CN113997063A - Screw locking system, and control method and device of screw locking system - Google Patents
Screw locking system, and control method and device of screw locking system Download PDFInfo
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- CN113997063A CN113997063A CN202111507055.8A CN202111507055A CN113997063A CN 113997063 A CN113997063 A CN 113997063A CN 202111507055 A CN202111507055 A CN 202111507055A CN 113997063 A CN113997063 A CN 113997063A
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- 238000000034 method Methods 0.000 title claims abstract description 42
- 238000001514 detection method Methods 0.000 claims description 11
- 238000003860 storage Methods 0.000 claims description 10
- 230000015654 memory Effects 0.000 description 15
- 210000003323 beak Anatomy 0.000 description 6
- 241000293849 Cordylanthus Species 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000007667 floating Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000005086 pumping Methods 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
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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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Abstract
The invention discloses a screw locking system, a control method and a control device of the screw locking system, wherein the screw locking system comprises a power device, a screwdriver head, a sleeve and a vacuum assembly, the screwdriver head is arranged below the power device, the sleeve is of a closed structure and surrounds the screwdriver head, the vacuum assembly is arranged on the sleeve, and the control method of the screw locking system comprises the following steps: when the batch head descends, judging whether the batch head is in contact with a part to be locked; and when the batch head is in contact with the part to be locked, the vacuum assembly is started. Therefore, the workpiece to be locked can be driven into the hole completely, the phenomenon that the staple is askew and falls off can be avoided, and accurate locking of the staple hole is ensured.
Description
Technical Field
The invention relates to the technical field of automatic assembly, in particular to a screw locking system, and a control method and device of the screw locking system.
Background
The assembly of electric box contains the manual work and beats the screw and adopts automation equipment automatic assembly screw two kinds of modes. When adopting present automation equipment automatic assembly screw, the torsion is uncontrollable at the implementation screw in-process, can not effectively discern NG, has the screw thread to be destroyed, the askew nail of bail falls the nail, beats phenomenons such as damaging the components and parts.
Disclosure of Invention
In view of this, embodiments of the present invention provide a screw locking system, a method and a device for controlling the screw locking system, so as to solve the problem of unqualified assembly when an automation device automatically assembles screws.
According to a first aspect, an embodiment of the present invention provides a lock screw system, which includes a power device, a screwdriver head, a sleeve, and a vacuum assembly, wherein the screwdriver head is disposed below the power device, the sleeve is sleeved on the screwdriver head, and the vacuum assembly is disposed on the sleeve.
Based on the arrangement, when the batch head is in contact with a part to be locked (such as a screw), the sleeve is vacuumized, the part to be locked is adsorbed in the sleeve, and the sleeve descends along with the batch head and breaks open the bird's beak in the descending process; because the sleeve descends along with the batch head, the sleeve can be guaranteed to restrict the part to be locked by 360 degrees in the descending process, the part to be locked is kept vertical, the sleeve does not descend when the bottom end of the sleeve and the locked workpiece are separated by a certain distance (for example, 2mm), the fact that the part to be locked can be completely driven into the hole can be guaranteed, the nail askew nail falling phenomenon of the staple can not occur, and accurate locking of the nail hole is guaranteed.
With reference to the first aspect, in a first embodiment of the first aspect, the power device includes a servo electric batch and a lifting cylinder connected to the servo electric batch, and a valve is further disposed on an air inlet passage of the lifting cylinder.
With reference to the first embodiment of the first aspect, in a second embodiment of the first aspect, the lock screw system further includes a first fixing plate, an upper spring, and a lower spring; the first fixing plate is fixedly arranged on a bracket of the screw locking system and is positioned below the lifting cylinder; the upper spring is arranged above the first fixing plate; the lower spring is arranged below the first fixing plate.
With reference to the first aspect, in a third implementation manner of the first aspect, the screw locking system further includes a second fixing plate and a buffer, the second fixing plate is fixedly disposed on the bracket of the screw locking system and disposed below the sleeve, and the buffer is disposed above the second fixing plate.
With reference to the first aspect, in a fourth embodiment of the first aspect, the lock screw system further includes a controller, and the controller is connected to the vacuum assembly and the first valve.
