CN106217017A - A kind of compartmentalization is automatically positioned screw locking machine device people and screwed lock pays method - Google Patents
A kind of compartmentalization is automatically positioned screw locking machine device people and screwed lock pays method Download PDFInfo
- Publication number
- CN106217017A CN106217017A CN201610669403.4A CN201610669403A CN106217017A CN 106217017 A CN106217017 A CN 106217017A CN 201610669403 A CN201610669403 A CN 201610669403A CN 106217017 A CN106217017 A CN 106217017A
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- China
- Prior art keywords
- machine device
- electric screwdriver
- locking machine
- device people
- compartmentalization
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Details Of Spanners, Wrenches, And Screw Drivers And Accessories (AREA)
Abstract
The invention discloses a kind of compartmentalization and be automatically positioned screw locking machine device people.Described compartmentalization is automatically positioned screw locking machine device people and the working face of screw locking machine device people is divided into multiple region, described compartmentalization is automatically positioned the electric screwdriver that screw locking machine device people includes being arranged in each region, drive electric screwdriver driving means of movement in corresponding region, it is arranged on the visual identifying system above working face, screw hole being identified, and according to the screw hole state modulator driving means of visual identifying system identification, corresponding electric screwdriver is moved the control system to target location；Each electric screwdriver is driven mobile to target location by an independent driving means.The present invention is by working face compartmentalization, miniaturization, and electric screwdriver is automatically positioned more quickly, precisely.
Description
Technical field
The present invention relates to a kind of compartmentalization and be automatically positioned screw locking machine device people and screwed lock pays method, belong to screwed lock and pay and set
Standby field.
Background technology
3C industry has substantial portion of work to be all the work that screwed lock is paid at present, and currently the majority producer is the most all
Being to use manually to carry out lock pair, this is accomplished by substantial amounts of personnel and pays work to carry out screwed lock.
Along with the fast development of city industrialization process, level of consumption improves constantly, and causes the continuous rising of human cost,
Cheap labour is greatly decreased, human cost constantly rises in China.The structure of worker also there occurs fundamental change simultaneously.Existing
Labourer had certain culture basis, they to work the most fastidious, pursue the quality of life, working condition is slightly not so good as
Anticipate or feel blue, it is possible to immediately changing jobs.Many reasons is added together and causes present good multiple enterprises and create seriously
Recruitment waste.
The filature of the commonly used hand-held of the most domestic manufacturer carries out the lock of screw and pays work, hand-held
Lock is paid a mode and is primarily present problem:
1, alignment screw hole is manually, easily cause lock partially, lock problem askew, that slip, damage product appearance；
2, because lock mouth bigger than tapered end, for part workpiece paid time may affect sight line obstruction para-position；
3, whether screw is locked OK and is manually judged, without detection device, quality is easily affected by operator's anthropic factor；
4, for deep hole, arc surface, keep to the side and lean on the hole of wall can not use or use very inconvenient；
5, locking tool is than common electric screwdriver weight, operates more laborious than general tool, and the proficiency level of workman is different, and using effect is also
Difference, efficiency and difference in quality are the biggest.
6, labor intensity, workman works long hours and is easily generated fatigue, easily causes the Lou quality problem such as lock, floating tooth, sliding tooth；
7, efficiency is slow, disposably can only lock and pay one.
Thus, industry have developed the automatic tapping machine of a kind of co-ordinate-type, and this filature, compared to Handheld screw machine, is sat
Mark formula is more intelligent, but this type efficiency is slow, and disposable only one of which electric screwdriver works, as hand-held once only
A screw can be paid by lock.
Later, the automatic tapping machine of a kind of multiaxial type was occurred in that in industry, such as Chinese utility model patent
A kind of double electric screwdriver many loaders automatic locking screw machines disclosed in CN201320788059.2, this automatic locking screw machine includes support,
Being provided with Y-axis moving mechanism at the middle part of support, Y-axis moving mechanism is provided with two groups of fixtures, is provided with crossbeam on support, and crossbeam sets
In the top in Y-axis moving mechanism centre position, set at least provided with two groups of symmetries in the left and right sides at Y-axis moving mechanism head and the tail two ends
The screw supplying mechanism put, is provided with X-axis travel mechanism on crossbeam, and before and after X-axis mechanism, both sides are provided with two groups of locking machine structures, and two
Group locking machine structure is arranged the most dorsad, and often group locking machine structure includes that fixing seat paid by the lock being connected with X-axis mechanism, pays fixing seat at lock
Being provided with Z axis drive mechanism, Z axis drive mechanism connects has flexible apparatus, electric screwdriver, screwdriver bit and nozzle assembly, successively at crossbeam
Side be provided with handheld operation control system.This multiaxial type filature can work by many electric screwdrivers simultaneously, but electric screwdriver spacing
Can not automatically adjust, when switching product when, the long time cycle can only be needed for single product to go for accordingly
Product go adjust electric screwdriver spacing.
