Visual guiding mechanism for robot to simultaneously hit multi-station screws

Abstract

The utility model discloses a visual guide mechanism for a robot to simultaneously hit multi-station screws, which comprises a back plate, a bottom plate fixed at the bottom end of the back plate, a multi-station batch rod gear ring seat and a driving gear which are rotatably mounted on the inner side of the bottom plate, a driving motor fixed at the bottom of the rear end of the bottom plate, and a plurality of batch rod shafts mounted on the surface of the top of the multi-station batch rod gear ring seat, the bottom end of the batch rod shaft penetrates through the bottom of the multi-station batch rod gear ring base and is provided with a screw adsorption batch cylinder, and the output end of the driving motor is connected with a driving gear. According to the utility model, a set of visual guiding mechanism for simultaneously driving the screws at multiple stations by the robot is designed, the visual guiding mechanism can be subsequently mounted on an industrial robot to accurately lock the screws through the visual guiding robot, and meanwhile, the effect of locking multiple screws can be achieved through the multi-station design, so that the working efficiency and quality of driving the screws are improved; automatic screw locking of various products can be completed, manual intervention is not needed during operation, the operation risk is reduced, and the overall productivity is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of robot screw driving equipment, and in particular relates to a visual guidance mechanism for a robot to simultaneously drive multiple-station screws. Background Art

[0002] Screwing, also known as locking screws, is an indispensable link in various processing workshops and processing links. In particular, many screws need to be driven on the surface of some products to achieve the fastening and installation of the products. The traditional way of driving screws is manual locking screws, which is not only inefficient, but also requires the operator to grab multiple screws in his hand at the same time to operate, which can easily cause the screws to fall into the gaps of the products. In addition, some products are large in size, and the operator's arm length cannot reach the screw holes, so the screws cannot be locked, which is inconvenient. At the same time, the operator also needs to press his hand on the product when driving the screws, which can easily cause product defects. Long-term manual locking of screws can easily cause operator fatigue and reduce production capacity, and it is also easy to miss the problem of locking screws. For this reason, the utility model proposes a robot visual guidance mechanism for driving multi-station screws at the same time. Utility Model Content

[0003] The utility model aims to provide a visual guidance mechanism for a robot to simultaneously drive multiple screws, so as to solve the problems raised in the above-mentioned background technology.

[0004] To achieve the above purpose, the utility model provides the following technical solutions: a visual guidance mechanism for a robot to simultaneously drive multiple screws, comprising

[0005] A back plate, a bottom plate fixed at the bottom end of the back plate, a multi-station batch rod gear ring seat and a driving gear rotatably installed on the inner side of the bottom plate, a driving motor fixed at the bottom of the rear end of the bottom plate, and a plurality of batch rod shafts installed on the top surface of the multi-station batch rod gear ring seat. The bottom end of the batch rod shaft passes through the bottom of the multi-station batch rod gear ring seat and is installed with a screw adsorption batch cylinder. The output end of the driving motor is connected to the driving gear, and the multi-station batch rod gear ring seat is meshed with the driving gear.

[0006] A movable seat slidably mounted on the front surface of the back plate, a reducer and a servo motor fixed on the top of the movable seat, the output end of the servo motor is connected to the reducer, and the output end of the reducer penetrates to the bottom of the movable seat and is connected to a driving rod corresponding to the batch rod axis;

[0007] Side plates are fixed on the two side surfaces of the back plate, CCD cameras are fixed on the sides of the side plates, lenses are installed on the bottom of the CCD cameras, and light sources are installed on the bottom of the lenses.

[0008] Preferably, a lifting cylinder is fixed on the front surface of the side plate, a side seat corresponding to the lifting cylinder is fixed on the left side surface of the movable seat, and a piston rod at the top end of the lifting cylinder is connected to the side seat.

[0009] Preferably, the top end of each of the batch rod shafts is provided with a cross-shaped socket, and the bottom end of the driving rod is provided with a strip-shaped plug corresponding to the cross-shaped socket.

[0010] Preferably, a strip-shaped slide rail is fixed to the front surface of the back plate, a slide sleeve is fixed to the rear surface of the movable seat, and the slide sleeve is arranged on the surface of the strip-shaped slide rail.

[0011] Preferably, an L-shaped fixing plate is fixed to the rear surface of the CCD camera, and the right end of the L-shaped fixing plate is fixed to the side of the side plate, the L-shaped fixing plate and the side plate are fixed by two bolts, and a plurality of bolt holes are opened on the side of the side plate.

[0012] Preferably, an infrared sensor aligned with the screw to adsorb the batch cylinder is also installed at the front end of the bottom plate, and an infrared sensor aligned with the multi-station batch rod gear ring seat is also installed on the surface of the side plate on the right side.

[0013] Preferably, a mounting support plate is fixed to the back side of the top end of the back plate.

