CN114986139B - Precise synchronous automatic tightening device and method - Google Patents
Precise synchronous automatic tightening device and method Download PDFInfo
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- CN114986139B CN114986139B CN202210617895.8A CN202210617895A CN114986139B CN 114986139 B CN114986139 B CN 114986139B CN 202210617895 A CN202210617895 A CN 202210617895A CN 114986139 B CN114986139 B CN 114986139B
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- 230000001360 synchronised effect Effects 0.000 title claims abstract description 32
- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims abstract description 66
- 230000000007 visual effect Effects 0.000 claims abstract description 24
- 230000000712 assembly Effects 0.000 claims description 5
- 238000000429 assembly Methods 0.000 claims description 5
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 238000005286 illumination Methods 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000001502 supplementing effect Effects 0.000 claims 1
- 230000008569 process Effects 0.000 description 4
- 241000276425 Xiphophorus maculatus Species 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
- B23P19/069—Multi-spindle machines
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- Automatic Assembly (AREA)
Abstract
The invention provides a precise synchronous automatic tightening device and method, comprising a base, two rows of first support frames, two rows of second support frames, a double-freedom-degree guide rail assembly, a single-freedom-degree guide rail, two groups of automatic tightening units, a visual recognition system, a fixing tool, a processor and a controller, wherein the first support frames and the second support frames are oppositely arranged, the double-freedom-degree guide rail assembly is arranged on the first support frames, the single-freedom-degree guide rail is arranged on the second support frames in the vertical direction, and the two groups of automatic tightening units are arranged on the double-freedom-degree guide rail assembly. When the screw head is in operation, the visual recognition system acquires an image of the upper end of the head of the screw head and an image of the slot of the screw head; the processor determines the angle difference between the lower end of the first character and the screw straight groove according to the image obtained by the visual recognition system; the controller adjusts the angle of the head of the straight screwdriver of the automatic tightening mechanism, so that the head of the straight screwdriver is inserted into the straight slot of the screw, and synchronous tightening is carried out on the screw under the control of the controller. The invention realizes synchronous screwing of a plurality of straight slot screws in a small space range, improves the screwing consistency of a plurality of screws during assembly, and further improves the assembly quality of the assembly.
Description
Technical Field
The invention belongs to the technical field of precise assembly, and particularly relates to a precise synchronous automatic tightening device and method.
Background
In the assembly process of the precision instrument, parts are sometimes required to be fixed by the action of a plurality of screws and pressing blocks (such as a shaft part is fixed on a workpiece to be screwed through a platy/flaky pressing block), when the interval between the screws is smaller, the assembly is usually carried out in a manual step-by-step screwing mode, so that the assembly process requirements are met, the screwing sequence and experience of a master worker are limited, and the screwing consistency of the plurality of screws is difficult to ensure.
Disclosure of Invention
In order to overcome the defects in the prior art, the inventor performs intensive research and provides a precise synchronous automatic tightening device and method, which are used for synchronously tightening a plurality of straight slot screws in a small space range, ensure that the batch head of a tightening mechanism is smoothly inserted into the straight slot of the screw based on a space motion mechanism and image recognition, realize synchronous tightening of a plurality of tightening mechanisms, improve the tightening consistency of a plurality of screws during assembly, and further improve the assembly quality of the assembly.
The technical scheme provided by the invention is as follows:
In a first aspect, a precision synchronous automatic tightening device includes:
The base is of a horizontally placed plate-shaped structure, and the upper plate surface is supported with two rows of first supporting frames which are installed oppositely, a second supporting frame which is positioned between the two rows of first supporting frames and a workpiece to be screwed;
Two rows of oppositely installed first support frames, on which a horizontal and vertical double-freedom-degree guide rail assembly is installed;
the second support frame is positioned between the two rows of first support frames, and is provided with a single-degree-of-freedom guide rail in the vertical direction;
the two groups of automatic tightening units respectively comprise at least two automatic tightening mechanisms arranged on the two rows of double-freedom-degree guide rail assemblies of the first support frames, and displacement in the horizontal direction and the vertical direction is generated under the drive of the double-freedom-degree guide rail assemblies; the lower end of the automatic tightening mechanism is provided with a straight screwdriver head which is used for screwing a straight screw to fix the pressing block on a workpiece to be screwed;
the fixing tool is arranged on the single-degree-of-freedom guide rail of the second support frame and driven by the single-degree-of-freedom guide rail to generate displacement in the vertical direction;
The visual identification system is fixed on the fixed tool, and acquires an image of the upper end of the straight screwdriver head and an image of the straight slot of the screw in a overlooking angle;
The processor is used for determining the angle difference between the lower end of the first character and the groove of the first character of the screw according to the image obtained by the visual recognition system;
And the controller is used for adjusting the angle of the head of the first character string at the lower end of the automatic tightening mechanism, so that the head of the first character string can be inserted into the groove of the screw after descending along with the automatic tightening mechanism, and synchronous tightening is carried out on the screw.
