A flush head screw fastener installation tip device and screw installation robot

Abstract

The invention belongs to the field of mechanical automation assembly, and discloses a countersunk screw fastener mounting end device and a screw mounting robot. The end device comprises: a work plane, which is provided with a screw receiving station and a screw tightening station; a screw tightening component, which is provided with a screw tightening gun at the lower end and is aligned with the center of the screw tightening station; a transmission component, which comprises a transmission rack and is slidingly arranged on the work plane, and moves to the screw receiving station at one end and moves to the screw tightening station at the other end; a screw feeding system linking component, which comprises an adapter, the center of the inner hole of the adapter is aligned with the center of the screw receiving station; and a clamping component, which comprises a screw holding clamp, the center of the screw holding clamp is a conical surface structure, and the center bottom is provided with a hole; and the clamping component is connected to the transmission rack. The invention separates the screw receiving and screw tightening processes by means of two stations, and the screw holding clamp is transferred between the two stations by the transmission component to complete the assembly, thereby improving the assembly efficiency and the degree of automation of the screw fastener, and the invention can also adapt to the installation of countersunk screws of multiple specifications.

Description

Technical Field

[0001] This invention belongs to the technical field of mechanical automation assembly, and more specifically, relates to an end device for installing countersunk screw fasteners and a screw installation robot. Background Technology

[0002] Currently, in the aerospace manufacturing field, screws are widely used to connect and secure different parts. In traditional assembly processes, screws are manually inserted into their corresponding holes and then tightened, resulting in slow production cycles and low efficiency. With the continuous advancement of intelligent technologies and robotics, various industrial robots equipped with different types of end effectors are being widely used in manufacturing, improving production efficiency.

[0003] However, while some fastener installation actuators can automatically tighten screws through hydraulic, pneumatic, or electric drives, they still cannot fully meet the requirements of aerospace products for assembly precision, assembly time, and automation. On the other hand, the assembly and manufacturing processes of aerospace product components involve a wide variety of screw types and quantities, with varying sizes, necessitating the replacement of assembly device components to accommodate different screw sizes during actual assembly. Furthermore, current screw fastener installation devices suffer from drawbacks such as large device size, limited applicability, and a single type of screw they can accommodate, restricting automated production and hindering the intelligent upgrading of production lines.

[0004] Therefore, implementing an automated installation process for countersunk screws of similar sizes and corresponding robotic fastener end effectors can simplify the screw and fastener assembly process, reduce manual operations, and effectively improve production speed. Summary of the Invention

[0005] To address the aforementioned deficiencies or improvement needs of existing technologies, this invention provides an end-installation device for countersunk screw fasteners. This device separates the screw-attaching and tightening processes at two stations, and uses a transmission component to transfer a screw-holding clamp with a conical surface structure at its center between the two stations to complete the assembly work. This solves the problems of low assembly efficiency and low automation in existing screw fasteners.

[0006] To achieve the above objectives, in a first aspect of the present invention, a countersunk screw fastener installation end device is provided, comprising:

[0007] The working surface is equipped with a nail-attaching station and a tightening station;

[0008] A tightening component is provided with a screw tightening gun at its lower end; the screw tightening gun is aligned with the central axis of the tightening station.

[0009] A transmission component, comprising a transmission rack, which is slidably arranged on the working plane and moves to the nail receiving station at one end and to the tightening station at the other end;

[0010] A nail feeding system connecting component, comprising an adapter, the inner hole center axis of which is aligned with the center axis of the nail receiving station;

[0011] A clamping component, comprising a nail holding clamp, which is composed of a symmetrical nail clamp assembly, the center of which is a conical surface structure, and the center bottom of which is provided with a hole; the clamping component is connected to the transmission rack, and is used to switch the clamping component between the nail receiving station and the tightening station under the movement of the transmission rack.

[0012] As a preferred embodiment of the present application, the transmission component further comprises a gear set; the spur gear set in the gear set is connected to the tightening gun seat in the tightening component, and the gears in the spur gear set are engaged with the transmission rack.

[0013] As a preferred embodiment of the present application, when the working plane is located at the horizontal position of the end device, the spur gear set is arranged at a position perpendicular to the working plane, and the transmission rack is arranged on the working plane, which is used to convert the driving force of the transmission component from the vertical direction to the horizontal direction;

[0014] Or, when the working plane is located at the vertical position of the end device, the spur gear set and the transmission rack are both arranged on the working plane, which is used to transmit the driving force of the transmission component along the working plane.

[0015] As a preferred embodiment of the present application, the transmission component further comprises a transmission component slider, a transmission component guide rail and a transmission support plate, and the transmission component guide rail is located on the transmission support plate;

[0016] The transmission rack is arranged in the transmission component guide rail on the transmission support plate through the transmission component slider.

[0017] As a preferred embodiment of the present application, the clamping component further comprises a retreat stop mechanism unit; the retreat stop mechanism unit is respectively located on the two symmetrical sides of the clamping component, which is used to limit the workpiece in the nail holding clamp;

[0018] The retreat stop mechanism unit comprises a retreat stop groove, a retreat stop compression spring and a retreat stop part; the retreat stop groove is a groove with one end opening towards the nail holding clamp; the retreat stop compression spring is arranged in the retreat stop groove, one end of which is connected to the inner wall of the retreat stop groove, and the other end of which is connected to the retreat stop part; the retreat stop part is inclined towards the center of the nail holding clamp from the front end of the nail holding clamp.

