Robot ground rail movable full-automatic screw locking machine

Abstract

The utility model discloses full-automatic screw locking equipment, and particularly relates to a robot ground rail movable full-automatic screw locking machine. Comprising a Mecanum wheel trolley 1, a multi-specification switching screw feeding bin 2, a seven-axis cooperative robot 3, a constant-position glue dipping cup 4, a locking module 5 and a 2D camera module 6. According to the utility model, long-distance screw locking is carried out on the guide rail and the rack on the robot ground rail, the equipment operation distance is prolonged, the locking positioning precision is improved, and the labor use cost is reduced.

Description

Technical Field

[0001] This utility model relates to a fully automatic screw fastening device, specifically a fully automatic screw fastening machine that can move along a robot track. Background Technology

[0002] With the widespread operation of industrial robots, the seventh axis of the robot, namely the ground rail, plays a very important role in extending the working distance of industrial robots. The robot ground rail is equipped with long guide rails and racks. Installing these guide rails and racks requires manual tightening of screws one by one. A single ground rail usually requires tightening hundreds of screws of different specifications, which consumes a lot of labor costs.

[0003] Currently, the screw fastening work on the robot's track is mainly done manually using a pneumatic tightening gun. The operation steps are: take out a screw, apply thread-locking adhesive, place the screw into the mounting hole, and tighten the screw with the pneumatic tightening gun. Each screw fastening requires at least 4 steps, taking an average of 10 seconds, and is prone to problems such as screws floating, insufficient tightening torque, and missing screw holes.

[0004] Because robot tracks are generally very long, some even exceeding 10 meters, most current automatic screw fastening devices struggle to handle such long distances of automatic screw fastening. For example, Chinese utility model patent CN209773932U discloses "a fully automatic screw fastening machine capable of multi-directional movement." This device is equipped with three moving modules (X, Y, and Z), extending the working distance of the screw fastening device in three directions. However, the distance is still limited and cannot meet the fastening requirements of all screws on the robot track.

[0005] Therefore, a mobile vehicle must be used to move the locking device along the ground track to meet the distance requirements, as indicated by the announcement number.

[0006] Chinese utility model patent CN220480830U discloses a "multifunctional mobile fully automatic screw machine". The equipment includes an automatically movable electric trolley, a gantry frame mounted on the electric trolley, and a rotating assembly for installing screws. The equipment uses the electric trolley to drive other devices to move synchronously, which expands the equipment's construction movement range and improves convenience. However, the equipment does not consider the positioning of the mounting holes or the positioning between the electric trolley and the parts to be installed. Therefore, the equipment can only move along a straight line to a fixed position to install the preset hole position. Once the electric trolley deviates, the screw will be screwed off-center. Moreover, the equipment does not consider the feeding of a large number of screws. Utility Model Content

[0007] To address the challenge of long-distance screw fastening of robot tracks, this invention proposes a Mecanum wheel trolley driven by four independent motors. The Mecanum wheel trolley consists of a frame, two sets of Mecanum wheel chassis (front and rear), and an electrical compartment. The Mecanum wheel chassis are mounted below the frame, driving the entire device forward and backward. The electrical compartment is installed inside the frame and houses various electrical components of the device.

[0008] To solve the positioning problem between the equipment and the robot's track, the device proposed in this invention uses two sets of laser sensors installed at the front and rear ends of one side of the equipment. By continuously scanning the reflective strip on one side of the robot's track, the distance between the equipment and the robot is measured, and the walking distance is determined.

[0009] To address the issue of positioning the mounting holes for the guide rails and racks on the robot's ground track, this invention proposes a device employing a seven-axis collaborative robot with a 2D camera module mounted at its end. The collaborative robot is mounted on a mounting plate on the device frame. It moves the 2D camera module above the robot's ground track to take pictures, thus precisely positioning each mounting hole.

[0010] To address the issue of feeding and tightening screws of different specifications on the robot's track, this invention proposes a device employing a multi-specification switching feeding cart and a quick-change clamping nozzle tightening module. The multi-specification switching feeding cart is mounted on one side of the device and is driven by a Mecanum wheel trolley. The quick-change clamping nozzle tightening module is mounted at the end of the collaborative robot and is driven by the robot to the mounting hole to tighten the screws. When a screw specification needs to be changed, the controller sends a signal to the feeding bin, which automatically switches its feeding port, supplying the required screws and blowing them through a blower to the clamping nozzle of the tightening module. The quick-change clamping nozzle of the tightening module requires manual removal of the original clamping nozzle and installation of the new one.

[0011] To solve the problem of applying glue to screws, the device proposed in this utility model uses a constant-position glue cup installed on the device mounting plate. When it is necessary to apply glue to the screws, the collaborative robot drives the fastening module to immerse the threaded part of the screw into the thread glue in the glue cup. Attached Figure Description

[0012] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with examples of the present invention to explain the invention, but do not constitute a limitation thereof. In the drawings:

[0013] Figure 1 This is a schematic diagram of the present invention;

[0014] Figure 2 For the Mecanum wheel cart;

[0015] Figure 3For constant position adhesive cup;

[0016] Figure 4 For locking modules and 2D camera modules.

