CN111558539A - Full-automatic intelligent nailing system and use method - Google Patents
Full-automatic intelligent nailing system and use method Download PDFInfo
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- CN111558539A CN111558539A CN202010418834.XA CN202010418834A CN111558539A CN 111558539 A CN111558539 A CN 111558539A CN 202010418834 A CN202010418834 A CN 202010418834A CN 111558539 A CN111558539 A CN 111558539A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
- B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/363—Sorting apparatus characterised by the means used for distribution by means of air
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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
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0009—Sorting of fasteners, e.g. screws, nuts, bolts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0063—Using robots
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- Dovetailed Work, And Nailing Machines And Stapling Machines For Wood (AREA)
Abstract
The invention discloses a full-automatic intelligent nailing system and a using method thereof, wherein the system comprises a base frame, a machine head assembly, an alarm device, an upper computer, an X-axis module, a Z-axis module, a jig, a Y-axis module and a screw machine for feeding screws; the X-axis module and the Z-axis module are respectively used for driving the machine head assembly to move along the X-axis direction and the Z-axis direction, and the Y-axis module is used for driving the jig to move along the Y-axis; the X-axis module, the Y-axis module, the Z-axis module, the machine head assembly, the screw machine and the alarm device are all in communication connection with the upper computer; the machine head assembly comprises a displacement sensor, an installation back plate, a first camera, a batch head, a second camera, a limiting block, a torque motor, an electric control guide rail sliding block assembly and a blowing and sucking nozzle, wherein the electric control guide rail sliding block assembly and the blowing and sucking nozzle extend in the up-down direction. The invention improves the locking accuracy of the automatic nailing equipment, improves the convenience of the nailing procedure, increases the effective detection of the locking result and gives an alarm prompt.
Description
Technical Field
The invention relates to the technical field of nailing machines, in particular to a full-automatic intelligent nailing system and a using method thereof.
Background
In the times of intelligent manufacturing rise, the rapid, efficient, accurate and low-cost production is the target pursued by each enterprise, and the automatic nailing equipment can operate at the working efficiency which is several times of that of manual work, thereby greatly improving the productivity. Present automatic formula nailing equipment mainly adopts the mode of camera discernment to carry out the discernment of nailing position, screens screw to screw machine through the vibrations dish, adopts the mode of drawing or pressing from both sides the dress to pick up the nailing position with the screw, carries out automatic nailing, and equipment must be few to the interference of camera discernment as far as possible, just can satisfy the degree of accuracy of nailing, and operating personnel discerns the nailing position through software, carries out the affirmation of position.
The existing nailing equipment mainly has the following defects:
1) is inaccurate. The main reason for inaccuracy is that there is an angle between the screw nail and the product to be nailed and it cannot be detected accurately;
2) the existing automatic nailing machine adopts the modes of manual teaching of a camera and visual observation alignment to confirm the nailing position, but the screw hole is small, the alignment difficulty is high, and the nailing position is inaccurate;
3) the screw is broken in the nailing process, effective judgment cannot be made, and although sliding teeth can be detected to a certain extent, the floating lock cannot be detected.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a full-automatic intelligent nailing system and a using method thereof, which can improve the locking accuracy of automatic nailing equipment, improve the convenience of a nailing program, increase the effective detection of a locking result and give an alarm prompt.