Summary of the invention
It is desirable to provide a kind of compartmentalization is automatically positioned screw locking machine device people and screwed lock pays method, this is automatically positioned
Screw locking machine device people is by working face compartmentalization, miniaturization so that it is can more fast and accurate be automatically positioned.
To achieve these goals, the technical solution adopted in the present invention is:
A kind of compartmentalization is automatically positioned screw locking machine device people, and it is structurally characterized in that, is divided into by the working face of screw locking machine device people
Multiple regions, described compartmentalization is automatically positioned the electric screwdriver that screw locking machine device people includes being arranged in each region, drives electricity
Criticize the driving means of movement in corresponding region, be arranged on the visual recognition line above working face, screw hole being identified
System, and according to the screw hole state modulator driving means of visual identifying system identification, corresponding electric screwdriver is moved to target location
Control system；Each electric screwdriver is driven mobile to target location by an independent driving means.
Thus, the present invention creatively by compartmentalization, the miniaturization of whole working face, adds answering of vision lens
With, it is possible to automatically identify and extract the parameters such as the position of product surface screw hole, feature, controlling driving means driving more right
The electric screwdriver answered moves, and enables that electric screwdriver is more fast and accurate is automatically positioned target location.
Additionally, non-interference between each electric screwdriver of the present invention, the most independent, an electric screwdriver is broken and does not affects other, its
His electric screwdriver still can work on.
According to embodiments of the invention, it is also possible to the present invention is further optimized, below for the skill formed after optimizing
Art scheme:
The compartmentalization of the present invention is automatically positioned screw locking machine device people and also includes feeding machine, and this feeding machine has corresponding with electric screwdriver quantity
Track.
According to embodiments of the invention, the working face of described screw locking machine device people is divided into four regions, four regions in
Matrix pattern is arranged.The working face compartmentalization of the present invention, miniaturization so that it is can more fast and accurate be automatically positioned.
The electric screwdriver of the present invention preferably employs the mode of rectangular axes and moves to target location, and each driving means includes driving
The X-servo motor of dynamic corresponding electric screwdriver transverse shifting and the Y servomotor driving corresponding electric screwdriver to vertically move.
In the present invention, the most described visual identifying system obtain screw hole parameter include the quantity of screw hole, specification and
Coordinate position parameter.
Preferably, described visual identifying system is vision lens, and vision lens can identify screw hole position automatically, automatically extracts
Characteristic parameter, and feed back to control system.
Preferably, described control system is PLC control system, and this PLC control system is known with driving means and vision respectively
Other system communication.
Based on same inventive concept, present invention also offers and a kind of utilize described compartmentalization to be automatically positioned screw locking machine
Device people carries out the method that screwed lock pays method, and it comprises the steps:
S1, the working face of screw locking machine device people are divided into multiple region, each electric screwdriver to be responsible for the screwed lock in a region paying, and often
Individual electric screwdriver only moves in the region that oneself is responsible for and works, and each electric screwdriver is to be driven by a single driving means,
Target location is moved in respective region；The working face of described screw locking machine device people is arranged above visual recognition line
System, is identified and feature extraction for the screw hole position of different product, obtains the quantity of screw hole, specification and seat on product
Cursor position parameter, and above-mentioned parameter is fed back to control system；
S2, control system, after calculation process, send instruction, drive corresponding electricity by controlling corresponding driving means
Criticize and move quickly into target coordinate position, it is achieved fast automatic location；
S3, by corresponding electric screwdriver, screwed lock is paid in screw hole, complete screwed lock and pay operation.
The variation of the screw specification of the present invention, the lock that can simultaneously carry out four kinds of specification screws pays work, each electric screwdriver
Individually can be adjusted arranging with parameter according to screw specification.
