CN110576435B - Locking control system, locking control method and storage device - Google Patents
Locking control system, locking control method and storage device Download PDFInfo
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- CN110576435B CN110576435B CN201810589471.9A CN201810589471A CN110576435B CN 110576435 B CN110576435 B CN 110576435B CN 201810589471 A CN201810589471 A CN 201810589471A CN 110576435 B CN110576435 B CN 110576435B
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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
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
Abstract
The invention provides a locking control system, which is applied to a locking control device, wherein the locking control device comprises: a manipulator; a screwdriver; a pressure sensor; a camera; a processor adapted to implement instructions; a storage device adapted to store a plurality of instructions, the instructions adapted to be loaded and executed by a processor: controlling a manipulator to drive a screwdriver to approach and suck a screw; controlling a camera to shoot a picture of the workpiece; controlling the manipulator to drive the screwdriver to place the screw into the screw hole; controlling the screwdriver to lock and attach the screw into the screw hole, detecting the torque force of the screw in real time, and controlling the pressure sensor to detect the abutting pressure of the screwdriver in different directions; selecting a corresponding standard torque curve model, comparing the detected torque with the selected standard torque curve model, and judging whether the screw is locked abnormally according to the abutting pressure; and controlling the screwdriver to revise and lock the screw again according to the judgment result. The invention also provides a locking control method and storage equipment.
Description
Technical Field
The present invention relates to a locking control system, and more particularly, to a locking control system, a locking control method, and a storage device for controlling a locking condition of a screw.
Background
The existing manipulator screw locking equipment is widely applied due to short locking time, high efficiency and less manpower requirements. However, the above-mentioned manipulator screw locking device adopts a vacuum adsorption mode to take screws and adopts a point position teaching mode to position, and when the manipulator is worn, the problem of inaccurate positioning can be caused; meanwhile, the torque force monitoring curve of the mechanical hand screw locking equipment to the screw can be displayed only after the locking is completed, so that the defects of missing locking, partial locking, floating locking and the like are judged, the timeliness is not judged, and the yield of the locking is reduced.
Disclosure of Invention
In view of the above, it is desirable to provide a locking control system, a locking control method and a storage device capable of detecting and controlling the torque of a locking screw in a near real-time manner to solve the above problems.
A locking control system is applied to a locking control device, and the locking control device comprises:
a manipulator;
the screw driver is arranged on the manipulator and driven by the manipulator to move;
the pressure sensor is arranged on the manipulator;
a camera, the camera set in the manipulator
A processor adapted to implement instructions;
a memory device adapted to store a plurality of instructions, the memory device further storing a standard torque curve model for a screw having different parameters, the instructions adapted to be loaded and executed by the processor:
controlling the manipulator to drive the screwdriver to approach a screw and controlling the screwdriver to suck the screw; controlling the mechanical arm to drive the camera to be close to a workpiece, controlling the camera to take a picture of the workpiece and transmitting the picture to the processor; judging the position of a screw hole of the workpiece according to the picture, and controlling the manipulator to drive the screwdriver to place the sucked screw into the corresponding screw hole of the workpiece; controlling the screwdriver to start to lock and attach the screw into the corresponding screw hole, detecting the torsion of the screw in real time, controlling the pressure sensor to detect the abutting pressure of the attached screw on the screwdriver in different directions, and transmitting the detected torsion and the abutting pressure to the processor; selecting the corresponding standard torque curve model according to the size and the material of the screw, comparing the detected torque with the selected standard torque curve model, and judging whether the screw is locked abnormally according to the situation of the abutting pressure of the locked screw on the screw batch in different directions; and controlling the screwdriver to re-correct and lock the screws with abnormal locking according to the judgment result and the abutting pressure of the locked screws on the screwdriver in different directions.