[0019] As a preferred embodiment of the present application, the clamping component further comprises an auxiliary clamping assembly;

[0020] The auxiliary clamping assembly is fixedly arranged at one end of the nail holding clamp, and the other end is an arc-shaped elastic sheet facing the nail holding clamp; two auxiliary clamping assemblies are symmetrically arranged on both sides of the back of the nail holding clamp, and the clamping force is generated by the elastic deformation of the arc-shaped elastic sheet to control the position and posture of the screw.

[0021] As a preferred embodiment of the present application, the nail feeding system linkage component further comprises a linkage component support frame, and the transmission component adapter is nested in the linkage component support frame.

[0022] As a preferred embodiment of the present application, the clamping component further comprises a compression spring assembly.

[0023] The nail holding clamp is arranged in the clamping component support frame, and the two sides are supported and connected to the inner wall of the clamping component support frame of the clamping component through the compression spring assembly.

[0024] As a preferred embodiment of the present application, the end device further comprises a tightening driving component arranged above the tightening component.

[0025] The tightening driving component comprises an electric push rod, which is fixedly connected to the support component of the end device and fixedly connected to the tightening component, and is used to drive the tightening component to move up and down in the assembly space of the end device.

[0026] In order to achieve the above-mentioned purpose, in another aspect of the present application, a screw installation robot is provided, which comprises a mechanical arm and an end device as described in any one of the first aspect of the present application, and the end device is connected to the mechanical arm to drive the end device to fasten the screw through the mechanical arm.

[0027] Overall, compared with the prior art, the above technical solutions conceived by the present application mainly have the following technical advantages:

[0028] 1. The headless screw fastener mounting end device provided by the application separates the installation of conventional screw tightening into a screw feeding process and a screw tightening process, and the separation of stations reduces screw blockage in the same position, or even if the screw is blocked during transportation, it is convenient to troubleshoot and repair; on the other hand, it can ensure that the work of each station can be accurately and efficiently completed, avoiding the black box state of the same position failure reason. At the same time, the inner surface of the center through hole of the screw holder is conical at the upper part, the taper angle is the same as that of the screw head, the taper centering characteristic is used to adapt to the installation of adjacent size headless screws, so that the axis alignment is good. Therefore, the application separates the screw feeding and tightening processes by means of two stations, and the screw holder is transferred between the two stations to complete the assembly through the transmission component, thereby improving the assembly efficiency and automation degree of the screw fastener, and being able to adapt to the installation of multiple specifications of headless screws; and the structure of the application is compact and simple, small in size, easy to assemble.

[0029] 2. The transmission rack is slidably arranged on the working plane, and is preferably connected to the tightening component through the upper part; at this time, the transmission component also comprises a gear set, which transmits driving force, so that when the screw tightening gun in the tightening component moves to the workpiece on the tightening station, the transmission plate in the transmission component is driven to move on the working platform through the gear set, and the clamping component on the transmission component is located on the tightening station, realizing the coordinated movement of each component, accurate transmission, and further improving the production efficiency. At the same time, the gear set and the transmission rack are matched to change the movement direction and couple the vertical movement of the tightening component and the clamping component in the spatial direction, which utilizes the meshing characteristics of the gear pair to couple the opening and closing movement of the tightening mechanism unit and the clamping component mechanism, thereby reducing the overall quality and facilitating upper control.

[0030] 3. The transmission rack is slidably arranged on the working plane, and is preferably connected to the working plane through the slider and guide rail arrangement in the lower transmission component; at this time, the transmission rack in the transmission component is arranged in the transmission component guide rail on the transmission support plate through the transmission component slider. The sliding here refers to a movement state of the transmission rack sliding, which is fixed in the working plane and cannot exceed the plane. The sliding mode arranged in this way can reduce the movement resistance and facilitate the movement.

[0031] 4. The application preferably uses a compact stop mechanism unit, which is arranged on the two opposite sides of the clamping component, for fixing the workpiece in the screw holder. The stop mechanism unit utilizes the pressure generated by the deformation of the compression spring to reliably prevent the screw from falling off during the movement of the device; at the same time, through this mechanism, the end device can be installed at the end of the robot, and can be randomly moved in space with the robot, such as assembling screws in the vertical upward and oblique upward directions, breaking the limitation that screw assembly can only be performed in the vertical downward and oblique downward directions.

[0032] 5、The application preferably uses a metal elastic sheet with an arc at one end as an auxiliary clamping component to generate clamping force through elastic deformation of the arc-shaped elastic sheet to control the position and pose of the screw.

[0033] 6、The nail holding clamp is arranged in the support frame, and the two sides are supported and connected to the inner wall of the support frame through the compression spring assembly, so as to realize the opening and closing of the two components in the nail holding clamp.

