Automatic screw locking device for assembling large machine assembly, assembly production line and method

Abstract

The invention discloses an automatic screw locking device for assembling a large machine assembly and an assembling production line and method, and belongs to the technical field of automatic assembling production lines, the automatic screw locking device comprises a first assembling robot, and the first assembling robot comprises a multi-axis mechanical arm, an automatic screw machine and a visual positioning device. The assembling production line comprises a first conveying line, a second conveying line, a third conveying line, a first assembling robot, a second assembling robot and a third assembling robot, the first conveying line and the second conveying line are arranged in parallel, and the third conveying line is arranged at one end of the first conveying line and one end of the second conveying line. The assembly line further comprises a turnover positioner, the first assembly robot and the second assembly robot work on the two conveying lines at the same time, and the turnover positioner is matched to achieve state adjustment of the assemblies so that installation and fixation of the multiple assemblies can be completed. And the waiting time of the assembly robot is shortened, and the overall assembly efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic assembly production lines, and in particular to an automatic screw locking device, an assembly production line and a method for assembling large machine components. Background Art

[0002] In the large-scale machinery manufacturing industry, the assembly of machine components is a crucial link. For example, large injection molding machines are the main molding equipment for making thermoplastics or thermosetting plastics into plastic products of various shapes using plastic molding molds. Injection molding machines contain multiple moving parts and fixed frames. Each part has a large mass, and it is difficult and dangerous to move it by manual assembly. At the same time, the traditional screw locking method mainly relies on manual work, but this method has many shortcomings. For example, workers need to manually align the screw holes and then lock them. This process is not only inefficient, but also prone to errors, such as missed locking and wrong locking. In addition, large machine components are often large in size and heavy in weight, which brings great difficulties to workers' operation and assembly. There is a need for a production line that can intelligently assemble large machines to meet the efficiency and safety requirements for the assembly of multiple parts of large machines.

[0003] The existing patent application with publication number CN107738399A discloses an automatic assembly production line for automobile rear door glass, which includes a pair of glass conveyors, a transfer mechanism based on a robot and a glass injection molding edge wrapping machine. The transfer mechanism based on the robot includes a robot and a robot clamp for the lower piece of finished glass, and the base of the robot is fixedly installed on one side of the pair of glass conveyors; the automatic assembly production line lacks an assembly for changing the position of components, cannot realize multi-sided assembly of components, and cannot be applied to injection molding machine assembly of parts of multiple specifications. Summary of the invention

[0004] One of the purposes of the present invention is to provide an automatic screw locking device for assembling large machine components, which solves the problem that the existing traditional screw locking method mainly relies on manual labor and there is no visual positioning during the screw locking process to cooperate with the automatic screw locking.

[0005] In order to achieve the above-mentioned invention object, the technical solution adopted by the present invention is as follows:

[0006] An automatic screw locking device for assembling large machine components includes a first assembly robot, which includes a multi-axis robotic arm, an automatic screw machine and a visual positioning device. The automatic screw machine and the visual positioning device are both arranged at the end of the multi-axis robotic arm, and the visual positioning device is arranged on one side of the automatic screw machine.

[0007] Furthermore, the first assembly robot includes a multi-axis robotic arm, an automatic screw machine and a visual positioning device, the automatic screw machine and the visual positioning device are both arranged at the end of the multi-axis robotic arm, and the visual positioning device is arranged on one side of the automatic screw machine. The first assembly robot and the third assembly robot have the same structure, the second assembly robot is a loading robot, and the second assembly robot is provided with a suction cup for moving and fixing the position of the component. The installation point of the screw is located by the visual positioning device to meet the fixed use of different components and has a wide range of applications.

[0008] Furthermore, the visual positioning device includes a bracket, a fill light module, a camera module and a rotating ring. The fill light module is arranged on the bracket. A through hole is provided in the middle of the fill light module. The rotating ring is connected to the camera module. The camera module is aligned with the through hole downward to actively perform fill light and focus, thereby improving the accuracy and reliability of visual positioning.

[0009] Furthermore, the automatic screw machine includes a fixed block, a screwdriver head, a first slide, a second slide, a power device and a converter. The first slide and the second slide are both slidably connected to the fixed block, the power device is arranged on the first slide, and the converter is arranged on the second slide. The power device is connected to the screwdriver head through the converter and is used for automatically screwing in screws, which can meet the needs of fixing screws of different specifications.