A lock attachment control method, comprising:
controlling a mechanical arm to drive a camera to be close to a workpiece, controlling the camera to take a picture of the workpiece and transmitting the picture to a processor;
judging the position of a screw hole of the workpiece according to the picture, and controlling the manipulator to drive a screwdriver to place the sucked screw into the corresponding screw hole of the workpiece;
controlling the screwdriver to start to lock and attach the screw into the corresponding screw hole and detect the torque force of the screw in real time, controlling a pressure sensor to detect the abutting pressure of the attached screw on the screwdriver in different directions, and transmitting the detected torque force and the abutting pressure to the processor;
selecting a corresponding standard torque curve model according to the size and the material of the screw, comparing the detected torque with the selected standard torque curve model, and judging whether the screw is locked abnormally or not according to the situation that the screw batch is subjected to the abutting pressure of the locked screw in different directions;
and controlling the screwdriver to re-correct and lock the screws with abnormal locking according to the judgment result and the abutting pressure of the locked screws on the screwdriver in different directions.
A storage device storing a plurality of instructions, the instructions adapted to be loaded and executed by a processor to:
controlling a mechanical arm to drive a camera to be close to a workpiece, controlling the camera to take a picture of the workpiece and transmitting the picture to a processor;
judging the position of a screw hole of the workpiece according to the picture, and controlling the manipulator to drive a screwdriver to place the sucked screw into the corresponding screw hole of the workpiece;
controlling the screwdriver to start to lock and attach the screw into the corresponding screw hole and detect the torque force of the screw in real time, controlling a pressure sensor to detect the abutting pressure of the attached screw on the screwdriver in different directions, and transmitting the detected torque force and the abutting pressure to the processor;
selecting a corresponding standard torque curve model according to the size and the material of the screw, comparing the detected torque with the selected standard torque curve model, and judging whether the screw is locked abnormally according to the situation that the screw batch is subjected to the abutting pressure of the locked screw in different directions;
and controlling the screwdriver to re-correct and lock the screws with abnormal locking according to the judgment result and the abutting pressure of the locked screws on the screwdriver in different directions.
The locking control system, the locking control method and the storage equipment respectively carry out real-time detection on the torsion of the locked screw through the screwdriver and the pressure sensor, detect the abutting pressure conditions of the locked screw on the screwdriver in different directions, and construct standard torsion curve models of the screws with different parameters, so that the torsion of the locked screw detected in real time by the screwdriver is compared with the selected standard torsion curve model, and whether the locking abnormity, locking leakage, floating locking, locking sliding and the like of the screw occurs or not is judged according to the abutting pressure conditions of the locked screw on the screwdriver in different directions, and the locking is corrected, so that the efficiency and the yield are improved.
Drawings
Fig. 1 is a schematic view of a lock attachment control device according to an embodiment of the present invention.
FIG. 2 is a block diagram of a locking control system according to an embodiment of the present invention.
Fig. 3 is a flow chart illustrating a locking control method according to an embodiment of the present invention.
Description of the main elements
The following detailed description will further illustrate the invention in conjunction with the above-described figures.
Detailed Description
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 only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
It will be understood that when an element or component is referred to as being "connected" to another element or component, it can be directly connected to the other element or component or intervening elements or components may be present. When an element or component is referred to as being "disposed on" another element or component, it can be directly on the other element or component or intervening elements or components may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1, fig. 1 is a schematic diagram of a locking control device 100 according to an embodiment of the present invention. The locking control device 100 is used for locking a screw to a workpiece (not shown) and detecting and controlling the locking torque in real time. The locking control device 100 comprises a processor 10, a storage device 20, a feeding mechanism 30, a manipulator 40, a screwdriver 50, a pressure sensor 60, a camera 70, a display 80 and a reminding unit 90. The storage device 20, the feeding mechanism 30, the manipulator 40, the screwdriver 50, the pressure sensor 60, the camera 70, the display 80 and the reminding unit 90 are electrically connected with the processor 10.
The processor 10 may be a central processing unit, a digital signal processor, or a single chip, etc. The processor 10 is used for processing related data and sending a plurality of instructions.
The storage device 20 is capable of storing relevant data and a plurality of instructions adapted to be loaded by the processor 10 and to perform relevant actions. The storage device 20 can further store a standard torque curve model of the screw with different parameters, n number of turns of the screw to be rotated in the standard torque curve model, a maximum torque value Tx-max, a minimum torque value Tx-min, and a torque slope | Kx-max | of the screw in the standard torque curve model during each rotation of the screw, where x is the x-th rotation of the screw, tx represents the torque of the screw during the x-th rotation of the locking screw, and | Kx-max | is an absolute value of a torque difference between two adjacent time points divided by an angle difference between the two adjacent time points of the screw rotation.
