Intelligent board card installation actuator

Abstract

The utility model provides an intelligent board card installation actuator, which comprises an installation frame assembly and a machine vision detection mechanism, and is characterized in that the installation frame assembly comprises a connecting plate, a side support plate and a U-shaped support plate; wherein the side supporting plate is fixedly connected to one side of the connecting plate, and the U-shaped supporting plate is fixedly connected to the other side of the connecting plate; according to the utility model, the positions of the board card and the card slot are determined through the machine vision detection mechanism by utilizing a machine vision detection technology, then the board card is grabbed by utilizing the grabbing clamping jaw mechanism and transferred to the card slot, and then the board card is pushed into the mounting card slot to be assembled through the pressing clamping jaw mechanism; according to the assembling device, the board card is arranged on the base, then the bolt on the board card is tightened through the tightening electric screwdriver mechanism, the tightening torque is detected through the torque sensor, it is ensured that the installing precision and torque control can meet the assembling requirement, and therefore assembling operation does not need to be conducted manually, the working efficiency is improved, and the labor cost is reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to an executor, specifically intelligent board card installation executor belongs to the technical field of executor. BACKGROUND

[0002] Board card installation is one of important processes in the electronic equipment assembling production process of electric control cabinet, industrial computer, controller etc., mainly according to actual demand, installs the board card to corresponding card slot or slot, carries out the assembling operation to electronic equipment, and can realize the functional integration of electronic equipment with the board card of specific function.

[0003] The traditional electric control cabinet board card installation mode adopts semi-automatic or manual mode to install, but due to the overcomplicated installation process, leads to low installation efficiency, and the board card installation usually needs higher positioning accuracy and torque control, is easy to further influence installation efficiency, for this, an intelligent board card installation executor is proposed. UTILITY MODEL CONTENT

[0004] Therefore, the utility model provides an intelligent board card installation executor to solve or alleviate the technical problems in the prior art, at least to provide beneficial choices.

[0005] The technical scheme of the utility model embodiment is realized as follows: an intelligent board card installation executor, including mounting frame assembly and machine vision detection mechanism, the mounting frame assembly includes connecting plate, side support plate and U-shaped support plate;

[0006] Among them, the side support plate is fixedly connected to one side of the connecting plate, the U-shaped support plate is fixedly connected to the other side of the connecting plate, the machine vision detection mechanism is installed at the bottom of the connecting plate, one side of the side support plate is provided with a tightening electric wrench mechanism, the outer side wall of the U-shaped support plate is provided with a pressing claw mechanism, and the inner side wall of the U-shaped support plate is provided with a grabbing claw mechanism;

[0007] Among them, the machine vision detection mechanism determines the position of the board card and the card slot by using machine vision detection technology;

[0008] Among them, the grabbing claw mechanism is used for grabbing the board card;

[0009] Among them, the pressing claw mechanism is used for pushing the board card grabbed by the grabbing claw mechanism into the board card installation card slot;

[0010] Among them, the tightening electric wrench mechanism is used for tightening the bolt on the board card;The tightening electric wrench mechanism includes an electric wrench driver, a screwdriver body and a torque sensor;

[0011] The torque sensor is installed on the output shaft of the electric screwdriver, and one end of the screwdriver body is installed on the end of the torque sensor away from the electric screwdriver.

[0012] Further preferably, the machine vision detection mechanism comprises a detection box, a binocular camera and a lighting lamp.

[0013] The detection box is installed on the bottom of the connecting plate, the binocular camera is installed on the middle of the inner side wall of the detection box, and the lighting lamp is installed on the bottom of the inner side wall of the detection box.

[0014] Further preferably, the tightening electric screwdriver mechanism further comprises two first sliding rails, a push block and a pushing cylinder.

[0015] The two first sliding rails are fixedly connected to one side of the side support plate, the inner side wall of the push block is in sliding connection with the outer side walls of the two first sliding rails, the electric screwdriver is installed on one side of the push block, the pushing cylinder is installed on one side of the side support plate, and the piston rod of the pushing cylinder is fixedly connected to one side of the push block.

[0016] Further preferably, the grabbing gripper mechanism comprises a grabbing motor, a gripper connecting frame, two chuck heads, a first screw rod, an internally threaded sliding block and a plurality of connecting pieces.

[0017] The gripper connecting frame is fixedly connected to the middle of the inner side wall of the U-shaped support plate, the grabbing motor is installed on one side of the gripper connecting frame, one end of the first screw rod is fixedly connected to the output shaft of the grabbing motor, the internally threaded sliding block is arranged inside the gripper connecting frame, and the outer side wall of the first screw rod is in threaded connection with the inner side wall of the internally threaded sliding block.