Further, the double-degree-of-freedom guide rail assembly comprises a horizontal guide rail and a vertical guide rail, wherein the horizontal guide rail is fixedly arranged on the first support frame along the horizontal direction, and the vertical guide rail is fixedly arranged on a sliding block of the horizontal guide rail along the vertical direction.
Further, the automatic tightening mechanisms in the two groups of automatic tightening units are respectively fixed on the sliding blocks of the guide rails in the two vertical directions through the adapter plates or directly fixed on the sliding blocks of the guide rails in the two vertical directions, and the number of the automatic tightening mechanisms in the two groups of automatic tightening units is not less than that of single tightening screws.
Further, the automatic tightening mechanisms in the groups of automatic tightening units are installed in a high-low alternating mode, the opposite automatic tightening mechanisms in the two groups of automatic tightening units are installed in a staggered mode, the lower end of the high-position automatic tightening mechanism is provided with a long character head, the lower end of the low-position automatic tightening mechanism is provided with a short character head, and the lower ends of the long character head and the short character head are flush.
Further, the lower ends of the automatic tightening mechanisms are provided with offset heads, and the character batch heads are arranged at the front ends of the offset heads and used for reducing the distance between the character batch heads.
Further, the upper end of the first character string is shaped like a character and forms 90 degrees with the direction of the lower end of the first character string, and the processor can judge the angle of the lower end of the first character string by identifying the angle of the first character string at the upper end of the first character string.
Further, the visual recognition system is located a word batch head and is awaited measuring the work piece top, and the visual recognition system contains camera, camera and light source, and the camera is installed on fixed frock, and the camera is installed on the camera, and the light source is installed in the below of fixed frock, and camera implement and shoot the processing image, supplementary light illumination when the light source is used for shooting the image.
Further, the synchronous automatic tightening device further comprises a clamping tool, and the clamping tool is used for fixing the workpiece to be screwed on the base.
Further, the clamping tool comprises a stop block and at least one assembly and disassembly structure, the stop block is a semi-enclosed block structure fixed on the base, the assembly and disassembly structure comprises an ear seat fixed on the base and a screw penetrating through a threaded hole on the ear seat, the workpiece to be screwed is pressed onto the stop block through screwing the screw, and the workpiece to be screwed is fixed.
In a second aspect, a precision synchronous automatic tightening method includes:
moving the visual recognition system to the position above the workpiece to be screwed along the single-degree-of-freedom guide rail direction of the second support frame, and acquiring an image of the straight slot of the screw;
The automatic tightening mechanism is driven by the double-freedom-degree guide rail assembly to move above the screw of the workpiece to be screwed, and an image of the upper end of the straight screwdriver head is obtained through the visual recognition system;
the processor determines the angle difference between the lower end of the head of the character and the groove of the screw character according to the image obtained by the visual recognition system, and adjusts the angle of the head of the character of the automatic tightening mechanism through the controller;
the automatic tightening mechanism is driven by the double-freedom-degree guide rail assembly to vertically descend, the straight screwdriver head is inserted into the straight groove of the screw, and synchronous tightening is carried out on the screw under the control of the controller.
According to the precise synchronous automatic tightening device and method provided by the invention, the following beneficial effects are achieved:
(1) According to the precise synchronous automatic tightening device and method provided by the invention, a plurality of automatic tightening mechanisms are synchronously tightened, so that the tightening consistency of a plurality of screws of a briquetting structure can be ensured;
(2) According to the precise synchronous automatic tightening device and method provided by the invention, aiming at the characteristic of small space among a plurality of screws, the gear offset heads are respectively provided with the long and short batch heads, and the space among the batch heads of the tightening mechanism is reduced by using the dislocation of the height, so that the automatic tightening of a small space range is realized;
(3) The invention provides a precise synchronous automatic tightening device and a method, wherein the shape of the upper end of a screwdriver head is in a straight line shape and forms 90 degrees with the direction of the straight line shape of the lower end of the screwdriver head, so that a visual recognition system can recognize the angle of the screwdriver head and the angle of a straight line-shaped groove of a screw from the same direction.