The standard torque curve model is characterized in that the standard torque curve model is obtained according to a formula in the process that screws with different parameters are smoothly locked and attached into corresponding screw holes: t = torque curve obtained by KDF, wherein T is torque, K is screw coefficient, and F is preset pretightening force.
It is understood that the storage device 20 may be a hard disk, a U disk, a random access memory, etc.
In at least one embodiment, the storage device 20 may be an internal storage system, such as a flash memory, a random access memory RAM, a readable memory ROM, and the like.
In at least one embodiment, the storage device 20 may also be a storage system, such as a video disc, a memory card, or a data storage medium. The storage device 20 may also include unstable or stable storage devices.
In at least one embodiment, the storage device 20 includes two or more storage devices, for example, one of the storage devices is a memory and the other of the storage devices is a drive. In addition, the storage device 20 may also be wholly or partially independent of the locking control apparatus 100.
The feeding mechanism 30 is used for sequentially feeding a plurality of screws.
The manipulator 40 is used for driving the screwdriver 50, the pressure sensor 60 and the camera 70 to move. In this embodiment, the robot 40 is a six-axis robot.
The screwdriver 50 is provided on the robot 40 and moves by the robot 40. The screwdriver 50 is used to draw a screw (not shown) from the feed mechanism 30 and lock the screw into a threaded hole (not shown) in a workpiece. Meanwhile, the screwdriver 50 can also detect the torque and the number of turns of the locked screw in real time.
The pressure sensor 60 is provided on the robot arm 40 to detect the holding pressure of the attached screws to the screwdriver 50 in different directions.
The camera 70 is provided on the robot 40 and moves by being driven by the robot 40. The camera 70 is used for taking pictures of a workpiece and a screw (not shown) to achieve the functions of positioning the screw hole, judging whether the screw hole and the screw are damaged, judging whether the screw is in the screw hole, and the like. In this embodiment, the camera 70 is provided with a light source 71. The light source 71 can provide light to the camera 70 so that the camera 70 can take a clear picture. The camera 70 is a CCD image sensor, but is not limited thereto.
The display 80 is used for displaying the torque of the detected screw, the picture taken by the camera 70 and the detection judgment result in real time.
The reminding unit 90 can remind according to the judgment result. The reminding mode includes but is not limited to sound reminding, information reminding, flashing light and alarm reminding and the like, and can be specifically set according to actual needs. In this embodiment, the reminding unit 90 is capable of sending out an audible alarm, and when the screw locking is abnormal, no screw is in the screw hole, the screw hole is damaged, and the screwdriver is abnormal, the reminding unit 90 sends out an audible alarm.
Referring to fig. 2, fig. 2 is a block diagram of a locking control system 200 according to an embodiment of the present invention. The locking control system 200 is applied to the locking control device 100. The locking control system 200 includes a loading control module 210, a manipulator control module 220, a screwdriver control module 230, a pressure detection control module 240, a camera control module 250, a model building module 260, a judgment module 270, a correction module 280, and a prompt control module 290. In one embodiment, the loading control module 210, the robot control module 220, the screwdriver control module 230, the pressure detection control module 240, the camera control module 250, the model building module 260, the determining module 270, the correcting module 280 and the reminding control module 290 are a series of computer program instruction segments stored in the storage device 20 of the locking control apparatus 100, capable of being executed by the processor 10 of the locking control apparatus 100 and capable of completing a fixed function. In other embodiments, the loading control module 210, the robot control module 220, the screwdriver control module 230, the pressure detection control module 240, the camera control module 250, the model building module 260, the determination module 270, the correction module 280, and the reminding control module 290 of the locking control system 200 may also be hardware units that are solidified in the processor 10, for example, firmware that is solidified in the processor 10.
The feeding control module 210 is used for controlling the feeding mechanism 30 to sequentially feed a plurality of screws so that the screwdriver 50 can suck the screws.
The manipulator control module 220 is used for controlling the manipulator 40 to drive the screwdriver 50, the pressure sensor 60 and the camera 70 to move.
The screwdriver control module 230 is used for controlling the screwdriver 50 to suck screws (not shown) from the feeding mechanism 30 and lock the screws into screw holes (not shown) of a workpiece, and controlling the screwdriver 50 to detect the torque force and the number of turns of the locked screws in real time and transmit the detected torque force and the number of turns of the screws to the processor 10 and the storage device 20.
