Automatic locking system

Abstract

The utility model discloses an automatic locking system, relates to the technical field of assembly equipment, and aims to solve the problem that an existing automatic locking system is poor in workpiece positioning effect. The automatic locking system comprises a conveying device and a clamping assembly. The conveying device is used for conveying to-be-locked pieces. The clamping assembly is arranged on a conveying path of the conveying device. The clamping assembly comprises a first clamping piece, a second clamping piece and a first driving mechanism, wherein the first clamping piece and the second clamping piece are arranged in a spaced mode along the conveying path, and the first driving mechanism is connected to the first clamping piece and the second clamping piece. The first driving structure is used for driving the first clamping piece and the second clamping piece to move in the direction close to each other or away from each other so as to fix the to-be-locked piece to a preset position on the conveying path. The automatic locking system is used for locking a to-be-locked piece.

Description

Technical Field

[0001] The present application relates to the technical field of assembly equipment, and in particular to an automatic locking system. Background Art

[0002] The automatic locking system can automatically lock fasteners such as bolts and nuts on the workpiece through a robot.

[0003] An automatic fastening system typically includes a workpiece conveying device and a fastening device. After the workpiece conveying device delivers the workpiece to a predetermined workstation, the fastener is grabbed by the fastening device's robotic arm and fastened to the workpiece.

[0004] Existing workpieces are usually placed directly on a conveying device, which has a poor positioning effect on the workpiece. Utility Model Content

[0005] The present application provides an automatic locking system for solving the problem that existing automatic locking systems have poor workpiece positioning effects.

[0006] To achieve the above objectives, this application adopts the following technical solutions:

[0007] An embodiment of the present application provides an automatic locking system comprising a conveyor device and a clamping assembly. The conveyor device is used to convey an item to be locked. The clamping assembly is disposed along a conveying path of the conveyor device. The clamping assembly includes a first clamping member and a second clamping member spaced apart along the conveying path, and a first drive mechanism connected to the first clamping member and the second clamping member. The first drive mechanism is used to drive the first clamping member and the second clamping member toward or away from each other to secure the item to be locked at a predetermined position along the conveying path.

[0008] In the automatic locking system provided by the embodiments of the present application, the holding assembly is disposed on the conveying path of the conveyor. During actual use, the clamping assembly can clamp the piece to be locked as it moves along the conveyor, allowing it to precisely stop at a predetermined position, thereby improving the positional accuracy of the piece during the locking process. When the piece to be locked moves between the first clamping member and the second clamping member, the first and second clamping members can clamp onto either side of the piece along the conveying path of the conveyor, accurately stopping the piece at a predetermined position.

[0009] In some embodiments, the first drive mechanism includes a first drive unit and a second drive unit. The first drive unit is connected to the first clamping member. The second drive unit is connected to the second clamping member. The first drive unit and the second drive unit are respectively configured to drive the first clamping member and the second clamping member to move toward or away from each other.

[0010] According to the above technical means, since the first driving part is connected to the first clamping part and the second driving part is connected to the second clamping part, the first driving part and the second channel part can respectively drive the first clamping part and the second clamping part to move, so that the first clamping part and the second clamping part can be clamped on both sides of the part to be locked, thereby limiting the part to be locked to a predetermined position.

[0011] In some embodiments, the clamping assembly further includes a second driving mechanism connected to the first clamping member and the second clamping member, and configured to drive the first clamping member and the second clamping member to move upward and downward.

[0012] According to the above technical means, when the part to be locked is locked and needs to be transported to the next workstation, the second drive mechanism can drive the first clamping member and the second clamping member to move up and down, so that the first clamping member and the second clamping member are moved to a position where they no longer interfere with the movement of the part to be locked with the conveyor. At this point, the part to be locked can move normally with the conveyor.

[0013] In some embodiments, the second drive mechanism includes a third drive unit and a fourth drive unit. The third drive unit is connected to the first clamping member. The fourth drive unit is connected to the second clamping member. The third drive unit and the fourth drive unit are respectively used to drive the first clamping member and the second clamping member to move upward and downward.

[0014] According to the above technical means, the third and fourth driving parts can drive the first and second clamping parts to rise and fall, thereby moving the first and second clamping parts to a position away from the conveying path of the conveyor device, so that the part to be locked can move along the conveying path of the conveyor device. The third and fourth driving parts can also drive the first and second clamping parts to a position aligned with the conveying path of the conveyor device, so that the first and second clamping parts can clamp on both sides of the part to be locked located on the conveying path of the conveyor device.

[0015] In some embodiments, the conveying device is provided with a first avoidance opening and a second avoidance opening, the first avoidance opening and the second avoidance opening being spaced apart along the conveying direction of the conveying device. The first avoidance opening is used to pass through the first clamping member, and the second avoidance opening is used to pass through the second clamping member. The first avoidance opening and the second avoidance opening allow the first clamping member and the second clamping member to move toward or away from each other.