Drawings
FIG. 1 is a schematic diagram of a precise synchronous automatic tightening device according to the present invention;
FIG. 2 is a schematic view of the structure of a workpiece to be twisted according to the present invention;
FIG. 3 is a schematic view of the automatic tightening mechanism of the present invention;
FIG. 4 is a schematic view of the structure of the batch head of the present invention;
Fig. 5 is a schematic structural diagram of the visual recognition system of the present invention.
Description of the reference numerals
1-A base; 2-a first support frame; 3-a second support frame; 4-a first direction guide rail; 5-a second direction guide rail; 6-a third direction guide rail; 7-fourth direction guide rails; 8-fifth direction guide rails; 9-an adapter plate; 10-a first automatic tightening mechanism; 11-a second automatic tightening mechanism; 12-a third automatic tightening mechanism; 13-fourth automatic tightening mechanism; 14-a visual recognition system; 15-fixing a tool; 16-stop; 17-assembling and disassembling structure; 18-a workpiece to be screwed; 21-a bias head; 22-snap springs; 23-short line head; 24-a long character batch head; 25-camera; 26-lens; 27-a light source; 28-briquetting; 29-32-screw.
Detailed Description
The features and advantages of the present invention will become more apparent and clear from the following detailed description of the invention.
The word "exemplary" is used herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. Although various aspects of the embodiments are illustrated in the accompanying drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The invention provides a precise synchronous automatic tightening device, which is shown in fig. 1, and comprises a base 1, a first support frame 2, a second support frame 3, a first direction guide rail 4, a second direction guide rail 5, a third direction guide rail 6, a fourth direction guide rail 7, a fifth direction guide rail 8, an adapter plate 9, a first automatic tightening mechanism 10, a second automatic tightening mechanism 11, a third automatic tightening mechanism 12, a fourth automatic tightening mechanism 13, a visual identification system 14, a fixing tool 15, a stop block 16, an assembling and disassembling structure 17, a processor and a controller. The base 1 is of a horizontally placed platy structure, and the first support frame 2 and the second support frame 3 are vertically and fixedly arranged on the base 1; the first direction guide rail 4 and the second direction guide rail 5 are respectively and fixedly arranged on the first support frame 2 along the y direction, the third direction guide rail 6 and the fourth direction guide rail 7 are respectively in butt joint with the first direction guide rail 4 and the second direction guide rail 5 along the vertical direction (z direction) (namely, are respectively fixed on the sliding blocks of the first direction guide rail 4 and the second direction guide rail 5), so that a double-freedom-degree guide rail assembly is formed, and the z-direction guide rail moves along the y direction relative to the y-direction guide rail. The fifth-direction guide rail 8 is vertically and fixedly arranged on the second support frame 3, the visual recognition system 14 is arranged on the fifth-direction guide rail 8 through a fixing tool 15, and is driven by the fifth-direction guide rail 8 to vertically move. The first support frame 2 may be two rows of oppositely installed portal frames, and the first direction guide rail 4 and the second direction guide rail 5 may be installed on a beam of the portal frames.
As shown in fig. 3, the first automatic tightening mechanism 10 and the third automatic tightening mechanism 12 are fixed or directly mounted on the slider of the third direction guide rail 6 as a set of automatic tightening units through the adapter plate 9, and the second automatic tightening mechanism 11 and the fourth automatic tightening mechanism 13 are fixed or directly mounted on the slider of the fourth direction guide rail 7 as a set of automatic tightening units through the adapter plate 9. The set of automatic tightening units shown in fig. 1 includes two automatic tightening mechanisms, but is not limited to two, but may be three or more, and in consideration of the small space between the screws to be tightened, there is a limit to the space, and typically no more than three automatic tightening mechanisms in the set of automatic tightening units.