According to a second aspect, an embodiment of the present invention further provides a control method of a screw locking system, where the screw locking system includes a power device, a batch head, a sleeve, and a vacuum assembly, the batch head is disposed below the power device, the sleeve is a closed structure and surrounds the batch head, the vacuum assembly is disposed on the sleeve, and the control method of the screw locking system includes: when the batch head descends, judging whether the batch head is in contact with a part to be locked; and when the batch head is in contact with the part to be locked, the vacuum assembly is started.
With reference to the second aspect, in a first embodiment of the second aspect, the control method of the screw locking system further includes: controlling the batch head to rotate at a first preset speed; and after the part to be locked enters the preset position, controlling the screwdriver head to rotate at a second preset speed.
With reference to the first embodiment of the second aspect, in the second embodiment of the second aspect, after controlling the batch head to rotate at the second preset speed, the method further includes: acquiring a detection torque; and judging whether the part to be locked is installed qualified or not according to the detection torque.
According to a third aspect, an embodiment of the present invention further provides a control device of a screw locking system, where the screw locking system includes a power device, a screwdriver head, a sleeve and a vacuum assembly, the screwdriver head is disposed below the power device, the sleeve is sleeved on the screwdriver head, the vacuum assembly is disposed on the sleeve, and the control device of the screw locking system includes a determination module and a vacuum pumping module; when the batch head descends, the judging module is used for judging whether the batch head is in contact with a part to be locked; and the vacuumizing module is used for starting the vacuum assembly when the batch head is in contact with the part to be locked.
According to a fourth aspect, the embodiment of the present invention further provides a computer-readable storage medium, where computer instructions are stored, and the computer instructions are configured to cause the computer to execute the control method of the screw locking system according to the second aspect or any one of the embodiments of the second aspect.
Drawings
The features and advantages of the present invention will be more clearly understood by reference to the accompanying drawings, which are illustrative and not to be construed as limiting the invention in any way, and in which:
FIG. 1 is a front view of one embodiment of a lock screw system;
FIG. 2 is a perspective view of a locking screw system corresponding to FIG. 1;
fig. 3 is a schematic flow chart illustrating a control method of a screw locking system in embodiment 2 of the present invention;
fig. 4 is a flowchart illustrating a specific example of a method for controlling a screw locking system according to embodiment 2 of the present invention;
fig. 5 is a schematic structural diagram of a control device of a screw locking system in embodiment 3 of the present invention;
wherein, 1, batch head; 2. a sleeve; 3. a vacuum assembly; 4. servo electric screwdriver; 5. a lifting cylinder; 6. a first fixing plate; 7. an upper spring; 8. a lower spring; 9. a second fixing plate; 10. a buffer; 11. a beak nail inlet; 12. the beak goes out the nail mouth.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
The embodiment 1 of the invention provides a screw locking system. Fig. 1 is a front view of an embodiment of a screw locking system, and fig. 2 is a perspective view of the screw locking system corresponding to fig. 1, as shown in fig. 1 and 2, the screw locking system includes a power device, a bit, a sleeve, and a vacuum assembly, the bit being disposed below the power device; the sleeve is sleeved on the screwdriver head; the vacuum assembly is arranged on the sleeve.
In the embodiment 1 of the invention, the power device drives the batch head to lift and rotate. When the batch head is lifted, the sleeve can be lifted along with the batch head; when the batch head is lowered to the preset position, the batch head drives the part to be locked (such as a screw) to drive the part to be locked into the workpiece to be locked (such as an electric box).
Specifically, the vacuum assembly comprises a vacuum generator, an air suction pipe and a vacuum detection device.
Based on the arrangement, when the batch head is in contact with a part to be locked (such as a screw), the sleeve is vacuumized, the part to be locked is adsorbed in the sleeve, and the sleeve descends along with the batch head and breaks open the bird's beak in the descending process; because the sleeve descends along with the batch head, the sleeve can be guaranteed to restrict the part to be locked by 360 degrees in the descending process, the part to be locked is kept vertical, the sleeve does not descend when the bottom end of the sleeve and the locked workpiece are separated by a certain distance (for example, 2mm), the fact that the part to be locked can be completely driven into the hole can be guaranteed, the nail askew nail falling phenomenon of the staple can not occur, and accurate locking of the nail hole is guaranteed.