[0014] Compared with the prior art, the utility model has the following beneficial effects: the utility model designs a set of visual guidance mechanisms for robots to simultaneously drive multi-station screws, which can be subsequently installed on an industrial robot to accurately lock screws by visually guiding the robot; at the same time, the multi-station design can also achieve the effect of locking multiple screws, thereby improving the efficiency and quality of screw driving, and can complete automatic screw locking of a variety of products without manual intervention during operation, thereby reducing operational risks and improving overall production capacity. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the structure of the utility model;

[0016] Figure 2 It is a right side view of the utility model;

[0017] Figure 3 It is a rear view of the utility model;

[0018] In the figure: 1. back plate; 2. bottom plate; 3. multi-station batch rod gear ring seat; 4. screw adsorption batch cylinder; 5. batch rod shaft; 6. movable seat; 61. side seat; 7. servo motor; 8. reducer; 9. drive rod; 10. side plate; 11. lifting cylinder; 12. L-shaped fixing plate; 13. CCD camera; 14. lens; 15. light source; 16. drive motor; 17. drive gear. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0020] Example

[0021] See also Figures 1 to 3 , is an embodiment of the utility model, which provides a technical solution: a visual guidance mechanism for a robot to simultaneously drive multiple screws, including

[0022] A back plate 1, a bottom plate 2 fixed to the bottom end of the back plate 1 by bolts, a multi-station batch rod gear ring seat 3 and a driving gear 17 rotatably mounted on the inner side of the bottom plate 2 by bearings, a driving motor 16 fixed to the bottom of the rear end of the bottom plate 2 by bolts, and a plurality of batch rod shafts 5 mounted on the top surface of the multi-station batch rod gear ring seat 3. The bottom end of the batch rod shaft 5 penetrates through the bottom of the multi-station batch rod gear ring seat 3 and is equipped with a screw adsorption batch cylinder 4. The output end of the driving motor 16 is connected to the driving gear 17, and the multi-station batch rod gear ring seat 3 is meshed with the driving gear 17.

[0023] A movable seat 6 is slidably mounted on the front surface of the back plate 1, a reducer 8 and a servo motor 7 are fixed on the top of the movable seat 6, the output end of the servo motor 7 is connected to the reducer 8, and the output end of the reducer 8 passes through the bottom of the movable seat 6 and is connected to a driving rod 9 corresponding to the batch rod shaft 5;

[0024] The side panels 10 are fixed to the two side surfaces of the back panel 1 by bolts, the CCD camera 13 is fixed to the side of the side panel 10, the lens 14 is installed at the bottom of the CCD camera 13, and the light source 15 is installed at the bottom of the lens 14. The model of the CCD camera 13 is acA1440-73gm.

[0025] Among them, the front surface of the side panel 10 is fixed with a lifting cylinder 11 by bolts, and the left surface of the movable seat 6 is fixed with a side seat 61 corresponding to the lifting cylinder 11 by bolts, and the piston rod at the top of the lifting cylinder 11 is connected to the side seat 61, so that the subsequent lifting cylinder 11 can drive the movable seat 6 to rise and fall, thereby realizing the connection between the driving rod 9 and the lower rod shaft 5.

[0026] Among them, a cross-shaped socket is opened at the top of each screw rod shaft 5, and a strip-shaped plug corresponding to the cross-shaped socket is provided at the bottom end of the driving rod 9, so that the subsequent driving rod 9 can be smoothly plugged into the screw rod shaft 5 after moving down, and the subsequent driving rod 9 can drive the screw rod shaft 5 and the screw adsorption screw tube 4 at the bottom end of the screw rod shaft 5 to rotate with the screw, thereby realizing the automatic screw driving operation.

[0027] Among them, the front surface of the back plate 1 is fixed with a strip slide rail by bolts, the rear surface of the movable seat 6 is fixed with a sliding sleeve by screws, and the sliding sleeve is slidably sleeved on the surface of the strip slide rail, so that the movable seat 6 can stably slide up and down on the front surface of the back plate 1.

[0028] Among them, the rear surface of the CCD camera 13 is fixed with an L-shaped fixing plate 12 by bolts, and the right end of the L-shaped fixing plate 12 is fixed to the side of the side plate 10. The L-shaped fixing plate 12 and the side plate 10 are fixed by two bolts, and a plurality of bolt holes are opened on the side of the side plate 10, so that the subsequent installation height of the L-shaped fixing plate 12 can be adjusted, thereby facilitating the subsequent adjustment of the height of the CCD camera 13.

[0029] Among them, the front end of the bottom plate 2 is also equipped with an infrared sensor for aligning the screw adsorption batch tube 4, and the surface of the side plate 10 on the right side is also equipped with an infrared sensor for aligning the multi-station batch rod gear ring seat 3. The model of the two infrared sensors is ZPG-18R.

[0030] Among them, a mounting support plate is fixed to the back of the top end of the back plate 1 by bolts, so as to provide for the subsequent fixed connection between the back plate 1 and the industrial robot.