[0018] Further preferably, the two chuck heads are symmetrically arranged on one side of the gripper connecting frame, one end of each of the plurality of connecting pieces is hingedly connected to the inner side wall of the gripper connecting frame and the outer side wall of the internally threaded sliding block, and the other end of each of the plurality of connecting pieces is hingedly connected to one side of each of the two chuck heads.

[0019] Further preferably, the pressing jaw mechanism comprises an upper pushing motor, a lower pushing motor, two second screw rods, two sliding plates, four second sliding rails and two push plates.

[0020] The upper propelling motor is installed on the upper surface of the U-shaped support plate, the lower propelling motor is installed on the lower surface of the U-shaped support plate, the two second screw rods are fixedly connected to the output shafts of the upper propelling motor and the lower propelling motor respectively, the four second sliding rails are fixedly connected to the upper surface and the lower surface of the U-shaped support plate symmetrically, the inner side walls of the two sliding plates are slidably connected with the outer side walls of the four second sliding rails respectively, the outer side walls of the two second screw rods are threadedly connected with the inner side walls of the two sliding plates respectively, and the two push plates are fixedly connected to the sides of the two sliding plates away from the U-shaped support plate.

[0021] Further preferably, one side of the side support plate is fixedly connected with a guide plate, the outer side wall of the screwdriver body is slidably connected with the inner side wall of the guide plate, one end of the two first sliding rails is provided with a positioning plate, and the positioning plate is fixedly connected to one side of the side support plate.

[0022] The machine vision detection mechanism determines the positions of the board card and the card slot by using machine vision detection technology, then the grabbing gripper mechanism is used to grab the board card and transfer it to the card slot, then the pressing gripper mechanism is used to push the board card into the installation card slot for assembly, then the tightening electric wrench mechanism is used to tighten the bolts on the board card, and the tightening torque is detected by using the torque sensor, so that the installation precision and torque control can meet the assembly requirements, thereby the manual assembly operation is not needed, the work efficiency is improved, and the labor cost is reduced.

[0023] The above summary is only for the purpose of the description and does not limit in any way. In addition to the above-described exemplary aspects, embodiments and features, further aspects, embodiments and features of the present application will be apparent to those skilled in the art by reference to the drawings and the following detailed description. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creating any creative labor.

[0025] Figure 1 is a structural diagram of the present application;

[0026] Figure 2 is a side view structural schematic diagram of the present application;

[0027] Figure 3 is an axial side view of the electric wrench driver of the present application;

[0028] Figure 4 This is an isometric view of the gripping motor and the gripper connecting frame of this utility model;

[0029] Figure 5 This is a side view of the U-shaped support plate and the upward propulsion motor of this utility model.

[0030] Reference numerals: 1. Mounting bracket assembly; 2. Machine vision inspection mechanism; 3. Tightening electric screwdriver mechanism; 4. Gripping gripper mechanism; 5. Clamping gripper mechanism; 101. Connecting plate; 102. Side support plate; 103. U-shaped support plate; 201. Inspection box; 202. Binocular camera; 203. Illumination lamp; 301. First slide rail; 302. Push block; 303. Push cylinder; 304. Electric screwdriver driver; 305. Screwdriver body; 306. Torque sensor; 401. Gripping motor; 402. Gripper connecting frame; 403. Chuck; 404. First screw; 405. Internal threaded slider; 406. Connector; 501. Upper push motor; 502. Lower push motor; 503. Second screw; 504. Slide plate; 505. Second slide rail; 506. Push plate; 61. Guide plate; 62. Positioning plate. Detailed Implementation

[0031] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of this invention. Therefore, the drawings and description are considered exemplary in nature and not restrictive.

[0032] It is important to note that terms such as "first," "second," "symmetric," and "array" are used only to distinguish between descriptive and positional descriptions and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, features specified with terms such as "first" or "symmetric" may explicitly or implicitly include one or more of that feature; similarly, when the quantity of certain features is not limited by words such as "two" or "three," it should be noted that such features also explicitly or implicitly include one or more features.

[0033] The embodiments of this utility model will now be described in detail with reference to the accompanying drawings.

[0034] like Figures 1-5 As shown, this utility model embodiment provides an intelligent board installation actuator, including a mounting frame assembly 1 and a machine vision inspection mechanism 2. The mounting frame assembly 1 includes a connecting plate 101, a side support plate 102 and a U-shaped support plate 103.

