Screw locking device and screw locking mechanism thereof

Abstract

A screw locking device and a screw locking mechanism thereof are used for improving the situation that an electric screwdriver enables the structure of the screw locking mechanism to be complex. The screw locking mechanism is fixed to the tail end of a mechanical arm and comprises an actuator connecting part and a screwdriver bit. The actuator connecting part is used for being fixed to a rotary actuator at the tail end of the mechanical arm; the bit is fixedly connected with the actuator connecting part; wherein the actuator connecting part is used for being driven by a rotary actuator at the tail end of a mechanical arm to rotate, the screwdriver bit is driven by the actuator connecting part to rotate, and the screwdriver bit is screwed into a screw.

Description

Technical Field

[0001] The utility model relates to the field of screw locking, in particular to a screw locking device and a screw locking mechanism thereof. Background Art

[0002] In the screw locking device, the robot arm drives the screw locking mechanism to move to the working position, and the electric screwdriver in the screw locking mechanism rotates, thereby driving the screw bit to rotate and then screwing in the screw. The electric screwdriver makes the screw locking mechanism complex in structure, heavy in weight and high in cost. Utility Model Content

[0003] The utility model aims to provide a screw locking device and a screw locking mechanism thereof, which are used to improve the situation that an electric screwdriver makes the screw locking mechanism structure complicated.

[0004] In the first aspect, the utility model provides a screw locking mechanism. According to an embodiment of the utility model, the screw locking mechanism is fixed to the end of a robotic arm, and the screw locking mechanism includes an actuator connecting part and a screw bit; the actuator connecting part is used to be fixed to the rotating actuator at the end of the robotic arm; the screw bit is fixedly connected to the actuator connecting part; wherein the actuator connecting part is used to be driven to rotate by the rotating actuator at the end of the robotic arm, the screw bit is driven to rotate by the actuator connecting part, and the screw bit is screwed into the screw.

[0005] In one or more embodiments, the bit has a hollow channel, the outlet of the hollow channel is located at the head of the bit, and the inlet of the hollow channel is used to connect to a vacuum generator so that the head of the bit can absorb the screw.

[0006] In one or more embodiments, the hollow channel is configured with a vacuum cabin, the vacuum cabin is fixedly connected to the actuator connecting part, the entrance of the hollow channel is located at the root of the screwdriver bit, the root of the screwdriver bit is fixedly connected to the vacuum cabin, the entrance of the hollow channel is connected to the vacuum cabin, and the vacuum cabin is configured with a vacuum pipe joint to connect to the vacuum generator.

[0007] In one or more embodiments, the screwdriver bit is equipped with a material clamp, and the material clamp is provided with a material clamping cavity with a top opening. When the material clamp clamps a screw, the material clamping cavity is located on the lower side of the head of the screwdriver bit. The material clamping cavity receives the screw and the top opening of the material clamping cavity allows the screw to be touched by the head of the screwdriver bit. The head of the screwdriver bit and the material clamping cavity can be relatively close, so that the head of the screwdriver bit fixes the screw and the screwdriver bit opens the material clamp and extends out of the material clamp.

[0008] In one or more embodiments, the material clamp is also provided with a material delivery cavity, which is located on the upper side of the material clamping cavity and is connected to the material clamping cavity to allow a screw to enter the material clamping cavity. The material delivery cavity is equipped with a material delivery pipe to deliver the screw to the material clamping cavity, and the outlet of the material delivery pipe extends into the material delivery cavity. When the head of the screwdriver bit enters the material delivery cavity to fix the screw located in the material clamping cavity, the screwdriver bit squeezes open the material delivery tube.

[0009] In one or more embodiments, the material clamp includes a first clamp, a second clamp and a seat body, the seat body is located at the top, the first clamp and the second clamp are elastically hinged to the seat body, thereby enclosing the material clamping cavity and the material delivery cavity located on the lower side of the seat body, and allowing the material clamp to be opened and restored by the batch bit, and the seat body is provided with a batch hole to allow the head of the batch bit to enter the material delivery cavity.

[0010] In one or more embodiments, the feed cavity is provided with a feed port on the side wall of the first clamp and / or the second clamp, and the feed port is located on the side of the opening and closing plane of the first clamp and the second clamp, and the outlet of the feed pipe extends into the feed cavity from the feed port, and the feed pipe is elastically hinged to the seat body, thereby allowing the feed pipe to be squeezed open by the batch head and rotate toward the feed port, and allowing the feed pipe to recover.

