CN-224209953-U - Bolt tightening device based on visual positioning

CN224209953UCN 224209953 UCN224209953 UCN 224209953UCN-224209953-U

Abstract

A screw tightening device based on visual positioning comprises a robot, wherein a mounting bracket is arranged at the tail end of an arm of the robot, a visual camera used for collecting image information of a mounting position of a screw is mounted on the mounting bracket through a connecting frame, the mounting bracket is a T-shaped bracket, a lifting cylinder is mounted on a transverse plate of the mounting bracket, a piston rod of the lifting cylinder is fixedly connected with a sliding seat in a downward extending mode, the sliding seat is in sliding fit on a guide rail arranged on a vertical plate of the mounting bracket, the sliding seat is U-shaped, a servo motor is mounted on an upper plate of the sliding seat, a coupler is mounted on a lower plate of the sliding seat, an output shaft of the servo motor is connected with a tightening shaft through the coupler, a bolt sleeve is fixedly arranged at the lower end of the tightening shaft, and a displacement sensor used for monitoring relative displacement of the mounting bracket and the sliding seat is arranged between the mounting bracket and the sliding seat, and the robot, the visual camera, the lifting cylinder, the displacement sensor and the servo motor are electrically connected with a control module.

Inventors

LUO JUNJIE
LI ZHONGHAO
WANG KEYU
RAN WANG
HAN JIXIANG
LUO DAIFU
YIN CHANGMING
YU GUO
DUAN YONGBO
TANG YIJIA
PENG CHAO
PAN WUBING

Assignees

辰致(重庆)轻量化科技有限公司

Dates

Publication Date: 20260508
Application Date: 20250604

Claims (7)

1. The utility model provides a bolt tightening device based on vision location, includes robot (1), the arm end of robot (1) is equipped with the installing support, install visual camera (3) that are used for gathering bolt installation position image information through the link on the installing support, wherein, the installing support is T type support, and lifting cylinder (8) are installed to diaphragm (2) of installing support, the piston rod of lifting cylinder (8) extends fixed connection sliding seat (4) downwards, sliding seat (4) sliding fit is on guide rail (13) that riser (12) of installing support were equipped with, sliding seat (4) are U type, servo motor (5) are installed to upper plate (9) of sliding seat (4), shaft coupling (16) are installed to lower plate (10) of sliding seat (4), output shaft (15) of servo motor (5) are connected through shaft coupling (16) and are screwed down axle (17), screw down axle (17) lower extreme has bolt sleeve (18); A displacement sensor (6) for monitoring the relative displacement of the mounting bracket and the sliding seat (4) is arranged between the mounting bracket and the sliding seat (4), and the robot (1), the vision camera (3), the lifting cylinder (8), the displacement sensor (6) and the servo motor (5) are electrically connected with the control module.
2. The bolt tightening device based on visual positioning according to claim 1, wherein the sliding seat (4) is provided with a homing device which is electrically connected with the control module and comprises a proximity switch (19) and a brake cylinder (20); The output shaft (15) of the servo motor (5) is provided with a radial extension part (21), and when the radial extension part (21) rotates to a detection area of the proximity switch (19), the proximity switch (19) sends a signal to the control module; The proximity switch (19) is used for controlling the brake cylinder (20), and when a piston rod of the brake cylinder (20) stretches out, the circumferential rotation of the radial extension part (21) is blocked, and the bolt sleeve (18) is returned to the circumferential direction.
3. The bolt tightening device based on visual positioning according to claim 2, wherein the proximity switch (19) is mounted on the upper end surface of the lower plate (10) of the sliding seat (4), the brake cylinder (20) is mounted on the lower end surface of the upper plate (9) of the sliding seat (4), and a piston rod of the brake cylinder (20) extends downwards and is used for blocking circumferential rotation of the radial extension part (21) when extending.
4. A bolt tightening device based on visual positioning according to claim 3, wherein a piston rod bracket (22) is mounted on the lower plate (10) of the sliding seat (4), a yielding hole (23) for the radial extension part (21) to pass through in a rotating way and a through hole (23) for the piston rod of the brake cylinder (20) to pass through are arranged on the piston rod bracket (22), and when the brake cylinder (20) stretches out, the piston rod passes through the through hole (23) to block the circumferential rotation of the radial extension part (21).
5. The visual positioning-based bolt tightening device according to claim 1, wherein the displacement sensor (6) is a stay cord displacement sensor, a shell (24) of the stay cord displacement sensor is fixedly arranged on the mounting bracket, and the end part of a stay cord (25) of the stay cord displacement sensor is fixedly arranged on the sliding seat (4).
6. The visual positioning-based bolt tightening device according to claim 1, characterized in that the free end of the bolt sleeve (18) is magnetic and provided with a positioning step (27) cooperating with the bolt disc head for picking up the bolt.
7. A visual positioning-based bolt tightening device as set forth in claim 6, wherein the depth of the positioning step (27) is the same as the thickness of the bolt head.