[0016] According to the above technical means, in actual application, the operator can place the main body of the clamping assembly below the conveying device. When the first clamping member and the second clamping member need to be used to fix the to-be-locked component in a predetermined position, the third drive unit and the fourth drive unit can respectively drive the first clamping member and the second clamping member to rise and pass through the first and second avoidance openings. After passing through the first and second avoidance openings, the first clamping member and the second clamping member can move to the position corresponding to the to-be-locked component.

[0017] In some embodiments, the first clamping member includes a first limiting surface and a second limiting surface, wherein the first limiting surface faces the second clamping member and the second limiting surface faces upward. The second clamping member includes a third limiting surface and a fourth limiting surface, wherein the third limiting surface faces the first clamping member and the fourth limiting surface faces upward. When the first and second clamping members clamp the component to be locked, the first and third limiting surfaces respectively contact opposite side surfaces of the component to be locked, and the second and fourth limiting surfaces both contact the bottom surface of the component to be locked.

[0018] According to the above technical means, the staff can set in advance the height at which the third driving part and the fourth driving part drive the first clamping part and the second clamping part to rise, so that the first clamping part and the second clamping part can lift the part to be locked to a predetermined height position, thereby ensuring the position accuracy of the part to be locked in the height direction when the part to be locked is in the predetermined position.

[0019] In some embodiments, the automatic locking system further includes a carrying device, which is used to carry the parts to be locked and is disposed on a conveying device, and the conveying device is used to drive the carrying device to move so as to convey the parts to be locked.

[0020] According to the above technical means, the carrying device can support the piece to be locked, so that a gap is formed between the piece to be locked and the conveying device, which facilitates the second limiting surface and the fourth limiting surface to contact the bottom surface of the piece to be locked.

[0021] In some embodiments, the automatic locking system further comprises a first slide rail and a second slide rail, the second slide rail being spaced apart from the first slide rail along the width direction of the conveyor, and the first and second slide rails extending in a direction that aligns with the conveying direction of the conveyor. At least a portion of the load-bearing device is positioned between the first and second slide rails, and the dimension of at least a portion of the load-bearing device in the width direction of the conveyor is adapted to the spacing between the first and second slide rails.

[0022] According to the above technical means, the part of the carrying device located between the first slide rail and the second slide rail can be abutted against the side where the first slide rail and the second slide rail are close to each other, and the first slide rail and the second slide rail can form a limit for the carrying device to ensure the position accuracy of the carrying device in the width direction of the conveying device, thereby ensuring the position accuracy of the parts to be locked set on the carrying device in the width direction of the conveying device.

[0023] In some embodiments, the automatic locking system further comprises a brake assembly, which is configured to contact the carrier device when the piece to be locked is transported to a predetermined position to prevent the piece to be locked from moving.

[0024] According to the above technical means, the brake assembly can make the carrying device move to a predetermined position and then stop, so that the part to be locked can be parked between the first clamping member and the second clamping member along the transport direction of the conveying device, thereby ensuring that the first clamping member and the second clamping member can stably clamp the part to be locked to adjust the position accuracy of the part to be locked.

[0025] In some embodiments, the automatic locking system further includes a locking device, a driving device, an image capture device, and a controller. The driving device is connected to the locking device. The image capture device is configured to capture an image of the part to be locked at a predetermined position. The controller is connected to the image capture device and the driving device and is configured to control the driving device to move the locking device to a position corresponding to the threaded hole based on the position of the threaded hole in the image captured by the image capture device.

[0026] According to the above technical means, the automatic locking system can correct the motion parameters of the driving device according to the processing error of the threaded hole on the part to be locked, so that the driving device can drive the locking device to accurately move to the position relative to the threaded hole on the part to be locked. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic diagram of the positional relationship between the automatic locking system and the parts to be locked provided in an embodiment of the present application;

[0028] Figure 2 This is a second schematic diagram of the positional relationship between the automatic locking system and the parts to be locked provided in an embodiment of the present application;

[0029] Figure 3 This is a partial structural diagram of the automatic locking and payment system provided in an embodiment of the present application;

[0030] Figure 4 for Figure 3 Enlarged view of point A in the middle;

[0031] Figure 5 for Figure 3 Enlarged view of point B in the middle;

[0032] Figure 6 This is a second partial structural diagram of the automatic locking and payment system provided in an embodiment of the present application;

[0033] Figure 7 for Figure 6 Enlarged view of point C in the middle;

[0034] Figure 8 for Figure 6 Enlarged view of point D in the middle;

[0035] Figure 9 The third schematic diagram of the positional relationship between the automatic locking system and the parts to be locked provided in the embodiment of the present application;

[0036] Figure 10 Schematic diagram of the fourth positional relationship between the automatic locking system and the parts to be locked provided in an embodiment of the present application;

[0037] Figure 11 Schematic diagram of the fifth positional relationship between the automatic locking system and the parts to be locked provided in an embodiment of the present application;

[0038] Figure 12 This is the sixth schematic diagram of the positional relationship between the automatic locking system and the parts to be locked provided in an embodiment of the present application.