[0010] Preferably, the automatic screw machine further comprises a stabilizing frame, which is arranged on the fixed block, and the screwdriver head is rotatably connected to the stabilizing frame, so as to improve the rotation stability of the screwdriver head and prevent the screw from being misaligned and slipping when being screwed in.

[0011] More preferably, the automatic screw machine further includes a lifting cylinder and a screw rod, wherein the lifting cylinder is connected to the first slide, and the screw rod is respectively connected to the first slide and the second slide, so as to meet the needs of replacing screwdriver heads of different specifications.

[0012] The second purpose of the present invention is to provide an assembly production line that solves the problem that the existing assembly production line for assembling large machine components cannot change the position of the components and cannot complete the complex assembly of multiple parts.

[0013] In order to achieve the above-mentioned invention object, the technical solution adopted by the present invention is as follows:

[0014] An assembly production line includes a first conveyor line, a second conveyor line, a third conveyor line, the above-mentioned automatic screw locking device, a second assembly robot and a third assembly robot, the first conveyor line and the second conveyor line are arranged in parallel, the third conveyor line is arranged at one end of the first conveyor line, and the third conveyor line is perpendicular to the first conveyor line or the second conveyor line.

[0015] Furthermore, it also includes a flip positioner, which is arranged on both the first conveyor line and the second conveyor line. The first assembly robot and the second assembly robot work simultaneously on the two conveyor lines. The state adjustment of the components can be achieved by cooperating with the flip positioner to complete the installation and fixation of multiple components, thereby reducing the waiting time of the assembly robots and improving the overall assembly efficiency. The flip positioner includes a base, a vertical frame, a lifting platform, a first fork arm and a second fork arm. The vertical frame is arranged on the base, and the lifting platform is slidably connected to the vertical frame. The first fork arm and the second fork arm are respectively horizontally slidably connected to the lifting platform. The first fork arm and the second fork arm can act individually or simultaneously to clamp components of different shapes for movement and posture adjustment.

[0016] Furthermore, the first fork arm includes a push rod, a flip motor, a turntable and an arm frame, the arm frame is slidably connected to the lifting platform, one end of the push rod is fixed on the lifting platform, the other end of the push rod is connected to the arm frame, the turntable is rotatably connected to the outward end of the arm frame, the flip motor drives the turntable to rotate, the first fork arm and the second fork arm have the same structure, the first fork arm and the second fork arm cooperate with a clamping assembly, and the turntable drives the assembly to rotate to complete the flipping action.

[0017] Preferably, the flip positioner also includes a lifting device, which is arranged on the vertical frame. The lifting device includes a lifting drive and an elevator. The elevator is connected to the lifting platform. The lifting drive drives the elevator to move up and down, and the lifting device is used to drive the lifting platform to move up and down to complete the picking and placing of components.

[0018] The third object of the present invention is to provide an intelligent assembly production method for an injection molding machine, which solves the problem that the existing assembly production line occupies a large area and the utilization rate of each robot is low.

[0019] In order to achieve the above-mentioned invention object, the technical solution adopted by the present invention is as follows:

[0020] An intelligent assembly method, implemented by the intelligent assembly production line for assembling large machine components:

[0021] S1, single-sided assembly: Component 1 is clamped by the second assembly robot to the second conveyor line, and component 2 is installed on component 1 by the second assembly robot. The second conveyor line transports component 1 and component 2 to the first assembly robot, and the first assembly robot screws screws into component 1 and component 2;

[0022] S2, double-sided assembly: the second conveyor line moves the assembled component one and component two to the bottom of the flip positioner, the flip positioner flips component one and component two, adjusts the direction of component one, the second conveyor line moves component one assembled with component two to the second assembly robot, the second assembly robot takes component three and installs it on component one, the second conveyor line moves component one assembled with component two and component three to the first assembly robot, the first assembly robot screws screws into component one and component three, and the second conveyor line moves the assembled component two, component three and component one together to the end;

[0023] S3, the third conveyor line and the first conveyor line respectively complete the upper screw fixation of component four and component five, and complete the installation between multiple components through reciprocating movement, so as to meet the coordinated assembly of the upper components of the injection molding machine and improve the overall assembly efficiency.