Compared with prior art, the invention has the beneficial effects as follows:
1, multiple electric screwdrivers work simultaneously, improve production efficiency, reduce artificial, cost-effective；
2, the application of vision lens so that it is time can automatically identify screw hole position, automatically extract characteristic parameter；
3, working face compartmentalization so that it is can more fast and accurate be automatically positioned；
4, reduce the labor intensity of workman, improve the working environment of workman greatly；
5, high-intelligentization, unmanned operation, detect, lock pay, location, the function such as feeding all realize automatization；
6, non-interference between electric screwdriver, the most independent, an electric screwdriver is broken and does not affects other, other still can continue work
Make；
7, the variation of screw specification, the lock that can simultaneously carry out four kinds of specification screws pays work, and each electric screwdriver can basis
Screw specification is individually adjusted arranging with parameter.
Accompanying drawing explanation
Fig. 1 is the structure principle chart of one embodiment of the invention.
In the drawings
1-first area；2-second area；3-the 3rd region；4-the 4th region；5-the first electric screwdriver；6-the second electric screwdriver；7-the 3rd
Electric screwdriver；8-the 4th electric screwdriver；9-the first X-servo motor；10-the oneth Y servomotor；11-the second X-servo motor；12-the 2nd Y watches
Take motor；13-the 3rd X-servo motor；14-the 3rd Y servomotor；15-the 4th X-servo motor；16-the 4th Y servomotor.
Detailed description of the invention
Below with reference to accompanying drawing and describe the present invention in detail in conjunction with the embodiments.It should be noted that in the feelings do not conflicted
Under condition, the embodiment in the present invention and the feature in embodiment can be mutually combined.For sake of convenience, hereinafter as occurred
On " ", D score, "left", "right" printed words, only represent consistent with the direction, upper and lower, left and right of accompanying drawing itself, structure is not played limit
It is set for using.
A kind of four axle compartmentalization fast automatic positioning lock screw robot, the lock being mainly used in electronic product screw is paid, no
With product due to screw hole position different, when product type is more, need frequently to adjust the position of the rifle that screws, tradition is beaten
Filature uses artificial according to manual adjustment screw rifle position, part screw hole position, and regulating cycle is the longest, and regulates
Scope is limited by its own mechanical mechanism.The present invention can solve the problem of the most traditional automatic tapping machine, and it can obtain automatically
The coordinate position of each screw hole of target workpiece, then the corresponding electric screwdriver speed of adjustment runs to target location and completes target automatically
The screwed lock of workpiece pays work, and the most can not interfere in the unconfined movement in region being each responsible for.It is
While how can meeting 4 electric screwdrivers, work paid by lock.
Above-mentioned four axle compartmentalization fast automatic positioning lock screw robot is utilized to carry out the method that screwed lock is paid, including as follows
Step:
As it is shown in figure 1, the working face that it is whole is divided into four regions equalized by the robot of the present invention, it is similar to plane
Four quadrants of coordinate system.Each electric screwdriver is responsible for a region, and each electric screwdriver only moves in the region that oneself is responsible for
And work, non-interference with the electric screwdriver in other regions, be independent of each other.Each electric screwdriver is to be driven by a single servomotor
Dynamic, in respective region, move to target location along plane rectangular coordinates axle.The present invention pacifies above robotic workstation face
Equipped with vision lens, the screw hole position of different product can be identified and feature extraction, obtain product and tighten up a screw the quantity in hole,
Coordinate position parameter, and screw hole information parameter is fed back to control system.
The control system of the present invention, after calculation process, sends instruction, by controlling 4 Serve Motor Control pair
4 electric screwdrivers answered move quickly into target coordinate position, it is achieved fast automatic location.
Finally screwed lock is paid in screw hole, complete the operation that screws.
In sum, due to the fact that whole working face has all been divided into four identical zonules, compared to traditional
Mode, the present invention more fast and accurate can navigate to impact point position, improves efficiency.Due to the independence between each electric screwdriver,
Report an error or when other problems when one of them breaks down, do not interfere with other electric screwdriver, still can work on.
Each electric screwdriver can the screw of corresponding a kind of specification, the lock that can simultaneously carry out four kinds of specification screws is paid.And can basis
The size of each screw specification individually carries out the isoparametric setting of torsion to electric screwdriver.The screw of four kinds of specifications can be by one
Feeding machine carrys out feed.Feeding machine is provided with four tracks altogether, and each track correspondence one screw, track can be according to the difference of screw
Regulate accordingly.
Each electric screwdriver of the present embodiment only moves in the region that oneself is responsible for, and work paid by the lock being responsible for this region screw
Make.