As a specific embodiment, the power device comprises a servo electric batch and a lifting cylinder connected with the servo electric batch, and a valve is arranged on an air inlet channel of the lifting cylinder. Wherein the servo electric screwdriver can be controlled by the lifting cylinder to lift and rotate the screwdriver head. The valve can control and adjust the atmospheric pressure and the flow of admitting air of lift cylinder, and then the descending speed of control lift cylinder prevents to descend too fast, can let the cylinder descend and screw advance the tooth speed synchronous.
Specifically, the valve is a three-position five-way valve, and because the servo electric batch and the components are heavy, the three-position five-way valve capable of sealing, discharging and double coils is needed, and the sealing and discharging can ensure that the lifting cylinder descends slowly; the twin coil can guarantee in the lift cylinder decline in-process, and the lift cylinder can in time rise when the vacuum value in the sleeve is unusual, avoids damaging and is locked the work piece.
As a further embodiment, the lock screw system further includes a first fixing plate (also referred to as a servo motor batch fixing plate), an upper spring, and a lower spring; the first fixing plate is fixedly arranged on a bracket of the screw locking system, the upper part of the first fixing plate is connected with the servo assembly, and the lower part of the first fixing plate is connected with the batch head; the upper spring is arranged above the first fixing plate; the lower spring is arranged below the first fixing plate. Therefore, the lifting cylinder can buffer the pressing speed through compressing the lower spring in the descending process, so that the screw driving speed of the servo screwdriver is synchronous with the screw feeding speed, the broken screw teeth caused by too fast descending of the lifting cylinder are prevented, and the floating height caused by too slow descending of the lifting cylinder is prevented. The upper spring can play a counterforce, the pressure of the lifting cylinder is avoided being too large, the servo screwdriver head is prevented from being separated from the screw cross groove, and the resistance of the upper spring is larger than that of the lower spring.
As a further implementation manner, the screw locking system further includes a second fixing plate and a buffer, the second fixing plate is fixedly disposed on the bracket of the screw locking system and disposed below the sleeve, and the buffer is disposed above the second fixing plate.
As a further embodiment, the lock screw system further comprises a controller connected to the vacuum assembly and the first valve.
Example 2
s101: and when the batch head descends, judging whether the batch head is in contact with the part to be locked.
As a specific implementation manner, whether the batch head is in contact with the part to be locked or not may be determined as follows: and acquiring the descending time length of the batch head, and judging that the batch head is in contact with the part to be locked when the descending time length reaches a first preset time length. Of course, other ways may be adopted to determine whether the batch head contacts the to-be-locked component, and are not described herein again.
S102: and when the batch head is in contact with the part to be locked, the vacuum assembly is started.
As a further implementation manner, after the vacuum assembly is started, whether the vacuum degree in the sleeve reaches a preset vacuum threshold value is detected, and when the vacuum degree does not reach the vacuum threshold value, a prompt message for checking the vacuum assembly is sent out.
Based on the arrangement, when the batch head is in contact with a part to be locked (such as a screw), the sleeve is vacuumized, the part to be locked is adsorbed in the sleeve, and the sleeve descends along with the batch head and breaks open the bird's beak in the descending process; because the sleeve descends along with the batch head, the sleeve can be guaranteed to restrict the part to be locked by 360 degrees in the descending process, the part to be locked is kept vertical, the sleeve does not descend when the bottom end of the sleeve and the locked workpiece are separated by a certain distance (for example, 2mm), the fact that the part to be locked can be completely driven into the hole can be guaranteed, the nail askew nail falling phenomenon of the staple can not occur, and accurate locking of the nail hole is guaranteed.
As a further embodiment, the control method of the screw locking system further comprises the steps of: controlling the batch head to rotate at a first preset speed; and after the part to be locked enters the preset position, controlling the screwdriver head to rotate at a second preset speed.
As a further embodiment, after controlling the batch head to rotate at the second preset speed, the control method of the screw locking system further comprises: acquiring a detection torque; and judging whether the part to be locked is installed qualified or not according to the detection torque.