[0035] The side plate 102 is fixedly connected to one side of the connecting plate 101, the U-shaped plate 103 is fixedly connected to the other side of the connecting plate 101, the machine vision detection mechanism 2 is installed at the bottom of the connecting plate 101, one side of the side plate 102 is provided with the tightening electric wrench mechanism 3, the outer side wall of the U-shaped plate 103 is provided with the pressing jaw mechanism 5, and the middle part of the inner side wall of the U-shaped plate 103 is provided with the grabbing jaw mechanism 4.

[0036] The machine vision detection mechanism 2 determines the positions of the board card and the card slot by using a machine vision detection technology.

[0037] The grabbing jaw mechanism 4 is used for grabbing the board card.

[0038] The pressing jaw mechanism 5 is used for pushing the board card grabbed by the grabbing jaw mechanism 4 into the board card mounting card slot.

[0039] The tightening electric wrench mechanism 3 is used for tightening the bolt on the board card. The tightening electric wrench mechanism 3 comprises an electric wrench driver 304, a screwdriver body 305 and a torque sensor 306.

[0040] The torque sensor 306 is installed on the output shaft of the electric wrench driver 304, and one end of the screwdriver body 305 is installed on the end of the torque sensor 306 away from the electric wrench driver 304.

[0041] In an embodiment, the machine vision detection mechanism 2 comprises a detection box 201, a binocular camera 202 and an illuminating lamp 203.

[0042] The detection box 201 is installed at the bottom of the connecting plate 101, the binocular camera 202 is installed at the middle part of the inner side wall of the detection box 201, and the illuminating lamp 203 is installed at the bottom of the inner side wall of the detection box 201.

[0043] The binocular camera 202 is used for image acquisition of the board card and the board card mounting card slot, so as to determine the positions of the board card and the card slot by using the machine vision detection technology. The illuminating lamp 203 is used for assisting the binocular camera 202 in light supplement, so as to ensure the image acquisition effect.

[0044] In an embodiment, the tightening electric wrench mechanism 3 further comprises two first sliding rails 301, a push block 302 and a pushing cylinder 303.

[0045] The two first sliding rails 301 are fixedly connected to one side of the side plate 102, the inner side wall of the push block 302 is in sliding connection with the outer side walls of the two first sliding rails 301, the electric wrench driver 304 is installed on one side of the push block 302, the pushing cylinder 303 is installed on one side of the side plate 102, and the piston rod of the pushing cylinder 303 is fixedly connected to one side of the push block 302.

[0046] The push block 302 is pushed along the first slide rail 301 by the piston rod of the push cylinder 303, the moving push block 302 drives the electric screwdriver 304, the torque sensor 306 and the screwdriver body 305 to move, so that one end of the screwdriver body 305 is inserted into the bolt on the board card, then the screwdriver body 305 is driven to rotate by the output shaft of the electric screwdriver 304 through the torque sensor 306, and the screwdriver body 305 is driven to move by the push block 302 pushed by the push cylinder 303, so as to tighten the bolt on the board card.

[0047] In one embodiment, the grabbing jaw mechanism 4 comprises a grabbing motor 401, a jaw connecting frame 402, two clamping heads 403, a first screw rod 404, an internally threaded sliding block 405 and a plurality of connecting pieces 406.

[0048] The jaw connecting frame 402 is fixedly connected to the middle part of the inner side wall of the U-shaped support plate 103, the grabbing motor 401 is installed on one side of the jaw connecting frame 402, one end of the first screw rod 404 is fixedly connected to the output shaft of the grabbing motor 401, the internally threaded sliding block 405 is arranged on the inner side of the jaw connecting frame 402, the outer side wall of the first screw rod 404 is threadedly connected with the inner side wall of the internally threaded sliding block 405, the two clamping heads 403 are symmetrically arranged on one side of the jaw connecting frame 402, one end of each of the plurality of connecting pieces 406 is hingedly connected to the inner side wall of the jaw connecting frame 402 and the outer side wall of the internally threaded sliding block 405, and the other end of each of the plurality of connecting pieces 406 is hingedly connected to one side of each of the two clamping heads 403.

[0049] The first screw rod 404 is driven to rotate by the output shaft of the grabbing motor 401, the rotating first screw rod 404 drives the internally threaded sliding block 405 to move through threads, the moving internally threaded sliding block 405 drives the clamping heads 403 to open through the cooperation of the connecting pieces 406, and the clamping heads 403 can be closed when the output shaft of the grabbing motor 401 reversely rotates.

[0050] In one embodiment, the pressing jaw mechanism 5 comprises an upper push motor 501, a lower push motor 502, two second screw rods 503, two sliding plates 504, four second slide rails 505 and two push plates 506.