[0031] In summary, in actual use, the back plate 1 is first installed on the mechanical arm at the front end of the industrial robot to complete the installation and adaptation of the mechanism, and then the assembly line in the workshop will send the products that need to be screwed to the screw locking station. At this time, the CCD camera 13 takes a picture of the product through the lens 14, finds the threaded hole where the screw needs to be screwed, and guides the industrial robot to move, bringing the screw adsorption batch tube 4 to the top of the product. Because the screw adsorption batch tube 4 was previously delivered by the external screw supply machine, and the bottom end of the screw adsorption batch tube 4 will adsorb the delivered screws, the servo motor 7 and the reducer 8 are running at this time, so that the driving rod 9 brings the lower batch rod shaft 5 and the screw adsorption batch tube 4 to realize the automatic screwing in of a screw. After the screwing in of a screw is completed , the lifting cylinder 11 works to drive the movable seat 6 to move upward, causing the driving rod 9 to separate from the first batch rod shaft 5, and then the driving motor 16 works, so that the driving gear 17 rotates the multi-station batch rod gear ring seat 3 by one station, causing the other batch rod shaft 5 to be located at the bottom of the driving rod 9. At this time, the lifting cylinder 11 works again, driving the movable seat 6 and the driving rod 9 to move downward, causing the driving rod 9 to be plugged into the second batch rod shaft 5 that has just rotated, preparing for the screw driving operation at the second station, and then the CCD camera 13 and the lens 14 continue to guide the industrial robot to move to the next threaded hole position where screws need to be driven. Continuing to repeat the above screw driving operation can replace manual labor, and realize automated multi-station screw driving operation under visual guidance.

[0032] Although the embodiments of the present invention have been shown and described (see the above detailed description for details), it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A visual guidance mechanism for a robot to simultaneously drive multiple screws, characterized in that: include A back plate (1), a bottom plate (2) fixed at the bottom end of the back plate (1), a multi-station batch rod gear ring seat (3) and a driving gear (17) rotatably mounted on the inner side of the bottom plate (2), a driving motor (16) fixed at the bottom of the rear end of the bottom plate (2), and a plurality of batch rod shafts (5) mounted on the top surface of the multi-station batch rod gear ring seat (3), wherein the bottom ends of the batch rod shafts (5) penetrate through the bottom of the multi-station batch rod gear ring seat (3) and are mounted with screws to absorb batch cylinders (4), the output end of the driving motor (16) is connected to the driving gear (17), and the multi-station batch rod gear ring seat (3) and the driving gear (17) are meshed; A movable seat (6) is slidably mounted on the front surface of the back plate (1), a reducer (8) and a servo motor (7) are fixed on the top of the movable seat (6), the output end of the servo motor (7) is connected to the reducer (8), and the output end of the reducer (8) passes through the bottom of the movable seat (6) and is connected to a driving rod (9) corresponding to the rod shaft (5); Side plates (10) fixed on both side surfaces of the back plate (1), a CCD camera (13) fixed on the side of the side plate (10), a lens (14) installed at the bottom of the CCD camera (13), and a light source (15) installed at the bottom of the lens (14).

2. According to claim 1, a robot visual guidance mechanism for simultaneously driving multiple screws is characterized in that: A lifting cylinder (11) is fixed on the front surface of the side plate (10), a side seat (61) corresponding to the lifting cylinder (11) is fixed on the left side surface of the movable seat (6), and a piston rod at the top end of the lifting cylinder (11) is connected to the side seat (61).

3. According to claim 1, a robot visual guidance mechanism for simultaneously driving multiple screws is characterized in that: The top end of each of the batch rod shafts (5) is provided with a cross-shaped socket, and the bottom end of the driving rod (9) is provided with a strip-shaped plug corresponding to the cross-shaped socket.

4. The visual guidance mechanism for a robot to simultaneously drive multiple screws according to claim 1, characterized in that: A strip-shaped slide rail is fixed on the front surface of the back plate (1), a slide sleeve is fixed on the rear surface of the movable seat (6), and the slide sleeve is arranged on the surface of the strip-shaped slide rail.

5. The visual guidance mechanism for a robot to simultaneously drive multiple screws according to claim 1, characterized in that: An L-shaped fixing plate (12) is fixed to the rear surface of the CCD camera (13), and the right end of the L-shaped fixing plate (12) is fixed to the side surface of the side plate (10).

6. The visual guidance mechanism for a robot to simultaneously drive multiple screws according to claim 5, characterized in that: The L-shaped fixing plate (12) and the side plate (10) are fixed by two bolts, and a plurality of bolt holes are provided on the side surface of the side plate (10).

7. The visual guidance mechanism for a robot to simultaneously drive multiple screws according to claim 1, characterized in that: The front end of the bottom plate (2) is also equipped with an infrared sensor aimed at the screw adsorption cylinder (4), and the surface of the side plate (10) located on the right side is also equipped with an infrared sensor aimed at the multi-station rod gear ring seat (3).

8. The visual guidance mechanism for a robot to simultaneously drive multiple screws according to claim 1, characterized in that: A mounting support plate is fixed to the back side of the top end of the back plate (1).

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