Fig. 4 is a schematic flowchart of a specific example of a method for controlling a screw locking system according to embodiment 2 of the present invention, and as shown in fig. 4, the method for controlling the screw locking system includes the following steps:
1. after the electric box (workpiece to be locked) is fixed on the tooling plate, the assembly points are transmitted through the assembly line, and the code scanning gun automatically scans one-dimensional codes on the electric box.
2. The screw vibration plate supplies to the track, and when the sensor senses that the screw is arranged, the material distributing cylinder clamps the material distributing feeder to be connected with the beak nail feeding port pipe.
3. The triaxial servo manipulator sets for identifying and counterfeiting (screw cap) parameters, and comprises three steps: the method comprises the steps of cap recognition, pre-tightening and tightening, wherein the torque force of a servo electric screwdriver is pre-positioned at 0.1NM, the speed is 100 revolutions per minute (cap recognition), the pre-tightening torque force is 0.3NM, the speed is 300 revolutions per minute (pre-tightening), the locking torque force is 0.50NM, the speed is 100 revolutions per minute (tightening), the number of turns is set to be 15 circles, the servo electric screwdriver moves to the position above an assembly point, a feeder distributor is started to blow one nail into a beak nail feeding port through a feeding pipe, whether the nail feeding is successful or not is detected through a detection switch, if the nail feeding is unsuccessful, the next nail is continuously blown, and if the nail feeding is unsuccessful, an alarm is given.
4. If the code scanning is successful, a success signal is sent to the PLC and the MES system to compare the model of the electric box, the production line continues to operate, the tooling plate operates to the photoelectric switch to stop, the electric box coming material to be locked on the production line needs to be positioned first, and the assembly of the three-axis servo manipulator is waited.
The triaxial servo manipulator moves to the position of an electric box screw driving point, the lifting cylinder compresses the upper spring and the lower spring to drive the Z-axis servo to descend along the Z axis, for example, whether the vacuum value in the sleeve reaches a preset value or not is detected when the vacuum value descends for 0.5S, whether the screw head of the screw is sucked into the sleeve or not is detected, the screw head is restrained and fixed in the sleeve, and the screw can be vertically driven into a preset hole of the electric box when the screw is discharged from a beak.
Specifically, the servo screwdriver is controlled according to the torque value feedback, so that the screw can be smoothly and flexibly driven into a preset hole of the electric box.
Starting the servo electric batch to screw 1 circle according to 0.1NM, rotating at a speed of 100 revolutions per minute (cap recognition), driving the screw into a preset hole of the electric box from a screw outlet of a beak, screwing 12 circles according to 0.3NM, pre-tightening at a speed of 300 revolutions per minute, screwing 2 circles according to 0.50, rotating at a speed of 100 revolutions per minute (screwing), simultaneously comparing the read real-time servo electric batch data with a set value, checking a torque value, and judging whether the screw is installed in the preset hole of the electric box to be OK (floating height, tooth sliding, overtime and the like) according to a feedback torque value, time detection, circle number detection, subsection torque detection and the like. And if the nail is OK, the next flow is carried out, otherwise, the lifting cylinder rises, the screwing is stopped, the nail throwing is carried out at the nail throwing position, and the step of starting the nail blowing is returned after the nail throwing. The assembly line runs straight, flows to the tail end of the assembly line, simultaneously sends out an alarm signal, resets after manual treatment of unqualified products, and scans the next electric box.
Specifically, the controller is communicated with the servo driver to read a sampling value, calculate and convert the sampling value into a torque value.
Example 3
Corresponding to embodiment 2 of the present invention, embodiment 3 of the present invention provides a control device of a screw locking system, fig. 5 is a schematic structural diagram of the control device of the screw locking system in embodiment 3 of the present invention, and as shown in fig. 5, the control device of the screw locking system in embodiment 3 of the present invention includes a determining module 20 and a vacuum-pumping module 21.
The judging module 20 is configured to judge whether the batch head is in contact with a to-be-locked component when the batch head descends;
and the vacuumizing module 21 is used for starting the vacuum assembly when the batch head is contacted with the part to be locked.
Details of the control device of the lock screw system described above can be understood by referring to the corresponding related descriptions and effects in the embodiments shown in fig. 1 to fig. 4, and are not described herein again.
Example 4
Embodiments of the present invention further provide a lock screw system, which may include a processor and a memory, where the processor and the memory may be connected by a bus or in another manner.