In order to achieve the purpose, the invention adopts the following technical scheme:
a full-automatic intelligent nailing system comprises a base frame, a machine head assembly, an alarm device, an upper computer, an X-axis module, a Z-axis module, a jig, a Y-axis module and a screw machine for feeding screws; the X-axis module and the Z-axis module are respectively used for driving the machine head assembly to move along the X-axis direction and the Z-axis direction, the Y-axis module is used for driving the jig to move along the Y-axis, and the jig is used for fixing a target object into which a screw needs to be driven; the X-axis module, the Y-axis module, the Z-axis module, the machine head assembly, the screw machine and the alarm device are all in communication connection with the upper computer;
the machine head assembly comprises a displacement sensor, an installation back plate, a first camera, a batch head, a second camera, a first limiting block, a torque motor, an electric control guide rail sliding block assembly and a blowing and sucking nozzle, wherein the electric control guide rail sliding block assembly and the blowing and sucking nozzle are arranged in an up-and-down extending mode; the installation back plate is fixedly connected to the Z-axis module, and the electronic control guide rail sliding block assembly is fixed on the installation back plate; the torque motor is controlled by an upper computer and is fixed with a slide block of the electric control guide rail slide block assembly, and the downward sliding distance of the torque motor is limited by a limiting block I; the electronic control guide rail sliding block assembly is controlled by an upper computer; the displacement sensor is in communication connection with the upper computer, is linked with the slide block of the guide rail slide block assembly, and is used for measuring the displacement of the guide rail slide block assembly and transmitting the displacement to the upper computer; an output shaft of the torque motor is in transmission connection with the upper end of the screwdriver head; the blowing suction nozzle is arranged on the mounting back plate, and the lower end of the batch head penetrates through the blowing suction nozzle; the first camera is fixedly arranged on the mounting back plate, is in communication connection with the upper computer and is used for shooting an image of a target object and transmitting the image to the upper computer; the upper computer calculates relative position information between the target object and the first camera according to the image of the target object, calculates relative position information between the first camera and the target object according to fixed relative position information between the first camera and the first batch head, controls the movement of the X-axis module and the Z-axis module according to the relative position information, enables the first batch head to be opposite to the target object, detects whether the position and the appearance of a screw are consistent with design requirements or not through the image of the target object after the target object is nailed every time, and controls the alarm device to alarm if the position and the appearance are inconsistent; the camera II is fixedly arranged on the mounting back plate, is in communication connection with the upper computer and is used for shooting an image of the screw adsorbed at the lower end of the batch head and transmitting the image to the upper computer; the upper computer detects the appearance parameters of the screws sucked by the blowing suction nozzle through the images of the screws, and judges whether the screws are qualified or not according to the appearance parameters and controls whether the screws are nailed in the next step or not; the output shaft of the torque motor is connected with a torque sensor, and the torque sensor is used for measuring the torque output by the torque motor and transmitting the torque to an upper computer.
Furthermore, a nailing control system runs in the upper computer, and comprises a drawing introduction identification module, a real object image identification module, a screw detection module, a position identification module, a nailing running control module, a locking condition detection module and a final confirmation module; the drawing import identification module is used for importing a design drawing and identifying the position of a screw to be driven in on a target object designed in the design drawing, the type of the screw and the number; the screw detection module is used for carrying out image recognition on the image of the screw acquired by the camera II, acquiring the appearance parameter of the screw, comparing the appearance parameter with a preset standard value and judging whether the screw meets the type standard of the screw which needs to be driven in; the position recognition module is used for carrying out image recognition on the image of the target object acquired by the first camera to acquire the relative positions of the first camera and the target object, and calculating the relative position information of the target object and the batch head according to the fixed relative position information of the first camera and the batch head; the nailing operation control module is used for: controlling the Y-axis module to drive the jig fixed with the target object to move to a set position; controlling the screw machine to convey screws; controlling the blowing suction nozzle to suck or blow off the screw; when the type standard of the screw which needs to be driven is judged to be met, the X-axis module and the Z-axis module are controlled to move the screwdriver head to the position of the target object which needs to be driven according to the relative position information of the target object and the screwdriver head and the position of the target object which needs to be driven on the design drawing; controlling the electric control guide rail sliding block assembly and the torque motor to operate simultaneously, and driving the screwdriver head to rotate to drive the screw downwards into the target object; the locking condition detection module is used for obtaining the height displacement of the screw and a torque curve according to the displacement of the torque motor measured by the displacement sensor and the torque measured by the torque sensor, and judging whether the locking condition is normal or not according to the height displacement of the screw and the torque curve; and the final confirmation module is used for detecting the image of the target object obtained by the first camera after each nailing is finished, detecting whether the position and the appearance of the screw on the target object are consistent with the design requirements or not, and driving the alarm device to give an alarm if the position and the appearance of the screw on the target object are not consistent with the design requirements.
