CN112935780B

CN112935780B - Threading device and threading method

Info

Publication number: CN112935780B
Application number: CN202110199148.2A
Authority: CN
Inventors: 樊明霞; 王薇; 任骏锋; 王广辉; 董华
Original assignee: Siemens Factory Automation Engineering Ltd
Current assignee: Siemens Factory Automation Engineering Ltd
Priority date: 2021-02-23
Filing date: 2021-02-23
Publication date: 2022-10-14
Anticipated expiration: 2041-02-23
Also published as: CN112935780A

Abstract

The embodiment of the application provides a screwing device and a screwing method. This screw device includes: the programmable controller is respectively connected with the feeding unit, the turntable unit and the wire twisting unit; the feeding unit comprises a feeding motor and a feeding encoder, the feeding encoder is arranged on the feeding motor, and the feeding motor drives the feeding encoder to rotate, so that the feeding encoder sends pulse signals for representing the number of simulated feeding of the screws to the programmable logic controller; the programmable logic controller is used for controlling the turntable unit to move when the number of the pulse signals for simulating feeding reaches a preset value so as to position the screw arranged on the turntable unit; and the programmable logic controller is used for controlling the screwing unit to screw the screws according to the preset number of the screws after the screws are positioned. For a control engineer, the control operation and the test of each functional part of the screw thread are easy to realize, and the test efficiency is improved.

Description

Threading device and threading method

Technical Field

The embodiment of the application relates to the technical field of machinery, in particular to a screwing device and a screwing method.

Background

Along with the rapid development of manufacturing industry, various industries have more and more requirements on production mechanical equipment, and in order to accelerate the production efficiency, the automatic screw twisting machine is widely applied to fastening workpieces. The automatic screw machine for fastening the workpiece belongs to the motion control category, and a motion control system of the screw machine is mastered, so that the improvement of the production efficiency and the shortening of the research and development period of the workpiece are facilitated. A user tests the twisting process by learning the twisting control function of the twisting machine, and can more flexibly improve the control function and the twisting process of the twisting machine so as to be suitable for various production machines.

In the prior art, many automatic screw machines are realized by orderly separating and arranging screws through an electromagnetic vibration feeding unit and locking the screws through a blowing pipe or a sucking pipe, and the automatic screw machines relate to designs such as air cylinders, related air flow loops and locking mechanisms. For control engineers, the mechanical structure is too complex, the mechanical design becomes difficult, for engineers who simply learn the motion control function, designing such a set of mechanical device is time-consuming and labor-consuming, and it is also difficult to realize the control operation of the twisting function part.

Disclosure of Invention

In view of the above, one of the technical problems solved by the embodiments of the present application is to provide a wire twisting device and a wire twisting method, so as to overcome the defects in the prior art that the mechanical structure is complex and the control operation of the wire twisting functional part is difficult to implement.

In a first aspect, an embodiment of the present application provides a screwing device, where the screwing device includes: the device comprises a programmable logic controller, a feeding unit, a turntable unit and a wire twisting unit, wherein the programmable logic controller is respectively connected with the feeding unit, the turntable unit and the wire twisting unit; the feeding unit comprises a feeding motor and a feeding encoder, the feeding encoder is mounted on the feeding motor, and the feeding motor drives the feeding encoder to rotate, so that the feeding encoder sends pulse signals to the programmable logic controller, wherein the pulse signals are used for representing the quantity of simulated feeding of screws; the programmable logic controller is used for controlling the turntable unit to move when the number of the pulse signals for simulating feeding reaches a preset value so as to position a screw arranged on the turntable unit; and the programmable logic controller is also used for controlling the screwing unit to screw the screws according to the preset number of the screws after the screws are positioned.

Optionally, the feeding unit further comprises: a frequency converter; the frequency converter is connected with the feeding motor; and the programmable logic controller is used for controlling the starting, stopping and rotating speed of the feeding motor through the frequency converter.