The content that above-described embodiment illustrates should be understood to that these embodiments are only used for being illustrated more clearly that the present invention, and not
For limiting the scope of the present invention, after having read the present invention, the those skilled in the art's various equivalent form of values to the present invention
Amendment each fall within the application claims limited range.
Claims (8)
1. a compartmentalization is automatically positioned screw locking machine device people, it is characterised in that be divided into by the working face of screw locking machine device people
Multiple regions, described compartmentalization is automatically positioned the electric screwdriver that screw locking machine device people includes being arranged in each region, drives electricity
Criticize the driving means of movement in corresponding region, be arranged on the visual recognition line above working face, screw hole being identified
System, and according to the screw hole state modulator driving means of visual identifying system identification, corresponding electric screwdriver is moved to target location
Control system；Each electric screwdriver is driven mobile to target location by an independent driving means.
Compartmentalization the most according to claim 1 is automatically positioned screw locking machine device people, it is characterised in that also include feeding machine,
This feeding machine has the track corresponding with electric screwdriver quantity.
Compartmentalization the most according to claim 1 is automatically positioned screw locking machine device people, it is characterised in that described screw locking machine device
The working face of people is divided into four regions, four regions to be that matrix pattern is arranged.
4. it is automatically positioned screw locking machine device people according to the compartmentalization one of claim 1-3 Suo Shu, it is characterised in that each driving
Device includes the X-servo motor driving corresponding electric screwdriver transverse shifting and the Y servomotor driving corresponding electric screwdriver to vertically move.
5. it is automatically positioned screw locking machine device people according to the compartmentalization one of claim 1-3 Suo Shu, it is characterised in that described vision
The screw hole parameter that identification system obtains includes the quantity of screw hole, specification and coordinate position parameter.
6. it is automatically positioned screw locking machine device people according to the compartmentalization one of claim 1-3 Suo Shu, it is characterised in that described vision
Identification system is vision lens.
7. it is automatically positioned screw locking machine device people according to the compartmentalization one of claim 1-3 Suo Shu, it is characterised in that described control
System is PLC control system, this PLC control system respectively with driving means and visual identifying system communication.
8. the compartmentalization utilizing one of claim 1-7 described is automatically positioned screw locking machine device people and carries out screwed lock and pay method
Method, it is characterised in that comprise the steps:
S1, the working face of screw locking machine device people are divided into multiple region, each electric screwdriver to be responsible for the screwed lock in a region paying, and often
Individual electric screwdriver only moves in the region that oneself is responsible for and works, and each electric screwdriver is to be driven by a single driving means,
Target location is moved in respective region；The working face of described screw locking machine device people is arranged above visual recognition line
System, is identified and feature extraction for the screw hole position of different product, obtains the quantity of screw hole, specification and seat on product
Cursor position parameter, and above-mentioned parameter is fed back to control system；
S2, control system, after calculation process, send instruction, drive corresponding electricity by controlling corresponding driving means
Criticize and move quickly into target coordinate position, it is achieved fast automatic location；
S3, by corresponding electric screwdriver, screwed lock is paid in screw hole, complete screwed lock and pay operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610669403.4A CN106217017A (en) | 2016-08-12 | 2016-08-12 | A kind of compartmentalization is automatically positioned screw locking machine device people and screwed lock pays method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610669403.4A CN106217017A (en) | 2016-08-12 | 2016-08-12 | A kind of compartmentalization is automatically positioned screw locking machine device people and screwed lock pays method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106217017A true CN106217017A (en) | 2016-12-14 |
