Screw locking device

Abstract

The utility model belongs to screw lock device technical field especially relates to screw lock device, including work bench, first mechanical arm, second mechanical arm, positioning assembly and control assembly, first mechanical arm is located on work bench, has the suction structure that can carry work piece's bottom shell and work piece's top cover to positioning assembly, positioning assembly is located on work bench, has the clamping structure that can fix work piece's bottom shell, be equipped with lower CCD camera and upper CCD camera on work bench, the lens end of lower CCD camera is towards suction structure, is used for shooting work piece's top cover's screw hole's image, the lens end of upper CCD camera is towards positioning assembly, is used for shooting work piece's bottom shell's screw hole's image, second mechanical arm is located on work bench, has the electric screwdriver structure that can lock screw work piece on.

Description

Technical Field

[0001] This utility model belongs to the technical field of screw fastening devices, and particularly relates to screw fastening devices. Background Technology

[0002] In industrial production, screw fastening is a common and crucial process step, widely used in the assembly of various products. Current technology involves manually tightening screws into workpieces to connect two components, resulting in low efficiency. Utility Model Content

[0003] The purpose of this utility model is to provide a screw fastening device, which aims to solve the technical problems in the prior art.

[0004] To achieve the above objectives, the screw fastening device provided in this embodiment includes a worktable, a first robotic arm, a second robotic arm, a positioning component, and a control component. The first robotic arm is mounted on the worktable and has a suction structure capable of transporting the bottom shell and top cover of a workpiece to the positioning component. The positioning component is mounted on the worktable and has a clamping structure capable of fixing the bottom shell of the workpiece. The worktable is equipped with a lower CCD camera and an upper CCD camera. The lens of the lower CCD camera faces the suction structure and is used to capture images of the screw holes in the top cover of the workpiece. The lens of the CCD camera faces the positioning component and is used to capture images of the screw holes on the bottom shell of the workpiece. The second robotic arm is mounted on the worktable and has an electric screwdriver structure capable of fastening screws onto the workpiece. The first robotic arm, the second robotic arm, the upper CCD camera, and the lower CCD camera are respectively electrically connected to the control component. The control component can obtain the position information of the screw holes on the top cover of the workpiece based on the image captured by the lower CCD camera, and the control component can obtain the position information of the screw holes on the bottom shell of the workpiece based on the image captured by the upper CCD camera.

[0005] Optionally, the control component includes a host and a driver. The host is equipped with an image acquisition unit and an image processor. The image acquisition unit is used to receive images from the upper CCD camera and the lower CCD camera. The image processor is used to determine the coordinate information of the screw hole and the screw thread hole in the spatial coordinate system. The driver is electrically connected to the host and can drive the first robotic arm and the second robotic arm to perform actions according to the coordinate information.

[0006] Optionally, the clamping structure includes a fixed clamping block disposed on the worktable and a movable clamping block disposed on the worktable, wherein a clamping gap is provided between the movable clamping block and the fixed clamping block, and the movable clamping block can slide towards or away from the fixed clamping block.

[0007] Optionally, the fixed clamping block has a first limiting protrusion protruding on one side near the clamping gap, the first limiting protrusion being able to act on one end of the bottom shell of the workpiece, and the movable clamping block has a second limiting protrusion protruding on one side near the clamping gap, the second limiting protrusion being able to act on the other end of the bottom shell of the workpiece.

[0008] Optionally, it also includes a cylinder, which is disposed on the worktable and whose piston rod is throttle-connected to the movable clamping block for driving the movable clamping block to move relative to the fixed clamping block.

[0009] Optionally, the suction structure includes a first disc and a second disc that can be separated and fixed. The first disc has a first air passage, and the second disc has a second air passage. One end of the second air passage is connected to the first air passage, and the other end forms an adsorption hole on the adsorption end face of the second disc.