The processor may be a Central Processing Unit (CPU). The Processor may also be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, or a combination thereof.
The memory, which is a non-transitory computer readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules (e.g., the determining module 20 and the vacuum module 21 shown in fig. 5) corresponding to the control method of the screw locking system according to the embodiment of the present invention. The processor executes various functional applications and data processing of the processor by running the non-transitory software program, instructions and modules stored in the memory, that is, the control method of the screw locking system in the above method embodiment is realized.
The memory may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created by the processor, and the like. Further, the memory may include high speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory optionally includes memory located remotely from the processor, and such remote memory may be coupled to the processor via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the memory and when executed by the processor, perform a method of controlling a screw locking system as in the embodiments of fig. 3-4.
The details of the above-mentioned lock screw system can be understood by referring to the corresponding descriptions and effects in the embodiments shown in fig. 1 to 5, which are not described herein again.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Flash Memory (Flash Memory), a Hard Disk (Hard Disk Drive, abbreviated as HDD), a Solid State Drive (SSD), or the like; the storage medium may also comprise a combination of memories of the kind described above.
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.
Claims (10)
1. A lock screw system, comprising:
a power plant;
the batch head is arranged below the power device;
the sleeve is sleeved on the screwdriver head;
a vacuum assembly disposed on the sleeve.
2. The lock screw system according to claim 1, wherein said power means comprises a servo electric batch and a lift cylinder connected to said servo electric batch, said lift cylinder further having a valve in an air intake passage thereof.
3. The lock screw system of claim 2, further comprising a first retaining plate, an upper spring, and a lower spring;
the first fixing plate is fixedly arranged on a bracket of the screw locking system and is positioned below the lifting cylinder;
the upper spring is arranged above the first fixing plate;
the lower spring is arranged below the first fixing plate.
4. The lock screw system of claim 1, further comprising a second retaining plate fixedly disposed on a bracket of the lock screw system and disposed below the sleeve, and a bumper disposed above the second retaining plate.
5. The system of claim 1, further comprising a controller coupled to the vacuum assembly and the valve.
6. The control method of the screw locking system is characterized in that the screw locking system comprises a power device, a screwdriver head, a sleeve and a vacuum assembly, the screwdriver head is arranged below the power device, the sleeve is sleeved on the screwdriver head, the vacuum assembly is arranged on the sleeve, and the control method of the screw locking system comprises the following steps:
when the batch head descends, judging whether the batch head is in contact with a part to be locked;
and when the batch head is in contact with the part to be locked, the vacuum assembly is started.
7. The method of claim 6, further comprising:
controlling the batch head to rotate at a first preset speed;
and after the part to be locked enters the preset position, controlling the screwdriver head to rotate at a second preset speed.
8. The method according to claim 7, further comprising, after controlling the batch head to rotate at a second preset speed:
acquiring a detection torque;
and judging whether the part to be locked is installed qualified or not according to the detection torque.
9. The utility model provides a control device of lock screw system, its characterized in that, lock screw system includes power device, criticizes head, sleeve and vacuum assembly, it sets up to criticize the head the below of power device, the sleeve is airtight structure and centers on criticize the head, vacuum assembly sets up on the sleeve, the control device of lock screw system includes:
the judging module is used for judging whether the batch head is contacted with the part to be locked when the batch head descends;
and the vacuumizing module is used for starting the vacuum assembly when the batch head is in contact with the part to be locked.
10. A computer-readable storage medium storing computer instructions for causing a computer to execute the control method of a screw locking system according to any one of claims 6 to 8.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111507055.8A CN113997063A (en) | 2021-12-10 | 2021-12-10 | Screw locking system, and control method and device of screw locking system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111507055.8A CN113997063A (en) | 2021-12-10 | 2021-12-10 | Screw locking system, and control method and device of screw locking system |
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| CN113997063A true CN113997063A (en) | 2022-02-01 |
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| CN202111507055.8A Pending CN113997063A (en) | 2021-12-10 | 2021-12-10 | Screw locking system, and control method and device of screw locking system |
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| CN116638301A (en) * | 2023-06-29 | 2023-08-25 | 北京新风航天装备有限公司 | Three-section type automatic locking control method for slotted countersunk head screw |
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