The pressure detection control module 240 is used for controlling the pressure sensor 60 to detect the abutting pressure of the attached screw on the screwdriver 50 in different directions.
The camera control module 250 is used for controlling the camera 70 to take pictures of the workpiece and the screw (not shown), and controlling the light source 71 to provide light for the camera 70.
The model building module 260 is used for smoothly locking and attaching the screws with different parameters into the corresponding screw holes according to the formula: and T = KDF, wherein T is torsion, K is a screw coefficient, and F is a preset pretightening force.
The determining module 270 is configured to select a corresponding standard torque curve model according to the size and material of the screw, compare the torque of the attached screw detected in real time by the screwdriver 50 with the selected standard torque curve model, and determine whether the screw is locked abnormally, locked improperly, locked, or locked and whether the screwdriver 50 fails according to the abutting pressure of the attached screw on the screwdriver 50 in different directions. Meanwhile, the determination module 270 can determine the position of the screw hole, determine whether the screw hole and the screw are damaged, and determine whether there is a screw in the screw hole according to the picture of the screw and the workpiece taken by the camera 70.
Specifically, the real-time torsion of the screw in the 1 st rotation process is T1, and when T1 is greater than T1-max and the abutting pressure borne by the screwdriver 50 is not uniform, the screw is locked and deflected; when T1 is more than T1-max and the support pressure of the screw batch 50 is uniform, the screw is in a floating locking condition; when T1 is less than T1-min, the condition of missing locking of the screw occurs;
the real-time torsion of the screw in the rotation process of the mth (m is more than or equal to 2 and less than or equal to n-1) circle is Tm, when Tm is more than Tm-max, the resisting pressure borne by the screw driver 50 is increased, and the torsion slope | Km | is more than | Km-max | at the moment, the screw is locked and slid at the moment; when Tm is less than Tm-min, the screw is in a floating locking condition;
the real-time torsion of the screw in the nth rotation process is Tn, and when Tn is larger than Tn-max, the screw driver 50 has a fault condition; when Tn is less than Tn-min, the screw is in a floating lock state.
The correction module 280 controls the screwdriver 50 to re-correct the screws with abnormal locking according to the above judgment result and the abutting pressure of the screws to be locked, which are applied to the screwdriver 50 in different directions, until the screws are locked in the corresponding screw holes.
The reminding control module 290 is used for controlling the reminding unit 90 to remind according to the judgment result of the judgment module 270. Specifically, in the present embodiment, when the determining module 270 determines that the screw is abnormally locked, the screw hole has no screw therein, the screw hole is damaged, and the screwdriver is abnormal, the reminding unit 90 generates an audio alarm.
Please refer to fig. 3, which is a flowchart illustrating a locking control method of the locking control system 200 using the locking control apparatus 100 according to an embodiment of the present invention. The lock attach control method is merely an example, as there are many ways to implement the method. Referring to fig. 1 to 3, the lock attachment control method to be described next can be executed by the modules shown in fig. 1 to 2. One or more steps, methods, or sub-processes, etc., represented by each block in fig. 3, are performed by example methods. The method for controlling the locking of the screw by using the locking control system 200 comprises the following steps:
s101: and controlling the feeding mechanism 30 to sequentially feed a plurality of screws.
Specifically, the feeding control module 210 controls the feeding mechanism 30 to sequentially feed the screws.
S102: the control robot 40 brings the screw driver 50 close to the feeding mechanism 30 and controls the screw driver 50 to suck screws from the feeding mechanism 30.
Specifically, the robot control module 220 controls the robot 40 to bring the screwdriver 50 close to the feeding mechanism 30, and the screwdriver control module 230 controls the screwdriver 50 to suck screws from the feeding mechanism 30.
S103: the control robot 40 brings the camera 70 close to the workpiece, and controls the camera 70 to take a picture of the workpiece and transfer the picture to the processor 10 and the storage device 20.
Specifically, the robot control module 220 controls the robot 40 to drive the camera 70 to approach the workpiece, and the camera control module 250 controls the camera 70 to take a picture of the workpiece and transmit the picture to the processor 10 and the storage device 20.