[0010] Optionally, one end of the first disc is connected to the first robotic arm, and the other end is provided with an assembly post. The side of the assembly post is provided with a positioning ball. The second disc is provided with an assembly hole that matches the assembly post. The inner wall of the assembly hole is provided with a positioning groove. The positioning ball engages with the positioning groove.

[0011] Optionally, it also includes a placement platform, which is disposed on the workbench, and the top of the placement platform is provided with a fixture adapted to the second disc body.

[0012] Optionally, the fixture includes a pair of openable and closable grippers, which are capable of securing or releasing the second disc.

[0013] Optionally, it also includes an assembly bracket and a Y-axis linear module. The first robotic arm and the second robotic arm are respectively mounted on the assembly bracket. The Y-axis linear module is mounted on the worktable and has a Y-axis slide that can slide back and forth along the Y-axis direction. The assembly bracket is mounted on the Y-axis slide.

[0014] The screw fastening device provided in this utility model embodiment has at least one of the following technical effects: During operation, firstly, the first robotic arm drives the suction structure to act on the bottom shell of the workpiece and place it on the clamping structure of the worktable. Then, the upper CCD camera captures an image of the screw holes on the bottom shell of the workpiece and transmits it to the control component to obtain the position information of the screw holes. Then, the first robotic arm drives the suction structure to act on the top cover of the workpiece and moves it above the lower CCD camera. The lower CCD camera captures an image of the screw through holes on the top cover of the workpiece and transmits it to the control component. According to the position information of the screw holes and screw through holes, the control component controls the first robotic arm to stack the top cover of the workpiece on the bottom shell of the workpiece and align the screw holes with the screw through holes. Finally, the second robotic arm drives the electric screwdriver structure to pick up the screw and lock it into the workpiece to complete the connection of the two parts of the workpiece. By using mechanical operation to replace manual operation, it is beneficial to improve work efficiency and reduce labor costs. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the screw fastening device provided in an embodiment of the present utility model.

[0017] Figure 2 This is a schematic diagram of the clamping structure provided in an embodiment of the present utility model.

[0018] Figure 3 A schematic diagram of the placement platform provided in an embodiment of this utility model.

[0019] Figure 4 A schematic diagram of the structure of the first robotic arm provided in an embodiment of this utility model.

[0020] The following are the labeling elements in the figure:

[0021] 1—Workbench 11—Lower CCD Camera 12—Upper CCD Camera

[0022] 13—Placement stage; 131—Gripper; 14—Y-axis linear module

[0023] 2—First robotic arm; 21—Suction structure; 211—First disk.

[0024] 2111—First air passage; 2112—Assembly column; 2113—Positioning ball.

[0025] 212—Second disc body; 2121—Second air passage; 2122—Assembly hole

[0026] 2123—Positioning slot 3—Second robotic arm 31—Electric screwdriver structure

[0027] 4—Clamping structure 41—Fixed clamping block 411—First limiting protrusion

[0028] 42—Modible clamping block; 421—Second limit protrusion; 43—Cylinder

[0029] 5—Control Components 51—Main Unit 52—Driver

[0030] 6—The bottom shell of the workpiece; 7—The top cover of the workpiece. Detailed Implementation

[0031] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the embodiments of the present invention, and should not be construed as limiting the present invention.

[0032] In the description of the embodiments of this utility model, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing the embodiments of this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0033] Furthermore, 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 indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0034] In this embodiment of the invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this embodiment of the invention according to the specific circumstances.