[0024] The beneficial effects of the present invention are:

[0025] (1) The intelligent assembly production line for assembling large machine components is provided with two parallel first conveyor lines and a second conveyor line. The first conveyor line and the second conveyor line are respectively provided with a first assembly robot and a second assembly robot. The first assembly robot and the second assembly robot can operate the assembly of the two conveyor lines. In addition, the two conveyor lines are respectively provided with a flip positioner for changing the posture of the components on the conveyor line to facilitate the assembly of different parts. The conveyor line can reciprocate the components for multi-directional assembly.

[0026] (2) The flip positioner on the intelligent assembly production line for assembling large machine components is equipped with a lifting platform and two independently movable fork arms. The two fork arms can clamp the assembly on the conveyor line and can adjust the position and posture to facilitate assembly on various surfaces of the component. The spacing between the two fork arms can be freely adjusted to facilitate clamping components of different shapes.

[0027] (3) The first assembly robot and the third assembly robot of the intelligent assembly production line for assembling large machine components are used to automatically tighten screws to fix components, and the second assembly robot is provided with a suction cup for picking up and placing different components to complete the installation between components.

[0028] (4) The automatic screw locking device improves the accuracy and reliability of visual positioning through the visual positioning device. After the automatic screw machine cooperates with the precise positioning and identification of the visual positioning device, it can quickly and accurately complete the screw locking process, thereby improving the overall efficiency and accuracy of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 An axonometric view of an intelligent assembly line for assembling large machine components provided by the present invention;

[0030] Figure 2 A front view of an intelligent assembly line for assembling large machine components provided by the present invention;

[0031] Figure 3 An axonometric view of the flip positioner provided by the present invention;

[0032] Figure 4 A front view of the flip positioner provided by the present invention;

[0033] Figure 5 A rear view of the flip positioner provided by the present invention;

[0034] Figure 6 A top view of the flip positioner provided by the present invention;

[0035] Figure 7 for Figure 4 Section view along line AA;

[0036] Figure 8 A front view of a first assembly robot provided by the present invention;

[0037] Fig. 9 An axonometric view of the automatic screw machine provided by the present invention;

[0038] Fig.10 A front view of the automatic screw machine provided by the present invention;

[0039] Fig.11 An axonometric diagram of the visual positioning device provided by the present invention;

[0040] Fig.12 A front view of the visual positioning device provided by the present invention;

[0041] Fig.13 A bottom view of the visual positioning device provided by the present invention;

[0042] Fig.14 for Fig.12 Sectional view along BB;

[0043] Fig.15 An axonometric view of the automatic feeder provided by the present invention;

[0044] Fig.16 A front view of the automatic feeder provided by the present invention;

[0045] Fig.17 A top view of the automatic feeder provided by the present invention;

[0046] Fig.18 for Fig.16 Section along line CC.

[0047] Reference numerals:

[0048] 1. First conveyor line; 11. First material rack; 2. Second conveyor line; 21. Second material rack; 3. Third conveyor line; 31. Guide and positioning rack; 4. First assembly robot; 41. Automatic screw machine; 411. Fixed block; 412. Screwdriver head; 413. First slide; 414. Second slide; 415. Power device; 416. Stabilizing rack; 417. Converter; 418. Lifting cylinder; 419. Screw rod; 42. Visual positioning device; 421. Bracket; 422. Fill light module; 423. Camera module; 424. Rotating ring; 425. Through hole; 43. Multi-axis robotic arm; 5. Second assembly robot; 6. The third assembly robot; 7. the flip positioner; 71. the base; 72. the vertical frame; 73. the lifting platform; 74. the guide rail group; 75. the protrusion; 76. the first fork arm; 761. the push rod; 762. the flip motor; 763. the turntable; 764. the arm frame; 77. the second fork arm; 78. the lifting device; 781. the lifting drive; 782. the elevator; 8. the gantry device; 9. the automatic feeder; 91. the whole material screen; 911. the slide bar; 912. the first slide seat; 913. the guide sleeve; 914. the second step; 915. the first step; 916. the second slide seat; 92. the feeding slide; 93. the upper hopper; 94. the silo. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0050] Embodiment 1

[0051] like Figure 8-Figure 14As shown, the present embodiment discloses an automatic screw locking device for assembling large machine components, including a first assembly robot 4, the first assembly robot 4 includes a multi-axis robotic arm 43, an automatic screw machine 41 and a visual positioning device 42, the automatic screw machine 41 and the visual positioning device 42 are both arranged at the end of the multi-axis robotic arm 43, and the visual positioning device 42 is arranged on one side of the automatic screw machine 41, the first assembly robot 4 and the third assembly robot 6 have the same structure, the second assembly robot 5 is a loading robot, the second assembly robot 5 is provided with a suction cup, the suction cup is a magnetic suction cup, and is used to grab components of different shapes for movement and assembly.

