Self-aligning fastener screw robot

Abstract

The utility model discloses a kind of self-alignment fastening screw robot, comprising: frame, the frame lower surface is provided with omnidirectional wheel and high-precision servo motor, high-precision servo motor drives and connects omnidirectional wheel, wide-angle camera is installed on the frame upper surface, fastening screw device is installed in the middle of frame in a through manner, the frame upper surface is also provided with a group of battery compartment, the frame upper surface is also provided with screw storage bin, screw storage bin is set in fastening screw device side edge, screw storage bin carries out the feeding of screw to fastening screw device, the frame upper surface is also provided with control chip, control chip electrically connected high-precision servo motor, fastening screw device and wide-angle camera.The utility model wide-angle visual identification system uses high-resolution wide-angle camera, combines image processing algorithm, significantly reduces visual blind area, realizes sub-millimeter level hole site positioning accuracy, effectively solves the problem that screw and hole site are not aligned, improves operation efficiency.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a self-aligning screw-tightening robot. Background Technology

[0002] Currently, there are no intelligent robot systems with autonomous movement capabilities in the field of screw tightening operations.

[0003] Existing technologies mainly rely on handheld electric screwdrivers, which have the following technical drawbacks:

[0004] 1. Ergonomic issues: Operators need to maintain unnatural postures (such as looking up, bending over, or having their arms hanging in the air) for a long time to perform fastening work, which can easily lead to musculoskeletal strain. Long-term use may cause occupational injuries (such as carpal tunnel syndrome or lumbar spine disease).

[0005] 2. Efficiency bottleneck: Traditional equipment relies on manual positioning and movement. In multi-point operation scenarios, the lack of path planning capabilities leads to an excessively high proportion of ineffective movement time.

[0006] Therefore, we propose a self-aligning screw-fastening robot to address the problems mentioned above. Utility Model Content

[0007] The purpose of this invention is to provide a self-aligning screw-fastening robot to solve the problems mentioned in the background art.

[0008] To achieve the above objectives, this utility model provides the following technical solution: a self-aligning screw fastening robot, comprising: a frame, wherein an omnidirectional wheel and a high-precision servo motor are provided on the lower surface of the frame, and the high-precision servo motor drives and connects to the omnidirectional wheel;

[0009] A wide-angle camera is mounted on the upper surface of the frame, and a fastening screw device is installed through the middle of the frame.

[0010] The upper surface of the frame is also provided with a battery compartment and a screw storage compartment. The screw storage compartment is located on the side of the fastening screw device and is used to feed screws into the fastening screw device.

[0011] The upper surface of the frame is also equipped with a control chip, which is electrically connected to a high-precision servo motor, a fastening screw device, and a wide-angle camera.

[0012] Preferably, there are three omnidirectional wheels and three sets of wide-angle cameras, with both the omnidirectional wheels and the wide-angle cameras arranged in an equilateral triangle.

[0013] Preferably, the battery compartment is located between two wide-angle cameras, and the control chip is located between two other sets of wide-angle cameras.

[0014] Preferably, a housing is installed on the vehicle frame, and the housing has a through hole corresponding to the wide-angle camera.

[0015] Preferably, the screw fastening device includes a sleeve and a screw guide rail. The screw guide rail is installed at the lower end of the sleeve. A stepper motor, a pressure component, a rotating assembly, and a tool fixing device are arranged inside the sleeve. The stepper motor is connected to the rotating assembly for transmission. The pressure component wraps around the rotating assembly and has a guide rail around it. The upper part of the rotating assembly has threads that are threaded to the pressure component. The lower part of the rotating assembly is connected to the tool fixing device.

[0016] Preferably, the tool fixing device has a hexagonal tool fixing hole and a magnet inside.

[0017] Compared with the prior art, the beneficial effects of this utility model are:

[0018] 1. Wide-angle vision recognition system: It adopts a high-resolution wide-angle camera (FOV≥120°) and combined with image processing algorithms to significantly reduce visual blind spots and achieve sub-millimeter-level hole positioning accuracy (error≤±0.3mm), effectively solving the problem of misalignment between screws and holes and improving work efficiency;

[0019] 2. Omnidirectional mobile platform, based on omnidirectional wheel set, equipped with high-precision encoder and motion control algorithm, realizes 360° flexible movement in the plane without dead angles, greatly improves path planning efficiency and significantly reduces non-operation time loss;