Description

Bolt tightening device based on visual positioning Technical Field The utility model relates to a bolt tightening device field, concretely relates to bolt tightening device based on vision location. Background The bolt connection is a part connection mode which is quite common in industry. Currently, bolt tightening can be divided into three modes, manual, semi-automatic and full-automatic. In the manual mode, the manual wrench is held by a worker to carry out the tightening operation, so that the working strength is high, and the tightening torque is difficult to control. In the semiautomatic mode, a worker holds the pneumatic or electric tightening gun to carry out tightening operation, so that the workload can be effectively reduced, and the tightening torque can be well controlled. In the full-automatic mode, the robot or the special mechanism drives the tightening gun to operate, manual intervention is not needed, and the bolt tightening efficiency and the tightening quality can be remarkably improved. The current full-automatic bolt tightening device mainly aims at the bolt connection of specific specifications of specific parts. In order to meet the customized production requirements of various and small-batch products required by intelligent manufacturing environment and personalized consumption, CN116765803A discloses an intelligent bolt tightening control device which comprises a robot, an industrial camera, a servo motor and the like, and different bolt sleeves are clamped through the servo motor, so that automatic sleeve replacement, automatic tightening position identification and automatic tightening operation execution are realized, and the intelligent bolt tightening requirements of various parts are met; however, the intelligent bolt tightening control device disclosed in CN116765803A is characterized in that a servo motor is connected with the tail end of a robot through a connecting plate, when a self-tapping bolt is tapped in a blind hole, only a downward pressure is applied through the robot, the servo compression shaft cannot be guaranteed to provide enough downward pressure for the self-tapping bolt, the self-tapping bolt can be bounced in the tapping process, the stability of the self-tapping process of the bolt is affected, a detection device for detecting whether a bolt sleeve carries a screw or not and detecting the tapping depth of the bolt is absent, the servo motor is rigidly connected with the bolt sleeve, vibration is transmitted to the whole device, and the operation stability of the device is affected. Disclosure of Invention The utility model aims at providing a to the not enough that prior art corresponds, provide a bolt tightening device, the device's servo motor is installed on the installing support, and lifting cylinder provides down force to the installing support, provides sufficient down force for servo motor, sets up displacement sensor and is used for detecting whether the bolt sleeve carries the screw and detects the detection device of the degree of depth of attack of bolt, sets up the shaft coupling and absorbs vibration and impact. The purpose of the utility model is realized by adopting the following scheme: The utility model provides a bolt tightening device based on vision location, includes the robot, the arm end of robot is equipped with the installing support, install the vision camera that is used for gathering bolt mounting position image information through the link on the installing support, the installing support is T support, and the lifting cylinder is installed to the diaphragm of installing support, the piston rod of lifting cylinder downwardly extending fixed connection sliding seat, sliding seat sliding fit is on the guide rail that the riser of installing support was equipped with, the sliding seat is the U type, and servo motor is installed to the upper plate of sliding seat, and the shaft coupling is installed to the lower plate of sliding seat, the output shaft of servo motor passes through the shaft coupling and twists the axle, screw down the axle lower extreme and set firmly the bolt sleeve; And a displacement sensor for monitoring the relative displacement of the mounting bracket and the sliding seat is arranged between the mounting bracket and the sliding seat, and the robot, the vision camera, the lifting cylinder, the displacement sensor and the servo motor are all electrically connected with the control module. Preferably, the sliding seat is provided with a homing device which is electrically connected with the control module and comprises a proximity switch and a brake cylinder; The output shaft of the servo motor is provided with a radial extension part, and when the radial extension part rotates to a detection area of the proximity switch, the proximity switch sends a signal to the control module; The proximity switch is used for controlling the brake cylinder, and when a piston rod of the brake cylinder stretches out, the cir