[0039] Reference numerals:

[0040] 100-Automatic locking system; 200-Part to be locked; 1-Conveying device; 11-First avoidance; 12-Second avoidance; 13-First slide rail; 14-Second slide rail; 2-Clamping assembly; 21-First clamping member; 211-First limiting surface; 212-Second limiting surface; 22-Second clamping member; 221-Third limiting surface; 222-Fourth limiting surface; 23-First driving mechanism; 231-First driving unit; 2311-First linear guide rail; 232-Second driving unit; 2321-Second linear guide rail; 24-Second driving unit Driving mechanism; 241-third driving part; 2411-third cylinder; 242-fourth driving part; 2421-fourth cylinder; 3-loading device; 31-screw feeder; 4-locking device; 42-locking part; 421-servo electric screwdriver; 422-servo motor; 423-locking screwdriver head; 43-displacement sensor; 5-carrying device; 51-limiting part; 511-limiting side wall; 52-avoidance groove; 6-brake assembly; 61-third driving structure; 62-blocking part; 7-driving device; 71-manipulator; 8-image acquisition device. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0042] It should be noted that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0043] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. Throughout this application, unless otherwise specified, "plurality" means two or more.

[0044] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "connected" and "connect" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances. Furthermore, when describing pipelines, the terms "connected" and "connected" used in this application have the meaning of conducting electricity. The specific meanings need to be understood in the context.

[0045] In the embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of this application should not be interpreted as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0046] Assembly is a critical process in manufacturing, and SMT, welding, and screw locking are important processes. To enhance the core competitiveness of domestic enterprises and address the challenges of automated assembly, my country is placing increasing emphasis on the equipment manufacturing industry, continuously improving the automation level of product production and processing. Automated screw locking equipment is also gradually developing.

[0047] Most companies rely on workers manually tightening screws with electric screwdrivers, resulting in low production efficiency. As the demographic dividend wanes year by year, this process must be automated. Furthermore, with the increasing complexity of products and the diversification of screw types, efficient and rapid screw tightening is becoming increasingly difficult.

[0048] In current screw-fastening equipment, the workpiece typically moves along with the conveyor. Once the workpiece reaches a predetermined position, the conveyor stops and stops the workpiece at that position. This results in poor workpiece positioning accuracy, making it difficult to precisely position the workpiece at the designated position. This also makes it difficult for the screw-fastening robot to secure the screws to the workpiece.

[0049] Based on this, the embodiment of the present application provides an automatic lock payment system, such as Figure 1 As shown, Figure 1This is one of the schematic diagrams of the positional relationship between the automatic locking system 100 and the item to be locked 200 provided in an embodiment of the present application. The automatic locking system 100 may include a conveying device 1, which is used to convey the item to be locked 200. In actual application, the conveying device 1 may be a roller conveyor, which can be driven by a motor to stably convey the item to be locked 200.

[0050] Continue to refer to Figure 1 The automatic locking system 100 may further include a clamping assembly 2, which is disposed on the conveying path of the conveyor device 1. Thus, in actual use, the clamping assembly 2 can clamp the piece to be locked 200 moving along the conveyor device 1, so that the piece to be locked 200 accurately stays at a predetermined position, thereby improving the position accuracy of the piece to be locked 200 during the locking process.

[0051] like Figure 2 As shown, Figure 2 This is a second schematic diagram of the positional relationship between the automatic locking system 100 and the part to be locked 200 provided in an embodiment of the present application. The clamping assembly 2 may include a first clamping member 21 and a second clamping member 22. The first clamping member 21 and the second clamping member 22 are spaced apart along the conveying path of the conveyor device 1. Thus, when the part to be locked 200 moves between the first clamping member 21 and the second clamping member 22, the first clamping member 21 and the second clamping member 22 can clamp on both sides of the part to be locked 200 along the conveying path of the conveyor device 1, thereby accurately parking the part to be locked 200 at a predetermined workstation.

[0052] In some embodiments, as Figure 3 As shown, Figure 3 This is one of the partial structural diagrams of the automatic locking system 100 provided in the embodiment of the present application. The clamping assembly 2 may further include a first driving mechanism 23. The first driving mechanism 23 is connected to the first clamping member 21 and the second clamping member 22. The first driving mechanism 23 is used to drive the first clamping member 21 and the second clamping member 22 to move toward or away from each other, so as to move the to-be-locked member 200 ( Figure 2 ) is fixed at a predetermined position on the conveying path.

[0053] In actual application, the first driving mechanism 23 can drive the first clamping member 21 and the second clamping member 22 to move in a direction close to each other. As the first clamping member 21 and the second clamping member 22 move in a direction close to each other, along the conveying direction of the conveying device 1, the first clamping member 21 and the second clamping member 22 can be respectively clamped on the to-be-locked member 200 ( Figure 2 In this way, the first clamping member 21 and the second clamping member 22 can push the to-be-locked component 200 to a predetermined processing position and fix it at the position, thereby improving the position accuracy of the to-be-locked component 200.