As shown in fig. 1 and 3, the lower ends of the automatic tightening mechanisms 10-13 are respectively provided with a bias head 21, wherein the first automatic tightening mechanism 10 and the fourth automatic tightening mechanism 13 are arranged on the adapter plate 9 downwards, the bias heads 21 on the first automatic tightening mechanism and the fourth automatic tightening mechanism are respectively provided with a short straight-line batch head 23 through a clamp spring 22, the second automatic tightening mechanism 11 and the third automatic tightening mechanism 12 are arranged on the adapter plate 9 upwards, the bias heads 21 on the second automatic tightening mechanism and the third automatic tightening mechanism are respectively provided with a long straight-line batch head 24 through the clamp spring 22, and the space between the batch heads is reduced by utilizing the dislocation of the height of the bias heads 21, so that the synchronous tightening of a plurality of screws in a small space is realized. As shown in FIG. 2, if the pressing block 28 on the workpiece 18 to be screwed is fixed through at least four screws 29-32, the distance between two adjacent screws is smaller than 7mm, if the distance between the screw 29 and the screw 31 is smaller than 7mm, the distance between the screw 30 and the screw 32 is smaller than 7mm, and the screws 29-32 can be synchronously screwed through the offset head 21 and the staggered head height setting. In practical applications, the pressing block 28 may be a part to be installed, or the pressing block 28 is used as an auxiliary pressing tool, the part to be installed is disposed between the pressing block 28 and the workpiece 18 to be screwed, and the pressing block 28 is used to press the part to be installed onto the workpiece 18 to be screwed.
As shown in fig. 4, the lower ends of the long character head 24 and the short character head 23 are character heads, the upper end is character-shaped and forms 90 degrees with the character direction of the lower end, and the processor can judge the character angle of the lower end of the character head by identifying the character angle of the upper end of the character head. The upper ends of the long straight screwdriver head 24 and the short straight screwdriver head 23 are provided with annular grooves or arc grooves for being matched with the clamp springs 22, the screwdriver heads are installed in the longitudinal through holes at the front ends of the offset heads 21 (without dropping the offset heads 21), the screwdriver heads mill limit steps from top to bottom, and the screwdriver heads are contacted with the limit steps in the through holes when inserted into the longitudinal through holes at the front ends of the offset heads 21 from the lower ends, so that the offset heads 21 are prevented from being separated from the offset heads 21 under upward pressure when screwing screws.
As shown in fig. 5, the vision recognition system 14 is positioned above the bias head 21/in-line head and the workpiece 18 to be measured, and the vision recognition system 14 includes a camera 25, a lens 26, and a light source 27; the camera 25 is installed on fixed frock 15, and camera 25 is installed on camera 25 to the camera 26, and light source 27 is installed in the below of fixed frock 15, and camera 25 and camera 26 realize taking a picture and handle the image, and when light source 27 was used for taking the image, realize supplementary illumination function, according to taking the image, the computer calculation obtains a word head upper and lower extreme word angle and a screw word groove angle.
As shown in fig. 1, in order to avoid movement of the workpiece 18 to be screwed in the screwing process, the workpiece 18 to be screwed is limited by a clamping fixture comprising a stop block 16 and a mounting and dismounting structure 17, the stop block 16 and the mounting and dismounting structure 17 are both arranged on the upper surface of the base 1, the stop block 16 is a semi-enclosed block structure fixed on the base 1, the mounting and dismounting structure 17 comprises an ear seat fixed on the base 1 and a screw (such as a handle screw) penetrating through a threaded hole on the ear seat, the workpiece 18 to be screwed is pressed onto the stop block 16 by screwing the screw, and fixing of the workpiece 18 to be screwed is implemented. The assembly and disassembly structure 17 in fig. 1 comprises two groups, which are installed in two vertical directions, and the handle screws are screwed to press the workpiece 18 to be screwed onto the stop block 16.
The working process of the automatic tightening mechanism is as follows: the visual recognition system 14 moves above the workpiece 18 to be screwed along the direction of the fifth direction guide rail 8, and the angles of the four screw 29-32 straight grooves are obtained; the automatic tightening mechanism 10-13 moves to the position above four screws 29-32 of the workpiece 18 to be screwed along the first direction guide rail 4 and the second direction guide rail 5, the angles of the short head 23 and the long head 24 are obtained through the visual recognition system 14, the processor determines the angle difference value between the short head 23 and the long head 24 and the angle of the screw groove, and the controller adjusts the angles of the short head 23 and the long head 24 of the four automatic tightening mechanisms; the automatic tightening mechanism 10-13 vertically descends along the third direction guide rail 6 and the fourth direction guide rail 7, so that the short straight screwdriver head 23 and the long straight screwdriver head 24 are inserted into the straight grooves of the screws 29-32, and synchronous tightening of the screws 29-32 is realized. Wherein the first automatic tightening mechanism 10, the second automatic tightening mechanism 11, the third automatic tightening mechanism 12 and the fourth automatic tightening mechanism 13 correspond to the screws 29, 30, 31 and 32, respectively.
