CN219805663U - Screw locking device based on manipulator - Google Patents
Screw locking device based on manipulator Download PDFInfo
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- CN219805663U CN219805663U CN202320340803.6U CN202320340803U CN219805663U CN 219805663 U CN219805663 U CN 219805663U CN 202320340803 U CN202320340803 U CN 202320340803U CN 219805663 U CN219805663 U CN 219805663U
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- manipulator
- mechanical arm
- connecting piece
- screw
- locking device
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- 238000009434 installation Methods 0.000 abstract description 6
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 208000003464 asthenopia Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000004630 mental health Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Abstract
The utility model provides a screw locking device based on a manipulator, which comprises a working platform, wherein a screw placing area and an object placing area are arranged on the working platform; the manipulator is further arranged on one side of the working platform and comprises a machine base, a mechanical arm arranged on the machine base, and a sensor component, a camera component and a screwdriver which are connected to the tail end of the mechanical arm. The utility model has simple structure and convenient disassembly and assembly; the screw driver is arranged on the six-axis mechanical arm, so that the screw is rapidly arranged through the mechanical arm, and the screw mounting efficiency is improved; the utility model collects the image of the workpiece through the camera, and recognizes the screw hole position of the workpiece through the controller, and then controls the manipulator to realize the installation of the screw; and the force and the moment at the tail end of the manipulator are detected in real time through the force sensor, so that the installation of the screw is ensured.
Description
Technical Field
The utility model relates to the technical field of screw locking devices, in particular to a screw locking device based on a manipulator.
Background
The 3C industry refers to the development and manufacture of products such as computers, communications, consumer electronics, etc., and is a very important part of the manufacturing industry.
Screw locking is a common procedure in the 3C industry, and is still largely completed manually at present due to quick updating and updating of assembly products, various screw types, precision, efficiency requirements and the like.
The screw locking device is simple and repeated, workers need to complete the screw locking device according to the sequence of taking screws, aligning screw holes and locking screws, and long-time work causes the damage of physical and mental health of the workers, such as asthenopia, cervical vertebra ache and the like.
Meanwhile, the enterprise generates a great deal of labor cost, and the production efficiency is reduced. Most of existing screw locking machines in the current market adopt position control, preset positions are used for locking, and the screw locking machine has the defects of high manufacturing cost, complex programming, high maintenance cost, low use efficiency and the like.
Disclosure of Invention
Aiming at the defects of the prior art, the utility model provides the screw locking device based on the manipulator.
The technical scheme of the utility model is as follows: the screw locking device based on the manipulator comprises a working platform, wherein a screw placing area and an object placing area are arranged on the working platform; the manipulator is further arranged on one side of the working platform and comprises a machine base, a mechanical arm arranged on the machine base, and a sensor component, a camera component and a screwdriver which are connected to the tail end of the mechanical arm.
Preferably, the mechanical arm is a six-axis mechanical arm, and a driving device for driving the six-axis mechanical arm to act is arranged in the machine base.
Preferably, the mechanical arm is connected with the sensor assembly through a first connecting piece, and a third connecting piece is arranged at the lower end of the first connecting piece; the lower end of the third connecting piece is provided with a screwdriver; the second connecting piece is sleeved outside the third connecting piece; and a camera component is arranged on the second connecting piece.
Preferably, the device further comprises a controller, wherein the controller is respectively connected with the sensor assembly, the camera assembly and the manipulator.
Preferably, the sensor component is a force sensor, and the force sensor is used for detecting the force in the vertical direction and the torque around the vertical direction at the tail end of the six-axis mechanical arm, so as to monitor the screw locking process in real time.
Preferably, the device further comprises a display, and the display is connected with the controller.
Preferably, the working platform is arranged on the bottom plate through a plurality of support columns, and the stand is arranged on the bottom plate.
Preferably, the model of the controller is BIS-6590A.
Preferably, the first connecting piece comprises two T-shaped connecting flanges, wherein one of the T-shaped connecting flanges is connected with the tail end of the six-axis mechanical arm; the sensor assembly is arranged between the two T-shaped connecting flanges; the lower end of the other T-shaped connecting flange is connected with a third connecting piece.
Preferably, the third connecting piece is a T-shaped third connecting seat, and the T-shaped third connecting seat is sleeved at the lower end of the T-shaped connecting flange; the screwdriver is inserted on the lower end of the T-shaped third connecting seat, and a second connecting piece is sleeved outside the third connecting seat.
