Screw locking machine with mechanical positioning structure

Abstract

The invention provides a screw locking machine with a mechanical positioning structure, which belongs to the technical field of screw locking and comprises a main machine structure and a fastening tool. The fastening tool is connected to the wiring terminal through a cable. The fastening tool comprises a tool shell, a clamping assembly, a moving assembly and a locking assembly. The locking assembly comprises a plurality of screwdriver blades rotationally arranged on the tool shell, the screwdriver blades perpendicularly stretch out of the working end plate, and the screwdriver blades have the freedom degree in the axial direction of the screwdriver blades and are rotationally arranged. According to the screw locking machine with the mechanical positioning structure, the rotating roller is matched with the clamping assembly, so that the fastening tool can smoothly walk in a terminal strip groove and stably work, and the problems that a traditional non-handheld automatic screw fastening tool is too large in size and cannot adapt to the environment of a screen cabinet of a transformer substation are solved; the physical exhaustion of operators and the requirement for the height are reduced, and the overall working efficiency and the consistency of the screw fastening quality are improved.

Description

Technical Field

[0001] This invention belongs to the field of screw fastening technology, and more specifically, relates to a screw fastening machine with a mechanical positioning structure. Background Technology

[0002] Currently, substation cabinets have a large number of terminal blocks. Taking a relay protection cabinet as an example, the number of terminal blocks in each cabinet ranges from 200 to 400. In various tasks such as substation infrastructure acceptance, equipment modification, and protection pre-testing, terminal block screw tightening is required, which is a large workload and takes a long time.

[0003] Currently, most automatic screw tightening tools and methods on the market are handheld screw tightening tools that require manual positioning. Non-handheld automatic screw tightening tools are too large to be used in the working environment of substation panel terminal blocks. Therefore, the current method for tightening screws on substation terminal blocks still requires operators to manually tighten them with specialized screwdrivers.

[0004] Because the cabinet is quite tall and the terminal blocks are numerous and closely arranged, this method requires certain height and physical strength from the operators, and it is also difficult for the human eye to identify and locate the device. Summary of the Invention

[0005] The purpose of this invention is to provide a screw fastening machine with a mechanical positioning structure, which aims to solve the problems of difficult identification and positioning of screws on the terminal blocks of substation cabinets and the time-consuming and labor-intensive manual tightening.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is: to provide a screw fastening machine with a mechanical positioning structure, comprising: The host structure is equipped with wiring terminals and a vision camera; A fastening fixture is connected to the terminal block via a cable. The fastening fixture includes a fixture housing, a clamping assembly, a moving assembly, and a locking assembly. The clamping assembly includes two clamping plates disposed on the working end plate of the fixture housing. The two clamping plates are arranged opposite each other and have a degree of freedom in the lateral direction. The moving assembly includes a pair of rotating rollers disposed on the working end plate. The rotating rollers are engaged in the grooves of the terminal block and fit against the terminal support. The rotation of the rotating rollers drives the fixture housing to move longitudinally along the grooves. The locking assembly includes a plurality of screwdriver heads rotatably disposed on the fixture housing. The screwdriver heads extend vertically out of the working end plate and have a degree of freedom in their axial direction. The screwdriver heads are rotatably disposed.

[0007] As another embodiment of this application, the host structure includes: A fixed host is provided with wheels at the lower end of the base of the fixed host; The active host is movable and can be raised and lowered to one side of the fixed host. The wiring terminals and the vision camera are both mounted on the active host.

[0008] In another embodiment of this application, the tooling housing includes: A partition is longitudinally disposed within the tooling housing; the partition is parallel to the working end plate; The partition divides the inner cavity of the tooling housing into a front equipment cavity and a rear equipment cavity.

[0009] In another embodiment of this application, the clamping assembly includes: A limiting mounting plate is slidably disposed on the working end plate, and the front side of the limiting mounting plate is connected to the clamping plate; an extension is provided on the rear side of the limiting mounting plate, and the extension extends into the front equipment cavity; A lateral drive component is disposed within the equipment cavity. The lateral drive component is connected to one or two of the extensions and drives the extensions to move the limiting mounting plate laterally.