[0035] In one embodiment of this utility model, such as Figures 1-4As shown, a screw fastening device is provided, including a worktable 1, a first robotic arm 2, a second robotic arm 3, a positioning component, and a control component 5. The first robotic arm 2 is mounted on the worktable 1 and has a suction structure 21 capable of transporting the bottom shell 6 and top cover 7 of the workpiece to the positioning component. The positioning component is mounted on the worktable and has a clamping structure 4 capable of fixing the bottom shell 6 of the workpiece. The worktable 1 is equipped with a lower CCD camera 11 and an upper CCD camera 12. The lens end of the lower CCD camera 11 faces the suction structure 21 and is used to capture images of the screw holes in the top cover 7 of the workpiece. The upper CCD camera 12... The lens end is directed towards the positioning component to capture images of the screw holes on the bottom shell 6 of the workpiece. The second robotic arm 3 is mounted on the worktable 1 and has an electric screwdriver structure 31 capable of fastening screws onto the workpiece. The first robotic arm 2, the second robotic arm 3, the upper CCD camera 12, and the lower CCD camera 11 are respectively electrically connected to the control component 5. The control component 5 can obtain the position information of the screw holes on the top cover 7 of the workpiece based on the image captured by the lower CCD camera 11, and the control component 5 can obtain the position information of the screw holes on the bottom shell 6 of the workpiece based on the image captured by the upper CCD camera 12. During operation, the first robotic arm 2 first drives the suction structure 21 to suction the bottom shell 6 of the workpiece and place it on the clamping structure 4 of the worktable 1. Then, the upper CCD camera 12 captures an image of the screw holes on the bottom shell 6 of the workpiece and transmits it to the control component 5 to obtain the position information of the screw holes. Then, the first robotic arm 2 drives the suction structure 21 to suction the top cover 7 of the workpiece and moves it above the lower CCD camera 11. The lower CCD camera 11 captures an image of the screw through holes on the top cover 7 of the workpiece and transmits it to the control component 5. Based on the position information of the screw holes and screw through holes, the control component 5 controls the first robotic arm 2 to stack the top cover 7 of the workpiece on the bottom shell 6 of the workpiece and align the screw holes with the screw through holes. Finally, the second robotic arm 3 drives the electric screwdriver structure to pick up the screw and lock it into the workpiece to complete the connection of the two parts of the workpiece. Using mechanical operation to replace manual operation is beneficial to improving work efficiency and reducing labor costs. Specifically, it also includes a first material tray (not shown in the figure), a second material tray (not shown in the figure), and a vibrating feeding tray (not shown in the figure). The first material tray is located on the side of the worktable 1 and is used to place the bottom shell 6 of the workpiece to be assembled. The second material tray is located on the side of the worktable 1 and is used to place the top cover 7 of the workpiece to be assembled. The vibrating feeding tray is located on the side of the worktable 1 and is used to store and swing screws.

[0036] In one embodiment of this utility model, such as Figure 1As shown, the control component 5 includes a host 51 and a driver 52. The host 51 contains an image acquisition unit and an image processor. The image acquisition unit receives images from the upper CCD camera 12 and the lower CCD camera 11. The image processor determines the coordinate information of the screw hole and screw thread in the spatial coordinate system. The driver 52 is electrically connected to the host 51 and can drive the first robotic arm 2 and the second robotic arm 3 to perform actions according to the coordinate information. Specifically, the image captured by the CCD camera is transmitted to the image acquisition unit. Then, the image processor determines the position of the screw hole and screw thread through the image pixel coordinates and, combined with the calibrated spatial coordinate system, obtains the movement path of the first robotic arm 2 and the second robotic arm 3. Finally, the driver 52 controls the first robotic arm 2 and the second robotic arm 3 to execute the aforementioned movement path.

[0037] In one embodiment of this utility model, such as Figure 2 As shown, the clamping structure 4 includes a fixed clamping block 41 disposed on the worktable 1 and a movable clamping block 42 disposed on the worktable 1. A clamping gap is provided between the movable clamping block 42 and the fixed clamping block 41, allowing the movable clamping block 42 to slide towards or away from the fixed clamping block 41. The fixed clamping block 41 provides a unified placement reference for the workpiece, while the movable clamping block 42 is used to fix or release the workpiece. After the workpiece is assembled, it is either manually unloaded or picked up and unloaded by the first robotic arm 2.