Optionally, the carousel unit comprises: the rotary table comprises a storage table, a rotary table servo driver, a rotary table servo motor and a rotary table encoder; the object placing table is provided with at least two screw holes, the at least two screw holes comprise at least one normal screw hole and at least one fault screw hole, and each screw hole is provided with one screw; the rotary table servo motor and the rotary table encoder are arranged below the object placing table, the rotary table encoder is arranged on the rotary table servo motor, and the rotary table servo motor is connected with the object placing table; the programmable logic controller sends a control instruction to the rotary table servo driver according to a preset rotation angle, the rotary table servo driver controls the rotary table servo motor to rotate according to the control instruction, and the rotary table servo motor drives the object placing table to rotate by the preset rotation angle; the rotary disc encoder sends motion information representing the rotary disc servo motor to the rotary disc servo driver, the rotary disc servo driver sends the motion information to the programmable logic controller, and the programmable logic controller is used for controlling the object placing table to rotate according to the motion information so as to position the screw.

Optionally, the threading unit comprises: the device comprises a twisting encoder, a twisting tool bit, a twisting servo driver, a twisting servo motor, a mechanical arm servo driver, a mechanical arm servo motor and a mechanical arm encoder; the wire twisting tool bit and the wire twisting encoder are both arranged on an output shaft of the wire twisting servo motor, and the wire twisting servo driver drives the wire twisting servo motor to rotate so as to drive the wire twisting tool bit to rotate; the screw-on servo motor is arranged on the mechanical arm, the mechanical arm is connected with the mechanical arm servo motor, and the mechanical arm servo driver drives the mechanical arm servo motor to rotate so as to drive the whole mechanical arm to move up and down; the programmable logic controller is used for controlling the mechanical arm servo driver and the mechanical arm servo motor to drive the mechanical arm to move, so that the mechanical arm drives the screw twisting tool bit to move along a direction parallel to the axis of the screw; the programmable logic controller is also used for controlling the screw driving servo driver and the screw driving servo motor to drive the screw head to rotate so as to screw or unscrew the screw.

Optionally, the threading unit further comprises: the brake device comprises a band-type brake device, an upper limit switch, a lower limit switch, a mechanical upper limit stop block and a mechanical lower limit stop block; when the mechanical arm moves upwards to trigger the upper limit switch, the upper limit switch sends a first braking instruction to the mechanical arm servo driver; when the mechanical arm moves downwards to trigger the lower limit switch, the lower limit switch sends a second braking instruction to the mechanical arm servo driver, and the mechanical arm servo driver locks an output shaft of the mechanical arm servo motor according to the first braking instruction or the second braking instruction; the mechanical arm servo driver sends the related information of the first braking instruction or the second braking instruction to the programmable logic controller, and the programmable logic controller is also used for controlling the feeding unit, the turntable unit and the wire twisting unit in a linkage manner according to the related information of the first braking instruction or the second braking instruction; the mechanical upper limit stop and the mechanical lower limit stop are used for limiting a motion range of the mechanical arm when the mechanical arm runs along a direction parallel to the axis of the screw; the band-type brake device is installed on the output shaft of the mechanical arm servo motor, and the band-type brake device is used for tightly holding the output shaft of the mechanical arm servo motor when the mechanical arm servo motor is disabled.

Optionally, the threading head is a flexible head.

Optionally, the apparatus further comprises: a conveying unit; the programmable logic controller is connected with the conveying unit; the programmable logic controller is also used for controlling the conveying unit to act after the screwing unit finishes screwing the screw, and simulating the process that the workpiece with the screwed screw is conveyed away.

Optionally, the delivery unit comprises: a speed reducer and a conveyor belt; the conveying belt is connected with the feeding motor through the speed reducer; the programmable logic controller is also used for controlling the frequency converter and the feeding motor to respectively complete the function of the feeding process and the function of the conveying process; the programmable logic controller is also used for controlling the frequency converter to drive the feeding motor to rotate, and the feeding motor drives the speed reducer to operate, so that the speed reducer drives the conveyor belt to move after reducing the operating speed.

Optionally, the apparatus further comprises: a touch screen; the touch screen is connected with the programmable logic controller; the touch screen is used for responding to touch operation and sending a control test instruction to the programmable logic controller; and the programmable logic controller is also used for performing inching test and linkage test of the whole wire twisting device on the feeding unit, the turntable unit, the wire twisting unit and the conveying unit respectively according to the control test instruction.