[0051] The upper push motor 501 is installed on the upper surface of the U-shaped support plate 103, the lower push motor 502 is installed on the lower surface of the U-shaped support plate 103, the two second screw rods 503 are fixedly connected to the output shafts of the upper push motor 501 and the lower push motor 502 respectively, and the four second slide rails 505 are fixedly connected to the upper surface and the lower surface of the U-shaped support plate 103 symmetrically. The inner side walls of the two sliding plates 504 are slidably connected with the outer side walls of the four second slide rails 505 respectively, the outer side walls of the two second screw rods 503 are threadedly connected with the inner side walls of the two sliding plates 504 respectively, and the two push plates 506 are fixedly connected to one sides of the two sliding plates 504 away from the U-shaped support plate 103 respectively.

[0052] The output shafts of the upper and lower propelling motors 501 and 502 drive the two second screw rods 503 to rotate, the two rotating second screw rods 503 drive the sliding plate 504 to move through threads, the moving sliding plate 504 drives the push plate 506 to push the clamped board card, so as to push the board card into the card slot, and the second slide rail 505 is arranged to guide the moving sliding plate 504.

[0053] In one embodiment, one side of the side support plate 102 is fixedly connected with a guide plate 61, the outer side wall of the screwdriver body 305 is slidably connected with the inner side wall of the guide plate 61, one end of the two first slide rails 301 is provided with a positioning plate 62, and the positioning plate 62 is fixedly connected to one side of the side support plate 102.

[0054] The positioning plate 62 is arranged to limit the push block 302 moving along the first slide rail 301, and the guide plate 61 is arranged to guide the screwdriver body 305.

[0055] When working, first, according to actual requirements, the actuator is integrally installed and fixed on a moving machine such as a mechanical arm and a screw rod module by the connecting plate 101.

[0056] When the board card needs to be assembled, first, the board card and the card slot are imaged by the binocular camera 202, and the imaged image is fed back to the moving machine control terminal, so as to determine the position of the board card and the card slot by using machine vision detection technology, and when the position determination is completed, the grabbing clamp jaw mechanism 4 is moved to the board card by the moving machine through the connecting plate 101 and the U-shaped support plate 103.

[0057] When the board card needs to be grabbed, the first screw rod 404 is driven to rotate by the output shaft of the grabbing motor 401, the rotating first screw rod 404 drives the internally threaded sliding block 405 to move through threads, the moving internally threaded sliding block 405 drives the collet 403 to open through the connecting piece 406, then the actuator is integrally moved by the moving machine, so that the collet 403 is moved to the two sides of the board card, then the first screw rod 404 is driven to rotate reversely by the output shaft of the grabbing motor 401, the reversely rotating first screw rod 404 drives the collet 403 to clamp through the internally threaded sliding block 405 and the connecting piece 406, so as to grab the board card.

[0058] When the card grabbing is completed, the whole executor is moved by the moving machine, so as to move the grabbed card to the card slot, then the second screw rod 503 is rotated by the output shaft of the up pushing motor 501 and the down pushing motor 502, the second screw rod 503 is moved by the thread, the sliding plate 504 is moved by the second sliding rail 505, and the pushing plate 506 is pushed by the sliding plate 504, so as to push the card into the card slot.

[0059] When the card is installed into the card slot, the whole executor is moved by the moving machine, so as to move the screwdriver mechanism 3 above the card, then the pushing block 302 is moved along the first sliding rail 301 by the piston rod of the pushing cylinder 303, the screwdriver driver 304, the torque sensor 306 and the screwdriver body 305 are moved by the pushing block 302, so as to insert one end of the screwdriver body 305 into the bolt on the card, then the screwdriver body 305 is rotated by the torque sensor 306 through the output shaft of the screwdriver driver 304, the screwdriver body 305 is moved by the pushing block 302 through the pushing cylinder 303, so as to tighten the bolt on the card, the tightening torque is detected by the torque sensor 306, when the data detected by the torque sensor 306 reaches the threshold value, the screwdriver driver 304 stops working, and the screwdriver driver 304 is reset by the pushing block 302 through the pushing cylinder 303, so as to complete the assembling and fixing operation.