Preferably, the second connecting piece comprises two clamping seats; the two clamping seats are symmetrically clamped on the outer side of the T-shaped third connecting seat and fixed through bolts, and the camera component is arranged on one clamping seat.
The beneficial effects of the utility model are as follows:
1. the utility model has simple structure and convenient disassembly and assembly; the screw driver is arranged on the six-axis mechanical arm, so that the screw is rapidly arranged through the mechanical arm, and the screw mounting efficiency is improved;
2. the utility model collects the image of the workpiece through the camera, and recognizes the screw hole position of the workpiece through the controller, and then controls the manipulator to realize the installation of the screw; and the force and the moment at the tail end of the manipulator are detected in real time through the force sensor, so that the installation of the screw is ensured.
Drawings
FIG. 1 is a schematic diagram of the structure of the present utility model;
FIG. 2 is a schematic view of the structure of the end of the mechanical arm according to the present utility model;
in the figure, a working platform and a manipulator are 1-arranged; 3-a controller; a 4-sensor assembly; a 5-camera assembly; 6-a screwdriver; 7-a display; 8-a first connector; 9-a second connector; 10-a third connector;
11-a bottom plate; 12-supporting columns; 13-an object placement area; 14-a screw placement area;
21-a stand; 22-a mechanical arm;
81-T type connecting flange;
91-a clamping seat;
101-a third connecting seat.
Detailed Description
The following is a further description of embodiments of the utility model, taken in conjunction with the accompanying drawings:
as shown in fig. 1 and 2, the present embodiment provides a screw locking device based on a manipulator, which includes a working platform 1, wherein a screw placing area 14 and an object placing area 13 are arranged on the working platform 1; the manipulator 2 is further arranged on one side of the working platform 1, and the manipulator 2 comprises a machine base 21, a manipulator 22 arranged on the machine base 21, and a sensor assembly 4, a camera assembly 5 and a screwdriver 6 which are connected to the tail end of the manipulator 22.
As a preferable example, the mechanical arm 22 is a six-axis mechanical arm 22, and a driving device for driving the six-axis mechanical arm 22 to operate is disposed in the stand 21.
As preferred in this embodiment, as shown in fig. 2; the mechanical arm 22 is connected with the sensor assembly 4 through a first connecting piece 8, and a third connecting piece 10 is arranged at the lower end of the first connecting piece 8; the lower end of the third connecting piece 10 is provided with a screwdriver 6; the second connecting piece 9 is sleeved outside the third connecting piece 10; the second connecting piece 9 is provided with a camera component 5, and in this embodiment, the camera component 5 is used for collecting part images of the object placing area 13.
As shown in fig. 1, the device further includes a controller 3, and the model of the controller 3 adopted in this embodiment is BIS-6590A. The controller 3 is respectively connected with the sensor component 4, the camera component 5 and the manipulator 2.
As a preferred embodiment, as shown in fig. 1, the device further comprises a display 7, and the display 7 is connected with the controller 3.
As shown in fig. 1, the sensor assembly 4 is preferably a force sensor, and detects the force in the vertical direction and the torque around the vertical direction at the tail end of the six-axis mechanical arm 22 through the force sensor, so as to monitor the screw locking process in real time.
As a preferred embodiment, as shown in fig. 1, the working platform 1 is disposed on the base plate 11 through a plurality of support columns 12, and the stand 21 is disposed on the base plate 11.
As a preferred embodiment, as shown in fig. 2, the first connecting member 8 includes two T-shaped connecting flanges 81, where one of the T-shaped connecting flanges 81 is connected to the end of the six-axis mechanical arm 22; the sensor assembly 4 is arranged between two T-shaped connecting flanges 81; the lower end of the other T-shaped connection flange 81 is connected to the third connection member 10.
As shown in fig. 2, the third connecting piece 10 is a T-shaped third connecting seat 101, and the T-shaped third connecting seat 101 is sleeved at the lower end of the T-shaped connecting flange 81; the screwdriver 6 is inserted into the lower end of the T-shaped third connecting seat 101, and a second connecting piece 9 is sleeved outside the third connecting seat 101.
As a preferred embodiment, as shown in fig. 2, the second connector 9 includes two clamping seats 91; the two clamping seats 91 are symmetrically clamped on the outer side of the T-shaped third connecting seat 101 and are fixed through bolts, and the camera assembly 5 is arranged on one clamping seat 91.