[0020] 3. Intelligent torque adjustment device, driven by servo motor, with an adjustable torque range of 0.1-5 N·m, supports dynamic closed-loop control to ensure consistent screw tightening force, avoid stripping or workpiece damage, and improve assembly quality;

[0021] 4. Modular screwdriver head system, equipped with a tool fixing device, has a quick-change interface, is compatible with various screwdriver heads under ISO / DIN standards (such as Phillips, hex, slotted, etc.), and can be used with different screw sizes (M2-M8), enhancing the versatility of the equipment;

[0022] 5. It can complete fastening tasks in areas that are difficult for humans to reach, such as high altitudes, inside equipment, or dense structural environments, expanding industrial assembly capabilities. Through autonomous operation, it completely avoids the need for humans to bend over, climb, or work in confined spaces for long periods of time, reducing the risk of musculoskeletal occupational injuries and reducing reliance on operator skills. It is especially suitable for civilian and industrial scenarios such as furniture assembly and equipment maintenance, improving the consistency of installation quality. Compared with traditional manual fastening, the single screw operation cycle is significantly shortened, and the torque control precision is higher, significantly improving production efficiency and product reliability. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of Embodiment 1 of the present utility model;

[0024] Figure 2 This is a schematic diagram of the internal structure of the outer shell in Embodiment 1 of this utility model;

[0025] Figure 3 This is a side-view of the vehicle frame in Embodiment 1 of this utility model;

[0026] Figure 4 This is a cross-sectional view of the sleeve in Embodiment 2 of this utility model;

[0027] Figure 5 This is a cross-sectional view of a portion of the structure in Embodiment 2 of this utility model.

[0028] In the diagram: 11. Frame; 12. Omnidirectional wheel; 13. Wide-angle camera; 14. High-precision servo motor; 15. Battery compartment; 16. Control chip; 17. Housing; 21. Fastening screw device; 22. Stepper motor; 23. Pressing component; 24. Rotating assembly; 25. Tool fixing device; 26. Screw guide rail; 27. Sleeve; 31. Screw storage compartment. Detailed Implementation

[0029] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0030] Example 1: Please refer to Figure 1-3 This utility model provides a technical solution: a self-aligning screw fastening robot, including: a frame 11, an omnidirectional wheel 12 and a high-precision servo motor 14 provided on the lower surface of the frame 11, the high-precision servo motor 14 drives the omnidirectional wheel 12 to realize the omnidirectional movement of the frame 11.

[0031] A wide-angle camera 13 is mounted on the upper surface of the frame 11 to identify scene obstacles and workstations.

[0032] The frame 11 has a through-type fastening screw device 21 for automatically replenishing and tightening screws.

[0033] There are three omnidirectional wheels 12 and three sets of wide-angle cameras 13. The omnidirectional wheels 12 and the wide-angle cameras 13 are arranged in an equilateral triangle. The three sets of wide-angle cameras 13 can achieve 360° monitoring without blind spots. The three sets of omnidirectional wheels 12 can move the frame 11 while providing stability for the frame 11.

[0034] A battery compartment 15 is also provided on the upper surface of the frame 11, which is located between the two wide-angle cameras 13.

[0035] The upper surface of the frame 11 is also provided with a screw storage chamber 31, which is located on the side of the screw fastening device 21 and is used to feed screws into the screw fastening device 21.

[0036] A control chip 16 is also provided on the upper surface of the frame 11. The control chip 16 is located between the other two sets of wide-angle cameras 13. The control chip 16 is electrically connected to the high-precision servo motor 14, the fastening screw device 21 and the wide-angle camera 13.

[0037] A housing 17 is installed on the frame 11. The housing 17 has a through hole corresponding to the wide-angle camera 13. The housing 17 protects the internal wide-angle camera 13, battery compartment 15, control chip 16, fastening screw device 21 and screw storage compartment 31.

[0038] Working principle: The visual data collected by the wide-angle camera 13 is transmitted to the control chip 16 for processing and analysis. The control chip 16 outputs information commands on the moving direction and distance of the omnidirectional wheel 12, thereby controlling the operation of each high-precision servo motor 14. At the same time, the battery compartment 15 supplies power to the high-precision servo motor 14, allowing the robot to move to the position of the hole. After reaching the position, the control chip 16 operates the screw fastening device 21 to tighten the screw downwards into the hole. After the screw is tightened, the screw storage compartment 31 automatically replenishes the screw fastening device 21 with screws, ending one process.