[0034] 7、The end device of the application preferably further comprises a tightening driving component, an electric push rod on the tightening driving component is fixedly connected to the support plate of the end device, and the end and the tightening component are fixedly connected, for driving the tightening component to move to the upper side of the tightening station, and for driving the cooperative movement of the tightening component and the transmission component, so that the tightening component moves to the upper side of the tightening station, and the screw tightening gun is aligned with the center of the nail holding clamp.

[0035] 8、The application further provides a screw mounting robot, the end device is connected with the mechanical arm to drive the end device to fasten the screw through the mechanical arm. In use, the robot measures the product surface feature information, compares with the theoretical numerical model, obtains the product information and the theoretical position of the hole, determines the screw assembly sequence and the motion trajectory scheme of the robot, and measures the hole position and depth information of the product surface in real time during the movement of the robot, guides the robot to perform high-precision screw assembly. Compared with directly generating the motion trajectory scheme of the robot relying on the information measured in the first step, the measured information is compared with the theoretical numerical model, the information of both is integrated to improve the accuracy; and in the subsequent process, the information of the hole is continuously measured to correct the motion of the robot, so that the robot can accurately nest the screw in the hole, ensures the accuracy of the two links of measuring the hole axis and aligning, and further improves the precision and automation degree in the screw mounting process. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 It is a structure schematic view of the countersunk head screw fastener mounting end device in the application.

[0037] Figure 2 It is a structure schematic view of the countersunk head screw fastener mounting end device in the application.

[0038] Figure 3 It is an axonometric view of the transmission component in the application.

[0039] Figure 4 It is an axonometric view of the clamping component in the application.

[0040] Figure 5 It is an axonometric view of the clamping component in the application.

[0041] Figure 6Axonometric view of the stop unit in the clamping component of the present application

[0042] Figure 7 Axonometric view of the auxiliary clamping assembly in the clamping component of the present application.

[0043] Figure 8 Axonometric view of the link component of the present application.

[0044] Figure 9 Axonometric view of the tightening component of the present application.

[0045] Figure 10 Axonometric view of the tightening component of the present application.

[0046] Figure 11 Axonometric view of the tightening drive component of the present application.

[0047] Figure 12 Axonometric view of the clamping component of the present application in the nail feeding station.

[0048] Figure 13 Axonometric view of the clamping component of the present application in the tightening station.

[0049] Figure 14 Process flow chart of the present application for automatic screw installation by a screw installation robot.

[0050] In all the drawings, the same reference numerals are used to denote the same elements or structures, wherein:

[0051] 1 - tightening drive component; 2 - support component; 3 - tightening component; 4 - transmission component; 5 - link component of the nail feeding system; 6 - clamping component; 11 - electric push rod; 12 - support plate of the tightening drive component; 31 - guide rail of the tightening component; 32 - sliding block of the tightening component; 33 - seat of the screw tightening gun; 34 - screw tightening gun; 41 - connecting plate of the transmission component; 42 - double gear; 43 - connecting rack of the double gear; 44 - spur gear; 45 - transmission rack; 46 - sliding block of the transmission component; 47 - drive plate; 48 - guide rail of the transmission component; 49 - support plate of the transmission component; 51 - adapter; 52 - support frame of the link component; 61 - support frame of the clamping component; 62 - nail holding clamp; 63 - stop unit; 64 - compression spring assembly; 65 - auxiliary clamping assembly; 66 - baffle; 631 - stop groove; 632 - stop compression spring; 633 - stop position. DETAILED DESCRIPTION

[0052] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not to limit the present application. In addition, the technical features involved in each embodiment of the present application described below can be combined with each other as long as they do not conflict with each other.

[0053] To achieve the objects of the present application, a countersunk screw fastener installation end device is provided, comprising:

[0054] a work plane, on which a screw receiving station and a screw tightening station are arranged;

[0055] a screw tightening component, the lower end of which is provided with a screw tightening gun, the tip of the screw tightening gun is aligned with the central axis of the screw tightening station, and is used to tighten the workpiece (screw) in the screw tightening station;

[0056] a transmission component, which contains a transmission rack, is slidably arranged on the work plane, and is moved to the screw receiving station at one end and to the screw tightening station at the other end, so as to move between the screw receiving station and the screw tightening station through the sliding arrangement;

[0057] a screw feeding system linking component, which contains an adapter, the central axis of the inner hole of the adapter is aligned with the central axis of the screw receiving station, i.e. the central axis of the inner hole of the adapter and the central axis of the screw receiving station are on the same straight line;

[0058] a clamping component, which contains a screw holding clamp, is composed of two symmetrical clamp assemblies, the center is a conical surface structure, and the center bottom is provided with a hole, which is arranged at the center position of the clamping component; the clamping component is connected to the transmission rack, so that it moves between the screw receiving station and the screw tightening station through the movement of the transmission rack.

[0059] In this embodiment, the inner surface of the central through hole of the screw holding clamp is conical at the upper part and cylindrical at the bottom, the conical surface angle is the same as that of the screw head, and the central holding of the countersunk screw is completed by using the central feature of the conical surface. At the same time, the inner surface of the screw holding clamp is similar to the conical surface of the countersunk screw head, so that the clamping of countersunk screws of different sizes can be realized.