In a second aspect, an embodiment of the present application provides a screwing method, including: sending a pulse signal to the programmable logic controller through the feeding encoder, wherein the pulse signal is used for representing the number of the screws subjected to simulated feeding; when the programmable logic controller reaches a preset value according to the number of the pulse signals of the simulated feeding, the programmable logic controller controls the turntable unit to move so as to position the screw arranged on the turntable unit; and after the turnplate unit positions the screws, the thread screwing unit is controlled by the programmable logic controller according to the preset number of the screws to screw the screws.

Optionally, when the carousel unit is including putting thing platform, carousel servo driver, carousel servo motor and carousel encoder, through programmable logic controller control the carousel unit motion, in order to right the screw that sets up on the carousel unit advances line location, include: the programmable logic controller sends a control instruction to the rotary table servo driver according to a preset rotation angle, the rotary table servo driver controls the rotary table servo motor to rotate according to the control instruction, and the rotary table servo motor drives the object placing table to rotate by the preset rotation angle; the turntable encoder sends motion information representing the turntable servo motor to the turntable servo driver, and the turntable servo driver sends the motion information to the programmable logic controller; and the programmable logic controller is used for controlling the object placing table to rotate according to the motion information so as to position the screw.

Optionally, when the screwing unit includes a screwing encoder, a screwing tool bit, a screwing servo driver, a screwing servo motor, a mechanical arm servo driver, a mechanical arm servo motor, and a mechanical arm encoder, the screwing unit is controlled by the programmable logic controller according to a preset number of screws to screw the screws, including: the mechanical arm servo motor drives the mechanical arm encoder to rotate, so that the mechanical arm encoder sends motion information representing the mechanical arm servo motor to the mechanical arm servo driver, the mechanical arm servo driver sends the motion information of the mechanical arm servo motor to the programmable logic controller, and the programmable logic controller controls the mechanical arm to move according to the motion information of the mechanical arm servo motor, so that the mechanical arm drives the wire twisting tool bit to run in a direction parallel to the axis of the screw; the screw driving device comprises a screw driving servo motor, a screw encoder, a programmable logic controller and a screw driving servo motor, wherein the screw driving servo motor drives the screw encoder to rotate, the screw encoder sends motion information of the screw servo motor to the screw driving servo driver, the screw driving servo driver sends motion information of the screw servo motor to the programmable logic controller, and the programmable logic controller controls a screw driving tool bit to rotate according to the motion information of the screw servo motor, so that screws or unscrews screws of screws according to the preset number of screws.

Optionally, when the threading unit further includes an upper limit switch and a lower limit switch, the method further includes: when the mechanical arm moves upwards to trigger the upper limit switch, a first braking instruction is sent to the mechanical arm servo driver through the upper limit switch; or when the mechanical arm moves downwards to trigger the lower limit switch, sending a second braking instruction to the mechanical arm servo driver through the lower limit switch; locking an output shaft of the mechanical arm servo motor by the mechanical arm servo driver according to the first braking instruction or the second braking instruction; and the mechanical arm servo driver sends the related information of the first braking instruction or the second braking instruction to the programmable logic controller, and the feeding unit, the turntable unit and the thread twisting unit are controlled in a linkage manner through the programmable logic controller according to the related information of the first braking instruction or the second braking instruction.

Optionally, when the screwing device further comprises a conveying unit, after the screwing operation of the screw by the screwing unit controlled by the programmable logic controller, the method further comprises: the programmable logic controller controls the conveying unit to act, and the process that the workpieces with screws are conveyed away is simulated.

Optionally, when the twisting device further comprises a touch screen, the method further comprises: responding to touch operation through the touch screen, and sending a control test instruction to the programmable logic controller; and performing inching test and linkage test of the whole wire twisting device on the feeding unit, the turntable unit, the wire twisting unit and the conveying unit respectively through the programmable logic controller according to the control test instruction.

In a third aspect, the present application provides a computer storage medium, on which a computer program is stored, which when executed by a processor implements the twisting method as described in the second aspect or any one of the embodiments of the second aspect.