[0010] In another embodiment of this application, the lateral drive component is a screw structure, which includes two threaded sections with different helical directions, and the two extension portions are respectively installed on the two threaded sections with different helical directions.

[0011] In another embodiment of this application, the rotating roller is rotatably mounted on the working end plate by means of a rotating shaft, the end of which extends laterally into the front equipment cavity; a rotating drive device is provided in the front equipment cavity, and the output end of the rotating drive device is fixedly connected to the rotating shaft.

[0012] In another embodiment of this application, four screwdriver heads are symmetrically arranged along the center line of the rotating roller; The locking assembly further includes a drive structure disposed within the rear equipment cavity. The drive structure includes an equipment frame, a telescopic drive, and a rotation drive. The telescopic drive is disposed along the depth direction of the tooling housing. The equipment frame is mounted on the free end of the telescopic drive and moves closer to or further away from the working end plate along the length direction of the telescopic drive. The rotation drive is disposed on the equipment frame and moves synchronously with the equipment frame. The fixed end of the screwdriver head is connected to the rotation drive.

[0013] In another embodiment of this application, the rotation drive includes: The inner planetary gear has two symmetrically arranged inner planetary gears, which are respectively connected to two screwdriver heads near the center. An outer planetary gear, wherein the outer planetary gear has two symmetrically arranged outer planetary gears, and the two outer planetary gears are respectively connected to two screwdriver heads that are far from the center; The inner planetary gear is located in front of the outer planetary gear, and the sun gears of the inner planetary gear and the outer planetary gear are coaxially arranged and connected to the same rotating motor. The gear rings of the inner planetary gear and the outer planetary gear are both mounted on the equipment frame by means of bearings.

[0014] In another embodiment of this application, the fastening fixture further includes an auxiliary positioning device, which includes: Two symmetrically arranged abutment blocks extend out of the working end plate and have a degree of freedom in the front-to-back direction; the two abutment blocks correspond one-to-one with the two rotating rollers, and the abutment blocks are located above the rotating rollers; the working end plate is provided with through holes that allow the abutment blocks to pass through; A limiting ring is provided at the rear end of the abutment block. The cross-sectional area of ​​the limiting ring is larger than the cross-sectional area of ​​the through hole to prevent the abutment block from coming off the front end of the working end plate. The elastic seat includes a seat body and an elastic element. The seat body is fixedly installed in the front device cavity. The front end of the seat body is provided with a mounting cavity. The elastic element and the limiting ring are both located in the mounting cavity.

[0015] In another embodiment of this application, a wear-resistant layer is provided on both the clamping surface of the clamping plate and the outer periphery of the rotating roller. A plurality of flexible protrusions are evenly distributed on the surface of the wear-resistant layer, and the flexible protrusions deform under compression.

[0016] The beneficial effects of the screw fastening machine with a mechanical positioning structure provided by the present invention are as follows: Compared with the prior art, the screw fastening machine with a mechanical positioning structure of the present invention significantly improves the positioning accuracy and operational stability in the environment of terminal blocks with high height and close arrangement by using a positioning method that combines vision and mechanics, avoiding the difficulties of manual identification and hand operation; by using the cooperation of rotating rollers and clamping components, the fastening fixture can move smoothly and operate stably in the groove of the terminal block, overcoming the problem that traditional non-handheld automatic screw fastening tools are too large and cannot adapt to the substation cabinet environment.

[0017] The automated movement, clamping, and tightening process significantly reduces manual intervention, lowers the physical exertion of operators and the height requirements, improves overall work efficiency and the consistency of screw tightening quality, and effectively shortens the terminal block screw tightening time in substation infrastructure acceptance, equipment modification, protection pre-testing and other work. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 A partial cross-sectional view of a screw fastening machine with a mechanical positioning structure provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the lifting assembly provided in an embodiment of the present invention; Figure 3 This is a front view of the fastening fixture provided in an embodiment of the present invention; Figure 4 For along Figure 3 Sectional view of line AA in the middle; Figure 5 This is a schematic diagram of the inner planetary gear structure provided in an embodiment of the present invention; Figure 6 A cross-sectional view of a rotating roller provided in an embodiment of the present invention; Figure 7 A cross-sectional view of an auxiliary positioning device provided in another embodiment of the present invention.