[0039] Example 2: Please refer to Figure 4-5 This utility model provides a technical solution: a self-aligning screw fastening robot, including: a screw fastening device 21, the screw fastening device 21 includes a sleeve 27 and a screw guide rail 26, the screw guide rail 26 is installed at the lower end of the sleeve 27, and a stepper motor 22, a pressing component 23, a rotating component 24, and a tool fixing device 25 are arranged inside the sleeve 27.

[0040] Stepper motor 22 is connected to rotating assembly 24 via a transmission connection;

[0041] The pressure component 23 encloses the rotating component 24, and the pressure component 23 is surrounded by guide rails to guide the rotating component 24 to move downward.

[0042] The upper part of the rotating component 24 has threads and is threadedly connected to the pressure member 23. The stepper motor 22 drives the rotating component 24 to rotate, which, together with the threads in the pressure member 23, achieves lifting and lowering, and tightens the screws during the descent.

[0043] The lower part of the rotating assembly 24 is connected to the tool fixing device 25, which is used to switch between different types of tool heads;

[0044] The tool holder 25 has a hexagonal tool fixing hole and a magnet inside, which is used in conjunction with the tool head;

[0045] Working principle: When the control chip 16 receives the screw tightening signal, the battery compartment 15 supplies power to the stepper motor 22. The stepper motor 22 applies a lateral rotational force, driving the rotating component 24 to rotate. The rotating component 24 follows the guide of the pressure member 23 and moves downward. At the same time, it applies a downward force, driving the tool fixing device 25 to rotate the cutter head downward, performing the screw tightening operation. The screw is screwed in vertically with the screw guide rail 26. When the screw is screwed to the bottom and the stepper motor 22 detects that it cannot rotate, the control chip 16 sends a signal to rotate the stepper motor 22 in the opposite direction, applying a lateral rotational force to move the rotating component 24 upward with the guide rail of the pressure member 23. The tool fixing device 25 moves upward, and finally the screw storage compartment 31 replenishes the screw tightening device 21 with screws.

[0046] The contents not described in detail in this specification are existing technologies known to those skilled in the art.

[0047] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A self-aligning fastener screwing robot, comprising: The frame (11) is characterized in that: the lower surface of the frame (11) is provided with an omnidirectional wheel (12) and a high-precision servo motor (14), and the high-precision servo motor (14) drives the omnidirectional wheel (12). A wide-angle camera (13) is installed on the upper surface of the frame (11), and a fastening screw device (21) is installed through the middle of the frame (11). The upper surface of the frame (11) is also provided with a battery compartment (15), and the upper surface of the frame (11) is also provided with a screw storage compartment (31). The screw storage compartment (31) is located on the side of the fastening screw device (21), and the screw storage compartment (31) feeds screws to the fastening screw device (21). The upper surface of the frame (11) is also provided with a control chip (16), which is electrically connected to a high-precision servo motor (14), a fastening screw device (21), and a wide-angle camera (13).

2. The self-aligning screw-fastening robot according to claim 1, characterized in that, There are three omnidirectional wheels (12) and three sets of wide-angle cameras (13). The omnidirectional wheels (12) and the wide-angle cameras (13) are arranged in an equilateral triangle.

3. The self-aligning screw-fastening robot according to claim 1, characterized in that, The battery compartment (15) is located between two wide-angle cameras (13), and the control chip (16) is located between two other wide-angle cameras (13).

4. The self-aligning screw-fastening robot according to claim 1, characterized in that, The frame (11) is equipped with a housing (17), and the housing (17) has a through hole corresponding to the wide-angle camera (13).

5. The self-aligning screw-fastening robot according to claim 1, characterized in that, The fastening screw device (21) includes a sleeve (27) and a screw guide rail (26). The screw guide rail (26) is installed at the lower end of the sleeve (27). A stepper motor (22), a pressure piece (23), a rotating assembly (24), and a tool fixing device (25) are installed inside the sleeve (27). The stepper motor (22) is connected to the rotating assembly (24) for transmission. The pressure piece (23) wraps around the rotating assembly (24). The pressure piece (23) is surrounded by a guide rail. The upper part of the rotating assembly (24) is threaded and threadedly connected to the pressure piece (23). The lower part of the rotating assembly (24) is connected to the tool fixing device (25).

6. A self-aligning screw-fastening robot according to claim 5, characterized in that, The tool fixing device (25) has a hexagonal tool fixing hole and a magnet inside.

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