[0011] In one or more embodiments, the outlet of the material delivery tube is connected to the top opening of the material clamping cavity. When the head of the screwdriver bit enters the material delivery cavity to fix the screw located in the material clamping cavity, the screwdriver bit squeezes open the material delivery tube, enters the top opening of the material clamping cavity, and pushes against the inner wall of the material clamping cavity to open the material clamp.

[0012] In one or more embodiments, the material clamp is configured to be driven by a pen-shaped cylinder to enable the material clamping cavity to approach or move away from the head of the batch head.

[0013] In a second aspect, the utility model provides a screw locking device. According to an embodiment of the utility model, the screw locking device includes a mechanical arm and the above-mentioned screw locking mechanism; a rotary actuator is arranged at the end of the mechanical arm; wherein the actuator connecting part is fixed to the rotary actuator, and is used to be driven to rotate by the rotary actuator.

[0014] The embodiments of the present invention have at least the following beneficial effects:

[0015] The screw locking mechanism is driven to rotate by the robot arm, so that the screw locking mechanism does not need to be equipped with an electric screwdriver, the screw locking mechanism is simplified, the weight of the screw locking mechanism is reduced, the cost is reduced, and the load requirement for the robot arm is reduced. A robot arm with a lower load capacity can be used, thereby reducing costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The above and other features, properties and advantages of the present invention will become more apparent through the following description in conjunction with the accompanying drawings and embodiments, in which:

[0017] Figure 1 It is an oblique view of the screw locking device;

[0018] Figure 2 for Figure 1 Partial view of the middle screw locking device;

[0019] Figure 3 This is a front view of the screw locking mechanism, which is in the loading state;

[0020] Figure 4 for Figure 3 An oblique view of the middle screw locking mechanism;

[0021] Figure 5 for Figure 3 Partial view of the middle screw locking mechanism;

[0022] Figure 6 It is a front view of the screw locking mechanism, and the screw locking mechanism is in a locked state;

[0023] Figure 7 for Figure 6 An oblique view of the middle screw locking mechanism;

[0024] Figure 8 for Figure 6 Partial view of the middle screw locking mechanism.

[0025] Reference numerals:

[0026] 1-Robotic arm;

[0027] 2-Screw locking mechanism;

[0028] 3- Rotary actuator;

[0029] 4-actuator connection;

[0030] 5-Batch head;

[0031] 6-Framework;

[0032] 7-Human-computer interaction screen;

[0033] 8-Hollow channel;

[0034] 9- Vacuum chamber;

[0035] 10- supporting shaft;

[0036] 11- Vacuum pipe connector;

[0037] 12-Material clamp;

[0038] 13- first clamp;

[0039] 14- second clamp;

[0040] 15-base body;

[0041] 16- material clamping cavity;

[0042] 17- Top opening of the clamping cavity;

[0043] 18-pen-shaped cylinder;

[0044] 19-feeding cavity;

[0045] 20-feeding pipe;

[0046] 21- nail feeding system;

[0047] 22- guide tube;

[0048] 23- batch holes;

[0049] 24-feeding port;

[0050] 25-Vacuum generator. DETAILED DESCRIPTION

[0051] Reference will now be made in detail to embodiments of the present invention, one or more examples of which are shown in the accompanying drawings. Each example is provided to explain the present invention, rather than to limit the present invention. In fact, it will be apparent to those skilled in the art that various modifications and variations may be made in the present invention without departing from the scope or spirit of the present invention. For example, a feature shown or described as part of one embodiment may be used together with another embodiment to produce yet another embodiment. Therefore, the present invention is intended to cover these modifications and variations that fall within the scope of the appended claims and their equivalents.

[0052] It should be noted that these and other subsequent drawings are only examples and are not drawn in proportion, and should not be used as a limitation on the actual scope of protection required by the present utility model.

[0053] The terms "first", "second", etc. may be used interchangeably to distinguish one feature from another, and are not intended to mean that each feature must be located as shown in the figures in each embodiment.

