and controls the intelligent tightening controller, and the intelligent tightening controller controls the start and stop and tightening action of the servo screwdriver.

2. The cantilever three-axis positioning balance arm system according to claim 1, characterized in that: The cantilever three-axis balancing force arm includes a first arm of a balancing mechanism, a second arm of a balancing mechanism, a third arm of a balancing mechanism and a spindle support assembly, wherein a servo screwdriver is installed at the end of the third arm of the balancing mechanism, and an arm of the balancing mechanism is installed on the spindle support assembly, and the second arm of the balancing mechanism is connected between the third arm of the balancing mechanism and the first arm of the balancing mechanism.

3. The cantilever three-axis positioning balance arm system according to claim 2, characterized in that: The absolute value encoder includes three absolute value encoders, namely a first absolute value encoder, a second absolute value encoder and a third absolute value encoder, wherein the first absolute value encoder collects position information of the first arm of the balancing mechanism and controls the movement of the first arm of the balancing mechanism; the second absolute value encoder collects position information of the second arm of the balancing mechanism and controls the movement of the second arm of the balancing mechanism; the third absolute value encoder collects position information of the third arm of the balancing mechanism and controls the movement of the third arm of the balancing mechanism.

4. The cantilever three-axis positioning balance arm system according to claim 3, characterized in that: The cantilever three-axis balancing force arm also includes a base, a spindle supporting assembly, a first bearing assembly, a first encoder mounting assembly, a second bearing assembly, a second encoder mounting assembly, a third arm supporting seat, a third encoder mounting assembly and a screwdriver fixing seat, wherein the base is at the very bottom, the spindle supporting assembly is mounted and fixed on the base, a first bearing assembly is provided at the top end of the spindle supporting assembly, the first arm of the balancing mechanism is connected to the top end of the spindle supporting assembly through the first bearing assembly, and a first encoder mounting assembly and a first absolute value encoder are provided on the first bearing assembly; a second bearing assembly is provided at the other end of the first arm of the balancing mechanism, the second arm of the balancing mechanism is connected to the first arm of the balancing mechanism through the second bearing assembly, and a second encoder mounting assembly and a second absolute value encoder are provided on the second bearing assembly; a third arm supporting seat is provided at the other end of the second arm of the balancing mechanism, the third arm of the balancing mechanism is connected to the second arm of the balancing mechanism through the third arm supporting seat, and a third encoder mounting assembly and a third absolute value encoder are provided on the third arm supporting seat.

5. The cantilever three-axis positioning balance arm system according to claim 3, characterized in that: The first encoder mounting assembly, the second encoder mounting assembly and the third encoder mounting assembly each include an encoder mounting plate, an encoder connecting shaft and an encoder cover, wherein the encoder plate is mounted on a bearing, the encoder connecting shaft passes through the encoder plate and is connected to an absolute encoder, and the encoder cover covers the absolute encoder.

6. The cantilever three-axis positioning balance arm system according to claim 4, characterized in that: The third arm of the balancing mechanism includes two connecting arms, a nitrogen spring, a gas spring floating seat, and a gas spring fixed seat. The two connecting arms in the third arm of the balancing mechanism are fixedly connected in parallel between the third arm support seat and the screwdriver fixed seat. A gas spring floating seat is arranged in the third arm support seat, and a gas spring fixed seat is arranged at the farthest end of the connecting arm. The nitrogen spring is mounted between the gas spring floating seat and the gas spring fixed seat. The nitrogen spring is arranged along the diagonal of the parallelogram formed by the two connecting arms.

7. The cantilever three-axis positioning balance arm system according to claim 6, characterized in that: The screwdriver fixing base includes a fixing base rotating shaft, a front end connecting column, a front end left side plate, a front end right side plate, a handle, a chuck mounting block, a handle, and a tool chuck, wherein the fixing base rotating shaft is arranged at the farthest end of the connecting arm, and a front end left side plate and a front end right side plate are respectively arranged on both sides of the farthest end of the connecting arm, the front end left side plate and the front end right side plate are relatively connected by the front end connecting column, and the two connecting arms are respectively hinged between the front end left side plate and the front end right side plate through two fixing base rotating shafts.

8. The cantilever three-axis positioning balance arm system according to claim 7, characterized in that: A chuck mounting block is fixedly mounted between the front left plate and the front right plate, a tool chuck is arranged on the chuck mounting block, a handle is arranged on one side of the tool chuck, and a fixing position for fixing a servo screwdriver is arranged on the tool chuck.

Images