[0020] In the diagram: 1. Fixed main unit; 2. Base; 3. Traveling wheels; 4. Movable main unit; 5. Screw drive assembly; 6. Slide rail; 7. Connecting terminal; 8. Extension frame; 9. Drive block; 10. Slider; 11. Working end plate; 12. Limiting elongated hole; 13. Rotating roller; 14. Limiting mounting plate; 15. Clamping plate; 16. Auxiliary positioning sensing device; 17. Abutment block; 18. Tooling housing; 19. Screwdriver head; 20. Equipment frame; 21. Inner planetary gear; 22. Outer planetary gear; 23. Telescopic drive; 24. Sun gear; 25. Inner planetary gear; 26. Gear ring; 27. Bearing; 28. Rotating shaft; 29. ​​Wear-resistant layer; 30. Partition plate; 31. Mounting cavity; 32. Internal hole; 33. Limiting rod; 34. Elastic element. Detailed Implementation

[0021] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0022] Please see Figures 1 to 7The present invention will now describe a screw fastening machine with a mechanical positioning structure. The screw fastening machine with a mechanical positioning structure includes a main body structure and a fastening fixture. The main body structure is equipped with terminals and a vision camera; the fastening fixture is connected to the terminals via a cable, and includes a fixture housing 18, a clamping assembly, a moving assembly, and a locking assembly. The clamping assembly includes two clamping plates 15 disposed on the working end plate 11 of the fixture housing 18, the two clamping plates 15 being arranged opposite each other and having a degree of freedom in the lateral direction; the moving assembly includes a pair of rotating rollers 13 disposed on the working end plate 11, the rotating rollers 13 being used to engage in the grooves of the terminal block and conform to the terminal support, the rotating rollers 13 rotating to drive the fixture housing 18 to move longitudinally along the grooves; the locking assembly includes a plurality of screwdriver heads 19 rotatably disposed on the fixture housing 18, the screwdriver heads 19 extending vertically out of the working end plate 11, the screwdriver heads 19 having a degree of freedom in their axial direction and being rotatably oriented.

[0023] This invention provides a screw fastening machine with a mechanical positioning structure. During operation, a vision camera on one side of the main structure first performs image recognition on the terminal block to accurately obtain screw position information. Then, the rotating roller 13 of the fastening fixture is engaged in the groove of the terminal block and fits against the terminal support. Next, the rotating roller 13 rotates, driving the fixture housing 18 to move longitudinally along the groove, sequentially conveying multiple screwdriver heads 19 extending vertically from the working end plate 11 to directly above the screws to be fastened. Upon reaching the target position, two opposing clamping plates 15 move laterally as needed to stabilize the terminal block, completing the mechanical positioning. The screwdriver heads 19 are fed and rotated along their axial direction, applying a predetermined torque to the screws to complete the fastening. The process continues, repeating until all screws are fastened.

[0024] A cable connects the main unit structure and the tooling housing 18, used to control the opening and closing of the drive device within the tooling housing 18 via electrical signals. A display screen and a manual input keyboard are mounted on the main unit housing. An internal control unit is located within the main unit structure; the control unit can be a microcontroller, such as the STM32 series. The vision camera can be a CCD camera, a CMOS camera, etc.

[0025] The present invention provides a screw fastening machine with a mechanical positioning structure. Compared with the prior art, it significantly improves the positioning accuracy and operational stability in environments with high and closely arranged terminal blocks by using a positioning method that combines vision and mechanics, avoiding the difficulties of manual identification and hand operation. By utilizing the cooperation of the rotating roller 13 and the clamping assembly, the fastening fixture can move smoothly and operate stably in the groove of the terminal block, overcoming the problem that traditional non-handheld automatic screw fastening tools are too large and cannot adapt to the substation cabinet environment.

[0026] The automated movement, clamping, and tightening process significantly reduces manual intervention, lowers the physical exertion of operators and the height requirements, improves overall work efficiency and the consistency of screw tightening quality, and effectively shortens the terminal block screw tightening time in substation infrastructure acceptance, equipment modification, protection pre-testing and other work.