[0052] Among them, the multi-axis robot arm 43 can move freely within a certain range and can perform crossing actions between different conveyor lines, with high action utilization rate.

[0053] Furthermore, the visual positioning device 42 includes a bracket 421, a fill light module 422, a camera module 423 and a rotating ring 424. The fill light module 422 is arranged on the bracket 421. A through hole 425 is provided in the middle of the fill light module 422. The rotating ring 424 is connected to the camera module 423. The camera module 423 is aligned with the through hole 425 and faces downward. The fill light module 422 is arranged in a ring shape and is used for fill light when the camera module 423 identifies the component. The fill light increases the brightness of the component when shooting, removes dark surfaces and reflections, and thus improves the accuracy of recognition. The camera module 423 is used to capture the image of the component, and the image is used to identify the installation position of the screw. The rotating ring 424 is used to adjust the direction and focus of the camera module 423, and can be used to identify and locate components and hole positions of different shapes, thereby improving the accuracy of screw fixing.

[0054] Furthermore, the automatic screw machine 41 includes a fixed block 411, a screwdriver head 412, a first slide 413, a second slide 414, a power device 415 and a converter 417. The first slide 413 and the second slide 414 are both slidably connected to the fixed block 411, the power device 415 is arranged on the first slide 413, the converter 417 is arranged on the second slide 414, the power device 415 is connected to the screwdriver head 412 through the converter 417, the output end of the power device 415 is connected to one end of the converter 417, and the other end of the converter 417 is connected to the screwdriver head 412. The converter 417 is used to lock the screwdriver head 412 to realize the replacement of the screwdriver head 412, and a gap is left between the first slide 413 and the second slide 414.

[0055] A screwdriver bit library is provided on one side of the automatic screw machine 41 for storing screwdriver bits 412 of different specifications, so that the automatic screw machine 41 can install screws of different specifications on the components.

[0056] Preferably, a pair of automatic screw machines 41 are provided on the first assembly robot 4 and the third assembly robot 6, which can install screws in pairs on the components to ensure the efficiency of screw installation.

[0057] Preferably, the automatic screw machine 41 also includes a stabilizing frame 416, which is arranged on the fixed block 411, and the screwdriver head 412 is rotatably connected to the stabilizing frame 416. The stabilizing frame 416 is provided with a bearing shaft coaxial with the screwdriver head 412, which improves the stability of the screwdriver head 412 in tightening screws.

[0058] More preferably, the automatic screw machine 41 also includes a lifting cylinder 418 and a screw rod 419. The lifting cylinder 418 is connected to the first slide 413, and the screw rod 419 is respectively connected to the first slide 413 and the second slide 414. The lifting cylinder 418 pushes the first slide 413 to move up and down, and the screw rod 419 can change the distance between the first slide 413 and the second slide 414 for matching screwdriver heads 412 of different specifications.

[0059] Embodiment 2

[0060] like Figure 1-Figure 18 As shown, the present embodiment discloses an intelligent assembly production line for assembling large machine components, including a first conveyor line 1, a second conveyor line 2, a third conveyor line 3, a first assembly robot 4, a second assembly robot 5 and a third assembly robot 6. The first conveyor line 1 and the second conveyor line 2 are arranged in parallel, the third conveyor line 3 is arranged at one end of the first conveyor line 1, and the third conveyor line 3 is perpendicular to the first conveyor line 1 or the second conveyor line 2. It also includes a flip positioner 7. The flip positioner 7 is arranged on the first conveyor line 1 and the second conveyor line 2 for changing the posture of the components on the first conveyor line 1 and the second conveyor line 2. The components can be assembled at different positions to meet the requirements of assembling components of different shapes of injection molding machines. The first assembly robot 4 and the second assembly robot 5 are staggered and arranged at the front and rear parts of the two conveyor lines respectively, and can cross the first conveyor line 1 and the second conveyor line 2 to perform actions, thereby reducing the waiting time for the assembly robot actions, realizing continuous feeding and tightening actions, and improving the overall work efficiency of assembly.