[0054] like Figure 1 and Figure 2As shown, the screw locking device includes a mechanical arm 1 and a screw locking mechanism 2. The mechanical arm 1 can drive the screw locking mechanism 2 to move to a working position for locking a screw, such as a screw installation hole. A screw is a threaded fastener with an external thread, such as a bolt, a screw, etc. Figure 2 As shown, a rotary actuator 3 is provided at the end of the robot arm 1. The screw locking mechanism is provided with an actuator connection part 4, and the actuator connection part 4 is fixed to the rotary actuator 3. The actuator connection part 4 can be a connection block, which is located at the root of the screw locking mechanism. The screw locking mechanism is also provided with a screwdriver 5. The screwdriver 5 can include a rod and a head, and the head of the screwdriver 5 is used to fix the screw. The screwdriver 5 is fixedly connected to the actuator connection part 4, and the screwdriver 5 can be fixed to the actuator connection part 4 by other components, as described later. The rotary actuator 3 rotates, thereby driving the actuator connection part 4 to rotate, and then driving the screwdriver 5 to rotate, driving the screw to be screwed in. The screw locking mechanism 2 is driven to rotate by the robot arm 1, so that the screw locking mechanism 2 does not need to be provided with an electric screwdriver, simplifies the screw locking mechanism 2, reduces the weight of the screw locking mechanism 2, reduces the cost, and reduces the load requirement for the robot arm 1, so that the robot arm 1 with a lower load capacity can be used, reducing the cost.

[0055] The shaft current of the rotary actuator 3 can be monitored, so that the rotary actuator 3 can output a corresponding torque according to the current-torque relationship. Figure 1 As shown, the screw locking device may further include a frame 6, and the mechanical arm 1 may be disposed on the frame 6. The mechanical arm 1 may be configured with a human-machine interaction screen 7, and the human-machine interaction screen 7 may be disposed on the frame 6, through which the current torque coefficient, output torque value, etc. of the rotary actuator 3 may be set for setting and calibration.

[0056] like Figure 5 and Figure 8 As shown, the screwdriver bit 5 may be provided with a hollow channel 8. The screw locking device may be provided with a vacuum generator 25, which may be provided in the frame 6. The outlet of the hollow channel 8 is located at the head of the screwdriver bit 5, which may be located at the bottom end face of the screwdriver bit 5. The inlet of the hollow channel 8 is connected to the vacuum generator 25. The vacuum generator 25 generates negative pressure in the hollow channel 8, and the outlet of the hollow channel 8 thereby generates suction, so that the head of the screwdriver bit 5 absorbs the screw, with a high degree of automation, reduced labor intensity, improved production efficiency, reduced error rate, and improved quality stability. A spline may be provided at the bottom end face of the screwdriver bit 5. When the head of the screwdriver bit 5 absorbs the screw, the spline engages with the groove of the head of the screw, making it convenient for the head of the screwdriver bit 5 to be screwed into the screw.

[0057] like Figure 3 and Figure 6As shown, the hollow channel 8 can be equipped with a vacuum chamber 9. The vacuum chamber 9 is fixedly connected to the actuator connection part 4, and the top of the vacuum chamber 9 can be fixed to the bottom of the support shaft 10. The support shaft 10 can be arranged on the lower side of the actuator connection part 4 and fixed to the actuator connection part 4. The entrance of the hollow channel 8 is located at the root of the screwdriver bit 5, and can be located at the top end surface of the screwdriver bit 5. The root of the screwdriver bit 5 is fixed to the vacuum chamber 9, and the entrance of the hollow channel 8 is connected to the inner cavity of the vacuum chamber 9. The vacuum chamber 9 is equipped with a vacuum pipe joint 11, which is fixed to the vacuum chamber 9 and connected to the inner cavity of the vacuum chamber 9. The vacuum pipe joint 11 is connected to the vacuum generator 25. The vacuum generator 25 generates negative pressure in the vacuum pipe joint 11, the inner cavity of the vacuum chamber 9 and the hollow channel 8, so that the head of the screwdriver bit 5 absorbs the screw.