Further, the blowing and sucking nozzle is fixed on a machine head fixing plate, and the machine head fixing plate is movably arranged on the mounting back plate; one side of the machine head fixing plate is connected with a blowing and sucking nozzle height adjusting piece, the blowing and sucking nozzle height adjusting piece is connected to an electronic control adjusting module, the electronic control adjusting module is controlled by an upper computer and can drive the blowing and sucking nozzle height adjusting piece to move up and down, and the downward maximum moving distance of the blowing and sucking nozzle height adjusting piece is limited by a limiting block II; the electronic control adjusting module is fixedly arranged on the mounting backboard.
Further, a camera light source is arranged right below the first camera and used for providing sufficient light for shooting of the first camera.
Further, a torque limiter is installed between the torque motor and the upper end of the bit, and the torque limiter is used for separating the torque motor and the bit 23 when the torque output by the torque motor exceeds a torque set value, so that the torque motor idles.
Furthermore, an adjusting bolt is installed at the lower end of the second limiting block and used for adjusting the height of the second limiting block.
Furthermore, a prism is installed right below the second camera and used for reflecting the condition of the blowing suction nozzle and shooting by the second camera.
Further, the alarm device adopts an alarm lamp.
The invention also provides a using method of the full-automatic intelligent nailing system, which comprises the following steps:
s1, controlling the screw machine to convey the screws and controlling the blowing and sucking nozzle to work according to the positions and types of the screws to be driven into the target object designed in the design drawing by the upper computer, and sucking the screws to the lower end of the screwdriver head by the blowing and sucking nozzle; in addition, fixing the target object by using a jig, and controlling the Y-axis module to drive the jig to move to a set position by the upper computer;
s2, the upper computer controls the camera II to shoot to obtain an image of the screw at the lower end of the batch head and transmits the image to the upper computer, the upper computer performs image recognition on the image of the screw obtained by the camera II to obtain the appearance parameter of the screw, the appearance parameter of the screw is compared with a preset standard value, whether the screw meets the type standard of the screw which needs to be driven in is judged, if the appearance parameter of the screw does not meet the type standard, the blowing suction nozzle is controlled to blow out the screw, a new screw is sucked, and the upper computer continues to detect the parameter of the sucked new screw;
if the target object is consistent with the target object, the upper computer controls the first camera to shoot the target object and transmits the image to the upper computer, the upper computer performs image recognition on the image of the target object obtained by the first camera to obtain the relative position between the first camera and the target object, and calculates the relative position information between the target object and the bit according to the fixed relative position information between the first camera and the bit, so that the X-axis module and the Z-axis module are controlled to drive the torque motor to move together with the bit, the bit position corresponds to the position of the screw to be driven into the target object, then the electronic control guide rail sliding block assembly and the torque motor are controlled to operate simultaneously, and the bit is driven to rotate to drive the screw downwards to be driven into the target object;
s3, according to the displacement of the torque motor measured by the displacement sensor and the torque measured by the torque sensor, obtaining the height displacement of the screw and a torque curve, and accordingly judging whether the locking condition is normal, if the locking condition is abnormal, controlling the alarm device to give an alarm;
and S4, after each nailing is finished, detecting by the upper computer according to the image of the target object obtained by the first camera, detecting whether the position and the appearance of the screw on the target object are consistent with the design requirements, and driving the alarm device to give an alarm if the position and the appearance of the screw on the target object are not consistent with the design requirements.
The invention has the beneficial effects that:
1. the screws to be locked and attached are detected through camera identification, and unqualified screws are tested to be directly spit off, so that the frequency of locking and attaching failure can be greatly reduced;
2. the camera identification is carried out and the locking position is automatically aligned, the workload of operators can be effectively reduced, and the alignment time of one point position is reduced to within 10 seconds from at least 1 minute originally
3. The real-time torque detection and the real-time screw height detection are adopted, so that the situations of tooth sliding and floating height can be effectively detected.
Drawings
FIG. 1 is a schematic diagram showing the overall configuration of a system according to embodiment 1 of the present invention;
fig. 2 is a schematic structural diagram of a head assembly in embodiment 1 of the present invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings, and it should be noted that the present embodiment is based on the technical solution, and the detailed implementation and the specific operation process are provided, but the protection scope of the present invention is not limited to the present embodiment.