S104: and judging the position of the screw hole of the workpiece according to the picture, and controlling the mechanical arm 40 to drive the screwdriver 50 to place the sucked screw into the corresponding screw hole of the workpiece.
Specifically, the determining module 270 determines the screw hole position of the workpiece according to the above-mentioned picture, and the robot control module 220 controls the robot 40 to drive the screwdriver 50 to put the sucked screw into the corresponding screw hole of the workpiece.
S105: the screwdriver 50 is controlled to start to lock and attach the screw into the corresponding screw hole and detect the torque force of the screw in real time, and the pressure sensor 60 is controlled to detect the abutting pressure of the attached screw on the screwdriver 50 in different directions and transmit the detected torque force and the abutting pressure to the processor 10 and the storage device 20.
Specifically, the screwdriver control module 230 controls the screwdriver 50 to start to lock and attach the screw into the corresponding screw hole and detect the torque of the screw in real time, and the pressure detection control module 240 controls the pressure sensor 60 to detect the pressing force of the attached screw on the screwdriver 50 in different directions and transmit the detected torque to the processor 10 and the storage device 20.
S106: and selecting a corresponding standard torque curve model according to the size and the material of the screw, comparing the detected torque with the selected standard torque curve model, and judging whether the screw is locked abnormally according to the abutting pressure of the locked screw on the screw batch 50 in different directions.
Specifically, the determining module 270 is configured to select a corresponding standard torque curve model according to the size and material of the screw, compare the torque of the attached screw detected in real time by the screwdriver 50 with the selected standard torque curve model, and determine whether the screw is locked abnormally, such as lock failure, lock floating, lock sliding, and the like, according to the abutting pressure of the attached screw on the screwdriver 50 in different directions.
Specifically, the real-time torsion of the screw in the 1 st rotation process is T1, and when T1 is greater than T1-max and the support pressure on the screw batch 50 is not uniform, the screw is locked and deflected; when T1 is more than T1-max and the support pressure of the screw batch 50 is uniform, the screw is in a floating locking condition; when T1 is less than T1-min, the condition of missing locking of the screw occurs;
the real-time torsion of the screw in the rotation process of the mth (m is more than or equal to 2 and less than or equal to n-1) circle is Tm, when Tm is more than Tm-max, the resisting pressure borne by the screw batch 50 is increased, and the torsion slope | Km | > | Km-max | at the moment, the screw is locked and slipped; when Tm is less than Tm-min, the screw is in a floating lock state;
the real-time torsion of the screw in the nth rotation process is Tn, and when Tn is larger than Tn-max, the screw driver 50 has a fault condition; when Tn is less than Tn-min, the screw is in a floating locking state.
S107: and controlling the reminding unit 90 to remind according to the judgment result.
Specifically, the reminding control module 290 controls the reminding unit 90 to remind the user according to the judgment result of the judgment module 270. When the determining module 270 determines that the lock attachment abnormality of the screw, such as lock deviation, lock missing, lock floating, and lock sliding, occurs, the reminding control module 290 controls the reminding unit 90 to issue a sound alarm.
S108: and controlling the screwdriver 50 to re-correct and lock the screws with abnormal locking according to the judgment result and the abutting pressure of the locked screws on the screwdriver 50 in different directions until the screws are locked in the corresponding screw holes.
Specifically, the correction module 280 controls the screwdriver 50 to re-correct and lock the screws with abnormal locking according to the above determination result and the abutting pressure of the screws to be locked, which are applied to the screwdriver 50 in different directions, until the screws are locked in the corresponding screw holes.
It is understood that step S101 may be eliminated, and the robot control module 220 directly controls the robot 40 to bring the screwdriver 50 close to the screw, and the screwdriver control module 230 controls the screwdriver 50 to suck the screw.
It is understood that step S107 may be eliminated, and the operator may directly determine whether the locking abnormality occurs in the screw according to the above determination result displayed on the display 80.
It is understood that the establishment of the standard torque curve model in step S106 includes the following steps: the model building module 260 is based on the following formula in the process of smoothly locking and attaching the screws with different parameters into the corresponding screw holes: t = torque curve obtained by KDF, wherein T is torque, K is screw coefficient, and F is preset pretightening force.