[0054] When the locking member 200 is locked, the first driving mechanism 23 can drive the first clamping member 21 and the second clamping member 22 to move away from each other, thereby releasing the clamping of the locking member 200 so that the locking member 200 is no longer restricted.

[0055] In order to realize that the first driving mechanism 23 drives the first clamping member 21 and the second clamping member 22 to move toward or away from each other, in some embodiments, such as Figure 3 As shown, the first driving mechanism 23 may include a first driving portion 231 and a second driving portion 232. The first driving portion 231 is connected to the first clamping member 21, and the second driving portion 232 is connected to the second clamping member 22. The first driving portion 231 and the second driving portion 232 are respectively used to drive the first clamping member 21 and the second clamping member 22 to move toward or away from each other, so as to move the to-be-locked member 200 ( Figure 2 ) is fixed in a predetermined position.

[0056] In actual application, since the first driving portion 231 is connected to the first clamping member 21 and the second driving portion 232 is connected to the second clamping member 22, the first driving portion 231 and the second driving portion 232 can respectively drive the first clamping member 21 and the second clamping member 22 to move, so that the first clamping member 21 and the second clamping member 22 can be clamped on the to-be-locked member 200 ( Figure 2 ) on both sides, thereby limiting the to-be-locked member 200 to a predetermined position.

[0057] For example, Figure 4 As shown, Figure 4 for Figure 3 In the enlarged view at A in the middle, the first driving part 231 can be a first linear guide rail 2311, the output end of the first linear guide rail 2311 is connected to the first clamping member 21, and the output end of the first linear guide rail 2311 is used to move along the first linear guide rail. Figure 4 In this way, the first clamping member 21 can be driven by the output end of the first linear guide rail 2311 along the Figure 4 The left and right direction movement in the middle clamps or releases the to-be-locked member 200 ( Figure 2 ).

[0058] like Figure 5 As shown, Figure 5 for Figure 3 In the enlarged view at B, the second driving part 232 can be a second linear guide rail 2321, the output end of the second linear guide rail 2321 is connected to the second clamping member 22, and the output end of the second linear guide rail 2321 is used to move along the Figure 5 In this way, the second clamping member 22 can be driven by the output end of the second linear guide rail 2321 along the Figure 5The left and right direction movement in the middle clamps or releases the to-be-locked member 200 ( Figure 2 ).

[0059] It is understood that in actual application, the first driving portion 231 and the second driving portion 232 may also be transmission blocks with threaded holes formed therein, and the first driving mechanism 23 may also include a driving motor and a transmission screw. The output end of the driving motor is connected to the transmission screw, which is passed through the threaded hole in the transmission block and is threadedly connected to the transmission block.

[0060] In this way, the rotation of the drive motor can drive the transmission screw to rotate, thereby driving the transmission block to move along the extension direction of the transmission screw.

[0061] It is understood that the first drive mechanism 23 may include only a single drive motor, with threads extending in opposite directions at each end of the corresponding drive screw. The drive blocks corresponding to the first drive portion 231 and the second drive portion 232 are respectively connected to the threads at the ends of the drive screw. In this way, the rotation of the drive motor can drive the first drive portion 231 and the second drive portion 232 to move synchronously toward or away from each other.

[0062] Alternatively, the first drive mechanism 23 may include two drive motors, each of which is connected to a transmission screw, and the transmission blocks corresponding to the first drive unit 231 and the second drive unit 232 are respectively connected to the two transmission screws. In this case, the rotation of the two drive motors can respectively drive the first drive unit 231 and the second drive unit 232 to move, so that the first drive unit 231 and the second drive unit 232 move toward or away from each other.

[0063] In order to prevent the clamping assembly 2 from affecting the transport of the piece 200 to be locked by the conveying device 1, in some embodiments, such as Figure 3 As shown, the clamping assembly 2 may further include a second driving mechanism 24 , which is connected to the first clamping member 21 and the second clamping member 22 and is used to drive the first clamping member 21 and the second clamping member 22 to move up and down.

[0064] When the locking member 200 is locked and needs to be transported to the next workstation, the second drive mechanism 24 can drive the first clamping member 21 and the second clamping member 22 to move up and down, so that the first clamping member 21 and the second clamping member 22 are moved to a position where they no longer interfere with the movement of the locking member 200 along the conveyor 1. At this point, the locking member 200 can move normally along with the conveyor 1.

[0065] In some embodiments, as Figure 6 As shown, Figure 6This is the second partial structural diagram of the automatic locking system 100 provided in an embodiment of the present application. The second drive mechanism 24 may further include a third drive unit 241 and a fourth drive unit 242. The third drive unit 241 is connected to the first clamping member 21, and the fourth drive unit 242 is connected to the second clamping member 22. The third drive unit 241 and the fourth drive unit 242 are respectively used to drive the first clamping member 21 and the second clamping member 22 to rise and fall.