[0060] In this embodiment, the work plane is located at the horizontal position, or the vertical position, or any spatial position capable of accommodating two stations of the entire end device, and the purpose is to arrange the screw receiving station and the screw tightening station in the assembly space of the end device, and only through the transmission component to complete the movement of the clamping component between the two.

[0061] For example, with reference to Figure 1 , Figure 2The schematic diagram of the structure of the end device is shown. The work plane is located in the horizontal position of the entire end device. The nail connecting station and the tightening station are arranged on the left and right sides of the work plane. The nail connecting station on one side performs the nail connecting process, and the tightening station on the other side performs the tightening process. In another example, the work plane is located in the vertical position of the entire end device. The nail connecting station and the tightening station are arranged in the upper and lower positions of the work plane. The nail connecting station on the lower side performs the nail connecting process, and the tightening station on the upper side performs the tightening process. According to the same design principle, the work plane is located in the assembly space of the entire end device. The positions of the nail connecting station and the tightening station are reasonably arranged to not interfere with each other. After the tightening process is performed at the tightening station, the workpiece is transferred to the tightening station to perform the tightening process.

[0062] In this embodiment, the transmission rack and its sliding are arranged on the work plane. For example, the upper part of the transmission rack is moved on the work plane by other components; and / or, the lower part of the transmission rack is arranged on the work plane by the sliding block sliding rail.

[0063] In some embodiments, in the scheme that the upper part of the transmission plate is moved on the work plane by other components, the transmission component is preferably connected with the tightening component. The transmission component further includes a gear set. The spur gear set in the gear set is connected with the tightening gun seat in the tightening component, and the gear in the gear set is engaged with the transmission rack. When the screw tightening gun in the tightening component moves to contact the workpiece on the tightening station, the transmission rack is driven to move on the work platform by the gear set, so that the clamping component on the transmission component is just located on the tightening station.

[0064] In this embodiment, the work plane is located in the horizontal position of the entire end device. The transmission component includes a gear set. The spur gear set in the gear set is arranged in the vertical horizontal position. The transmission rack is arranged in the horizontal position, and the spur gear set is engaged with the transmission rack. The spur gear set is connected below the tightening gun seat, so as to realize the transfer of the driving force of the driving transmission component from the vertical horizontal direction to the horizontal direction, and drive the transmission rack to move on the horizontal work plane.

[0065] Alternatively, the work plane is located in the vertical position of the entire end device. The spur gear set in the gear set and the transmission rack are arranged on the work plane, and the spur gear is engaged with the rack. The spur gear is connected below the tightening gun seat, so as to realize the transmission of the driving force of the driving transmission component on the work plane, thereby driving the transmission rack to move on the vertical work plane.

[0066] It should be noted that the gear set is formed by one or more components of gears. For example, the gears are two spur gears engaged with each other, or double gears, or a combination of spur gears and double gears, and are not limited to the above-mentioned precise gear set formed by gears.

[0067] As Figure 3In some embodiments, the transmission component further comprises a driving plate, the two sides of the driving plate are similar to the inner structure of the protruding sliding block in the nail holder clamp, and the lower side of the driving plate is fixed to the lower side of the tightening gun seat, so as to realize the opening and closing of the nail holder clamp.

[0068] In some embodiments, the transmission plate is slidably arranged on the working plane. Here, the lower side of the transmission rack is connected to the transmission component sliding block, and the upper side is connected to the clamping component. The sliding refers to the performance effect when the transmission component sliding block moves on the transmission component guide rail. The sliding here refers to the movement state of the sliding of the transmission rack, that is, the sliding of the transmission rack is arranged and fixed in the working plane and cannot exceed the plane.

[0069] As shown in Figure 3 The transmission component 4 further comprises a transmission component sliding block 46 and a transmission component guide rail 48, and the transmission component guide rail 48 is located on the transmission support plate 49. The transmission rack 45 is arranged in the transmission component guide rail 48 on the transmission support plate 49 through the transmission component sliding block 46, so as to realize the switching of the clamping component 6 between the two work position locations under the movement of the transmission component.

[0070] In some embodiments, the transmission component further comprises a driving plate, the two sides of the driving plate are similar to the inner structure of the protruding sliding block in the nail holder clamp, and the lower side of the driving plate is fixed to the lower side of the tightening gun seat, so as to realize the opening and closing of the nail holder clamp.

[0071] The driving plate is connected to the transmission component gear set or part of the assembly thereof, and can move with the movement of the gear set or part of the assembly thereof.

[0072] As shown in Figure 3As shown, the transmission component 4 also includes a driving plate 47, and both sides are similar to the protruding slider inside structure in the nail holding clamp 62, fixed at the lower end of the double gear connecting rack 43. Under the action of the tightening drive, when the tightening component 3 moves downward, the transmission component 4 moves, at this time the driving plate 47 moves downward with the double gear connecting rack 43 and the tightening component 3. After the driving plate 47 advances to contact the protruding structure of the nail holding clamp 62, it continues to advance, at this time, affected by the similar structures of the two, the continued advancement of the driving plate 47 will cause the two components of the nail holding clamp 62 to move to both sides respectively, thereby realizing the opening of the nail holding clamp 62, and causing the compression of the compression spring assembly 64. When the tightening component 3 withdraws (i.e. moves upward), it drives the double gear connecting rack 43 and the driving plate 46 to move upward, at this time the nail holding clamp 62 loses the external force and will return to the initial position under the action of the restoration of the compression spring assembly 64, completing the closing of the nail holding clamp.