[0027] An auxiliary positioning sensor 16 is also provided on the working end plate 11, which is used to detect whether the terminal has moved to the set position. The auxiliary positioning sensor 16 can be a potential position sensor or an inductive position sensor, etc.

[0028] In some possible embodiments, please refer to Figure 1 The main unit structure includes a fixed main unit 1 and a movable main unit 4; the lower end of the base 2 of the fixed main unit 1 is provided with a traveling wheel 3; the movable main unit 4 can be raised and lowered to one side of the fixed main unit 1, and the wiring terminal 7 and the vision camera are both set on the movable main unit 4.

[0029] The height of the terminal blocks in the cabinet can reach two meters. To accommodate the terminal blocks at the highest point, the main unit structure is divided into a fixed main unit 1 and a mobile main unit 4. The fixed main unit 1 is equipped with a power supply motor, control equipment, etc., and is fixedly installed on the base 2.

[0030] A connection terminal 7 is provided on the outer wall of the movable host 4. The connection terminal 7 is used to connect the cable of the fastening fixture to realize the signal connection with the fastening fixture. The movable host 4 can be raised and lowered on one side of the fixed host 1. During operation, the movable host 4 can be raised and lowered appropriately according to the height of the terminal block to be processed, so as to save cable length; at the same time, it solves the problem of high cabinet height and inconvenience of manual operation.

[0031] Optionally, the terminal block 7 is located on the side wall of the active host 4 away from the fixed host 1. The vision camera is located on the same side wall as the terminal block 7, and the vision camera is positioned above the terminal block 7.

[0032] Specifically, such as Figure 3 As shown, an adjustment cavity is provided on the side of the active host 4 near the fixed host 1, and a lifting component is provided inside the adjustment cavity.

[0033] The lifting assembly includes a sliding assembly and a screw drive assembly 5 mounted on the fixed host 1.

[0034] The sliding assembly includes a slide rail 6 that is longitudinally attached to the side wall of the fixed host 1 and a slider 10 that is slidably disposed on the slide rail 6; the screw drive assembly 5 includes a screw that is rotatably mounted on the fixed host 1 and a drive block 9 sleeved on the outside of the screw. The drive block 9 is threadedly engaged with the screw, and the drive block 9 moves up and down when the screw rotates.

[0035] An extension frame 8 is provided on the side of the movable host 4 near the fixed host 1. The extension frame 8 connects both the slider 10 and the drive block 9. When the drive block 9 moves with the screw, it drives the movable host 4 to move up and down. At the same time, the cooperation between the slide rail 6 and the slider 10 can further restrict the movement direction of the movable host 4.

[0036] A screw motor is installed at the bottom of the screw.

[0037] In some possible embodiments, please refer to Figure 4 The tooling housing 18 includes a partition 30, which is longitudinally disposed within the tooling housing 18; the partition 30 is parallel to the working end plate 11; the partition 30 divides the inner cavity of the tooling housing 18 into a front equipment cavity and a rear equipment cavity.

[0038] The front equipment cavity, located near the working end plate 11, can accommodate components directly related to the operation, such as the drive unit of the clamping assembly and the transmission mechanism of the rotating roller 13. The rear equipment cavity can accommodate auxiliary equipment such as the drive motor for the screwdriver head 19, the control module, and cable interfaces. The partitioning of the front and rear equipment cavities makes the structural layout more compact and rational, facilitating functional zoning and modular design; it also helps reduce mutual interference between components, improving the reliability and ease of maintenance of the equipment.

[0039] In some possible embodiments, please refer to Figure 4 The clamping assembly includes a limiting mounting plate 14 and a lateral drive component. The limiting mounting plate 14 is slidably mounted on the working end plate 11, and the front side of the limiting mounting plate 14 is connected to the clamping plate 15. An extension is provided on the rear side of the limiting mounting plate 14, and the extension extends into the front equipment cavity. The lateral drive component is located in the equipment cavity, and the lateral drive component is connected to one or two extensions and drives the extensions to move the limiting mounting plate 14 laterally.

[0040] A transverse limiting elongated hole 12 is formed on the working end plate 11. A limiting mounting plate 14 extends out of the working end plate 11 through the limiting elongated hole 12 and is connected to the clamping plate 15. The extension provided at the rear end of the limiting mounting plate 14 is located in the front equipment cavity and is connected to the transverse drive component.