Example 1
The embodiment provides a full-automatic intelligent nailing system, which comprises a base frame 1, a machine head assembly 6, an alarm device 7, an upper computer, an X-axis module 5, a Z-axis module 14, a jig 41, a Y-axis module 10 and a screw machine 4 for feeding screws; the X-axis module 5 and the Z-axis module 14 are respectively used for driving the machine head assembly 6 to move along the X-axis direction and the Z-axis direction, the Y-axis module 10 is used for driving the jig 41 to move along the Y-axis, and the jig 41 is used for fixing a target object into which a screw needs to be driven; the X-axis module 5, the Y-axis module 10, the Z-axis module 14, the nose assembly 6, the screw machine 4 and the alarm device 7 are all in communication connection with the upper computer;
the machine head assembly 6 comprises a displacement sensor 16, an installation back plate 18, a coupler 19, a first camera 21, a batch head 23, a second camera 29, a first limiting block 40, a torque motor 32, an electric control guide rail sliding block assembly 34 and a blowing and sucking nozzle 37, wherein the electric control guide rail sliding block assembly 34 and the blowing and sucking nozzle 37 are arranged in an up-and-down extending mode; the mounting back plate 18 is fixedly connected to the Z-axis module 14, and the electronic control guide rail slider assembly 34 is fixed on the mounting back plate 18; the torque motor 32 is controlled by an upper computer and is fixed with a slide block of the electric control guide rail slide block assembly 34, and the downward sliding distance of the torque motor is limited by a first limiting block 40; the electronic control guide rail sliding block assembly 34 is controlled by an upper computer; the displacement sensor 16 is in communication connection with the upper computer, is linked with the slide block of the guide rail slide block assembly 34, and is used for measuring the displacement of the upper computer and transmitting the displacement to the upper computer; an output shaft of the torque motor 32 is in transmission connection with the upper end of the batch head 23; the blowing suction nozzle 37 is mounted on the mounting backboard 18, and the lower end of the batch head 23 passes through the blowing suction nozzle 37; the first camera 21 is fixedly arranged on the mounting back plate 18, is in communication connection with the upper computer and is used for shooting an image of a target object and transmitting the image to the upper computer; the upper computer calculates relative position information between the target object and the first camera 21 according to the image of the target object, calculates relative position information between the batch head 23 and the target object according to the fixed relative position information between the first camera 21 and the batch head 23, controls the movement of the X-axis module and the Z-axis module according to the relative position information, enables the batch head 23 to be opposite to the target object, detects whether the position and the appearance of a screw are consistent with design requirements or not through the image of the target object after the target object is nailed every time, and controls the alarm device 7 to alarm if the position and the appearance are inconsistent; the second camera 29 is fixedly arranged on the mounting back plate 18, is in communication connection with the upper computer, and is used for shooting images of the screws adsorbed at the lower end of the batch head 23 and transmitting the images to the upper computer; the upper computer detects appearance parameters (including perpendicularity, depth, width, tooth number and thread pitch) of the screw sucked by the blowing suction nozzle through the image of the screw, and judges whether the screw is qualified or not according to the appearance parameters and controls whether the next nailing is carried out or not; the output shaft of the torque motor 32 is connected with a torque sensor, and the torque sensor is used for measuring the torque output by the torque motor 32 and transmitting the torque to an upper computer.
More specifically, in the present embodiment, the head assembly 6 is mounted on the Z-axis module 14 and is movable in the Z-axis direction; the Z-axis module 14 is mounted on the X-axis module 5 and is movable in the X-axis direction. The screw machine 4 is mounted on a screw machine mounting seat 15. The Y-axis module 10 is installed at the upper part of the base frame 1 and embedded into the top surface of the base frame 1, and the Y-axis cover plate 2 covers the Y-axis module 10. The X-axis module 5 is mounted on the X-axis module support 3. The first camera 21 is mounted on the mounting backplate 18 by the camera mount 17. The torque motor 32 is connected with the upper end of the batch head 23 through a coupler 19, a bearing is arranged between the coupler 19 and the upper end of the batch head 23, and the bearing is arranged between the coupler 19 and the batch head 23 through a bearing mounting part 20. The torque motor 32 is fixed with the slide block of the guide rail slide block assembly 34 through a motor back plate 35.