[0073] In some embodiments, the clamping component further comprises a retreat-stop mechanism unit, which is arranged on both symmetrical opposite sides of the clamping component, for fixing the workpiece in the nail holding clamp 62.

[0074] The retreat-stop mechanism unit comprises a retreat-stop groove, a retreat-stop compression spring and a retreat-stop part; the retreat-stop groove is a groove with one end open towards the nail holding clamp; the retreat-stop compression spring is arranged in the retreat-stop groove, one end of which is connected to the inner wall of the retreat-stop groove, and the other end is connected to the retreat-stop part; the retreat-stop part has a claw-like shape at one end towards the nail holding clamp, and is inclined towards the center of the nail holding clamp, for contacting the workpiece and facilitating the relative sliding between the two, and preventing the workpiece from falling back and off.

[0075] As shown in Figure 4 , Figure 5 and Figure 6 , the retreat-stop mechanism unit 63 is connected to the clamping component support frame 61 of the clamping component 6 and is placed above the nail holding clamp 62 (not directly connected), for example, the bottom of the retreat-stop groove 631 of the retreat-stop mechanism unit 63 is fixed on the clamping component support frame 61 by a screw fastener. The retreat-stop mechanism unit 63 uses the retreat-stop compression spring 632 and the retreat-stop part with a specific slope to realize that the screw workpiece enters the nail holding clamp in the forward direction and cannot exit the clamping component 6 in the reverse direction: when the screw workpiece enters the nail holding clamp 62 in the forward direction, due to the initial speed of the screw workpiece, it will push the advance part 633 to compress the spring assembly 632 to slide into the nail holding clamp 62; when the screw workpiece completely passes through the retreat-stop mechanism unit 63 and enters the nail holding clamp 62, the advance part 633 is no longer in contact with the screw workpiece and will return to the initial position under the action of the retreat-stop compression spring 632, at this time the specific slope shape of the advance part 633 will limit the movement of the screw workpiece in the nail holding clamp 62.

[0076] In some embodiments, the clamping component further comprises an auxiliary clamping assembly, which is a metal spring sheet with an arc at one end.

[0077] The auxiliary clamping assembly is fixed at one end on the back of the nail holding clamp, and the other end is an arc-shaped elastic sheet facing the nail holding clamp. Two auxiliary clamping assemblies are symmetrically arranged on the two sides of the back of the nail holding clamp, and are used to generate clamping force through elastic deformation of the arc-shaped elastic sheet to control the position and posture of the screw.

[0078] As shown in Figure 5 and Figure 7 , it is the back view of the clamping part 6, the auxiliary clamping assembly 65 is connected with the nail holding clamp 62, and the two auxiliary clamping assemblies 65 are symmetrically fixed at one end on the two sides of the back of the nail holding clamp 62, and the other end with the arc-shaped elastic sheet will be in contact with the screw workpiece. When the screw workpiece reaches the nail holding clamp 62, the elastic sheets of the two auxiliary clamping assemblies 65 will form a slight interference fit with the screw workpiece, and generate clamping force through elastic deformation of the elastic sheet to control the position and posture of the screw workpiece.

[0079] In some embodiments, as shown in Figure 5 , the clamping part further comprises a baffle 66 located on the two sides of the front and back of the nail holding clamp 62 and fixedly connected with the clamping part support frame 61, which is used to limit the position of the nail holding clamp 62 and prevent the nail holding clamp 62 from falling off the clamping assembly 6.

[0080] In some embodiments, as shown in Figure 5 and Figure 6 , the clamping part 6 further comprises a compression spring assembly 64; the nail holding clamp 62 is arranged in the clamping part support frame 61 and is supported and connected on the inner wall of the clamping part support frame 61 through the compression spring assembly 64.

[0081] In some embodiments, as shown in Figure 8 , the nail system linking part 5 further comprises a nail system linking part support frame 52, and the adapter 51 is nested in the nail system linking part support frame 52; the nail system linking part support frame 52 is fixed on the support part 2 of the end device through fasteners.

[0082] In some embodiments, as shown in Figure 11 , the end device further comprises a tightening driving part 1 arranged above the tightening part 3; the tightening driving part 1 comprises an electric push rod 11; the electric push rod 11 is fixedly connected to the support plate 2 of the end device, and its end is fixedly connected to the tightening part 3, which is used to drive the tightening part 3 to move in the up-down direction of the assembly space of the end device.

[0083] The application will be further described below with reference to the accompanying drawings:

[0084] Specifically referring to Figures 1 to 13The application provides a headless screw fastener mounting end device; the end device comprises a tightening driving part 1, a supporting part 2, a tightening part 3, a transmission part 4, a nail feeding system connecting part 5 and a clamping part 6, and is arranged according to the above scheme and specifically as follows.

