CN112548550A - Device for screwing and control method - Google Patents

Abstract

The utility model provides a device for beating screw, is provided with anchor clamps including being used for the driven robot on the cantilever of robot, is provided with the electricity batch on the anchor clamps, still includes: the pressure sensor is used for monitoring the pressure value of the robot pressing clamp; the displacement sensor is used for monitoring the downward movement travel value of the robot; the control module is used for controlling the robot to stop when at least one of the pressure value and the stroke value reaches a set value; and the judging module is used for judging that the screw floats when the pressure value reaches the pressure set value and the stroke value does not reach the stroke set value, and judging that the screw slips when the screw rotates continuously when the pressure value and the stroke value reach the set values. The device for driving the screw and the control method can judge whether the screw is locked and screwed by the floating lock or not by combining the stroke and the pressure of the robot and whether the screwdriver rotates or not, improve the stability of equipment, save labor and reduce the cost.

Description

Device for screwing and control method

Technical Field

The invention belongs to the field of tool equipment, and particularly relates to a device for screwing a screw and a control method.

Background

At present, a plurality of screwing devices are matched with a spring guide rail, and screws are screwed by using the elasticity of a spring. However, the equipment in the form can not judge whether the screw is screwed in place, after the floating lock phenomenon occurs, the product can directly flow to the next station, and finally a certain amount of quality problems can be caused, so that the package is returned, certain manpower and material resources are consumed for remediation, and when the head is draped for a long time, the tail end is easy to shake, and the screwing effect is influenced.

Disclosure of Invention

The invention aims to provide a device for screwing and a control method, which aim to solve the technical problem that screwing is not in place.

In order to achieve the purpose, the specific technical scheme of the device for driving the screw and the control method is as follows:

the utility model provides a device for beating screw, is provided with anchor clamps including being used for the driven robot on the cantilever of robot, is provided with the electricity batch on the anchor clamps, still includes:

the pressure sensor is used for monitoring the pressure value of the robot pressing clamp;

the displacement sensor is used for monitoring the downward movement travel value of the robot;

the control module is used for controlling the robot to stop when at least one of the pressure value and the stroke value reaches a set value;

and the judging module is used for judging that the screw floats when the pressure value reaches the pressure set value and the stroke value does not reach the stroke set value, and judging that the screw slips when the screw rotates continuously when the pressure value and the stroke value reach the set values.

Further, anchor clamps include the connecting plate of horizontal setting, through flange fixed connection between the top surface of connecting plate and the cantilever, pressure sensor sets up between connecting plate and flange.

Further, the one end edge part of one end edge part fixed connection mounting panel of connecting plate, mounting panel perpendicular to connecting plate and downwardly extending, the electricity is criticized and is set up on the one side that the connecting plate was kept away from to the mounting panel.

Further, a gusset plate is arranged at the right angle between the mounting plate and the connecting plate.

Further, a clamping block is arranged on the mounting plate, and the electric screwdriver is vertically clamped in the clamping block.

Further, be provided with the steady piece on the mounting panel, the steady piece corresponds the below at the grip block, the level nestification has the bearing in the steady piece, the bottom of electricity wholesale has vertical decurrent batch head, batch head runs through the inner circle of bearing and stretches out the steady piece.

Further, an intermediate block is nested in the inner ring of the bearing, and the bit penetrates through the intermediate block.

Furthermore, the upper end face and the lower end face of the stabilizing block are tightly pressed with limiting blocks for preventing the bearing and the middle block from moving.

The invention also provides a control method for screwing the screw, which comprises the following steps:

acquiring a pressure value of a pressing clamp and a downward moving stroke value when the robot is driven;

comparing the obtained pressure value and the stroke value with the set pressure value and stroke value, and controlling the robot to stop when at least one of the pressure value and the stroke value reaches the set value;

and when the pressure value reaches the pressure set value and the stroke value does not reach the stroke set value, judging that the screw floats, and when the pressure value and the stroke value reach the set values and the electric screwdriver continuously rotates, judging that the screw slides.

The device for screwing the screw and the control method have the following advantages that: whether the screw floats and locks the sliding tooth or not can be judged by combining the stroke and the pressure of the robot and whether the screwdriver rotates or not, the stability of the equipment is improved, the labor is saved, and the cost is reduced.