The locking control device 100 includes a processor 10, a storage device 20, a feeding mechanism 30, a manipulator 40, a screwdriver 50, a pressure sensor 60, a camera 70, a display 80 and a reminding unit 90, but is not limited thereto, and the feeding mechanism 30, the display 80 and the reminding unit 90 can be eliminated without affecting the torque detection and locking control of the screw.
The locking control device 100, the locking control system 200 and the locking control method respectively detect the torque of the locked screw in real time through the screwdriver 50 and the pressure sensor 60, detect the abutting pressure conditions of the locked screw in different directions on the screwdriver 50, construct standard torque curve models of the screws with different parameters, compare the torque of the locked screw detected in real time by the screwdriver 50 with the selected standard torque curve models, and judge whether the screw is locked abnormally or not according to the abutting pressure conditions of the locked screw in different directions on the screwdriver 50, and correct the locking, so as to improve the efficiency and yield.
It will be understood by those skilled in the art that all or part of the processes of the above embodiments may be implemented by hardware instructions of a computer program, and the program may be stored in a computer-readable storage medium, and when executed, may include the processes of the above embodiments of the methods.
In addition, functional units in the embodiments of the present invention may be integrated into the same processor, or each unit may exist alone physically, or two or more units are integrated into the same unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional module.
The integrated unit implemented in the form of a software functional unit may be stored in a computer-readable storage medium. The software functional unit is stored in a storage medium, and includes a plurality of instructions for enabling an electronic device (which may be a handheld electronic device, such as a smart phone, a notebook computer, a Personal Digital Assistant (PDA), an intelligent wearable device, or a desktop electronic device, such as a desktop computer, a smart television, or the like) or a processor (processor) to perform some steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. Several units or systems recited in the system claims may also be implemented by one and the same unit or system in software or hardware. The terms first, second, etc. are used to denote names, but not to denote any particular order.
Finally, it should be noted that the above embodiments are only intended to illustrate the technical solutions of the present invention and not to limit the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.
Claims (7)
1. A locking control system, the locking control system is applied to a locking control device, the locking control device comprises:
a manipulator;
the screw driver is arranged on the manipulator and driven by the manipulator to move;
the pressure sensor is arranged on the manipulator;
the camera is arranged on the manipulator;
a processor adapted to implement instructions;
a memory device adapted to store a plurality of instructions, the memory device further storing a standard torque curve model for a screw having different parameters, the instructions adapted to be loaded and executed by the processor:
controlling the manipulator to drive the screwdriver to approach a screw and controlling the screwdriver to suck the screw; controlling the mechanical arm to drive the camera to be close to a workpiece, controlling the camera to take a picture of the workpiece and transmitting the picture to the processor; judging the position of a screw hole of the workpiece according to the picture, and controlling the manipulator to drive the screwdriver to place the sucked screw into the corresponding screw hole of the workpiece; controlling the screwdriver to start to lock and attach the screw into the corresponding screw hole, detecting the torsion of the screw in real time, controlling the pressure sensor to detect the abutting pressure of the attached screw on the screwdriver in different directions, and transmitting the detected torsion and the abutting pressure to the processor; selecting the corresponding standard torque curve model according to the size and the material of the screw, comparing the detected torque with the selected standard torque curve model, and judging whether the screw is locked abnormally according to the situation of the abutting pressure of the locked screw on the screw batch in different directions; controlling the screwdriver to re-correct and lock the screws with abnormal locking according to the judgment result and the abutting pressure of the locked screws on the screwdriver in different directions;
the storage device can also store the number of turns n of the screw to be rotated in the standard torque curve model, the maximum torque value Tx-max, the minimum torque value Tx-min and the torque slope | Kx-max | of the screw in the standard torque curve model in each turn of rotation, wherein x is the x-th turn of the screw, tx represents the torque of the locking screw in the x-th turn of the screw, and | Kx-max | is the torque difference between two adjacent time points divided by the absolute value of the angle difference of the screw rotation between the two adjacent time points, and whether the screw is locked abnormally is judged according to the abutting pressure of the locked screw in different directions of the screwdriver: the real-time torsion of the screw in the 1 st rotation process is T1, and when T1 is larger than T1-max and the support pressure borne by the screw batch is uneven, the screw is locked and deflected; when T1 is more than T1-max and the support pressure borne by the screwdriver is uniform, the screw is in a floating locking condition; when T1 is less than T1-min, the screw is in a missing lock condition;
the method for judging whether the screw is abnormally locked or not according to the abutting pressure of the locked screw on the screwdriver in different directions comprises the following specific steps: the real-time torsion of the screw in the rotation process of the mth (m is more than or equal to 2 and less than or equal to n-1) circle is Tm, when Tm is more than Tm-max, the resisting pressure borne by the screw is increased, and the torsion slope | Km | > | Km-max | at the moment, the screw is locked and slipped; when Tm is less than Tm-min, the screw is in a floating locking state.