Furthermore, a nailing control system runs in the upper computer, and comprises a drawing introduction identification module, a real object image identification module, a screw detection module, a position identification module, a nailing running control module, a locking condition detection module and a final confirmation module; the drawing import identification module is used for importing a design drawing (2D or 3D) and identifying the position of a screw to be driven in on a target object designed in the design drawing, the type of the screw and numbering; the screw detection module is used for carrying out image recognition on the image of the screw acquired by the camera II, acquiring appearance parameters (including perpendicularity, depth, width, thread number, thread pitch and the like) of the screw, comparing the appearance parameters with a preset standard value, and judging whether the screw meets the type standard of the screw which needs to be driven in; the position recognition module is used for carrying out image recognition on the image of the target object acquired by the first camera to acquire the relative positions of the first camera and the target object, and calculating the relative position information of the target object and the batch head according to the fixed relative position information of the first camera and the batch head; the nailing operation control module is used for: controlling the Y-axis module to drive the jig fixed with the target object to move to a set position; controlling the screw machine to convey screws; controlling the blowing suction nozzle to suck or blow off the screw; when the type standard of the screw which needs to be driven is judged to be met, the X-axis module and the Z-axis module are controlled to move the screwdriver head to the position of the target object which needs to be driven according to the relative position information of the target object and the screwdriver head and the position of the target object which needs to be driven on the design drawing; controlling the electric control guide rail sliding block assembly and the torque motor to operate simultaneously, and driving the screwdriver head to rotate to drive the screw downwards into the target object; the locking condition detection module is used for obtaining the height displacement of the screw and a torque curve according to the displacement of the torque motor measured by the displacement sensor and the torque measured by the torque sensor, and judging whether the locking condition is normal or not according to the height displacement of the screw and the torque curve; and the final confirmation module is used for detecting the image of the target object obtained by the first camera after each nailing is finished, detecting whether the position and the appearance of the screw on the target object are consistent with the design requirements or not, and driving the alarm device to give an alarm if the position and the appearance of the screw on the target object are not consistent with the design requirements.
Further, in the present embodiment, the blowing nozzle 37 is fixed on the head fixing plate 36 through the blowing nozzle mounting seat 24, and the head fixing plate 36 is movably mounted on the mounting back plate 18; one side of the machine head fixing plate 36 is connected with a blowing and sucking nozzle height adjusting piece 30, the blowing and sucking nozzle height adjusting piece 30 is connected with an electronic control adjusting module 33, the electronic control adjusting module 33 is controlled by an upper computer and can drive the blowing and sucking nozzle height adjusting piece 30 to move up and down, and the downward maximum moving distance of the blowing and sucking nozzle height adjusting piece 30 is limited by a second limiting block 31; the adjusting module 33 is fixedly mounted on the mounting backboard 18. This setting can realize blowing the altitude mixture control of suction nozzle, controls the nailing position better, solves the problem of the different nailing height of same product, and spacing through stopper two 31 can restrict the descending height of blowing suction nozzle 37, avoids blowing suction nozzle 37 and nailing plane direct contact, prevents to scrape colored target object.
Further, in the present embodiment, a camera light source 22 is disposed right below the camera 21, and is used for providing sufficient light for shooting by the camera 21.
Further, in the present embodiment, a light source baffle 25 is disposed outside the camera light source 22.
Further, a torque limiter is installed between the torque motor 32 and the upper end of the bit 23, and the torque limiter is used for separating the torque motor 32 and the bit 23 when the torque output by the torque motor 32 exceeds a torque set value, so that the torque motor 32 idles. Therefore, the phenomenon that the screw and the product are damaged due to overlarge torque can be prevented.
Further, the upper computer comprises a display screen 8 and an operation panel 9, wherein the display screen 8 is installed on the operation panel 9, the display screen 8 is used for displaying a working picture of the handpiece assembly 6, and the operation panel 9 is used for sending a control instruction.