[0061] See also Figure 3-Figure 7 Furthermore, the flip positioner 7 includes a base 71, a vertical frame 72, a lifting platform 73, a first fork arm 76 and a second fork arm 77. The vertical frame 72 is arranged on the base 71, the lifting platform 73 is slidably connected to the vertical frame 72, the first fork arm 76 and the second fork arm 77 are respectively horizontally slidably connected to the lifting platform 73, the first fork arm 76 and the second fork arm 77 are adjusted in height by the lifting platform 73, and the distance between the two forks can be changed, so that components of different shapes can be clamped and displaced.

[0062] A protrusion 75 and a guide rail group 74 are provided on the lifting platform 73. The protrusion 75 is arranged on the lifting platform 73 along the horizontal direction of the lifting platform 73. The guide rail group 74 includes a plurality of guide rails, which are respectively arranged on the protrusion 75 and the side of the lifting platform 73 for fixing the fork arm from two adjacent surfaces. The first fork arm 76 and the second fork arm 77 are respectively slidably connected to the guide rail group 74 for improving the load-bearing capacity and movement stability of the two fork arms.

[0063] Furthermore, the first fork arm 76 includes a push rod 761, a flip motor 762, a turntable 763 and an arm 764. The arm 764 is slidably connected to the lifting platform 73. One end of the push rod 761 is fixed on the lifting platform 73, and the other end of the push rod 761 is connected to the arm 764. The turntable 763 is rotatably connected to the outward end of the arm 764. The flip motor 762 drives the turntable 763 to rotate. The first fork arm 76 and the second fork arm 77 have the same structure. After the turntables 763 on the two forks clamp the components, the flip motor 762 drives the turntables 763 to rotate to change the posture of the components. The turntable 763 is an electric suction cup that can stably clamp components of different shapes.

[0064] Among them, one end of the arm 764 is slidably connected to the lifting platform 73, and the other end extends outward. The push rod 761 is a hydraulic cylinder or an electric rod, which is used to push the arm 764 to move horizontally on the lifting platform 73. The spacing and placement position of the turntable 763 can be adjusted to clamp components of different shapes.

[0065] Preferably, the flip positioner 7 also includes a lifting device 78, which is arranged on the vertical frame 72. The lifting device 78 includes a lifting drive 781 and an elevator 782. The elevator 782 is connected to the lifting platform 73. The lifting drive 781 drives the elevator 782 to move up and down. The elevator 782 is a worm elevator. The worm elevator has the advantages of compact structure, small size, high reliability and long service life. It has self-locking ability, which can prevent the lifting platform 73 from falling and causing physical damage when losing power.

[0066] Preferably, it also includes an automatic feeder 9, which is arranged on one side of the second assembly robot 5 and the third assembly robot 6 and is used to continuously supply screws. The automatic feeder 9 includes a material screen 91, a feeding chute 92, an upper hopper 93 and a silo 94. The upper hopper 93 is arranged on the silo 94, the material screen 91 is arranged in the silo 94, the feeding chute 92 is arranged on the top of the silo 94 and points to the outside of the silo 94, the material screen 91 includes a slide bar 911, a first slide seat 912, a guide sleeve 913, a first step 915, a second step 914 and a second slide seat 916, the slide bar 911 is arranged in the silo 94, one end of the slide bar 911 is fixed in the silo 94, and the other end of the slide bar 911 is fixed in the silo 94. One end points to the entrance of the feeding chute 92, and the guide sleeve 913 is sleeved on the middle part of the slide bar 911. One end of the first slide seat 912 is connected to the first step 915, and the other end is slidably connected to the slide bar 911. One end of the second slide seat 916 is connected to the second step 914, and the other end is slidably connected to the slide bar 911. The first step 915 and the second step 914 are staggered and arranged in sequence along the length direction of the slide bar 911. The first step 915 and the second step 914 are staggered and moved to arrange the screws in the silo 94 and transport them upward to the feeding chute 92. The screws are adjusted to a unified posture in the feeding chute 92 and arranged neatly in sequence to be taken out for use.

[0067] Preferably, it also includes a gantry device 8, which is arranged across the first conveyor line 1 and the second conveyor line 2. There are two gantry devices 8, which are respectively arranged in the middle and the end of the first conveyor line 1 and the second conveyor line 2, and are used to transfer materials from the conveyor lines. The gantry device 8 is a gantry crane.