[0085] In combination with Figure 1 , Figure 2 and Figure 11 , the tightening driving part 1 is composed of an electric push rod 11 and a tightening driving part supporting plate 12; the electric push rod 11 is fixed on the tightening driving part supporting plate 12, the tightening driving part supporting plate 12 is connected to the supporting part 2, and the end is fixedly connected to the tightening gun seat 33 of the tightening part 3.

[0086] In combination with Figure 1 , Figure 2 , Figure 9 and Figure 10 , the tightening part 3 is composed of a tightening part guide rail 31, a tightening part sliding block 32, the tightening gun seat 33 and a screw tightening gun 34.

[0087] The tightening gun seat 33 is fixed on the tightening part sliding block 32, moves along the tightening part guide rail 31 and is driven by the electric push rod 11. The screw tightening gun 34 is fixed on the tightening gun seat 33, the tightening gun seat 33 is fixedly connected to the tightening part sliding block 32, and the tightening part sliding block 32 is arranged on the tightening part guide rail 31 which is fixedly arranged on the supporting part 2.

[0088] In combination with Figure 1 and Figure 3 , the transmission part 4 comprises a transmission part connecting plate 41, a double gear 42, a double gear connecting rack 43, a straight gear 44, a transmission rack 45, a transmission part sliding block 46, a driving plate 47, a transmission part guide rail 48 and a transmission part supporting plate 49.

[0089] The double gear 42, the double gear connecting rack 43, the straight gear 44 and the transmission rack 45 are connected to form a gear set, wherein the double gear connecting rack 43 and the transmission rack 45 are arranged vertically, the double gear connecting rack 43 is meshed with the double gear 42, and the straight gear 44 is meshed with the transmission rack 45. The front part of the double gear connecting rack 43 is arranged with the same teeth as the double gear 42, and the rear part is not arranged with teeth. The gear set is fixed on the transmission part supporting plate 41, the transmission rack 45 is arranged on the transmission part sliding block 46 and moves along the transmission part guide rail 48; the transmission part guide rail 48 is fixed on the transmission part supporting plate 49; the driving plate 47 is fixed on the lower end of the double gear connecting rack 43; the upper end of the double gear connecting rack 43 is connected to the tightening gun seat 34 in the tightening part 3. The transmission part supporting plate 49 is fixed on the supporting part 2.

[0090] In combination withFigure 1 、 Figure 2 and Figure 8 The link component 5 of the feeding system is composed of an adapter 51 and a link component support 52. The adapter 51 is nested in the link component support 52, which is fixed on the transmission component support plate 49 of the transmission component 4 through the link component support 52.

[0091] In combination Figure 1 、 Figure 2 、 Figures 4 to 7 The clamping component 6 includes a clamping component support 61, a nail holder 62, a retreat prevention mechanism unit 63, a compression spring assembly 64, an auxiliary clamping assembly 65, and a baffle 66. The nail holder 62 is composed of two symmetrical nail holder assemblies, and the size of the nail holder assembly is adjusted according to the size of the actual screw to be assembled. The compression spring assembly 64 is connected to the nail holder 62 and the support 61 at both ends, respectively, and is given a pre-pressing amount for maintaining the posture of the nail holder and maintaining the stability of the clamped screw posture. The retreat prevention mechanism unit 63 is composed of a retreat prevention groove 631, a retreat prevention compression spring 632, and a pushing part 633, and is fixed on the clamping component support 61. The pushing part 633 is arranged in the retreat prevention groove 631, and is connected to the retreat prevention groove inner wall 631 and the pushing part 633 by the retreat prevention compression spring 632, respectively. The specific shape of the pushing part 633 and the combination of the retreat prevention compression spring 632 realize the easy entry and difficult exit of the screw. In combination Figure 8 The auxiliary clamping assembly 65 is composed of symmetrical special-shaped elastic sheets and is fixed on the back side of the nail holder 62. The baffle 66 is divided into front and rear parts, of which the front half is a single part, and the rear half is an upper and lower part, which is fixed on the clamping component support 61.

[0092] In combination Figure 2 、 Figure 12 、 Figure 13 The end device is arranged with a nail receiving station and a tightening station, which are respectively located on both sides of the transmission component support plate 49 in the transmission component 4. When the clamping component 6 is located in the left nail receiving station, it represents that the device is in the nail receiving state: the screw reaches the clamping component 6 along the pipeline through the feeding system link component 5 and is clamped and fixed by the clamping component 6; when the clamping component 6 is located in the right tightening station, it represents that the device is in the tightening state: the screw is pushed into the hole and then tightened by the impact head in the tightening component 3 while the nail holder 62 is opened.

[0093] In combination Figure 4 and Figure 5, the transmission component 4 realizes the movement of the clamping component 6. When the double gear connecting rack 43 moves with the tightening component 3, and the front end of the double gear connecting rack 43 is engaged with the double gear 42, the transmission mechanism 4 moves as a whole to realize the switching of the clamping component 6 between the two workstations. When the clamping component 6 reaches the tightening workstation, the double gear connecting rack 43 is disengaged from the gear double 42, and the gear set in the transmission component 4 and the clamping component 6 stop moving. The double gear connecting rack 43 and the driving plate 47 thereon still move with the movement of the tightening component 3. When the driving plate 47 advances to contact the similar structure protruding from the nail holding clamp 62, it continues to advance. At this time, under the influence of the similar structures, the continued advancement of the driving plate 47 will cause the two components of the nail holding clamp 62 to move to the two sides respectively, thereby realizing the opening of the nail holding clamp 62, and causing the compression of the compression spring assembly 64. Subsequently, the head of the screw tightening gun 34 in the tightening component 3 will be in contact with the screw head, completely feeding the screw into the threaded hole and tightening it.