Drawings

FIG. 1 is a schematic view of the clamp of the present invention;

FIG. 2 is a cross-sectional view of the stabilizer block structure of the present invention;

FIG. 3 is a control flow chart of the present invention.

The notation in the figure is: 1. a connecting plate; 2. a flange; 3. a pressure sensor; 4. electric screwdriver; 5. mounting a plate; 6. a gusset plate; 7. a clamping block; 8. a stabilizing block; 9. a bearing; 10. a middle block; 11. a limiting block; 12. and (5) batch header.

Detailed Description

For a better understanding of the objects, structure and function of the invention, reference will now be made in detail to a device for driving screws and a method for controlling the same, which are illustrated in the accompanying drawings.

The device for driving the screw and the control method comprise an industrial robot for driving, wherein the robot comprises a base, the base is rotatably connected with one end of a first cantilever, one end of the first cantilever, which is far away from the base, is rotatably connected with a second cantilever, and a clamp is arranged at one end of the second cantilever, which is far away from the first cantilever.

Anchor clamps include the connecting plate 1 that the level set up, be provided with flange 2 on the top surface of connecting plate 1, free end fixed connection of connecting plate 1 through flange 2 and second cantilever, be provided with pressure sensor 3 between connecting plate 1 and the flange 2, pressure sensor 3 is used for beating screw in-process perception pressure and converts the pressure value into corresponding signal of telecommunication output, the one end of connecting plate 1 is provided with mounting panel 5 that is used for installing the electric screwdriver 4, the one end edge portion of mounting panel 5 passes through screw fixed connection with the one end edge portion of connecting plate 1, 5 perpendicular to connecting plates 1 of mounting panel and for 1 downwardly extending of connecting plate, right angle department between mounting panel 5 and the connecting plate 1 is provided with gusset 6, thereby it makes the structure more firm to strengthen the dynamics, two right angle sides of gusset 6 are respectively through screw and mounting panel 5 and connecting plate.

A clamping block 7 and a stabilizing block 8 are arranged on one surface of the mounting plate 5 far away from the connecting plate 1, one end of the clamping block 7 is fixedly connected to the mounting plate 5 and is close to the top end, a clamping groove is formed in the clamping block 7, the electric screwdriver 4 is vertically clamped in the clamping groove of the clamping block 7, the stabilizing block 8 corresponds to the position below the clamping block 7, one end of the stabilizing block 8 is fixedly connected to the bottom end of the mounting plate 5, a deep groove ball bearing 9 is horizontally nested in the stabilizing block 8, an intermediate block 10 is nested in an inner ring of the bearing 9, limiting blocks 11 are tightly pressed on the upper end surface and the lower end surface of the stabilizing block 8, the limiting blocks 11 are used for enabling the bearing 9 and the intermediate block 10 in the stabilizing block 8 to be tightly pressed and stabilized, a screwdriver head 12 extending downwards is arranged at the bottom end of the screwdriver 4, a bottom end of the screwdriver head 12 is used for screwing a screw or nut, the bottom end of the screwdriver head 12 penetrates into the intermediate block, the batch head 12, the bearing 9 and the middle block 10 are in mutual press fit, so that the batch head 12 cannot shake greatly while rotating, and different types of the batch head 12 can be selected.

The robot is also provided with a displacement sensor and a controller, the displacement sensor is used for sensing the moving stroke of a cantilever of the robot and converting the stroke value into a corresponding electric signal to be output in the process of screwing, the controller comprises a control module and a judgment module, the control module is used for controlling the robot to start and stop according to the pressure value or the electric signal output by the stroke value, when the set pressure value or the set stroke value is reached, the controller controls the robot to stop acting, the pressure set value is 100N, the moving stroke of the robot is the stroke set value after screwing is completed in place, the judgment module is used for judging whether the screw generates floating lock sliding teeth, and the robot is also provided with a display used for reading the pressure value and the stroke value and an alarm device used for giving an alarm when the screw generates the floating lock sliding teeth.