[0058] like Figures 3 to 8 As shown, the batch head 5 can be equipped with a material clamp 12. The material clamp 12 can include a first clamp 13, a second clamp 14 and a seat 15. The seat 15 is located at the top. The first clamp 13 and the second clamp 14 are elastically hinged to the seat 15 and can rotate and return to their original positions relative to the seat 15. The material clamp 12 is provided with a material clamping cavity 16, and the material clamping cavity 16 is provided with an opening 17 at the top. The material clamping cavity 16 can be enclosed by the first clamp 13 and the second clamp 14. Figures 3 to 5 As shown, in the loading state, the head of the bit 5 is not fixed with the screw, and the material clamp 12 clamps the screw, and the head of the bit 5 needs to fix the screw. In the loading state, the material clamping cavity 16 is located at the lower side of the head of the bit 5, and the material clamping cavity 16 receives the screw. The screw is at least partially located in the material clamping cavity 16. The top opening 17 of the material clamping cavity 16 allows the screw to be touched by the head of the bit 5. In the case where the screw is completely located in the material clamping cavity 16, the head of the bit 5 can enter the material clamping cavity 16 from the top opening 17 and touch the screw. In the case where the screw is partially located in the material clamping cavity 16 and partially protrudes from the top opening 17 of the material clamping cavity 16, the head of the bit 5 can touch the screw without entering the material clamping cavity 16. The head of the bit 5 and the material clamping cavity 16 can be relatively close, so that the head of the bit 5 touches and fixes the screw, and the bit 5 opens the material clamp 12 and extends out of the material clamp 12, transforming into Figures 6 to 8 The locked state is shown, in which the head of the bit 5 fixes the screw and extends from the material clamp 12, and the rotary actuator 3 of the robot arm 1 is rotated to screw in the screw.

[0059] like Figure 3 and Figure 6 As shown, the material clamp 12 can be equipped with a pen-shaped cylinder 18, which drives the material clamp 12 to make the material clamping cavity 16 approach and move away from the head of the screwdriver bit 5, so that the screw locking mechanism 2 is switched between the feeding state and the locking state shown in the figure.

[0060] like Figures 3 to 8As shown, in the loading state, the screws can be completely located in the clamping cavity 16, and the heads of the screws are located at the top, and the pen-shaped cylinder 18 drives the material clamp 12 to move upward, so that the clamping cavity 16 is close to the head of the batch head 5 on the upper side, and the head of the batch head 5 enters the clamping cavity 16 from the top opening 17 of the clamping cavity 16 to touch and absorb the screws, and the pen-shaped cylinder 18 drives the material clamp 12 to continue to move upward, and the batch head 5 can push the inner wall of the clamping cavity 16 to open the material clamp 12, and the batch head 5 can push the clamping cavity 16 against the inner wall of half of the first clamp 13, and against the other half of the inner wall of the second clamp 14, overcoming the elastic force of the elastic hinge of the first clamp 13 and the second clamp 14, so that the first clamp 13 and the second clamp 14 are rotated outward to open, and the material clamp 12 is stretched out so as to extend from the material clamp 12, and transformed into Figures 6 to 8 After the screw is locked, the screw locking mechanism 2 is Figures 6 to 8 The lock state shown changes to Figures 3 to 5 In the loading state shown, the pen-shaped cylinder 18 drives the material clamp 12 to move downward, and the bit 5 no longer pushes against the inner wall of the clamping cavity 16. The first clamp 13 and the second clamp 14 rotate inward and close under the elastic force of the elastic hinge, and the head of the bit 5 returns to the clamping cavity 16. The pen-shaped cylinder 18 drives the material clamp 12 to continue to move downward, and the head of the bit 5 exits the clamping cavity 16 from the top opening 17 of the clamping cavity 16 and returns to the upper side of the clamping cavity 16.