[0068] Preferably, a first material rack 11 is provided on one side of the first conveyor line 1, and the first material rack 11 is used for manual loading and supplying for supplementing the processing of special-shaped parts.

[0069] Preferably, a guide positioning frame 31 is provided on the third conveyor line 3. The guide positioning frame 31 is divided into two parts arranged opposite to each other, and a space for fixing the component is formed between the two parts. An arc-shaped guiding portion is provided at the end of the guide positioning frame 31, which is used to cooperate with the third conveyor line 31 to introduce the component, so as to facilitate the third assembly robot 6 to screw in the screws.

[0070] The working process of this intelligent assembly line for assembling large machine components is as follows:

[0071] The second assembly robot 5 takes the material out from the second material rack 21 and places it on the second conveyor line 2, and then the second assembly robot 5 takes out another material for stacking and assembly. After assembly, it is sent to the first assembly robot 4 by the second conveyor line 2 for screwing and tightening. The second conveyor line 2 then sends the material to the flip positioner 7 for posture adjustment and then sends it back to the second assembly robot 5 for material stacking, and then sends it to the first assembly robot 4 to screw in the screws. The reciprocating action completes the assembly and fixation of multiple materials. After the assembly is completed, it is transported to the end of the second conveyor line 2 and then removed by the gantry device 8. The second assembly robot 5 also completes the material picking and material assembly on the first conveyor line 1. The two robots work on two production lines at the same time, which reduces the waiting time of the robots. The material is directly input on the third conveyor line 3 and the guide positioning frame 31 positions the material, and then the third assembly robot 6 automatically screws and fixes it. The three conveyor lines move simultaneously, and the parts assembly of the injection molding machine can be completed in a unified manner.

[0072] Embodiment 3

[0073] This embodiment also discloses an intelligent assembly method for an injection molding machine, which is implemented by an intelligent assembly production line for assembling large machine components:

[0074] S1, single-sided assembly: Component 1 is clamped by the second assembly robot 5 to the second conveyor line 2, and component 2 is installed by the second assembly robot 5 to component 1. The second conveyor line 2 transports component 1 and component 2 to the first assembly robot 4, and the first assembly robot 4 screws screws into component 1 and component 2;

[0075] S2, double-sided assembly: the second conveyor line 2 moves the assembled component one and component two to the bottom of the flip positioner 7, the flip positioner 7 flips the component one and component two, adjusts the direction of the component one, the second conveyor line 2 moves the component one assembled with the component two to the second assembly robot 5, the second assembly robot 5 takes the component three and installs it on the component one, the second conveyor line 2 moves the component one assembled with the component two and component three to the first assembly robot 4, the first assembly robot 4 screws the screws into the component one and component three, the second conveyor line 2 moves the assembled component two, component three and component one together to the end, similarly, the second assembly robot 5 and the first assembly robot 4 complete the loading and screw fixing on the first conveyor line 1, the two conveyor lines act simultaneously, reducing the waiting time of the assembly robots and improving the assembly efficiency;

[0076] S3, the third conveyor line 3 and the first conveyor line 1 respectively complete the screw fixation of component four and component five. The simultaneous assembly of the three conveyor lines can effectively complete the installation of the frame part of the injection molding machine. The utilization rate of the three assembly robots working in collaboration is high, which improves the overall assembly efficiency.

[0077] According to the disclosure and teaching of the above description, those skilled in the art to which the present invention belongs may also change and modify the above embodiments. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and changes of the present invention should also fall within the protection scope of the claims of the present invention. In addition, although some specific terms are used in this specification, these terms are only for the convenience of description and do not constitute any limitation to the present invention.

Claims

1. An automatic screw locking device for assembling large machine components, characterized in that: The invention comprises a first assembly robot (4), wherein the first assembly robot (4) comprises a multi-axis mechanical arm (43), an automatic screw machine (41) and a visual positioning device (42), wherein the automatic screw machine (41) and the visual positioning device (42) are both arranged at the ends of the multi-axis mechanical arm (43), and the visual positioning device (42) is arranged on one side of the automatic screw machine (41).