Further, a light bar 38 is disposed on one side of the torque motor 32, a spring 39 is sleeved on the light bar, and the spring 39 is fixedly connected with the torque motor 32 (in this embodiment, the torque motor is fixedly connected through the motor back plate 35). The arrangement of the spring can enable the sliding of the torque motor to have elasticity, and the effect of buffering is achieved.
Similarly, a lever 38 and a spring 39 are also arranged on one side of the handpiece fixing plate 36, and the spring 39 is fixedly connected with the handpiece fixing plate 36. The arrangement of the spring can enable the sliding of the machine head fixing plate to have elasticity, and the buffering effect is achieved.
Furthermore, the lower end of the second limiting block 31 is provided with an adjusting bolt 26 for adjusting the height of the second limiting block 31. By adjusting the bolt 26, the distance of the bit 23 penetrating into the blow suction nozzle 37 in the rest state can be adjusted.
Furthermore, a triangular prism 27 is installed right below the second camera 29, and the triangular prism 27 is used for reflecting the condition of the blowing nozzle 37 and shooting by the second camera 29.
Further, the outer sides of the second camera 29 and the triangular prism 27 are covered by a light shield 28. The light shield 28 can reduce the influence of external light, so that the second camera 29 can accurately shoot the image of the screw sucked by the blowing and sucking nozzle.
Further, the alarm device 7 adopts an alarm lamp.
Example 2
The embodiment provides a method for using the full-automatic intelligent nailing system of embodiment 1, comprising the following steps:
s1, controlling the screw machine to convey the screws and controlling the blowing and sucking nozzle to work according to the positions and types of the screws to be driven into the target object designed in the design drawing by the upper computer, and sucking the screws to the lower end of the screwdriver head by the blowing and sucking nozzle; in addition, fixing the target object by using a jig, and controlling the Y-axis module to drive the jig to move to a set position by the upper computer;
s2, the upper computer controls the camera II to shoot to obtain an image of the screw at the lower end of the batch head and transmits the image to the upper computer, the upper computer performs image recognition on the image of the screw obtained by the camera II to obtain appearance parameters (including perpendicularity, depth, width, thread number, thread pitch and the like) of the screw, the appearance parameters are compared with preset standard values to judge whether the screw meets the type standard of the screw which needs to be driven, if the appearance parameters do not meet the preset standard values, the blowing suction nozzle is controlled to blow out the screw, a new screw is sucked, and the upper computer continues to detect the parameters of the sucked new screw;
if the target object is consistent with the target object, the upper computer controls the first camera to shoot the target object and transmits the image to the upper computer, the upper computer performs image recognition on the image of the target object obtained by the first camera to obtain the relative position between the first camera and the target object, and calculates the relative position information between the target object and the bit according to the fixed relative position information between the first camera and the bit, so that the X-axis module and the Z-axis module are controlled to drive the torque motor to move together with the bit, the bit position corresponds to the position of the screw to be driven into the target object, then the electronic control guide rail sliding block assembly and the torque motor are controlled to operate simultaneously, and the bit is driven to rotate to drive the screw downwards to be driven into the target object;
s3, according to the displacement of the torque motor measured by the displacement sensor and the torque measured by the torque sensor, obtaining the height displacement of the screw and a torque curve, and accordingly judging whether the locking condition is normal, if the locking condition is abnormal, controlling the alarm device to give an alarm;
and S4, after each nailing is finished, detecting by the upper computer according to the image of the target object obtained by the first camera, detecting whether the position and the appearance of the screw on the target object are consistent with the design requirements, and driving the alarm device to give an alarm if the position and the appearance of the screw on the target object are not consistent with the design requirements.
Various corresponding changes and modifications can be made by those skilled in the art based on the above technical solutions and concepts, and all such changes and modifications should be included in the protection scope of the present invention.