2. The lock attachment control system of claim 1, wherein: the method for judging whether the screw is abnormally locked or not according to the abutting pressure of the locked screw on the screwdriver in different directions comprises the following specific steps: the real-time torsion of the screw in the nth rotation process is Tn, and when Tn is larger than Tn-max, the screw driver has a fault condition; when Tn is less than Tn-min, the screw is in a floating locking state.
3. A lock attachment control method, comprising:
controlling a mechanical arm to drive a camera to be close to a workpiece, controlling the camera to take a picture of the workpiece and transmitting the picture to a processor;
judging the position of a screw hole of the workpiece according to the picture, and controlling the manipulator to drive a screwdriver to place the sucked screw into the corresponding screw hole of the workpiece;
controlling the screwdriver to start to lock and attach the screw into the corresponding screw hole and detect the torque force of the screw in real time, controlling a pressure sensor to detect the abutting pressure of the attached screw on the screwdriver in different directions, and transmitting the detected torque force and the abutting pressure to the processor;
selecting a corresponding standard torque curve model according to the size and the material of the screw, comparing the detected torque with the selected standard torque curve model, and judging whether the screw is locked abnormally according to the situation that the screw batch is subjected to the abutting pressure of the locked screw in different directions;
controlling the screwdriver to re-correct and lock the screws with abnormal locking according to the judgment result and the situation that the screwdriver is subjected to the abutting pressure of the locked screws in different directions; wherein
The standard torque curve model comprises the number of turns n of the screw to be rotated and a maximum torque value Tx-max, a minimum torque value Tx-min and a torque slope | Kx-max | of the screw in the standard torque curve model in each turn of rotation of the screw, wherein x is the x-th turn of rotation of the screw, tx represents the torque of the locking screw in the x-th turn of rotation, and | Kx-max | is the absolute value of the torque difference of two adjacent time points divided by the rotation angle difference of the screw at two adjacent time points, and whether the screw is abnormally locked or not is judged according to the abutting pressure of the locked screw on the screwdriver in different directions, specifically: the real-time torsion of the screw in the 1 st rotation process is T1, and when T1 is larger than T1-max and the support pressure borne by the screw batch is uneven, the screw is locked and deflected; when T1 is more than T1-max and the support pressure borne by the screwdriver is uniform, the screw is in a floating locking condition; when T1 is less than T1-min, the screw is in a missing lock condition;
the method for judging whether the screw is abnormally locked or not according to the abutting pressure of the locked screw on the screwdriver in different directions comprises the following specific steps: the real-time torsion of the screw in the rotation process of the mth (m is more than or equal to 2 and less than or equal to n-1) circle is Tm, when Tm is more than Tm-max, the resisting pressure borne by the screw batch is increased, and the torsion slope | Km | is more than | Km-max | at the moment, the screw is locked and slid; when Tm is less than Tm-min, the screw is in a floating locking state.
