Cap screwing robot

Abstract

The invention provides a cap screwing robot. The cap screwing robot comprises a positioning module, a control module and a cap screwing robot arm. The positioning module comprises a camera, and the camera is used for recognizing a barrel cover to be screwed and obtaining space position information of the barrel cover to be screwed, and the space position information comprises a first three-dimensional coordinate, a second three-dimensional coordinate, a third three-dimensional coordinate and a fourth three-dimensional coordinate; the control module is used for receiving the position information and controlling the moving position of the cap screwing machine arm and the magnitude and direction of force application torque. The cap screwing machine arm comprises a screwing arm and an electric rotating clamping jaw; the tightening arm is used for unscrewing and screwing the barrel cover to be screwed to preset torque; and the electric rotary clamping jaw is used for disassembling and pre-tightening the barrel cover to be screwed. According to the cap screwing robot, accurate barrel opening positioning is carried out through camera visual recognition and the robot arm with the self-adaptive hole searching function; the force control precision of the tail end of the robot is 0.1 N, flexible control is achieved, and lossless assembly of the barrel cover is achieved.

Description

Technical Field

[0001] The present invention relates to the field of electronic devices, and more particularly to a cap-tightening robot. Background Art

[0002] In the prior art, mechanical methods are usually used for the positioning and cap-tightening steps. The positioning error is relatively large, which easily causes wear of the barrel cap. Moreover, the friction force at the end is relatively large, difficult to control, and prone to generate debris, contaminating the product. Existing mechanical cap-tightening devices cannot be compatible with barrel caps of different models. Also, before cap-tightening, it is necessary to manually rotate the barrel body to adjust the position of the packaging opening.

[0003] Therefore, there is an urgent need for a cap-tightening device that can save manpower and can automatically and accurately position, and at the same time can be compatible with barrel caps of different models. Summary of the Invention

[0004] In order to overcome the above technical defects, an object of the present invention is to provide a cap-tightening robot, including: a positioning module, a control module, and a cap-tightening robotic arm;

[0005] The positioning module includes a camera, which is used to identify the barrel cap to be tightened and obtain the spatial position information of the barrel cap to be tightened, including a first three-dimensional coordinate, a second three-dimensional coordinate, a third three-dimensional coordinate, and a fourth three-dimensional coordinate;

[0006] The control module is used to receive the position information and control the moving position, the magnitude and direction of the applied torque of the cap-tightening robotic arm;

[0007] The cap-tightening robotic arm includes a tightening arm and an electric rotary gripper; the tightening arm is used to loosen and tighten the barrel cap to be tightened to a preset torque; the electric rotary gripper is used to disassemble and pre-tighten the barrel cap to be tightened;

[0008] Preferably, the control module is used to send a moving instruction to the cap-tightening robotic arm.

[0009] The cap-tightening robotic arm is used to receive the moving instruction and move the barrel cap to be tightened along a preset direction with a preset torque according to the moving instruction.

[0010] Preferably, the moving instruction includes a first moving instruction, a second moving instruction, a third moving instruction, and a fourth moving instruction;

[0011] The first moving instruction is to loosen the barrel cap to be tightened with a first preset torque, and the tightening arm is used to loosen the barrel cap to be tightened according to the first moving instruction;

[0012] The second moving instruction is to disassemble the barrel cap to be tightened with a second preset torque, and the electric rotary gripper is used to disassemble the barrel cap to be tightened according to the second moving instruction;

[0013] The third movement instruction is to pre-tighten the to-be-tightened barrel lid with a third preset torque, and the electric rotary jaw is used to pre-tighten the to-be-tightened barrel lid according to the third movement instruction;

[0014] The fourth movement instruction is to tighten the to-be-tightened barrel lid with a fourth preset torque, and the tightening arm is used to tighten the to-be-tightened barrel lid according to the fourth movement instruction.

[0015] Preferably, the control module is used to record and store the magnitude and direction data of the applied torque of the lid-tightening robotic arm.

[0016] After adopting the above technical solutions, compared with the prior art, the following beneficial effects are obtained:

[0017] 1. Through camera vision recognition and a robotic arm with an adaptive hole-searching function, accurate positioning of the barrel mouth is performed.

[0018] 2. The force control accuracy at the end of the robot is 0.1 N, which can realize the process of the robot simulating manual assembly, flexible control, and achieve non-destructive assembly of the barrel lid.