The invention has been described in detail in connection with the specific embodiments and exemplary examples thereof, but such description is not to be construed as limiting the invention. It will be understood by those skilled in the art that various equivalent substitutions, modifications or improvements may be made to the technical solution of the present invention and its embodiments without departing from the spirit and scope of the present invention, and these fall within the scope of the present invention. The scope of the invention is defined by the appended claims.
What is not described in detail in the present specification is a well known technology to those skilled in the art.
Claims (8)
1. An automatic precision synchronous tightening device, comprising:
The base (1) is of a horizontally placed plate-shaped structure, and the upper plate surface is supported with two rows of first supporting frames (2) which are oppositely installed, a second supporting frame (3) which is positioned between the two rows of first supporting frames (2) and a workpiece (18) to be screwed;
Two rows of oppositely installed first support frames (2) are provided with two-degree-of-freedom guide rail assemblies in the horizontal and vertical directions;
The second support frames (3) are positioned between the two rows of first support frames (2) and are provided with single-degree-of-freedom guide rails in the vertical direction;
The two groups of automatic tightening units respectively comprise at least two automatic tightening mechanisms arranged on the double-freedom-degree guide rail assemblies of the two rows of first support frames (2), and the two groups of automatic tightening units are driven by the double-freedom-degree guide rail assemblies to generate displacement in the horizontal and vertical directions; the lower end of the automatic tightening mechanism is provided with a straight screwdriver head which is used for screwing a straight screw to fix a pressing block (28) on a workpiece (18) to be screwed;
The automatic tightening mechanisms in each group of automatic tightening units are installed in a high-low alternating mode, the opposite automatic tightening mechanisms in the two groups of automatic tightening units are installed in a staggered mode, the lower end of the high-level automatic tightening mechanism is provided with a long character batch head (24), the lower end of the low-level automatic tightening mechanism is provided with a short character batch head (23), and the lower ends of the long character batch head (24) and the short character batch head (23) are flush; the lower ends of the automatic tightening mechanisms are provided with offset heads (21), and the character batch heads are arranged at the front ends of the offset heads (21) and used for reducing the interval between the character batch heads;
The fixed tool (15) is arranged on a single-degree-of-freedom guide rail of the second support frame (3) and driven by the single-degree-of-freedom guide rail to generate displacement in the vertical direction;
The visual identification system (14) is fixed on the fixed tool (15) and acquires an image of the upper end of the straight screwdriver head and an image of the straight slot of the screw in a overlooking angle;
the processor is used for determining the angle difference between the lower end line of the line-shaped batch head and the line-shaped groove of the screw according to the image obtained by the visual recognition system (14);
and the controller is used for adjusting the angle of the head of the first word batch at the lower end of the automatic tightening mechanism, so that the head of the first word batch can be inserted into the groove of the screw after descending along with the automatic tightening mechanism, and synchronous tightening is carried out on the screw.
2. The precise synchronous automatic tightening device according to claim 1, wherein the double-degree-of-freedom guide rail assembly comprises a horizontal guide rail and a vertical guide rail, the horizontal guide rail is fixedly mounted on the first support frame (2) along a horizontal direction, and the vertical guide rail is fixedly mounted on a slide block of the horizontal guide rail along a vertical direction.
3. The precise synchronous automatic tightening device according to claim 2, wherein the automatic tightening mechanisms in the two groups of automatic tightening units are respectively fixed on the sliding blocks of the two vertical guide rails through adapter plates (9) or directly fixed on the sliding blocks of the two vertical guide rails, and the number of the automatic tightening mechanisms in the two groups of automatic tightening units is not less than the number of single tightening screws.
4. The precise synchronous automatic tightening device according to claim 1, wherein the upper end of the head of the character string is shaped like a character string and forms 90 degrees with the direction of the lower end of the character string, and the processor can judge the angle of the lower end of the character string by identifying the angle of the upper end of the character string.