[0060] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited to this, any skilled person in the art can easily think of various changes or replacements within the technical range disclosed by the present application, these should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. An intelligent board card mounting executor comprising a mounting rack assembly (1) and a machine vision detection mechanism (2), characterized in that, The mounting rack assembly (1) comprises a connecting plate (101), a side support plate (102) and a U-shaped support plate (103); The side support plate (102) is fixedly connected to one side of the connecting plate (101), the U-shaped support plate (103) is fixedly connected to the other side of the connecting plate (101), the machine vision detection mechanism (2) is installed at the bottom of the connecting plate (101), one side of the side support plate (102) is provided with a tightening electric wrench mechanism (3), the outer side wall of the U-shaped support plate (103) is provided with a pressing jaw mechanism (5), and the middle part of the inner side wall of the U-shaped support plate (103) is provided with a grabbing jaw mechanism (4); The machine vision detection mechanism (2) determines the position of the board card and the card groove by using machine vision detection technology; The grabbing jaw mechanism (4) is used for grabbing the board card; The pressing jaw mechanism (5) is used for pushing the board card grabbed by the grabbing jaw mechanism (4) into the board card installation card groove; The tightening electric wrench mechanism (3) is used for tightening the bolt on the board card; the tightening electric wrench mechanism (3) comprises an electric wrench driver (304), a screwdriver body (305) and a torque sensor (306); The torque sensor (306) is installed on the output shaft of the electric wrench driver (304), and one end of the screwdriver body (305) is installed on the end of the torque sensor (306) away from the electric wrench driver (304).

2. The intelligent board card mounting executor according to claim 1, characterized in that: The machine vision detection mechanism (2) comprises a detection box (201), a binocular camera (202) and an illuminating lamp (203); The detection box (201) is installed at the bottom of the connecting plate (101), the binocular camera (202) is installed at the middle part of the inner side wall of the detection box (201), and the illuminating lamp (203) is installed at the bottom of the inner side wall of the detection box (201).

3. The intelligent board card mounting executor according to claim 2, characterized in that: The tightening electric wrench mechanism (3) further comprises two first sliding rails (301), a push block (302) and a pushing cylinder (303); The two first sliding rails (301) are fixedly connected to one side of the side support plate (102), the inner side wall of the push block (302) is slidably connected with the outer side walls of the two first sliding rails (301), the electric wrench driver (304) is installed on one side of the push block (302), the pushing cylinder (303) is installed on one side of the side support plate (102), and the piston rod of the pushing cylinder (303) is fixedly connected to one side of the push block (302).

4. The intelligent board card mounting executor according to claim 1, characterized in that: The grabbing jaw mechanism (4) comprises a grabbing motor (401), a jaw connecting frame (402), two chuck heads (403), a first screw rod (404), an internally threaded sliding block (405) and a plurality of connecting pieces (406); The clamping jaw connecting frame (402) is fixedly connected to the middle part of the inner side wall of the U-shaped support plate (103), the grabbing motor (401) is installed on one side of the clamping jaw connecting frame (402), one end of the first screw rod (404) is fixedly connected to the output shaft of the grabbing motor (401), and the inner thread sliding block (405) is arranged on the inner side of the clamping jaw connecting frame (402).

5. The intelligent board card mounting executor according to claim 4, characterized in that: Two clamping heads (403) are symmetrically arranged on one side of the clamping jaw connecting frame (402), one end of each of a plurality of connecting pieces (406) is hingedly connected to the inner side wall of the clamping jaw connecting frame (402) and the outer side wall of the inner thread sliding block (405), and the other end of each of the plurality of connecting pieces (406) is hingedly connected to one side of the two clamping heads (403).

6. The intelligent board card mounting executor according to claim 1, characterized in that: The pressing claw mechanism (5) comprises an upper pushing motor (501), a lower pushing motor (502), two second screw rods (503), two sliding plates (504), four second sliding rails (505) and two pushing plates (506). The upper pushing motor (501) is installed on the upper surface of the U-shaped support plate (103), the lower pushing motor (502) is installed on the lower surface of the U-shaped support plate (103), two second screw rods (503) are fixedly connected to the output shafts of the upper pushing motor (501) and the lower pushing motor (502), and four second sliding rails (505) are fixedly connected to the upper surface and the lower surface of the U-shaped support plate (103).

7. The intelligent board card mounting executor according to claim 6, characterized in that: The inner side walls of the two sliding plates (504) are slidably connected with the outer side walls of the four second sliding rails (505), the outer side walls of the two second screw rods (503) are threadedly connected with the inner side walls of the two sliding plates (504), and the two pushing plates (506) are fixedly connected to the sides of the two sliding plates (504) away from the U-shaped support plate (103).

8. The intelligent board card mounting executor according to claim 3, characterized in that: One side of the side support plate (102) is fixedly connected with a guide plate (61), the outer side wall of the screwdriver body (305) is slidably connected with the inner side wall of the guide plate (61), one end of the two first sliding rails (301) is provided with a positioning plate (62), and the positioning plate (62) is fixedly connected to one side of the side support plate (102).

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