In this embodiment, the workpiece to be screwed is manually placed and fixed in the object placing area 13, and a plurality of required screws are placed in the screw placing area 14;
then, an image of the workpiece is acquired through the camera component 5 and is transmitted to the controller 3 for screw hole identification and positioning, and an operator selects a hole needing to be bolted through a display; the screw placing area 14 takes out corresponding screws to be placed on the screw driver 6, and then the controller 3 controls the mechanical arm 22 to act so as to realize the installation of the screws; meanwhile, the force sensor assembly 4 is matched for detecting the force and the moment in real time, and the force sensor is used for detecting the force in the vertical direction and the torque around the vertical direction at the tail end of the six-axis mechanical arm 22, so that the accurate installation of the screw is ensured.
The foregoing embodiments and description have been provided merely to illustrate the principles and best modes of carrying out the utility model, and various changes and modifications can be made therein without departing from the spirit and scope of the utility model as defined in the appended claims.
Claims (9)
1. The screw locking device based on the manipulator is characterized by comprising a working platform (1), wherein a screw placing area (14) and an object placing area (13) are arranged on the working platform (1); one side of the working platform (1) is also provided with a manipulator (2), and the manipulator (2) comprises a machine seat (21), a mechanical arm (22) arranged on the machine seat (21), and a sensor component (4), a camera component (5) and a screwdriver (6) which are connected to the tail end of the mechanical arm (22);
the sensor assembly (4) is arranged at the tail end of the mechanical arm (22) through a first connecting piece (8), and a third connecting piece (10) is arranged at the lower end of the first connecting piece (8); the lower end of the third connecting piece (10) is provided with a screwdriver (6); the second connecting piece (9) is sleeved outside the third connecting piece (10); the second connecting piece (9) is provided with a camera component (5), and the camera component (5) is used for collecting part images of the object placing area (13).
2. The screw locking device based on a manipulator of claim 1, wherein: the mechanical arm (22) adopts a six-axis mechanical arm (22), and a driving device for driving the six-axis mechanical arm (22) to act is arranged in the machine base (21).
3. The screw locking device based on a manipulator of claim 2, wherein: the working platform (1) is arranged on the bottom plate (11) through a plurality of supporting columns (12), and the stand (21) is arranged on the bottom plate (11).
4. A robot-based screw locking device according to claim 3, wherein: the device also comprises a controller (3), wherein the model of the controller (3) is BIS-6590A; the controller (3) is respectively connected with the sensor component (4), the camera component (5) and the manipulator (2).
5. The manipulator-based screw locking device of claim 4, wherein: the device also comprises a display (7), and the display (7) is connected with the controller (3).
6. The manipulator-based screw locking device of claim 4, wherein: the sensor assembly (4) is a force sensor, and the force sensor is used for detecting the force in the vertical direction and the torque around the vertical direction at the tail end of the six-axis mechanical arm (22).
7. The screw locking device based on a manipulator of claim 1, wherein: the first connecting piece (8) comprises two T-shaped connecting flanges (81), wherein one T-shaped connecting flange (81) is connected with the tail end of the six-axis mechanical arm (22); the sensor assembly (4) is arranged between two T-shaped connecting flanges (81); the lower end of the other T-shaped connecting flange (81) is connected with the third connecting piece (10).
8. The manipulator-based screw locking device of claim 7, wherein: the third connecting piece (10) is a T-shaped third connecting seat (101), and the T-shaped third connecting seat (101) is sleeved at the lower end of the T-shaped connecting flange (81); the screwdriver (6) is inserted into the lower end of the T-shaped third connecting seat (101), and a second connecting piece (9) is sleeved on the outer side of the T-shaped third connecting seat (101).
9. The manipulator-based screw locking device of claim 8, wherein: the second connecting piece (9) comprises two clamping seats (91); the two clamping seats (91) are symmetrically clamped on the outer side of the T-shaped third connecting seat (101) and are fixed through bolts, and the camera component (5) is arranged on one clamping seat (91).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320340803.6U CN219805663U (en) | 2023-02-28 | 2023-02-28 | Screw locking device based on manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320340803.6U CN219805663U (en) | 2023-02-28 | 2023-02-28 | Screw locking device based on manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219805663U true CN219805663U (en) | 2023-10-10 |
Family
ID=88209951
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320340803.6U Active CN219805663U (en) | 2023-02-28 | 2023-02-28 | Screw locking device based on manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219805663U (en) |
-
2023
- 2023-02-28 CN CN202320340803.6U patent/CN219805663U/en active Active
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