[0041] The lateral drive component can be an electric push rod, etc. The extension or retraction of the lateral drive component causes the limiting mounting plate 14 and the clamping plate 15 to move laterally.

[0042] The lateral drive components can be symmetrically arranged at both ends of the limiting elongated hole 12 and positioned opposite each other. The two lateral drive components are respectively connected to the two limiting mounting plates 14 one-to-one.

[0043] When the terminal block needs to be clamped, the lateral drive component located in the front equipment cavity is activated, generating a lateral driving force. The driving force acts on the extension of the limiting mounting plate 14 at the rear through the connecting structure. After the extension is subjected to force, it drives the entire limiting mounting plate 14 to move laterally along the sliding trajectory on the working end plate 11. Then, it drives the clamping plate 15 connected to the front of the limiting mounting plate 14 to move forward or relatively, thereby achieving stable clamping of the terminal block and providing a solid working foundation for subsequent screw tightening.

[0044] After fastening is completed, the lateral drive component reverses its movement, causing the clamping plate 15 to loosen the terminal block, so that the entire fixture can move to the next working position.

[0045] When the lateral drive component is a double-ended screw structure, it can connect to two extensions simultaneously. The screw structure of the lateral drive component includes two threaded sections with different helical directions, and the two extensions are respectively mounted on different threaded sections. When the screw structure rotates, the two extensions move relative to each other or in opposite directions simultaneously.

[0046] The drive components are centrally located within the front equipment cavity, isolated from the external working environment. This facilitates installation and debugging, as well as subsequent maintenance and repair, while protecting the precision drive components from dust and impacts. The lateral drive component drives the clamping plate 15 to stably and reliably clamp onto both sides of the terminal support, ensuring accurate alignment of the screwdriver head 19 and stable torque application, thereby improving overall work quality and consistency.

[0047] When the rotating roller 13 is located in the groove and clamped on both sides of the terminal post, the clamping plate 15 is located in front of the rotating roller 13 and is also clamped on both sides of the terminal post.

[0048] In some possible embodiments, the rotating roller 13 is rotatably mounted on the working end plate 11 by means of a rotating shaft 28, the end of which extends laterally into the front equipment cavity; a rotating drive device is provided in the front equipment cavity, and the output end of the rotating drive device is fixedly connected to the rotating shaft 28.

[0049] One end of the rotating shaft 28 extends to the front side of the working end plate 11 to connect to the rotating roller 13; the other end of the rotating shaft 28 extends into the front equipment cavity on the rear side of the working end plate 11 to connect to the rotating drive device. The rotating drive device may be a motor.

[0050] The rotating roller 13 can roll along the terminal block groove by rotating the rotating shaft 28, and has both moving and clamping functions.

[0051] During operation, when movement is required, the rotary drive device drives the rotary shaft 28 to rotate, which in turn drives the rotary roller 13 to rotate, enabling the fastening fixture to move longitudinally on the terminal block. When stopping is required, the rotary drive device is turned off, and then the transverse drive component is driven to clamp the clamping plate 15 on the outside of the terminal post.

[0052] The clamping plate 15 is perpendicular to the limiting mounting plate 14, and the clamping plate 15 and the limiting mounting plate 14 form an L-shaped plate structure.

[0053] In some possible embodiments, please refer to Figure 3 Four screwdriver heads 19 are symmetrically arranged along the center line of the rotating roller 13; the locking assembly also includes a drive structure located in the rear equipment cavity, the drive structure including an equipment frame 20, a telescopic drive 23 and a rotation drive; the telescopic drive 23 is arranged along the depth direction of the tooling housing 18, the equipment frame 20 is located at the free end of the telescopic drive 23 and is close to or away from the working end plate 11 along the length direction of the telescopic drive 23; the rotation drive is located on the equipment frame 20 and moves synchronously with the equipment frame 20; and the fixed end of the screwdriver head 19 is connected to the rotation drive.