[0061] like Figures 3 to 8 As shown, the material clamp 12 may be provided with a material delivery cavity 19. The material delivery cavity 19 may be enclosed by the first clamp 13 and the second clamp 14 and is located at the lower side of the seat body 15. The material delivery cavity 19 is located at the upper side of the clamping cavity 16 and is connected to the clamping cavity 16, thereby allowing the screw to enter the clamping cavity 16 through the material delivery cavity 19, and the bottom of the material delivery cavity 19 may be connected to the top opening 17 of the clamping cavity 16. The material delivery cavity is provided with a material delivery pipe 20, and the material delivery pipe 20 delivers the screw to the clamping cavity 16. The screw locking device may be provided with Figure 1 The nail feeding system 21 shown can be arranged on the frame 6. The nail feeding system 21 feeds screws to the guide tube 22, and the screws are fed from the guide tube 22 to the feeding tube 20 connected to the guide tube 22. In the feeding state, the outlet of the feeding tube 20 extends into the feeding cavity 19, thereby feeding the screws to the clamping cavity 16 connected to the feeding cavity 19. When the head of the screwdriver 5 enters the feeding cavity 19 to touch and fix the screws located in the clamping cavity 16, the feeding tube 20 extending into the feeding cavity 19 blocks the screwdriver 5, and the screwdriver 5 squeezes the feeding tube 20 to touch and fix the screws located in the clamping cavity 16. The automation degree is high, the labor intensity is reduced, the action stroke of grabbing screws is saved, the production efficiency is improved, the screws are prevented from falling during the process of grabbing screws, the error rate is reduced, and the quality stability is improved.

[0062] like Figure 5 and Figure 8As shown, the base body 15 may be provided with a batch hole 23 , which passes through the top of the base body 15 , so that the head of the batch bit 5 can pass through the batch hole 23 and enter the material delivery cavity 19 .

[0063] like Figure 4 and Figure 5 As shown, in the feeding state, the outlet of the feed pipe 20 can be directly connected to the top opening 17 of the clamping cavity 16 , and the screws flowing out of the outlet of the feed pipe 20 directly enter the clamping cavity 16 through the top opening 17 of the clamping cavity 16 .

[0064] like Figures 3 to 8 As shown, the feed cavity 19 can be provided with a feed port 24 on the side wall of the first clamp 13 and / or the second clamp 14. The feed port 24 can be composed of a notch in the side wall of the first clamp 13 and a notch in the side wall of the second clamp 14. The feed port 24 is located on the side of the opening and closing plane of the first clamp 13 and the second clamp 14. In the loading state, the outlet of the feed pipe 20 extends from the feed port 24 into the feed cavity 19, so that the feed pipe 20 does not hinder the opening and closing of the first clamp 13 and the second clamp 14. The feed pipe 20 is elastically hinged to the seat body 15 and can rotate and return to its original position relative to the seat body 15. Figures 3 to 5 The loading state shown changes to Figures 6 to 8 In the locked state shown in FIG. 1 , the screwdriver bit 5 pushes the feeding pipe 20 to overcome the elastic force of the elastic hinge and rotates toward the feeding port 24, and the feeding pipe 20 moves outward from the feeding cavity 19, so that the screwdriver bit 5 can continue to move downward to touch and fix the screw in the clamping cavity 16. Figures 6 to 8 The lock state shown changes to Figures 3 to 5 In the loading state shown, the head of the batch head 5 first exits the clamping cavity 16. As the batch head 5 continues to move upward relatively, the batch head 5 no longer pushes the feed pipe 20. The feed pipe 20 rotates toward the feed cavity 19 under the action of the elastic force of the elastic hinge. The feed pipe 20 extends into the inner side of the feed cavity 19 and reconnects with the top opening 17 of the clamping cavity 16.

[0065] like Figure 4 and Figure 5 As shown, the top opening 17 of the clamping cavity 16 is located on an inclined surface, which facilitates docking with the material delivery pipe 20 extending obliquely from the material delivery port 24 and does not hinder the rotation of the material delivery pipe 20 relative to the seat body 15.

[0066] Although the present invention is disclosed as above by the embodiments, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications without departing from the spirit and scope of the present invention.

Claims

1. A screw locking mechanism (2), fixed to the end of a mechanical arm (1), characterized in that: include: An actuator connection portion (4) for fixing to a rotary actuator (3) at the end of the robotic arm (1); as well as A screwdriver bit (5) fixedly connected to the actuator connecting portion (4); The actuator connection part (4) is used to be driven to rotate by the rotary actuator (3) at the end of the robot arm (1), and the screwdriver bit (5) is driven to rotate by the actuator connection part (4), and the screwdriver bit (5) is screwed into the screw.

2. The screw locking mechanism (2) according to claim 1, characterized in that: The screwdriver bit (5) has a hollow channel (8), the outlet of the hollow channel (8) is located at the head of the screwdriver bit (5), and the inlet of the hollow channel (8) is used to connect to a vacuum generator (25) so that the head of the screwdriver bit (5) can absorb the screw.