[0066] In this way, the third driving portion 241 and the fourth driving portion 242 can drive the first clamping member 21 and the second clamping member 22 to rise and fall, thereby moving the first clamping member 21 and the second clamping member 22 to a position away from the conveying path of the conveyor device 1, so that the to-be-locked member 200 can move along the conveying path of the conveyor device 1. The third driving portion 241 and the fourth driving portion 242 can also drive the first clamping member 21 and the second clamping member 22 to a position aligned with the conveying path of the conveyor device 1, thereby allowing the first clamping member 21 and the second clamping member 22 to clamp on both sides of the to-be-locked member 200 located on the conveying path of the conveyor device 1.

[0067] In the actual application process, Figure 6 As shown, the third driving part 241 can be connected to the movable end of the first driving part 231, and the first clamping member 21 is connected to the movable end of the third driving part 241. In this way, the first driving part 231 can drive the third driving part 241 to move along the Figure 6 The left and right directions of the movement drive the first clamping member 21 along Figure 6 The third driving part 241 can drive the first clamping member 21 to move in the left and right directions. Figure 6 Up and down movement in the .

[0068] The fourth driving part 242 can be connected to the movable end of the second driving part 232, and the second clamping member 22 is connected to the movable end of the fourth driving part 242. In this way, the second driving part 232 can drive the fourth driving part 242 to move along the Figure 6 The left and right direction of the movement, thereby driving the second clamping member 22 along Figure 6 The fourth driving part 242 can drive the second clamping member 22 to move in the left and right directions. Figure 6 Up and down movement in the .

[0069] Alternatively, the first driving portion 231 can be connected to the movable end of the third driving portion 241, and the first clamping member 21 is connected to the movable end of the first driving portion 231. In this way, the third driving portion 241 can drive the first driving portion 231 to move along the Figure 6 The first clamping member 21 moves along the vertical direction of the Figure 6 The first driving part 231 can drive the first clamping member 21 to move along the vertical direction of the Figure 6 Left and right movement in the .

[0070] The second driving part 232 can be connected to the movable end of the fourth driving part 242, and the second clamping member 22 is connected to the movable end of the second driving part 232. In this way, the fourth driving part 242 can drive the second driving part 232 to move along the Figure 6 The second clamping member 22 moves along the vertical direction of the Figure 6 The second driving part 232 can drive the second clamping member 22 to move along the vertical direction. Figure 6 Left and right movement in the .

[0071] For example, Figure 7 As shown, Figure 7 for Figure 6 In the enlarged view at point C, the third driving part 241 can be a third cylinder 2411 , the third cylinder 2411 can be connected to the output end of the first linear guide rail 2311 , and the first clamping member 21 can be connected to the output end of the third cylinder 2411 .

[0072] like Figure 8 As shown, Figure 8 for Figure 6 In the enlarged view at point D, the fourth driving part 242 can be a fourth cylinder 2421 , the fourth cylinder 2421 can be connected to the output end of the second linear guide rail 2321 , and the second clamping member 22 can be connected to the output end of the fourth cylinder 2421 .

[0073] In some embodiments, as Figure 9 As shown, Figure 9 This is the third schematic diagram of the positional relationship between the automatic locking system 100 and the locking member 200 provided in an embodiment of the present application. The conveyor device 1 is provided with a first avoidance opening 11 and a second avoidance opening 12. The first avoidance opening 11 and the second avoidance opening 12 are spaced apart along the conveying direction of the conveyor device 1. The first avoidance opening 11 is used to pass through the first clamping member 21, and the second avoidance opening 12 is used to pass through the second clamping member 22.

[0074] Thus, in actual application, the staff can place the main body of the clamping assembly 2 below the conveying device 1. When the first clamping member 21 and the second clamping member 22 are needed to fix the to-be-locked member 200 at a predetermined position, the third driving part 241 ( Figure 6 ) and the fourth driving unit 242 ( Figure 6 ) can respectively drive the first clamping member 21 and the second clamping member 22 to rise and pass through the first avoidance opening 11 and the second avoidance opening 12. After the first clamping member 21 and the second clamping member 22 pass through the first avoidance opening 11 and the second avoidance opening 12, they can move to the position corresponding to the part to be locked 200.

[0075] The first and second clearance openings 11 and 12 allow the first and second clamping members 21 and 22 to move toward or away from each other. Thus, after passing through the first and second clearance openings 11 and 12, the first and second clamping members 21 and 22 can approach each other, clamping on either side of the component 200 to secure the component 200. The first and second clamping members 21 and 22 can also move away from each other, releasing the component 200 and allowing it to move along the conveyor 1.

[0076] In order to improve the position accuracy of the locking member 200 in the height direction, in some embodiments, such as Figure 4 As shown, the first clamping member 21 includes a first limiting surface 211 and a second limiting surface 212. The first limiting surface 211 faces the second clamping member 22 ( Figure 3 ), the second limiting surface 212 faces upward.

[0077] like Figure 5 As shown, the second clamping member 22 includes a third limiting surface 221 and a fourth limiting surface 222 , the third limiting surface 221 faces the first clamping member 21 , and the fourth limiting surface 222 faces upward.