[0038] In one embodiment of this utility model, such as Figure 2 As shown, the fixed clamping block 41 has a first limiting protrusion 411 protruding on the side near the clamping gap. The first limiting protrusion 411 can act on one end of the bottom shell 6 of the workpiece. The movable clamping block 42 has a second limiting protrusion 421 protruding on the side near the clamping gap. The second limiting protrusion 421 can act on the other end of the bottom shell 6 of the workpiece. By using the limiting protrusions to act on the working bottom shell, the relative displacement of the clamping end face of the clamping block during the screw tightening process is reduced.

[0039] In one embodiment of this utility model, such as Figures 1-2 As shown, it also includes a cylinder 43, which is mounted on the worktable 1 and its piston rod is connected to the movable clamping block 42 for driving the movable clamping block 42 to move relative to the fixed clamping block 41.

[0040] In one embodiment of this utility model, such as Figures 3-4As shown, the suction structure 21 includes a detachable and fixed first disc 211 and a second disc 212. The first disc 211 has a first air passage 2111, and the second disc 212 has a second air passage 2121. One end of the second air passage 2121 is connected to the first air passage 2111, and the other end forms an adsorption hole on the adsorption end face of the second disc 212. Specifically, by designing second discs 212 of different shapes and areas to adapt to the material handling of different products, the detachable structure allows for the replacement of the second disc 212.

[0041] In one embodiment of this utility model, such as Figures 3-4 As shown, one end of the first disc 211 is connected to the first robotic arm 2, and the other end is provided with an assembly post 2112. A positioning ball 2113 protrudes outward from the side of the assembly post 2112. The second disc 212 has an assembly hole 2122 that matches the assembly post 2112. The inner wall of the assembly hole 2122 is provided with a positioning groove 2123, and the positioning ball 2113 engages with the positioning groove 2123. The engagement of the positioning ball 2113 with the positioning groove 2123 enables quick assembly and disassembly of the first disc 211 and the second disc 212. Furthermore, a sealing gasket is provided around the end of the first disc 211 near the second disc 212 to reduce air leakage when the first air passage 2111 and the second air passage 2121 are connected, which helps improve the stability of adsorption and material handling. The other end of the first air passage 2111 is connected to an external suction device (not shown in the figure) through a connector and an air pipe.

[0042] In one embodiment of this utility model, such as Figure 3 As shown, it also includes a placement platform 13, which is disposed on the workbench 1. The top of the placement platform 13 is provided with a fixture adapted to the second disc body 212. Specifically, the workbench 1 is provided with two placement platforms 13, and different (but not limited to) different distributions, apertures, and shapes of adsorption end faces are placed on the corresponding placement platforms 13 to facilitate line changing.

[0043] In one embodiment of this utility model, such as Figure 3As shown, the fixture includes a pair of openable and closable grippers 131, which can fix or release the second disc 212. Specifically, it also includes pneumatic fingers mounted on the placement platform 13. The pneumatic fingers are tractively connected to the pair of grippers 131 and can drive the pair of grippers 131 to open and close. When disassembling the second disc 212, the first robotic arm 2 moves towards one end closer to the placement platform 13 and aligns the second disc 212 between the pair of grippers 131. The pneumatic fingers drive the pair of grippers 131 to close, and the first robotic arm 2 drives the first disc to be pulled away along the axial direction of the assembly column 2112, and the positioning ball 2113 is pressed. The first robotic arm 2 shrinks and separates from the positioning groove 2123, thereby completing the disassembly of the second disc 212. When installing the second disc 212, the first robotic arm 2 moves towards the placement platform 13 where another disc is placed, and inserts into the assembly hole 2122 of the second disc 212 along the axial direction of the assembly column 2112. After the positioning elastic is compressed and reset, it engages with the positioning groove 2123 of the second disc 212. Finally, the pneumatic fingers drive a pair of grippers 131 to open, so as to realize the replacement of the second disc 212.