2. The automatic screw locking device according to claim 1, characterized in that: The visual positioning device (42) comprises a bracket (421), a fill light module (422), a camera module (423) and a rotating ring (424); the fill light module (422) is arranged on the bracket (421); a through hole (425) is arranged in the middle of the fill light module (422); the rotating ring (424) is connected to the camera module (423); and the camera module (423) is aligned with the through hole (425) and faces downward.

3. The automatic screw locking device according to claim 2, characterized in that: The automatic screw machine (41) comprises a fixed block (411), a screwdriver head (412), a first slide (413), a second slide (414), a power device (415) and a converter (417); the first slide (413) and the second slide (414) are both slidably connected to the fixed block (411); the power device (415) is arranged on the first slide (413); the converter (417) is arranged on the second slide (414); and the power device (415) is connected to the screwdriver head (412) via the converter (417).

4. The automatic screw locking device according to claim 3, characterized in that: The automatic screw machine (41) further comprises a stabilizing frame (416), wherein the stabilizing frame (416) is arranged on the fixing block (411), and the screwdriver head (412) is rotatably connected to the stabilizing frame (416).

5. The automatic screw locking device according to claim 3, characterized in that: The automatic screw machine (41) further comprises a lifting cylinder (418) and a screw rod (419), wherein the lifting cylinder (418) is connected to the first slide (413), and the screw rod (419) is respectively connected to the first slide (413) and the second slide (414).

6. An assembly production line, comprising a first conveyor line (1), a second conveyor line (2), a third conveyor line (3), an intelligent visual automatic screw locking device, a second assembly robot (5) and a third assembly robot (6), wherein the first conveyor line (1) and the second conveyor line (2) are arranged in parallel, the third conveyor line (3) is arranged at one end of the first conveyor line (1), and the third conveyor line (3) is perpendicular to the first conveyor line (1) or the second conveyor line (2), characterized in that: The intelligent visual automatic screw locking device is the intelligent visual automatic screw locking device described in any one of claims 1 to 5.

7. The assembly line according to claim 6, characterized in that: It also comprises a flipping positioner (7), which is arranged on both the first conveying line (1) and the second conveying line (2). The flip positioner (7) comprises a base (71), a vertical frame (72), a lifting platform (73), a first fork arm (76) and a second fork arm (77); the vertical frame (72) is arranged on the base (71); the lifting platform (73) is slidably connected to the vertical frame (72); and the first fork arm (76) and the second fork arm (77) are respectively horizontally slidably connected to the lifting platform (73).

8. The assembly line according to claim 7, characterized in that: The first fork arm (76) comprises a push rod (761), a flip motor (762), a turntable (763) and an arm (764); the arm (764) is slidably connected to the lifting platform (73); one end of the push rod (761) is fixed to the lifting platform (73); the other end of the push rod (761) is connected to the arm (764); the turntable (763) is rotatably connected to an outward end of the arm (764); the flip motor (762) drives the turntable (763) to rotate; the first fork arm (76) and the second fork arm (77) have the same structure.

9. The assembly line according to claim 8, characterized in that: The flip positioner (7) further comprises a lifting device (78), wherein the lifting device (78) is arranged on the vertical frame (72), and the lifting device (78) comprises a lifting drive (781) and a lift (782), wherein the lift (782) is connected to the lifting platform (73), and the lifting drive (781) drives the lift (782) to move up and down.

10. An intelligent assembly method, characterized in that: The assembly line according to any one of claims 7 to 9 is implemented as follows: S1, single-sided assembly: Component 1 is clamped by the second assembly robot (5) onto the second conveyor line (2), and component 2 is installed on component 1 by the second assembly robot (5). The second conveyor line (2) transports component 1 and component 2 to the first assembly robot (4), and the first assembly robot (4) screws screws into component 1 and component 2; S2, double-sided assembly: the second conveyor line (2) moves the assembled component one and component two to the bottom of the flip positioner (7), the flip positioner (7) flips component one and component two and adjusts the orientation of component one, the second conveyor line (2) moves component one assembled with component two to the second assembly robot (5), the second assembly robot (5) takes component three and installs it on component one, the second conveyor line (2) moves component one assembled with component two and component three to the first assembly robot (4), the first assembly robot (4) screws screws into component one and component three, and the second conveyor line (2) moves the assembled component two, component three and component one to the end together; S3, the third conveyor line (3) and the first conveyor line (1) respectively complete the upper screw fixation of component four and component five.

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