Family
ID=57547389
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610669403.4A Pending CN106217017A (en) | 2016-08-12 | 2016-08-12 | A kind of compartmentalization is automatically positioned screw locking machine device people and screwed lock pays method |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106514537A (en) * | 2016-12-19 | 2017-03-22 | 北京小米移动软件有限公司 | Screwdriver control method and device |
| CN107826869A (en) * | 2017-11-03 | 2018-03-23 | 杭州锐冠科技有限公司 | A kind of doffing silk car |
| CN107826870A (en) * | 2017-12-04 | 2018-03-23 | 杭州锐冠科技有限公司 | A kind of chemical fibre doffing connects cake pipe |
| CN109128798A (en) * | 2018-11-21 | 2019-01-04 | 四川新翔智联科技有限公司 | Six axis of one kind lock screw equipment automatically |
| CN110170827A (en) * | 2019-05-30 | 2019-08-27 | 河南沐桐环保产业有限公司 | Battery pack screw disassembling method |
| CN110509047A (en) * | 2019-10-22 | 2019-11-29 | 遨博（江苏）机器人有限公司 | Robot vision the screwed lock work station and its working method |
| CN110653909A (en) * | 2019-10-08 | 2020-01-07 | 麒盛科技股份有限公司 | Automatic positioning and claw nail beating system and automatic claw nail beating production line |
| CN111633878A (en) * | 2020-04-27 | 2020-09-08 | 海安迪斯凯瑞探测仪器有限公司 | Novel method for improving mold closing precision |
| CN113441938A (en) * | 2020-03-24 | 2021-09-28 | 南宁富桂精密工业有限公司 | Method and system for controlling screw locking sequence |
| CN114248087A (en) * | 2022-01-12 | 2022-03-29 | 浙江万洋汽车配件有限公司 | Automatic cover closing tool for power-assisted steering machine production |
| CN114770083A (en) * | 2022-04-24 | 2022-07-22 | 五邑大学 | Automatic screw locking device and locking method |
| CN114799849A (en) * | 2022-06-27 | 2022-07-29 | 深圳市中弘凯科技有限公司 | Screw machine operation parameter acquisition and analysis system based on machine vision |
| CN117124064A (en) * | 2023-10-27 | 2023-11-28 | 深圳澜光智造科技有限公司 | Novel screw machine |
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| CN204843480U (en) * | 2015-07-15 | 2015-12-09 | 东莞市新路标自动化设备技术有限公司 | Many feeders auto -screwdriving machine is criticized to two electricity |
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| CN102909548A (en) * | 2012-10-13 | 2013-02-06 | 桂林电子科技大学 | Automatic screw locking method and device |
| CN103206949A (en) * | 2013-04-11 | 2013-07-17 | 野象自动化机械(上海)有限公司 | Self-detecting self-positioning universal screw machine and positioning method thereof |
| CN203471300U (en) * | 2013-08-27 | 2014-03-12 | 江苏科瑞恩自动化科技有限公司 | Automatic screw locking machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106514537A (en) * | 2016-12-19 | 2017-03-22 | 北京小米移动软件有限公司 | Screwdriver control method and device |
| CN107826869A (en) * | 2017-11-03 | 2018-03-23 | 杭州锐冠科技有限公司 | A kind of doffing silk car |
| CN107826870A (en) * | 2017-12-04 | 2018-03-23 | 杭州锐冠科技有限公司 | A kind of chemical fibre doffing connects cake pipe |
| CN109128798A (en) * | 2018-11-21 | 2019-01-04 | 四川新翔智联科技有限公司 | Six axis of one kind lock screw equipment automatically |
| CN110170827A (en) * | 2019-05-30 | 2019-08-27 | 河南沐桐环保产业有限公司 | Battery pack screw disassembling method |
| CN110653909A (en) * | 2019-10-08 | 2020-01-07 | 麒盛科技股份有限公司 | Automatic positioning and claw nail beating system and automatic claw nail beating production line |
| CN110509047A (en) * | 2019-10-22 | 2019-11-29 | 遨博（江苏）机器人有限公司 | Robot vision the screwed lock work station and its working method |
| CN113441938A (en) * | 2020-03-24 | 2021-09-28 | 南宁富桂精密工业有限公司 | Method and system for controlling screw locking sequence |
| CN111633878A (en) * | 2020-04-27 | 2020-09-08 | 海安迪斯凯瑞探测仪器有限公司 | Novel method for improving mold closing precision |
| CN114248087A (en) * | 2022-01-12 | 2022-03-29 | 浙江万洋汽车配件有限公司 | Automatic cover closing tool for power-assisted steering machine production |
| CN114770083A (en) * | 2022-04-24 | 2022-07-22 | 五邑大学 | Automatic screw locking device and locking method |
| CN114799849A (en) * | 2022-06-27 | 2022-07-29 | 深圳市中弘凯科技有限公司 | Screw machine operation parameter acquisition and analysis system based on machine vision |
| CN114799849B (en) * | 2022-06-27 | 2022-09-02 | 深圳市中弘凯科技有限公司 | Screw machine operation parameter acquisition and analysis system based on machine vision |
| CN117124064A (en) * | 2023-10-27 | 2023-11-28 | 深圳澜光智造科技有限公司 | Novel screw machine |
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Application publication date: 20161214 |