Claims (9)
1. A full-automatic intelligent nailing system is characterized by comprising a base frame, a machine head assembly, an alarm device, an upper computer, an X-axis module, a Z-axis module, a jig, a Y-axis module and a screw machine for feeding screws; the X-axis module and the Z-axis module are respectively used for driving the machine head assembly to move along the X-axis direction and the Z-axis direction, the Y-axis module is used for driving the jig to move along the Y-axis, and the jig is used for fixing a target object into which a screw needs to be driven; the X-axis module, the Y-axis module, the Z-axis module, the machine head assembly, the screw machine and the alarm device are all in communication connection with the upper computer;
the machine head assembly comprises a displacement sensor, an installation back plate, a first camera, a batch head, a second camera, a first limiting block, a torque motor, an electric control guide rail sliding block assembly and a blowing and sucking nozzle, wherein the electric control guide rail sliding block assembly and the blowing and sucking nozzle are arranged in an up-and-down extending mode; the installation back plate is fixedly connected to the Z-axis module, and the electronic control guide rail sliding block assembly is fixed on the installation back plate; the torque motor is controlled by an upper computer and is fixed with a slide block of the electric control guide rail slide block assembly, and the downward sliding distance of the torque motor is limited by a limiting block I; the electronic control guide rail sliding block assembly is controlled by an upper computer; the displacement sensor is in communication connection with the upper computer, is linked with the slide block of the guide rail slide block assembly, and is used for measuring the displacement of the guide rail slide block assembly and transmitting the displacement to the upper computer; an output shaft of the torque motor is in transmission connection with the upper end of the screwdriver head; the blowing suction nozzle is arranged on the mounting back plate, and the lower end of the batch head penetrates through the blowing suction nozzle; the first camera is fixedly arranged on the mounting back plate, is in communication connection with the upper computer and is used for shooting an image of a target object and transmitting the image to the upper computer; the upper computer calculates relative position information between the target object and the first camera according to the image of the target object, calculates relative position information between the first camera and the target object according to fixed relative position information between the first camera and the first batch head, controls the movement of the X-axis module and the Z-axis module according to the relative position information, enables the first batch head to be opposite to the target object, detects whether the position and the appearance of a screw are consistent with design requirements or not through the image of the target object after the target object is nailed every time, and controls the alarm device to alarm if the position and the appearance are inconsistent; the camera II is fixedly arranged on the mounting back plate, is in communication connection with the upper computer and is used for shooting an image of the screw adsorbed at the lower end of the batch head and transmitting the image to the upper computer; the upper computer detects the appearance parameters of the screws sucked by the blowing suction nozzle through the images of the screws, and judges whether the screws are qualified or not according to the appearance parameters and controls whether the screws are nailed in the next step or not; the output shaft of the torque motor is connected with a torque sensor, and the torque sensor is used for measuring the torque output by the torque motor and transmitting the torque to an upper computer.
2. The fully automatic intelligent nailing system according to claim 1, wherein a nailing control system is operated in the upper computer, and the nailing control system comprises a drawing introduction recognition module, a real object image recognition module, a screw detection module, a position recognition module, a nailing operation control module, a locking condition detection module and a final confirmation module; the drawing import identification module is used for importing a design drawing and identifying the position of a screw to be driven in on a target object designed in the design drawing, the type of the screw and the number; the screw detection module is used for carrying out image recognition on the image of the screw acquired by the camera II, acquiring the appearance parameter of the screw, comparing the appearance parameter with a preset standard value and judging whether the screw meets the type standard of the screw which needs to be driven in; the position recognition module is used for carrying out image recognition on the image of the target object acquired by the first camera to acquire the relative positions of the first camera and the target object, and calculating the relative position information of the target object and the batch head according to the fixed relative position information of the first camera and the batch head; the nailing operation control module is used for: controlling the Y-axis module to drive the jig fixed with the target object to move to a set position; controlling the screw machine to convey screws; controlling the blowing suction nozzle to suck or blow off the screw; when the type standard of the screw which needs to be driven is judged to be met, the X-axis module and the Z-axis module are controlled to move the screwdriver head to the position of the target object which needs to be driven according to the relative position information of the target object and the screwdriver head and the position of the target object which needs to be driven on the design drawing; controlling the electric control guide rail sliding block assembly and the torque motor to operate simultaneously, and driving the screwdriver head to rotate to drive the screw downwards into the target object; the locking condition detection module is used for obtaining the height displacement of the screw and a torque curve according to the displacement of the torque motor measured by the displacement sensor and the torque measured by the torque sensor, and judging whether the locking condition is normal or not according to the height displacement of the screw and the torque curve; and the final confirmation module is used for detecting the image of the target object obtained by the first camera after each nailing is finished, detecting whether the position and the appearance of the screw on the target object are consistent with the design requirements or not, and driving the alarm device to give an alarm if the position and the appearance of the screw on the target object are not consistent with the design requirements.