[0094] In combination Figure 12 With Figure 13 When the screw reaches the nail connecting workstation through the nail feeding system linking component 5 along the pipeline, the screw, due to its initial speed, will contact the stop mechanism unit 63 to work while continuing to move forward. When the screw completely passes through the sliding block, the external force of the stop mechanism unit 63 disappears, and it returns to its original position, forming a limit to prevent the screw from exiting the nail holding clamp. At the same time, the auxiliary clamping assembly 65 works to control the position and posture of the screw through force and position.

[0095] To achieve the purpose of the present application, the above-mentioned end device is installed at the end of a screw installation robot. The following provides an assembly process based on the above-mentioned screw installation robot of the present application, which involves a measurement system, a tightening execution system, a nail feeding system, and a control system; wherein the measurement system further comprises a binocular camera for measuring tool feature points and product hole position information; the tightening execution system, the nail feeding system, and the relevant components in the end device jointly complete the automatic installation process; the control system is electrically connected with each system and the relevant components for sending execution instructions.

[0096] During screw installation, the measurement system uses a binocular camera to measure tool feature points and product hole position information to obtain the position and posture information of the product and the hole; the control system plans the motion trajectory of the robot according to the previous product position information; the robot moves according to the planned path and the feedback instructions of the measurement system based on the control system; the end device of the robot receives the nails fed by the nail feeding system, transfers the screws, and tightens them at the next workstation in the device; after the end device completes the work, if there are still screw holes to be assembled on the product, it moves to the next workstation, otherwise, the robot returns to the initial position and waits. The control system repeats the process of obtaining image data, processing image data, calculating the optimal path, and issuing motion instructions.

[0097] Combination of screw fastener automatic installation process steps based on industrial robot Figure 14 , as follows:

[0098] (1) Workpiece positioning: the product to be assembled enters the screw fastener assembly station and is fixed on the tooling; the industrial robot enters the working area, starts and waits; preparation of other assembly work;

[0099] (2) Hand-eye calibration: the industrial robot completes the parameter measurement and calibration between the measurement system, the center axis of the end effector, and the robot base coordinate system;

[0100] (3) Determining workpiece information: the measurement system carried by the robot measures the reference point on the tooling to determine the position and orientation information of the workpiece to be assembled;

[0101] (4) Trajectory planning and motion: according to the actual position of the workpiece and the hole position information in the corresponding workpiece model, the appropriate device sequence is determined, and the movement path of the industrial robot is generated;

[0102] (5) Alignment: the robot moves along the planned trajectory and synchronously measures the axis pose and size information of the hole to be assembled, and adjusts the center axis of the end effector to be coaxial with the hole axis;

[0103] (6) Screw feeding: the screw of correct size is sent out from the matching screw magazine and transported to the end effector along the pipeline;

[0104] (7) Screw transfer: the end effector works to transfer the screw from the screw receiving station in the device to the screw tightening station;

[0105] (8) Screw feeding into hole: the robot moves to vertically feed the screw clamped by the end effector into the hole;

[0106] (9) Tightening: the end effector works to completely feed out the clamped screw from the device and tighten it until the tightening torque reaches the required value and then unload;

[0107] (10) Reset: after the end effector completes the work, the end effector is reset, if there are still screw hole positions to be assembled on the workpiece product, it moves to the next station and repeats from step (5), otherwise, the robot returns to the initial position and waits.

[0108] In the assembly process of the screw mounting robot, the measuring system uses two camera lenses at a distance apart to synchronously collect images of the target object. Based on the principle of binocular vision, first, the image matching algorithm is used to determine the homonymous points in the images obtained by the two cameras, and a geometric model is constructed according to the distance between the cameras, the focal length, and the parallax of the homonymous points in the imaging plane, and the depth information of the object is calculated by using the triangulation method, and then the accurate identification and three-dimensional reconstruction of the object are realized. The control system uses central processing unit and other hardware and software to process the obtained data and control the motion parts, complete data analysis and logical operation. Combined with the three process modules of collection, processing and execution, image data processing, path planning calculation and motion instruction issuing are realized. The screw feeding system uses pneumatic equipment to complete the transportation of the screw fastener from the warehouse to the end of the device in the hose. The tightening execution system can install small size countersunk head screws of multiple adjacent specifications.