[0017] In the diagram: 1. Mecanum wheel trolley; 11. Collaborative robot mounting plate; 12. Mecanum wheel; 13. Laser sensor; 14. Mecanum wheel motor; 15. Electrical compartment. 2. Multi-specification switching feeding bin; 3. Seven-axis collaborative robot; 4. Constant-position glue cup; 41. Constant-position glue cup bracket; 42. Glue cup; 43. Liquid level regulating cup; 5. Locking module; 51. Tightening gun push cylinder; 52. Electric intelligent tightening gun; 53. Slider; 54. Guide rail; 55. Buffer; 56. Gripper; 6. 2D camera module; 61. 2D camera; 62. Camera light source. Detailed Implementation

[0018] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0019] like Figure 1 As shown, this utility model discloses a fully automatic screw fastening machine with a robot-mounted track, comprising a Mecanum wheel trolley 1, a multi-specification screw feeding bin 2, a seven-axis collaborative robot 3, a constant-position adhesive cup 4, a screw fastening module 5, and a 2D camera module 6. The Mecanum wheel trolley consists of four Mecanum wheels 12, four drive motors 14, front and rear bridge chassis 17, a trolley frame 16, two laser sensors 13, and an electrical compartment 15. The Mecanum wheels 17 and drive motors 14 are installed in the front and rear bridge chassis 17, which are mounted on the front and rear bottom of the trolley frame 16. The laser sensors are installed on one side of the trolley frame 16, one at the front and one at the rear. The multi-specification screw feeding bin 2 is installed on the side of the Mecanum wheel trolley 1 away from the track and moves synchronously with the trolley 1. The seven-axis collaborative robot 3 is mounted on a robot mounting plate 11 and is used to deliver the screw fastening module 5 and the 2D camera module 6 to the robot track. The constant-position adhesive cup 4 is mounted on the robot mounting plate 11 and is used to apply adhesive to the screws. The fastening module 5 and the 3D camera module 6 are mounted on the end of the seven-axis collaborative robot 3 and are used to fasten screws to the robot's ground rail and to take pictures to locate the mounting holes. The drive motor 14 is connected to the Mecanum wheel 12 through a reducer and a drive shaft.

[0020] In order to move horizontally forward and backward and left and right during the movement, two sets of bridge chassis structures 17 are set under the Mecanum wheel trolley 1. Each set of bridge chassis 17 is equipped with two sets of drive motors 14 and Mecanum wheels 12.

[0021] To ensure the device remains parallel to the robot's track during forward movement, two sets of laser sensors 13 are installed on the side of the Mecanum wheel trolley frame 16 closest to the track. As the trolley moves forward, the two sets of laser sensors 13 scan one side of the track in real time. When a reflective strip is detected, a signal is transmitted back to the control system. The control system calculates the distance between the two sets of laser sensors 13 and the track and determines whether the trolley's direction and attitude need to be adjusted.

[0022] In order to continuously deliver the locking module 5 and the 2D camera module 6 to the robot's ground rail and position them in the ground rail mounting holes, a seven-axis collaborative robot 3 is set on the Mecanum wheel trolley and mounted on the robot mounting plate 11.

[0023] The locking module includes a cylinder 51 and an electric intelligent tightening gun 52. The electric intelligent tightening gun is mounted on a slider 53. The cylinder 51 pushes the slider 53 to move vertically up and down on the guide rail 54 until it hits the buffer 55. The clamp 56 is mounted directly below the electric intelligent tightening gun 52 to clamp the screw.

[0024] In order to supply screws to the mounting holes of different sizes on the robot's ground track, a screw supply bin 2 with multiple sizes can be set up. The screw supply bin 2 is connected to the Mecanum wheel trolley 1 and has 4 casters underneath it, which can move synchronously with the Mecanum wheel trolley 1.

[0025] In order to keep the glue level constant during the application of thread-locking adhesive, the constant-level glue-dipping cup 4 is equipped with a liquid level regulating cup 41. When the liquid level in the glue-dipping cup 42 drops, the glue in the liquid level regulating cup 41 automatically flows into the glue-dipping cup 42.

[0026] To accurately locate the robot's track mounting holes, a 2D camera module 6 is installed at the end effector of the seven-axis collaborative robot 3, including a 2D camera 61, a lens 62, and a camera light source 63. When it is necessary to identify and locate the robot's track mounting holes, the seven-axis collaborative robot moves the 2D camera module to a position 20 cm above the robot's track, the 2D camera is activated to take a picture and transmit the image back.

Claims

1. A fully automatic screw fastening machine with a robot track, comprising a seven-axis collaborative robot (3), a multi-specification screw feeding bin (2), and an electric intelligent tightening gun (52), characterized in that, Also includes: Mecanum wheel trolley (1), which is set below the collaborative robot (3) and is used to carry the collaborative robot (3) and the multi-specification switching screw feeder (2) for movement, thereby extending the screw fastening operation distance; The constant position glue cup (4) is set on the collaborative robot mounting plate (11) and consists of a constant position glue cup bracket (41), a glue cup (42), and a liquid level regulating cup (43), and is used to apply glue to screws; Locking module (5), which is set at the end of the collaborative robot (3) and is used to carry an electric intelligent tightening gun to lock screws on the robot's ground rail; A 2D camera module (6) is installed at the end of the collaborative robot (3) and is used to carry a 2D camera to take pictures and locate the robot's ground rail mounting hole.

2. The fully automatic screw fastening machine with a robot track as described in claim 1, characterized in that, The Mecanum wheel trolley (1) includes a trolley frame (16), two sets of bridge chassis (17) at the front and rear, an electrical compartment (15), and two sets of laser sensors (13). Two sets of drive motors (14) are installed in each set of bridge chassis (17). The drive motors (14) are connected to the Mecanum wheels (12) through a reducer and a drive shaft. The laser sensors (13) are installed on one side of the trolley frame (16).

3. The fully automatic screw fastening machine with a robot track-movable mechanism according to claim 1, characterized in that, The locking module includes a cylinder (51) and an electric intelligent tightening gun (52). The electric intelligent tightening gun is mounted on a slider (53). The cylinder (51) pushes the slider (53) to move vertically up and down on the guide rail (54) until it hits the buffer (55). The clamp (56) is mounted directly below the electric intelligent tightening gun (52) to clamp the screw.

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