[0054] There are four screwdriver heads 19, which are symmetrically arranged along the plane containing the center line of the rotating roller 13 and extend vertically out of the working end plate 11. The center line of the rotating roller 13 is perpendicular to the line connecting the central axes of the rotating roller 13. The fixed end of the screwdriver head 19 is connected to a rotation drive and can rotate with the rotation drive to tighten screws.

[0055] The equipment frame 20 serves as the mounting carrier for the rotary drive device and is located within the rear equipment cavity. The equipment frame 20 is positioned at the free end of the telescopic drive 23 and can move along the depth direction of the tooling housing 18 with the telescopic drive 23, causing the rotary drive device and the screwdriver head 19 to synchronously approach or move away from the working end plate 11. The output end of the rotary drive, fixed to the equipment frame 20, is connected to the fixed end of the screwdriver head 19, enabling the screwdriver head 19 to rotate, providing torque for screw tightening, and can move synchronously with the equipment frame 20.

[0056] The telescopic drive 23 can be a lateral sliding module. The equipment frame 20 is fixed to the upper end of the movable block of the lateral sliding module by a bracket.

[0057] In some possible embodiments, please refer to Figure 4 , Figure 5The rotation drive includes an inner planetary gear 21 and an outer planetary gear 22. The inner planetary gear 21 has two symmetrically arranged inner planetary gears 25, which are respectively connected to two screwdriver heads 19 near the center. The outer planetary gear 22 has two symmetrically arranged outer planetary gears, which are respectively connected to two screwdriver heads 19 away from the center. The inner planetary gear 21 is located in front of the outer planetary gear 22, and the sun gears 24 of the inner planetary gear 21 and the outer planetary gear 22 are coaxially arranged and connected to the same rotary motor. The gear rings 26 of the inner planetary gear 21 and the outer planetary gear 22 are both mounted on the equipment frame 20 by means of bearings 27.

[0058] The inner planetary gear 21 is used to drive the two inner screwdriver heads 19 to rotate, and the outer planetary gear 22 is used to drive the two outer screwdriver heads 19 to rotate.

[0059] The shank of the outer screwdriver head 19 is located outside the gear ring 26 of the inner planetary gear 21.

[0060] When the rotary motor rotates, it drives the two sun gears 24 to rotate simultaneously. The inner planet gear 25 and the outer planet gear are fixed and only rotate on their own axis. Therefore, the two gear rings 26 rotate with the help of the bearings 27 under the action of the planet gears.

[0061] During operation, the telescopic drive 23 inside the equipment cavity is activated first, pushing the equipment frame 20 to move towards the working end plate 11. The equipment frame 20 drives the rotary drive device and the four screwdriver heads 19 to feed synchronously until the screwdriver heads 19 are embedded in the head groove of the corresponding screw.

[0062] Then the rotary motor starts, driving the coaxial sun gear 24 of the inner and outer planetary gears 22 to rotate synchronously; since the gear ring 26 is fixed on the equipment frame 20, when the sun gear 24 rotates, the inner planetary gear 25 drives the two screwdriver heads 19 near the center to rotate, and the outer planetary gear drives the two screwdriver heads 19 far from the center to rotate; the four screwdriver heads 19 synchronously apply a predetermined torque to the two sets of screws to complete synchronous tightening and improve work efficiency.

[0063] Finally, after tightening is completed, the rotary motor stops running, and the telescopic drive 23 pulls the equipment frame 20 away from the working end plate 11 in the opposite direction. The equipment frame 20 drives the screwdriver head 19 to disengage from the screw head and return to the initial position, waiting for the next feed command.

[0064] In another possible embodiment, a plurality of screwdriver locking motors are provided in the rear device cavity, each screwdriver locking motor corresponding to a plurality of screwdriver heads 19, and each screwdriver locking motor drives the corresponding screwdriver head to rotate by rotating forward or in reverse.

[0065] A locking motor guide rail is provided at the lower end of the motor base of each screwdriver locking motor. The locking motor guide rail is set in the front-to-back direction, and a sliding block is set on the locking motor guide rail. The sliding block moves along the length of the locking motor guide rail, driving the locking motor to move back and forth, thereby driving the screwdriver head 19 to move forward or backward.