[0078] In actual use, when the first clamping member 21 and the second clamping member 22 clamp the member to be locked 200, the first limiting surface 211 and the third limiting surface 221 respectively contact the side surfaces on opposite sides of the member to be locked 200. In this way, the first limiting surface 211 and the third limiting surface 221 can limit the position of the member to be locked 200, fixing the member to be locked 200 at a predetermined position along the conveying path of the conveyor device 1.

[0079] When the first clamping member 21 and the second clamping member 22 clamp the to-be-locked member 200, the second limiting surface 212 and the fourth limiting surface 222 are in contact with the bottom surface of the to-be-locked member 200. In this way, the second limiting surface 212 and the fourth limiting surface 222 can support the bottom of the to-be-locked member 200.

[0080] At this time, the third driving unit 241 and the fourth driving unit 242 continue to drive the first clamping member 21 and the second clamping member 22 upward, and the first clamping member 21 and the second clamping member 22 can lift the object to be locked 200. The staff can set the height to which the third driving unit 241 and the fourth driving unit 242 drive the first clamping member 21 and the second clamping member 22 to rise in advance, so that the first clamping member 21 and the second clamping member 22 can lift the object to be locked 200 to a predetermined height position, thereby ensuring the height position accuracy of the object to be locked 200 when it is in the predetermined position.

[0081] In some embodiments, as Figure 10 As shown, Figure 10 This is the fourth schematic diagram of the positional relationship between the automatic locking system 100 and the piece to be locked 200 provided in the embodiment of the present application. The automatic locking system 100 may further include a carrying device 5, which is used to carry the piece to be locked 200. In this way, the carrying device 5 can support the piece to be locked 200 so that a gap is formed between the piece to be locked 200 and the conveying device 1, so that the second limiting surface 212 ( Figure 3 ) and the fourth limiting surface 222 ( Figure 4 ) contacts the bottom surface of the to-be-locked component 200.

[0082] The carrier 5 is mounted on the conveyor 1. The conveyor 1 is used to drive the carrier 5 to move and transport the parts to be locked 200. In actual use, the conveyor 1 can drive the carrier 5 to move along the conveying path of the conveyor 1, thereby driving the parts to be locked 200 mounted on the carrier 5 to move.

[0083] During actual application, a limiting portion 51 can be provided on the carrying device 5. Along the width direction of the conveying device 1, the limiting portion 51 can be used to abut against the part to be locked 200 to ensure the position accuracy of the part to be locked 200 in the width direction of the conveying device 1.

[0084] For example, Figure 11 As shown, Figure 11 The fifth schematic diagram of the positional relationship between the automatic locking system 100 and the part to be locked 200 provided in the embodiment of the present application, the limiting portion 51 can be a limiting side wall 511, and along the width direction of the conveying device 1, the limiting side wall 511 abuts against one side of the part to be locked 200.

[0085] The automatic locking system 100 may further include a pusher 9 for pushing the locking member 200 so that the locking member 200 abuts against the limiting sidewall 511. Thus, the limiting sidewall 511 can limit the locking member 200, thereby ensuring the position accuracy of the locking member 200 in the width direction of the conveyor 1.

[0086] In order to facilitate the first clamping member 21 and the second clamping member 22 to clamp the to-be-locked member 200, in some embodiments, such as Figure 11 As shown, along the conveying path of the conveying device 1, the to-be-locked component 200 is at least partially located outside the carrying device 5. In this way, the second limiting surface 212 ( Figure 4 ) and the fourth limiting surface 222 ( Figure 5 ) can be located outside the carrying device 5 together with the part to be locked 200 so as to lift the part to be locked 200.

[0087] In some embodiments, as Figure 11As shown, the conveying device 1 may include a first slide rail 13 and a second slide rail 14. Along the width direction of the conveying device 1, the second slide rail 14 is spaced apart from the first slide rail 13, and the extension direction of the first slide rail 13 and the second slide rail 14 is consistent with the conveying direction of the conveying device 1.

[0088] At least a portion of the carrier 5 is located between the first and second rails 13, 14. The dimension of at least a portion of the carrier 5 in the width direction of the conveyor 1 is adapted to the spacing between the first and second rails 13, 14. Thus, the portion of the carrier 5 located between the first and second rails 13, 14 can abut against the side of the first and second rails 13, 14 that is closest to each other. The first and second rails 13, 14 can limit the carrier 5, ensuring the positional accuracy of the carrier 5 in the width direction of the conveyor 1, thereby ensuring the positional accuracy of the components 200 to be locked, which are disposed on the carrier 5, in the width direction of the conveyor 1.

[0089] It is understood that, in actual use, a small gap may be left between the portion of the carrier device 5 located between the first and second slide rails 13, 14 and the first and second slide rails 13, 14. In this way, the first and second slide rails 13, 14 can still limit the carrier device 5. At the same time, the friction between the carrier device 5 and the first and second slide rails 13, 14 can be effectively reduced during movement of the conveyor device 1.