[0019] 3. There is no need to manually rotate the barrel body, and the robot vision can be combined with a rotating mechanism to automatically search for and rotate the barrel body, realizing labor saving and reducing human errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic structural diagram of the tightening arm of the lid-tightening robotic arm according to an embodiment of the present invention;

[0021] Figure 2 It is a schematic structural diagram of the jaw of the lid-tightening robotic arm according to an embodiment of the present invention.

[0022] 10 - Lid-tightening robotic arm, 11 - Tightening arm, 12 - Electric rotary jaw;

[0023] 20 - To-be-tightened barrel lid. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0024] The advantages of the present invention will be further elaborated below in conjunction with the drawings and specific embodiments.

[0025] Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0026] The terms used in this disclosure are for the purpose of describing particular embodiments only and are not intended to limit the disclosure. The singular forms "a", "the", and "said" used in this disclosure and the appended claims are also intended to include the plural forms unless the context clearly dictates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0027] It should be understood that although the terms first, second, third, etc. may be used in this disclosure to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of this disclosure, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "when" or "while" or "in response to determining".

[0028] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present invention.

[0029] In the description of the present invention, unless otherwise specified and defined, it should be noted that the terms "mounted", "connected", and "coupled" should be understood in a broad sense. For example, it may be a mechanical connection or an electrical connection, or may be the communication inside two elements. It may be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms may be understood according to specific circumstances.

[0030] In the subsequent description, the use of suffixes such as "module", "component", or "unit" to represent elements is only for the convenience of describing the present invention, and they do not have a specific meaning in themselves. Therefore, "module" and "component" may be used interchangeably.

[0031] In one embodiment of the present invention, a cap-tightening robot is provided, which includes a positioning module, a control module, and a cap-tightening robotic arm 10;

[0032] The positioning module includes a camera, which is used to identify the barrel cap 20 to be tightened and obtain the spatial position information of the barrel cap 20 to be tightened, including the first three-dimensional coordinates, the second three-dimensional coordinates, the third three-dimensional coordinates, and the fourth three-dimensional coordinates;

[0033] The control module is configured to receive the position information and control the moving position, the magnitude and direction of the applied force torque of the capping robotic arm 10;

[0034] The capping robotic arm 10 includes a tightening arm 11 and an electric rotary gripper 12; the tightening arm 11 is configured to loosen and tighten the to-be-capped barrel lid 20 to a preset torque; the electric rotary gripper 12 is configured to disassemble and pre-tighten the to-be-capped barrel lid 20.

[0035] In this embodiment, the positioning module includes a 3D vision camera. The 3D vision camera can determine the information of the to-be-capped barrel lid 20 according to the picture information of the acquired photo, for example, information such as the model and size of the barrel lid. It can also further determine the spatial position information of the to-be-capped barrel lid 20, including the height (z), front-back (y), and left-right (x) information of the to-be-capped barrel lid 20 in the three-dimensional coordinate system, constituting the three-dimensional coordinates (x, y, z) of the barrel lid in the three-dimensional coordinate system.

[0036] The positioning module identifies the first three-dimensional coordinates (x1, y1, z1) of the to-be-capped barrel lid 20 and transmits the first three-dimensional coordinate information to the control module.

[0037] The capping robotic arm 10 includes a tightening arm 11 and an electric rotary gripper 12; the tightening arm 11 is configured to loosen and tighten the to-be-capped barrel lid 20 to a preset torque; the electric rotary gripper 12 is configured to disassemble and pre-tighten the to-be-capped barrel lid 20.

[0038] Figure 1 is a partial enlarged view of the tightening arm 11 in this embodiment; Figure 2 is a partial enlarged view of the electric rotary gripper 12 in this embodiment.

[0039] In actual operation, the control module sends a first movement instruction to the capping robotic arm 10, and the capping robotic arm 10 receives the first movement instruction and moves above the to-be-capped barrel lid 20. Through the robotic force control adaptive module, the tightening arm 11 and the barrel lid are flexibly docked, and the to-be-capped barrel lid 20 is loosened along the first direction with a first torque. After the to-be-capped barrel lid 20 is loosened by the tightening arm 11, the positioning module identifies the second three-dimensional coordinates (x2, y2, z2) of the to-be-capped barrel lid 20 through the 3D vision camera and transmits the second three-dimensional coordinate information to the control module.