[0066] In some possible embodiments, please refer to Figure 3 , Figure 4 The fastening fixture also includes an auxiliary positioning device, which includes two symmetrically arranged abutment blocks 17, a limiting ring, and an elastic seat. The abutment blocks 17 extend out of the working end plate 11 and have a degree of freedom in the front-rear direction. The two abutment blocks 17 correspond one-to-one with the two rotating rollers 13, and the abutment blocks 17 are located above the rotating rollers 13. The working end plate 11 is provided with a through hole that allows the abutment blocks 17 to pass through. The limiting ring is located at the rear end of the abutment blocks 17, and the cross-sectional area of ​​the limiting ring is larger than the cross-sectional area of ​​the through hole to prevent the abutment blocks 17 from coming out of the front end of the working end plate 11. The elastic seat includes a seat body and an elastic element 34. The seat body is fixedly installed in the front equipment cavity, and the front end of the seat body is provided with a mounting cavity 31. The elastic element 34 and the limiting ring are both located in the mounting cavity 31.

[0067] The abutment block 17 of the auxiliary positioning device is used to extend out of the working end plate 11 and abut against the terminal to play a physical positioning role.

[0068] like Figure 7 As shown, an internal hole 32 is provided on the abutment block 17. The opening of the internal hole 32 extends to the end face of the rear limiting ring. A limiting rod 33 is provided in the mounting cavity 31 of the elastic seat. The limiting rod 33 passes through the elastic member 34 and extends into the internal hole 32. The two ends of the elastic member 34 abut against the limiting ring and the side wall of the mounting cavity 31, respectively.

[0069] The end of the limiting rod 33 is always located inside the internal hole 32. When the abutment block 17 is subjected to force, the abutment block 17 moves along the length of the limiting rod 33 to prevent it from shifting.

[0070] During operation, under the action of the elastic element 34, the abutment block 17 always rests against the groove of the terminal, serving a positioning function. Optionally, the elastic element 34 is a spring.

[0071] In some possible embodiments, please refer to Figure 6 Wear-resistant layers 29 are provided on the clamping surface of the clamping plate 15 and the outer periphery of the rotating roller 13. Multiple flexible protrusions are evenly distributed on the surface of the wear-resistant layer 29, and the flexible protrusions deform under the extrusion state.

[0072] The wear-resistant layer 29 can be made of flexible insulating materials such as rubber or nylon, and its surface is distributed with bumps to form flexible protrusions.

[0073] When the clamping plate 15 needs to clamp the terminal post, the clamping surface of the clamping plate 15 is close to the terminal post and the flexible protrusion of the wear-resistant layer 29 of the clamping surface is squeezed and deformed, tightly wrapping the surface of the terminal post, increasing the friction while avoiding scratching the terminal post.

[0074] The wear-resistant layer 29 and flexible protrusions on the outer periphery of the rotating roller 13 synchronously adhere to the inner wall of the groove, enhancing the stability of the fit between the rotating roller 13 and the groove. Furthermore, during movement, the rotating drive device continues to drive the rotating roller 13 to roll along the terminal block groove, causing the tooling to move longitudinally. During this movement, the wear-resistant layer 29 on the outer periphery of the rotating roller 13 reduces wear from long-term rolling, while the flexible protrusions continuously and lightly touch the inner wall of the groove, helping to maintain the stability of the tooling's movement direction and simultaneously buffering minor vibrations during the movement.

[0075] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A screw fastening machine with a mechanical positioning structure, characterized in that, include: The host structure is equipped with wiring terminals and a vision camera; A fastening fixture is connected to the terminal block via a cable. The fastening fixture includes a fixture housing, a clamping assembly, a moving assembly, and a locking assembly. The clamping assembly includes two clamping plates disposed on the working end plate of the fixture housing. The two clamping plates are arranged opposite each other and have a degree of freedom in the lateral direction. The moving assembly includes a pair of rotating rollers disposed on the working end plate. The rotating rollers are engaged in the grooves of the terminal block and fit against the terminal support. The rotation of the rotating rollers drives the fixture housing to move longitudinally along the grooves. The locking assembly includes a plurality of screwdriver heads rotatably disposed on the fixture housing. The screwdriver heads extend vertically out of the working end plate and have a degree of freedom in their axial direction. The screwdriver heads are rotatably disposed.