The embodiment of the application provides a screwing device and a screwing method. This screw device includes: the feeding device comprises a programmable logic controller, a feeding unit, a turntable unit and a screwing unit, wherein the programmable logic controller is respectively connected with the feeding unit, the turntable unit and the screwing unit; the feeding unit comprises a feeding motor and a feeding encoder, the feeding encoder is arranged on the feeding motor, and the feeding motor drives the feeding encoder to rotate, so that the feeding encoder sends pulse signals to the programmable logic controller, wherein the pulse signals are used for representing the quantity of the screws for simulating feeding; the programmable logic controller is used for controlling the turntable unit to move when the number of the pulse signals for simulating feeding reaches a preset value so as to position the screw arranged on the turntable unit; and the programmable logic controller is also used for controlling the screwing unit to screw the screws according to the preset number of the screws after the screws are positioned. For a control engineer, the structure of the screwing device does not have complex mechanical structures such as an air cylinder, hydraulic pressure, a universal coupling, various sensors, related airflow loops, a locking mechanism and the like, is simple and clear, is easy to realize control operation on the screwing function part, is convenient to test the whole screwing process, and improves the test efficiency.

Drawings

Some specific embodiments of the present application will be described in detail below by way of example and not by way of limitation with reference to the accompanying drawings. The same reference numbers in the drawings identify the same or similar elements or components. Those skilled in the art will appreciate that the drawings are not necessarily drawn to scale. In the drawings:

fig. 1 is a schematic front structural view of a screwing device provided in an embodiment of the present application;

fig. 2 is a schematic structural diagram of a screwing device provided in an embodiment of the present application;

fig. 3 is a schematic structural diagram of a turntable unit according to an embodiment of the present disclosure;

fig. 4 is a schematic structural diagram of another wire twisting device provided in the embodiment of the present application;

fig. 5 is a flowchart illustrating steps of a threading method according to an embodiment of the present application.

List of reference numerals:

10: a programmable logic controller;

20: a feeding unit;

30: a turntable unit;

31: a placing table;

32: a screw;

40: a screwing unit;

41: a threading tool bit;

42: a mechanical arm;

50: a conveying unit;

51: a conveyor belt;

60: a touch screen;

501: sending a pulse signal to a programmable logic controller through a feeding encoder, wherein the pulse signal is used for representing the quantity of the simulated feeding of the screws;

502: when the programmable logic controller determines that the number of the simulated feeding of the screws reaches a preset value according to the pulse signals of the simulated feeding, the programmable logic controller controls the turntable unit to move so as to position the screws arranged on the turntable unit;

503: after the turnplate unit positions the screws, the screw screwing unit is controlled by the programmable logic controller to screw the screws according to the preset number of the screws.

Detailed Description

In order to make those skilled in the art better understand the technical solutions in the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application shall fall within the scope of the protection of the embodiments in the present application.

It should be noted that in the description of the present application, it is to be understood that the terms "upper", "lower", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only used for simplifying the description of the present application, but do not indicate or imply that the referred device or element must have a specific orientation, be configured in a specific orientation, and operate, and thus, should not be construed as limiting the present application. First and second in this application are only for distinguishing names and do not represent a sequential relationship, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated, e.g. first brake command, second brake command.

In order to further understand the wire twisting device in the embodiment of the present application, the present application briefly introduces an application scenario of the wire twisting device. The motion control system of the wire twisting device is widely applied to various production machines, a plurality of manufacturers, schools and the like can record teaching videos, courses, cases and the like to teach the motion control process of the wire twisting equipment, a user can effectively simulate relevant operation control functions by learning the motion control process of the wire twisting device, and then the real mechanical design is matched to improve the working efficiency. In the prior art, when a wire twisting device for testing the wire twisting process is matched to perform a simulation experiment, a small-sized complete wire twisting machine or a medium-sized and large-sized wire twisting control cabinet is generally used. Wherein, the main part controlgear of miniature complete twisting machine is encapsulated in the casing, and the integrated level is high, and inside twisting controlgear is difficult for observing, is unfavorable for the user to carry out operations such as wiring, replacement product, observation, also is not fit for carrying out the test of each item twisting function. The medium-large screw-out control cabinet is too large in size, complex in mechanism and high in price, and reduces user experience. Moreover, the functional part for controlling the twisting in the small-sized complete twisting machine or the medium-sized large-sized twisting control cabinet is preset, so that a user cannot develop the machine independently, and the operations such as abnormal simulation and fault experiment are difficult to realize. Therefore, it is necessary to provide a complete set of screwing device to solve the problem in the prior art that the testing of the screwing process is difficult to achieve.