[0040] The control module sends a second movement instruction to the capping robotic arm 10, including a second torque and applying the torque in a first direction. The capping robotic arm 10 receives the second movement instruction, first moves to the gripper placement location, and then the electric rotary gripper 12 disassembles and grips the to-be-capped barrel lid 20 in the first direction with the second torque. Subsequently, the capping robotic arm 10 moves to move the to-be-capped barrel lid 20 and the electric rotary gripper 12 to the gripper placement location;

[0041] After the to-be-capped barrel lid 20 is disassembled and placed by the gripper, the filling operation of the liquid product can be performed at the open barrel mouth position. When the filling is completed, the positioning module identifies the third three-dimensional coordinates (x3, y3, z3) of the to-be-capped barrel lid 20 through the 3D vision camera and transmits the third three-dimensional coordinate information to the control module.

[0042] The control module sends a third movement instruction to the capping robotic arm 10, including a third torque and applying the torque in a second direction.

[0043] The capping robotic arm 10 is configured to receive the third movement instruction, first move to the gripper placement location, carry the gripper to the position of the to-be-capped barrel lid 20, and pre-tighten the to-be-capped barrel lid 20 in the second direction with the third torque.

[0044] After the to-be-capped barrel lid 20 is pre-tightened by the gripper, the capping robotic arm 10 carries the gripper back to the gripper placement location. The positioning module identifies the fourth three-dimensional coordinates (x4, y4, z4) of the to-be-capped barrel lid 20 through the 3D vision camera and transmits the fourth three-dimensional coordinate information to the control module.

[0045] The control module sends a fourth movement instruction to the capping robotic arm 10, including a fourth torque and applying the torque in the second direction; the capping robotic arm 10 is configured to receive the fourth movement instruction and use the tightening arm 11 to tighten the to-be-capped barrel lid 20 in the second direction to the required torque with the fourth torque.

[0046] During the above operations, the control module continuously records and stores the data of the applied torque magnitude and direction of the capping robotic arm 10 for visualizing and storing the above steps for subsequent repair and maintenance.

[0047] Based on the above embodiments, it can be seen that the capping robot in the present invention can perform accurate barrel mouth positioning through camera vision recognition and a robotic arm with an adaptive hole searching function; moreover, the end-effector force control accuracy of the robot is 0.1 N, which can realize the robot's simulation of the human hand assembly process, flexible control, and achieve non-destructive assembly of the barrel lid.

[0048] It should be noted that the embodiments of the present invention have better implementability and do not impose any form of limitation on the present invention. Any person skilled in the art may use the technical content disclosed above to modify or transform it into equivalent effective embodiments. However, as long as the content does not deviate from the technical solution of the present invention, any modification, equivalent change or modification made to the above embodiments based on the technical essence of the present invention still falls within the scope of the technical solution of the present invention.

Claims

1. A capping robot, characterized in that, Including: A positioning module, a control module, and a capping robotic arm; The positioning module includes a camera, which is used to identify the capping to be tightened and obtain the spatial position information of the capping to be tightened, including the first three-dimensional coordinates, the second three-dimensional coordinates, the third three-dimensional coordinates, and the fourth three-dimensional coordinates; The control module is used to receive the position information and control the moving position, the magnitude and direction of the applied torque of the capping robotic arm; The capping robotic arm includes a tightening arm and an electric rotary gripper; the tightening arm is used to loosen and tighten the capping to be tightened to a preset torque; the electric rotary gripper is used to disassemble and pre-tighten the capping to be tightened.

2. The capping robot according to claim 1, characterized in that The control module is used to send a movement instruction to the capping robotic arm, The capping robotic arm is used to receive the movement instruction and move the capping to be tightened along a preset direction with a preset torque according to the movement instruction.

3. The capping robot according to claim 2, characterized in that The movement instruction includes a first movement instruction, a second movement instruction, a third movement instruction, and a fourth movement instruction; The first movement instruction is to loosen the capping to be tightened with a first preset torque, and the tightening arm is used to loosen the capping to be tightened according to the first movement instruction; The second movement instruction is to disassemble the capping to be tightened with a second preset torque, and the electric rotary gripper is used to disassemble the capping to be tightened according to the second movement instruction; The third movement instruction is to pre-tighten the capping to be tightened with a third preset torque, and the electric rotary gripper is used to pre-tighten the capping to be tightened according to the third movement instruction; The fourth movement instruction is to tighten the capping to be tightened with a fourth preset torque, and the tightening arm is used to tighten the capping to be tightened according to the fourth movement instruction.

4. The capping robot according to claim 3, characterized in that The control module is used to record and store the data of the magnitude and direction of the applied torque of the capping robotic arm.

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