2. The screw fastening machine with a mechanical positioning structure as described in claim 1, characterized in that, The host structure includes: A fixed host is provided with wheels at the lower end of the base of the fixed host; The active host is movable and can be raised and lowered to one side of the fixed host. The wiring terminals and the vision camera are both mounted on the active host.

3. A screw fastening machine with a mechanical positioning structure as described in claim 1, characterized in that, The tooling housing includes: A partition is longitudinally disposed within the tooling housing; the partition is parallel to the working end plate; The partition divides the inner cavity of the tooling housing into a front equipment cavity and a rear equipment cavity.

4. A screw fastening machine with a mechanical positioning structure as described in claim 4, characterized in that, The clamping assembly includes: A limiting mounting plate is slidably disposed on the working end plate, and the front side of the limiting mounting plate is connected to the clamping plate; an extension is provided on the rear side of the limiting mounting plate, and the extension extends into the front equipment cavity; A lateral drive component is disposed within the equipment cavity. The lateral drive component is connected to one or two of the extensions and drives the extensions to move the limiting mounting plate laterally.

5. A screw fastening machine with a mechanical positioning structure as described in claim 3, characterized in that, The transverse drive component is a screw structure, which includes two threaded sections with different helical directions. The two extensions are respectively installed on the two threaded sections with different helical directions.

6. A screw fastening machine with a mechanical positioning structure as described in claim 3, characterized in that, The rotating roller is rotatably mounted on the working end plate by means of a rotating shaft, the end of which extends laterally into the front equipment cavity; a rotating drive device is provided in the front equipment cavity, and the output end of the rotating drive device is fixedly connected to the rotating shaft.

7. A screw fastening machine with a mechanical positioning structure as described in claim 3, characterized in that, The screwdriver heads are symmetrically arranged along the center line of the rotating roller. The locking assembly further includes a drive structure disposed within the rear equipment cavity. The drive structure includes an equipment frame, a telescopic drive, and a rotation drive. The telescopic drive is disposed along the depth direction of the tooling housing. The equipment frame is mounted on the free end of the telescopic drive and moves closer to or further away from the working end plate along the length direction of the telescopic drive. The rotation drive is disposed on the equipment frame and moves synchronously with the equipment frame. The fixed end of the screwdriver head is connected to the rotation drive.

8. A screw fastening machine with a mechanical positioning structure as described in claim 7, characterized in that, The rotation drive includes: The inner planetary gear has two symmetrically arranged inner planetary gears, which are respectively connected to two screwdriver heads near the center. An outer planetary gear, wherein the outer planetary gear has two symmetrically arranged outer planetary gears, and the two outer planetary gears are respectively connected to two screwdriver heads that are far from the center; The inner planetary gear is located in front of the outer planetary gear, and the sun gears of the inner planetary gear and the outer planetary gear are coaxially arranged and connected to the same rotating motor. The gear rings of the inner planetary gear and the outer planetary gear are both mounted on the equipment frame by means of bearings.

9. A screw fastening machine with a mechanical positioning structure as described in claim 3, characterized in that, The fastening fixture further includes an auxiliary positioning device, which comprises: Two symmetrically arranged abutment blocks extend out of the working end plate and have a degree of freedom in the front-to-back direction; the two abutment blocks correspond one-to-one with the two rotating rollers, and the abutment blocks are located above the rotating rollers; the working end plate is provided with through holes that allow the abutment blocks to pass through; A limiting ring is provided at the rear end of the abutment block. The cross-sectional area of ​​the limiting ring is larger than the cross-sectional area of ​​the through hole to prevent the abutment block from coming off the front end of the working end plate. The elastic seat includes a seat body and an elastic element. The seat body is fixedly installed in the front device cavity. The front end of the seat body is provided with a mounting cavity. The elastic element and the limiting ring are both located in the mounting cavity.

10. A screw fastening machine with a mechanical positioning structure as described in claim 1, characterized in that, A wear-resistant layer is provided on the clamping surface of the clamping plate and on the outer periphery of the rotating roller. Multiple flexible protrusions are evenly distributed on the surface of the wear-resistant layer, and the flexible protrusions deform under compression.

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