[0090] In some embodiments, as Figure 12 As shown, Figure 12 This is the sixth schematic diagram of the positional relationship between the automatic locking system 100 and the object to be locked 200 provided in the embodiment of the present application. The automatic locking system 100 may further include a brake assembly 6. The brake assembly 6 is used to contact the carrier device 5 when the object to be locked 200 is transported to the predetermined position to prevent the object to be locked 200 from moving. In this way, the brake assembly 6 can stop the carrier device 5 after moving to the predetermined position, so that the object to be locked 200 is parked on the first clamping member 21 ( Figure 9 ) between the first clamping member 21 and the second clamping member 22, thereby ensuring that the first clamping member 21 and the second clamping member 22 can stably clamp the to-be-locked member 200 to adjust the position accuracy of the to-be-locked member 200.

[0091] It is understood that, in other embodiments, the brake assembly 6 can also directly contact the to-be-locked component 200. In this way, the brake assembly 6 can also prevent the to-be-locked component 200 from moving.

[0092] In some embodiments, as Figure 12As shown, the brake assembly 6 may include a third driving structure 61 and a blocking member 62. The third driving structure 61 is used to drive the blocking member 62 to move up and down, so that the blocking member 62 moves to a position blocking the movement of the to-be-locked component 200 or to a position avoiding the to-be-locked component 200.

[0093] Thus, when the locking member 200 needs to be docked at a predetermined position, the third driving structure 61 can drive the blocking member 62 upward. After the blocking member 62 is raised, it can contact the carrier 5, thereby restraining the carrier 5 and allowing the locking member 200 to dock at the predetermined position. When the locking member 200 is locked, the third driving structure 61 can drive the blocking member 62 downward, so that the blocking member 62 no longer blocks the movement of the carrier 5, and the carrier 5 can drive the locking member 200 to continue to move along the conveying path of the conveyor 1.

[0094] In order to prevent the blocking member 62 from interfering with the second clamping member 22, in some embodiments, such as Figure 12 As shown, along the conveying direction of the conveying device 1, the bottom of the front end of the carrier 5 can be provided with an escape groove 52, and the blocking member 62 can be inserted into the escape groove 52 and abut against the inner wall of the escape groove 52. In this way, the escape groove 52 can form an escape for the blocking member 62, thereby preventing the blocking member 62 from affecting the second clamping member 22 from clamping the to-be-locked component 200.

[0095] In order to achieve automatic locking of the locking member 200, in some embodiments, as shown in FIG. Figure 2 As shown, the automatic locking system 100 may further include a feeding device 3, a driving device 7, and a locking device 4. The feeding device 3 may include a screw feeder 31, which may automatically provide screws to the locking device 4. It is understood that how the screw feeder 31 is fed is a conventional technique for those skilled in the art, and therefore will not be described in detail in this application.

[0096] The drive device 7 is connected to the locking device 4. The drive device 7 can drive the locking device 4 to move in three dimensions. For example, the drive device 7 can be a manipulator 71. How the manipulator 71 drives other components to move in three dimensions is a common technique for those skilled in the art and will not be further elaborated in this application.

[0097] The locking device 4 may include a locking member 42. The locking member 42 can draw a screw from the screw feeder 31 and rotate the screw to lock the screw onto the component 200 to be locked. The manipulator 71 can drive the locking member 42 to move it to a predetermined position so that the screw attracted by the locking member 42 aligns with the position on the component 200 to be locked.

[0098] In some embodiments, as Figure 2 As shown, the locking component 42 may be a servo electric screwdriver 421 , which may include a servo motor 422 and a locking screwdriver head 423 . The automatic locking system 100 may further include a controller.

[0099] In actual application, the locking bit 423 can absorb the screw, and the servo motor 422 can drive the locking bit 423 to rotate, thereby locking the screw absorbed by the locking bit 423 to a predetermined position of the component 200 to be locked.

[0100] In order to ensure that the screw has a suitable locking force when being fastened to the part to be fastened 200, in some embodiments, such as Figure 2 As shown, the locking device 4 may further include a displacement sensor 43. The displacement sensor 43 may detect the height to which the locking member 42 descends during the process of screwing the screw, thereby detecting the length of the screw locked into the threaded hole during the process of screwing.

[0101] It is understood that the displacement sensor 43 can transmit the detected information to the controller, which can then control the rotation of the servo motor 422 based on the received information. Thus, after the screw is tightened to the appropriate depth, the displacement sensor 43 sends a signal to the controller, which controls the servo motor 422 to stop rotating, thereby precisely controlling the depth of the screw tightened into the threaded hole.

[0102] In some embodiments, the locking device 4 may further include a torque sensor (not shown), which may be used to detect the reaction force transmitted from the screw to the locking bit 423. The torque sensor may also be electrically connected to the controller. When the detected torque reaches a predetermined value, the torque sensor may send a signal to the controller. Upon receiving the signal, the controller may control the servo motor 422 to stop rotating, thereby locking the screw to the component 200 with an appropriate force.

[0103] It is understandable that in actual application, the number of locking devices 4 and driving devices 7 can be multiple, and multiple locking devices 4 and driving devices 7 can simultaneously screw the locking part 200, thereby improving the efficiency of screwing the locking part 200.