[0044] In one embodiment of this utility model, such as Figure 1 As shown, it also includes an assembly bracket and a Y-axis linear module 14. The first robotic arm 2 and the second robotic arm 3 are respectively mounted on the assembly bracket. The Y-axis linear module 14 is mounted on the worktable 1 and has a Y-axis slide that can slide back and forth along the Y-axis direction. The assembly bracket is mounted on the Y-axis slide.

[0045] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A screw locking device, characterized by: The system includes a worktable, a first robotic arm, a second robotic arm, a positioning component, and a control component. The first robotic arm, mounted on the worktable, has a suction structure capable of transporting the bottom shell and top cover of a workpiece to the positioning component. The positioning component, also mounted on the worktable, has a clamping structure capable of fixing the bottom shell of the workpiece. The worktable is equipped with a lower CCD camera and an upper CCD camera. The lens of the lower CCD camera faces the suction structure and is used to capture images of the screw holes in the top cover of the workpiece. The lens of the upper CCD camera faces the positioning component and is used to capture images of the screw threads in the bottom shell of the workpiece. The second robotic arm, mounted on the worktable, has an electric screwdriver structure capable of fastening screws onto the workpiece. The first robotic arm, the second robotic arm, the upper CCD camera, and the lower CCD camera are all electrically connected to the control component. The control component can obtain the position information of the screw holes in the top cover of the workpiece based on the image captured by the lower CCD camera, and can obtain the position information of the screw threads in the bottom shell of the workpiece based on the image captured by the upper CCD camera.

2. The screw driving device of claim 1, wherein: The control component includes a host and a driver. The host is equipped with an image acquisition unit and an image processor. The image acquisition unit is used to receive images from the upper CCD camera and the lower CCD camera. The image processor is used to determine the coordinate information of the screw hole and the screw thread hole in the spatial coordinate system. The driver is electrically connected to the host and can drive the first robotic arm and the second robotic arm to perform actions according to the coordinate information.

3. The screw driving device of claim 1, wherein: The clamping structure includes a fixed clamping block disposed on the worktable and a movable clamping block disposed on the worktable. A clamping gap is provided between the movable clamping block and the fixed clamping block, and the movable clamping block can slide towards or away from the fixed clamping block.

4. The screw driving device of claim 3, wherein: The fixed clamping block has a first limiting protrusion on one side near the clamping gap, which can act on one end of the bottom shell of the workpiece. The movable clamping block has a second limiting protrusion on one side near the clamping gap, which can act on the other end of the bottom shell of the workpiece.

5. The screw driving device of claim 3, wherein: It also includes a cylinder, which is mounted on the worktable and whose piston rod is connected to the movable clamping block for driving the movable clamping block to move relative to the fixed clamping block.

6. The screw driving device of claim 1, wherein: The suction structure includes a first disc and a second disc that can be separated and fixed. The first disc has a first air passage and the second disc has a second air passage. One end of the second air passage is connected to the first air passage, and the other end forms an adsorption hole on the adsorption end face of the second disc.

7. The screw driving device of claim 6, wherein: One end of the first disc is connected to the first robotic arm, and the other end is provided with an assembly post. The side of the assembly post is provided with a positioning ball. The second disc is provided with an assembly hole that matches the assembly post. The inner wall of the assembly hole is provided with a positioning groove. The positioning ball engages with the positioning groove.

8. The screw driving device of claim 7, wherein: It also includes a placement platform, which is disposed on the workbench, and the top of the placement platform is provided with a fixture adapted to the second disc body.

9. The screw driving device of claim 8, wherein: The fixture includes a pair of openable and closable grippers that can secure or release the second disc.

10. The screw driving device of claim 1, wherein: It also includes an assembly bracket and a Y-axis linear module. The first robotic arm and the second robotic arm are respectively mounted on the assembly bracket. The Y-axis linear module is mounted on the worktable and has a Y-axis slide that can slide back and forth along the Y-axis direction. The assembly bracket is mounted on the Y-axis slide.

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