3. The screw locking mechanism (2) according to claim 2, characterized in that: The hollow channel (8) is equipped with a vacuum chamber (9), the vacuum chamber (9) is fixedly connected to the actuator connecting portion (4), the entrance of the hollow channel (8) is located at the root of the screwdriver bit (5), the root of the screwdriver bit (5) is fixedly connected to the vacuum chamber (9), the entrance of the hollow channel (8) is connected to the vacuum chamber (9), and the vacuum chamber (9) is equipped with a vacuum pipe joint (11) to connect to a vacuum generator (25).

4. The screw locking mechanism (2) according to claim 1, characterized in that: The screwdriver bit (5) is equipped with a material clamp (12), and the material clamp (12) is provided with a material clamping cavity (16) with a top opening (17). When the material clamp (12) clamps a screw, the material clamping cavity (16) is located at the lower side of the head of the screwdriver bit (5). The material clamping cavity (16) receives the screw and the top opening (17) of the material clamping cavity (16) allows the screw to be touched by the head of the screwdriver bit (5). The head of the screwdriver bit (5) and the material clamping cavity (16) can be relatively close, so that the head of the screwdriver bit (5) fixes the screw and the screwdriver bit (5) opens the material clamp (12) and extends out of the material clamp (12).

5. The screw locking mechanism (2) according to claim 4, characterized in that: The material clamp (12) is also provided with a material delivery cavity (19), and the material delivery cavity (19) is located on the upper side of the material clamping cavity (16) and is connected to the material clamping cavity (16) to allow a screw to enter the material clamping cavity (16). The material delivery cavity (19) is provided with a material delivery pipe (20) to deliver the screw to the material clamping cavity (16), and the outlet of the material delivery pipe (20) extends into the material delivery cavity (19). When the head of the screwdriver bit (5) enters the material delivery cavity (19) to fix the screw located in the material clamping cavity (16), the screwdriver bit (5) squeezes open the material delivery pipe (20).

6. The screw locking mechanism (2) according to claim 5, characterized in that: The material clamp (12) comprises a first clamp (13), a second clamp (14) and a base (15); the base (15) is located at the top; the first clamp (13) and the second clamp (14) are elastically hinged to the base (15), thereby enclosing the material clamping cavity (16) and the material delivery cavity (19) located at the lower side of the base (15), and allowing the material clamp (12) to be opened and restored by the batch head (5); the base (15) is provided with a batch hole (23) to allow the head of the batch head (5) to enter the material delivery cavity (19).

7. The screw locking mechanism (2) according to claim 6, characterized in that: The material delivery cavity (19) is provided with a material delivery port (24) on the side wall of the first clamp (13) and / or the second clamp (14); the material delivery port (24) is located on the side of the opening and closing plane of the first clamp (13) and the second clamp (14); the outlet of the material delivery pipe (20) extends into the material delivery cavity (19) from the material delivery port (24); the material delivery pipe (20) is elastically hinged to the seat body (15), thereby allowing the material delivery pipe (20) to be squeezed open by the batch head (5) and rotate toward the material delivery port (24), and allowing the material delivery pipe (20) to return.

8. The screw locking mechanism (2) according to claim 5, characterized in that: The outlet of the material delivery pipe (20) is connected to the top opening (17) of the material clamping chamber (16). When the head of the screwdriver bit (5) enters the material delivery chamber (19) to fix the screw located in the material clamping chamber (16), the screwdriver bit (5) squeezes open the material delivery pipe (20), enters the top opening (17) of the material clamping chamber (16), and pushes against the inner wall of the material clamping chamber (16) to open the material clamp (12).

9. The screw locking mechanism (2) according to claim 4, characterized in that: The material clamp (12) is configured to be driven by a pen-shaped cylinder (18) so that the material clamping cavity (16) is close to or away from the head of the batch head (5).

10. A screw locking device, characterized in that include: A mechanical arm (1) having a rotary actuator (3) disposed at the end thereof; as well as The screw locking mechanism (2) according to any one of claims 1 to 9; The actuator connecting portion (4) is fixed to the rotary actuator (3) and is configured to be driven to rotate by the rotary actuator (3).

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