[0104] It should be noted that, in actual application, the feeding device 3 is not limited to the screw feeder 31. The feeding device 3 can also be a nut feeder or a bolt feeder. Accordingly, the locking device 4 and the driving device 7 can be designed according to actual needs to lock the workpiece to the component 200 to be locked, so that the workpiece such as a nut or bolt can be locked to the component 200.

[0105] In some embodiments, as Figure 2As shown, the automatic locking system 100 may further include an image acquisition device 8. A controller may be connected to the image acquisition device 8 and the drive device 7. The controller is configured to control the drive device 7 to move the locking device 4 to a position opposite the threaded hole based on the position of the threaded hole in the image captured by the image acquisition device 8. In this way, the automatic locking system 100 can modify the motion parameters of the drive device 7 based on the machining error of the threaded hole on the component 200 to be locked, so that the drive device 7 can accurately move the locking device 4 to a position opposite the threaded hole on the component 200 to be locked.

[0106] It is understood that, in actual use, the image acquisition device 8 can also capture positional information of other components or parts of the locking component 200 that require locking. For example, when the locking device 4 is used to lock a nut onto a bolt on the locking component 200, the image acquisition device 8 can capture positional information of the bolt on the locking component 200.

[0107] The above is only a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or replacements within the technical scope disclosed in the present application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. An automatic locking and payment system, characterized in that: include: A conveying device for conveying parts to be locked; and a clamping assembly, arranged on a conveying path of the conveying device; In which, the clamping assembly includes a first clamping member, a second clamping member and a first driving mechanism connected to the first clamping member and the second clamping member, which are arranged at intervals along the conveying path; the first driving mechanism is used to drive the first clamping member and the second clamping member to move toward or away from each other, so as to fix the part to be locked at a predetermined position on the conveying path.

2. The automatic locking system according to claim 1, characterized in that: The first driving mechanism comprises: a first driving portion connected to the first clamping member; and a second driving portion connected to the second clamping member; The first driving part and the second driving part are respectively used to drive the first clamping member and the second clamping member to move toward or away from each other.

3. The automatic locking system according to claim 2, characterized in that: The clamping assembly further comprises: The second driving mechanism is connected to the first clamping member and the second clamping member, and is used to drive the first clamping member and the second clamping member to move up and down.

4. The automatic locking system according to claim 3, characterized in that: The second driving mechanism comprises: a third driving portion connected to the first clamping member; and a fourth driving portion connected to the second clamping member; The third driving part and the fourth driving part are respectively used to drive the first clamping member and the second clamping member to move up and down.

5. The automatic locking system according to claim 4, characterized in that: The conveying device is provided with a first avoidance opening and a second avoidance opening, and the first avoidance opening and the second avoidance opening are arranged at intervals along the conveying direction of the conveying device; The first avoidance opening is used to pass through the first clamping member, and the second avoidance opening is used to pass through the second clamping member; The first avoidance opening and the second avoidance opening allow the first clamping member and the second clamping member to move toward or away from each other.

6. The automatic locking system according to claim 5, characterized in that: The first clamping member includes a first limiting surface and a second limiting surface, the first limiting surface faces the second clamping member, and the second limiting surface faces upward; The second clamping member includes a third limiting surface and a fourth limiting surface, the third limiting surface faces the first clamping member, and the fourth limiting surface faces upward; When the first clamping member and the second clamping member clamp the part to be locked, the first limiting surface and the third limiting surface respectively contact the opposite side surfaces of the part to be locked, and the second limiting surface and the fourth limiting surface both contact the bottom surface of the part to be locked.

7. The automatic locking system according to claim 1, characterized in that: The automatic locking system also includes: The carrying device is used for carrying the parts to be locked and is arranged on the conveying device. The conveying device is used for driving the carrying device to move so as to convey the parts to be locked.

8. The automatic locking system according to claim 7, characterized in that: The conveying device comprises: a first slide rail; and a second slide rail, arranged along the width direction of the conveying device, the second slide rail and the first slide rail being spaced apart, and the extending direction of the first slide rail and the second slide rail being consistent with the conveying direction of the conveying device; At least a portion of the carrying device is located between the first slide rail and the second slide rail, and a dimension of the at least a portion of the carrying device in the width direction of the conveying device is adapted to the distance between the first slide rail and the second slide rail.

9. The automatic locking system according to claim 8, characterized in that: The automatic locking system also includes: The brake assembly is used to contact the carrying device when the to-be-locked component is transported to the predetermined position, so as to prevent the to-be-locked component from moving.

10. The automatic locking system according to any one of claims 1 to 9, characterized in that: The automatic locking system also includes: Locking device; A driving device connected to the locking device; An image acquisition device, the image acquisition device being used to acquire an image of the to-be-locked component located at the predetermined position; The controller is connected to the image acquisition device and the driving device, and is used to control the driving device to drive the locking device to move to a position opposite to the threaded hole according to the position of the threaded hole in the image obtained by the image acquisition device.

Images