In the process of screwing, a cantilever of the robot drives the clamp to slowly move downwards, the electric screwdriver drives the screwdriver head to rotate, when screwing is completed in place, the electric screwdriver stops rotating due to the fact that reaction torque is larger than set torque of the electric screwdriver, meanwhile, the robot moves downwards to reach a stroke set value, pressure generated by pressing down of the robot reaches a pressure set value, and the robot stops acting;

when floating lock occurs, because the reaction torque is larger than the set torque of the electric screwdriver, the electric screwdriver stops rotating, meanwhile, the pressure reaches the set pressure value, the robot stops acting, and at the moment, the robot moves downwards and does not reach the set stroke value, so that the floating lock of the screw is identified;

when the screw thread slipping happens, the screw is in place, the pressure set value and the stroke set value are simultaneously reached, the robot stops acting, the reaction torque is smaller than or equal to the set torque of the electric screwdriver at the moment, the electric screwdriver continuously rotates and does not stop, and therefore the screw thread slipping is recognized.

In addition, the pressure sensor can also identify a collision signal and give a collision avoidance function to the equipment.

The device for driving the screw and the control method can judge whether the screw is locked and screwed by the floating lock or not by combining the stroke and the pressure of the robot and whether the screwdriver rotates or not, improve the stability of equipment, save labor and reduce the cost.

It is to be understood that the present invention has been described with reference to certain embodiments, and that various changes in the features and embodiments, or equivalent substitutions may be made therein by those skilled in the art without departing from the spirit and scope of the invention. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from the essential scope thereof. Therefore, it is intended that the invention not be limited to the particular embodiment disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.

Claims (9)

1. The utility model provides a device for beating screw which characterized in that, is provided with anchor clamps including being used for the driven robot on the cantilever of robot, is provided with screwdriver (4) on the anchor clamps, still includes:

the pressure sensor (3) is used for monitoring the pressure value of the robot for pressing the clamp;

the displacement sensor is used for monitoring the downward movement travel value of the robot;

the control module is used for controlling the robot to stop when at least one of the pressure value and the stroke value reaches a set value;

and the judging module is used for judging that the screw floats when the pressure value reaches the pressure set value and the stroke value does not reach the stroke set value, and judging that the screw slips when the electric screwdriver (4) continuously rotates when the pressure value and the stroke value reach the set values.

2. The device for driving screws according to claim 1, wherein the clamp comprises a horizontally arranged connecting plate (1), the top surface of the connecting plate (1) and the cantilever are fixedly connected through a flange (2), and the pressure sensor (3) is arranged between the connecting plate (1) and the flange (2).

3. The device for driving screw according to claim 2, characterized in that one end edge part of the connecting plate (1) is fixedly connected with one end edge part of a mounting plate (5), the mounting plate (5) is perpendicular to the connecting plate (1) and extends downwards, and the electric screwdriver (4) is arranged on one surface of the mounting plate (5) far away from the connecting plate (1).

4. Device for driving screws according to claim 3, characterized in that a gusset (6) is provided at the right angle between the mounting plate (5) and the connection plate (1).

5. Device for driving screws according to claim 3, characterized in that a clamping block (7) is provided on the mounting plate (5), the electric screwdriver (4) being vertically clamped in the clamping block (7).

6. The device for driving screws according to claim 5, characterized in that a stabilizing block (8) is arranged on the mounting plate (5), the stabilizing block (8) is correspondingly arranged below the clamping block (7), a bearing (9) is horizontally nested in the stabilizing block (8), the bottom end of the electric screwdriver (4) is provided with a screwdriver head (12) which is vertically downward, and the screwdriver head (12) penetrates through the inner ring of the bearing (9) and extends out of the stabilizing block (8).

7. Device for driving screws according to claim 6, characterized in that the inner ring of the bearing (9) is nested with an intermediate block (10), the bits (12) penetrating inside the intermediate block (10).

8. The device for driving screw according to claim 6, characterized in that the upper and lower end surfaces of the stabilizing block (8) are provided with a stopper (11) for preventing the bearing (9) and the middle block (10) from moving.

9. A control method for screwing is characterized by comprising the following steps:

acquiring a pressure value of a pressing clamp and a downward moving stroke value when the robot is driven;

comparing the obtained pressure value and the stroke value with the set pressure value and stroke value, and controlling the robot to stop when at least one of the pressure value and the stroke value reaches the set value;

and when the pressure value reaches the pressure set value and the stroke value does not reach the stroke set value, judging that the screw floats, and when the pressure value and the stroke value reach the set values and the electric screwdriver continuously rotates, judging that the screw slides.

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