3. The fully automatic smart nailing system of claim 1, wherein the blow suction nozzle is fixed to a nose fixing plate, the nose fixing plate being movably mounted to the mounting backing plate; one side of the machine head fixing plate is connected with a blowing and sucking nozzle height adjusting piece, the blowing and sucking nozzle height adjusting piece is connected to an electronic control adjusting module, the electronic control adjusting module is controlled by an upper computer and can drive the blowing and sucking nozzle height adjusting piece to move up and down, and the downward maximum moving distance of the blowing and sucking nozzle height adjusting piece is limited by a limiting block II; the electronic control adjusting module is fixedly arranged on the mounting backboard.
4. The fully automatic smart nailing system of claim 1, wherein a camera light source is provided directly below the first camera for providing sufficient light for shooting of the first camera.
5. The fully automatic smart nailing system of claim 1, wherein a torque limiter is installed between the torque motor and the upper end of the bit, the torque limiter being configured to separate the torque motor and the bit 23 when the torque output from the torque motor exceeds a torque set value, so that the torque motor idles.
6. The fully automatic intelligent nailing system according to claim 3, wherein an adjusting bolt is mounted at the lower end of the second limit block for adjusting the height of the second limit block.
7. The fully automatic intelligent nailing system according to claim 1, wherein a triangular prism is mounted right below the second camera and used for reflecting the condition of the blowing suction nozzle for the second camera to shoot.
8. The fully automatic smart nailing system of claim 1, wherein the warning device employs a warning light.
9. A method for using the fully automatic intelligent nailing system according to any of the above claims, comprising the steps of:
s1, controlling the screw machine to convey the screws and controlling the blowing and sucking nozzle to work according to the positions and types of the screws to be driven into the target object designed in the design drawing by the upper computer, and sucking the screws to the lower end of the screwdriver head by the blowing and sucking nozzle; in addition, fixing the target object by using a jig, and controlling the Y-axis module to drive the jig to move to a set position by the upper computer;
s2, the upper computer controls the camera II to shoot to obtain an image of the screw at the lower end of the batch head and transmits the image to the upper computer, the upper computer performs image recognition on the image of the screw obtained by the camera II to obtain the appearance parameter of the screw, the appearance parameter of the screw is compared with a preset standard value, whether the screw meets the type standard of the screw which needs to be driven in is judged, if the appearance parameter of the screw does not meet the type standard, the blowing suction nozzle is controlled to blow out the screw, a new screw is sucked, and the upper computer continues to detect the parameter of the sucked new screw;
if the target object is consistent with the target object, the upper computer controls the first camera to shoot the target object and transmits the image to the upper computer, the upper computer performs image recognition on the image of the target object obtained by the first camera to obtain the relative position between the first camera and the target object, and calculates the relative position information between the target object and the bit according to the fixed relative position information between the first camera and the bit, so that the X-axis module and the Z-axis module are controlled to drive the torque motor to move together with the bit, the bit position corresponds to the position of the screw to be driven into the target object, then the electronic control guide rail sliding block assembly and the torque motor are controlled to operate simultaneously, and the bit is driven to rotate to drive the screw downwards to be driven into the target object;
s3, according to the displacement of the torque motor measured by the displacement sensor and the torque measured by the torque sensor, obtaining the height displacement of the screw and a torque curve, and accordingly judging whether the locking condition is normal, if the locking condition is abnormal, controlling the alarm device to give an alarm;
and S4, after each nailing is finished, detecting by the upper computer according to the image of the target object obtained by the first camera, detecting whether the position and the appearance of the screw on the target object are consistent with the design requirements, and driving the alarm device to give an alarm if the position and the appearance of the screw on the target object are not consistent with the design requirements.
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