5. The precise synchronous automatic tightening device according to claim 1, wherein the visual recognition system (14) is located above a character head and a workpiece (18) to be measured, the visual recognition system (14) comprises a camera (25), a lens (26) and a light source (27), the camera (25) is mounted on the fixed fixture (15), the lens (26) is mounted on the camera (25), the light source (27) is mounted below the fixed fixture (15), the lens (26) and the camera (25) implement photographing processing images, and the light source (27) is used for assisting light supplementing illumination when photographing the images.
6. The precision synchronous automatic tightening device according to claim 1, characterized in that it further comprises a clamping fixture that secures the workpiece (18) to be screwed on the base (1).
7. The precise synchronous automatic tightening device according to claim 6, wherein the clamping fixture comprises a stop block (16) and at least one assembly and disassembly structure (17), the stop block (16) is a semi-enclosed block structure fixed on the base (1), the assembly and disassembly structure (17) comprises an ear seat fixed on the base (1) and a screw penetrating through a threaded hole on the ear seat, and the workpiece (18) to be screwed is pressed onto the stop block (16) through screwing the screw, so that the workpiece (18) to be screwed is fixed.
8. A precision synchronous automatic tightening method, characterized by adopting the precision synchronous automatic tightening device according to one of claims 1 to 7, comprising:
Moving the visual recognition system (14) to the position above the workpiece (18) to be screwed along the single-degree-of-freedom guide rail direction of the second support frame (3) to acquire an image of the straight slot of the screw;
The automatic tightening mechanism is driven by the double-freedom-degree guide rail assembly to move to the position above a screw of a workpiece (18) to be screwed, and an image of the upper end of the line-shaped screwdriver head is obtained through the visual recognition system (14);
The processor determines the angle difference between the lower end of the head of the character and the groove of the screw character according to the image obtained by the visual recognition system (14), and adjusts the angle of the head of the character of the automatic tightening mechanism through the controller;
the automatic tightening mechanism is driven by the double-freedom-degree guide rail assembly to vertically descend, the straight screwdriver head is inserted into the straight groove of the screw, and synchronous tightening is carried out on the screw under the control of the controller.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210617895.8A CN114986139B (en) | 2022-06-01 | 2022-06-01 | Precise synchronous automatic tightening device and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210617895.8A CN114986139B (en) | 2022-06-01 | 2022-06-01 | Precise synchronous automatic tightening device and method |
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| CN114986139A CN114986139A (en) | 2022-09-02 |
| CN114986139B true CN114986139B (en) | 2024-06-25 |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101537563A (en) * | 2008-03-20 | 2009-09-23 | 苏州铂电自动化科技有限公司 | Multi-shaft symmetric flexible assembly system for synchronous automatic-screwed screws |
| CN113043005A (en) * | 2021-03-10 | 2021-06-29 | 上海威克鲍尔通信科技有限公司 | Automatic tightening equipment applicable to linear screws with gaskets |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104209740A (en) * | 2014-08-29 | 2014-12-17 | 宁波富乐礼机器人科技有限公司 | Automatic screw positioning and tightening structure |
| CN104308518B (en) * | 2014-09-25 | 2017-12-01 | 黄守瑜 | Screw auto lock machine |
| CN105127730A (en) * | 2015-07-15 | 2015-12-09 | 东莞市新路标自动化设备技术有限公司 | Automatic screw-driving machine with double electric screwdrivers and multiple feeders |
| CN108356509B (en) * | 2018-04-18 | 2023-08-08 | 锦州东佑精工有限公司 | Automatic nailing device and nailing method thereof |
| CN109093370B (en) * | 2018-08-31 | 2024-01-02 | 苏州博思特装配自动化科技有限公司 | Multi-screw synchronous locking machine |
-
2022
- 2022-06-01 CN CN202210617895.8A patent/CN114986139B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101537563A (en) * | 2008-03-20 | 2009-09-23 | 苏州铂电自动化科技有限公司 | Multi-shaft symmetric flexible assembly system for synchronous automatic-screwed screws |
| CN113043005A (en) * | 2021-03-10 | 2021-06-29 | 上海威克鲍尔通信科技有限公司 | Automatic tightening equipment applicable to linear screws with gaskets |
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| CN114986139A (en) | 2022-09-02 |
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