[0109] The working process of the robot end execution component for freely installing multiple specifications of small size screws in a large space range and in multiple angle directions is as follows: the clamping component first performs screw receiving work at the screw receiving station, the screw is pushed away from the stop position in the stop mechanism unit to completely pass through the stop mechanism unit under the action of air flow, enters the nail holding clamp, and is fixed in the nail holding clamp by the stop position of the stop mechanism unit and the elastic sheet of the auxiliary clamping assembly. Then the tightening driving mechanism moves, pushes the tightening mechanism unit forward, and transfers the clamping component to the screw tightening station through the transmission component to perform screw installation work. The tightening driving mechanism continues to advance, the transmission component stops moving, the tightening mechanism unit continues to advance, the driving block and the nail holding clamp structure are opened by utilizing the similarity of the driving block and the nail holding clamp structure, and the screw is screwed into the hole by the tightening gun to the tightening torque.

[0110] Obviously, those skilled in the art can make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the present application and the scope of equivalent technologies, the present application also intends to include these modifications and variations. The above-described embodiments are only preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Equivalent substitutions or transformations made by those skilled in the art on the basis of the present application are within the protection scope of the present application.

Claims

1. A flush head screw fastener installation tip device, characterized by, It comprises: a work plane, on which a nail receiving station and a screw tightening station are arranged; a screw tightening component (3), the lower end of which is provided with a screw tightening gun (34); the screw tightening gun (34) is aligned with the central axis of the screw tightening station; a screw tightening driving component (1), which is arranged above the screw tightening component (3); the screw tightening driving component (1) comprises an electric push rod (11); the electric push rod (11) is fixedly connected to the support component (2) of the terminal device and fixedly connected to the screw tightening component (3), and is used to drive the screw tightening component (3) to move up and down in the terminal device assembly space; a transmission component (4), which comprises a transmission rack (45), a transmission component slider (46), a transmission component guide rail (48) and a transmission support plate (49); the transmission component guide rail (48) is located on the transmission support plate (49); the transmission rack (45) is arranged in the transmission component guide rail (48) on the transmission support plate (49) through the transmission component slider (46); the transmission rack (45) is slidably arranged on the work plane, and is moved to the nail receiving station at one end and to the screw tightening station at the other end; a nail feeding system linking component (5), which comprises an adapter (51), the inner hole center axis of which is aligned with the center axis of the nail receiving station; a clamping component (6), which comprises a nail holding clamp (62) and a stop mechanism unit (63); the nail holding clamp (62) is composed of a symmetrical nail clamp assembly, the center of which is a conical surface structure, and the center bottom is provided with a hole; the stop mechanism unit (63) is respectively located on the two symmetrical sides of the clamping component (6), and is used to limit the workpiece in the nail holding clamp (62); the clamping component (6) is connected to the transmission rack (45), and is used to drive the clamping component (6) to switch between the nail receiving station and the screw tightening station under the movement of the transmission rack (45).

2. A flush screw fastener mounting tip device according to claim 1, wherein, The transmission component (4) further comprises a gear set; the spur gear set in the gear set is connected to the screw gun seat (33) in the screw tightening component (3), and the gears in the spur gear set are engaged with the transmission rack (45).

3. The countersunk screw fastener installation terminal device according to claim 2, wherein, when the work plane is located at the horizontal position of the terminal device, the spur gear set is arranged at a position perpendicular to the work plane, and the transmission rack (45) is arranged on the work plane, so as to convert the driving force of the transmission component (4) from the vertical direction to the horizontal direction; or, when the work plane is located at the vertical position of the terminal device, the spur gear set and the transmission rack (45) are both arranged on the work plane, so as to transmit the driving force of the transmission component (4) along the work plane.

4. The countersunk screw fastener installation terminal device according to claim 1, wherein, The retreat prevention mechanism unit (63) comprises a retreat prevention groove (631), a retreat prevention compression spring (632) and a retreat prevention part (633); the retreat prevention groove (631) is a groove with one end open towards the nail holding clamp (62); the retreat prevention compression spring (632) is arranged in the retreat prevention groove, one end of which is connected to the inner wall of the retreat prevention groove (631) and the other end of which is connected to the retreat prevention part (633); the retreat prevention part (633) is inclined towards the center of the nail holding clamp (62) from the front end of the nail holding clamp.

5. A button head screw fastener mounting tip device according to claim 1, wherein The clamping component (6) further comprises an auxiliary clamping assembly (65); The auxiliary clamping assembly (65) is fixedly arranged at one end of the back of the nail holding clamp (62) and is arc-shaped at the other end, facing the nail holding clamp (62); two auxiliary clamping assemblies (65) are symmetrically arranged on both sides of the back of the nail holding clamp (62) and are used for generating clamping force through elastic deformation of the arc-shaped elastic sheet to control the position and posture of the screw.

6. A flush screw fastener mounting tip device according to claim 1, wherein, The nail feeding system linkage component (5) further comprises a linkage component support frame (52), and the adapter (51) is nested in the linkage component support frame (52).

7. A button head screw fastener mounting tip device according to claim 1 wherein, The clamping component (6) further comprises a compression spring assembly (64); The nail holding clamp (62) is arranged in the clamping component support frame (61) and is supported and connected on the inner wall of the clamping component support frame (61) of the clamping component (6) through the compression spring assembly (64) on both sides.

8. A screw mounting robot characterized by comprising: Comprise: A mechanical arm and the end device as claimed in any one of claims 1-7, wherein the end device is connected to the mechanical arm to drive the end device to fasten the screw through the mechanical arm.

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