4. A memory device storing a plurality of instructions, the instructions adapted to be loaded and executed by a processor to:
controlling a mechanical arm to drive a camera to be close to a workpiece, controlling the camera to take a picture of the workpiece and transmitting the picture to a processor;
judging the position of a screw hole of the workpiece according to the picture, and controlling the manipulator to drive a screwdriver to place the sucked screw into the corresponding screw hole of the workpiece;
controlling the screwdriver to start to lock and attach the screw into the corresponding screw hole and detect the torque force of the screw in real time, controlling a pressure sensor to detect the abutting pressure of the attached screw on the screwdriver in different directions, and transmitting the detected torque force and the abutting pressure to the processor;
selecting a corresponding standard torque curve model according to the size and the material of the screw, comparing the detected torque with the selected standard torque curve model, and judging whether the screw is locked abnormally or not according to the situation that the screw batch is subjected to the abutting pressure of the locked screw in different directions;
controlling the screwdriver to re-correct and lock the screws with abnormal locking according to the judgment result and the situation that the screwdriver is subjected to the abutting pressure of the locked screws in different directions; wherein
The standard torque curve model comprises the number of turns n of the screw to be rotated and a maximum torque value Tx-max, a minimum torque value Tx-min and a torque slope | Kx-max | of the screw in the standard torque curve model in each turn of rotation of the screw, wherein x is the x-th turn of rotation of the screw, tx represents the torque of the locking screw in the x-th turn of rotation, and | Kx-max | is the absolute value of the torque difference of two adjacent time points divided by the rotation angle difference of the screw at two adjacent time points, and whether the screw is abnormally locked or not is judged according to the abutting pressure of the locked screw on the screwdriver in different directions, specifically: the real-time torsion of the screw in the 1 st rotation process is T1, and when T1 is larger than T1-max and the support pressure borne by the screw batch is uneven, the screw is locked and deflected; when T1 is more than T1-max and the support pressure borne by the screwdriver is uniform, the screw is in a floating locking condition; when T1 is less than T1-min, the screw is in a missing lock condition;
the method for judging whether the screw is abnormally locked or not according to the abutting pressure of the locked screw on the screwdriver in different directions comprises the following specific steps: the real-time torsion of the screw in the rotation process of the mth (m is more than or equal to 2 and less than or equal to n-1) circle is Tm, when Tm is more than Tm-max, the resisting pressure borne by the screw batch is increased, and the torsion slope | Km | is more than | Km-max | at the moment, the screw is locked and slid; when Tm is less than Tm-min, the screw is in floating lock condition.
5. The storage device of claim 4, wherein the instructions are adapted to be loaded and executed by the processor to:
the process that the screws with different parameters are smoothly locked and attached into the corresponding screw holes is represented by the formula: t = KDF, wherein T is torsion, K is a screw coefficient, and F is a preset pretightening force.
6. The storage device of claim 4, wherein: the storage device can also store the number of turns n of the screw to be rotated in the standard torque curve model, the maximum torque value Tx-max, the minimum torque value Tx-min and the torque slope | Kx-max | of the screw in each turn of rotation process in the standard torque curve model, wherein x is the x-th turn of the screw rotation, tx represents the torque of the locking screw in the x-th turn of rotation, and | Kx-max | is the absolute value of the torque difference of two adjacent time points divided by the angle difference of the screw rotation of the two adjacent time points, and whether the screw is locked abnormally is judged according to the abutting pressure of the locked screw on the screw batch in different directions, specifically: the real-time torsion of the screw in the 1 st rotation process is T1, and when T1 is larger than T1-max and the abutting pressure borne by the screwdriver is not uniform, the screw is locked and deflected; when T1 is more than T1-max and the support pressure borne by the screwdriver is uniform, the screw is in a floating locking condition; when T1 is less than T1-min, the condition of missing locking of the screw occurs.
7. The storage device of claim 6, wherein: the method for judging whether the screw is abnormally locked or not according to the abutting pressure of the locked screw on the screwdriver in different directions comprises the following specific steps: the real-time torsion of the screw in the nth rotation process is Tn, and when Tn is larger than Tn-max, the screw driver has a fault condition; when Tn is less than Tn-min, the screw is in a floating locking state.
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| CN111579224A (en) * | 2020-04-22 | 2020-08-25 | 深圳市裕展精密科技有限公司 | Locking tool and abnormality detection method for locking mechanism |
| CN111571189B (en) * | 2020-04-22 | 2021-09-14 | 深圳市裕展精密科技有限公司 | Locking tool and abnormality detection method for locking mechanism |
| CN111660084B (en) * | 2020-06-12 | 2021-12-10 | 杭州野乐科技有限公司 | Automatic system for locking screw |
| CN111958224B (en) * | 2020-08-31 | 2022-04-05 | 珠海格力智能装备有限公司 | Production control method and device of screw driving equipment and screw driving equipment |
| CN116907366B (en) * | 2023-09-13 | 2023-11-14 | 广东全丰智能装备有限公司 | Screw locking degree detecting system |
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