The following further describes specific implementations of embodiments of the present application with reference to the drawings of the embodiments of the present application.

The embodiment of the present application provides a wire twisting device, as shown in fig. 1, fig. 1 is a schematic front structure diagram of the wire twisting device provided in the embodiment of the present application, and is a front view of the wire twisting device, the wire twisting device includes a programmable logic controller 10, a feeding unit 20, a turntable unit 30 and a wire twisting unit 40, the programmable logic controller is respectively connected with the feeding unit 20, the turntable unit 30 and the wire twisting unit 40; the feeding unit 20 comprises a feeding motor and a feeding encoder, the feeding encoder is mounted on the feeding motor, and the feeding motor drives the feeding encoder to rotate, so that the feeding encoder sends a pulse signal to the programmable logic controller 10, wherein the pulse signal is used for representing the quantity of simulated feeding of the screws; the programmable logic controller 10 is used for controlling the movement of the turntable unit 30 when the number of the pulse signals according to the simulated feeding reaches a preset value so as to position the screw 32 arranged on the turntable unit 30; the programmable logic controller 10 is further configured to control the screwing unit 40 to screw the screw 32 according to the preset number of screws after the screw 32 is positioned.

The Programmable Logic Controller 10 (Programmable Logic Controller, PLC for short) is connected to the feeding unit 20, the turntable unit 30 and the thread twisting unit 40, and the feeding unit 20, the turntable unit 30 and the thread twisting unit 40 are controlled by the Programmable Logic Controller 10 to implement a thread twisting process.

As shown in fig. 1 and fig. 2, fig. 2 is a schematic structural view of a screwing device provided in an embodiment of the present application, and is a perspective view of the screwing device. In this application the feed motor drives the feed encoder to rotate, optionally the feed motor may be a three-phase asynchronous motor. During the rotation, a pulse signal is sent to the programmable logic controller 10 via the feed encoder to simulate the feeding process to the turntable unit 30, optionally one pulse signal corresponds to sending out one screw. The pulse signals are counted at a high speed by a high-speed counter in the programmable logic controller 10, the feeding encoder sends one pulse signal, and the number of the screws is accumulated by one. When the counting value of the simulated feeding reaches a preset value, the programmable logic controller 10 controls the rotary table unit 30 to rotate, the process of simulating and positioning the screw is realized, and after the screw is positioned, the screwing unit 40 is controlled to screw the screw according to the preset number of screws, so that the whole process of simulating and screwing the screw is completed. It should be noted that the preset number of screws in this example is different from the preset value in the feeding process, and the preset value represents the preset number of analog feeds, for example, the preset number of analog feeds refers to the number of feeds at one time, which may be several tens of thousands, and the preset number of screws refers to the number of screws required on one workpiece, which may be several or several tens of screws. In the embodiment of the application, the screwing device does not relate to complex mechanical structures such as cylinders, hydraulic pressure, universal couplings, various sensors, related airflow loops and locking mechanisms, and has the advantages that the structure is simple and clear, the operation is simple and convenient, the motion control system of the screwing device can be directly learned by an engineer who simply learns the motion control function, the control operation of the screw function part is easy, the whole process of screwing is convenient to test, and the test efficiency is improved.

Optionally, in an embodiment of the present application, the feeding unit 20 further comprises: a frequency converter; the frequency converter is connected with the feeding motor; and the programmable logic controller 10 is used for controlling the starting, stopping and rotating speed of the feeding motor through the frequency converter.

Alternatively, in an embodiment of the present application, the turntable unit 30 includes: the rotary table comprises a storage table 31, a rotary table servo driver, a rotary table servo motor and a rotary table encoder; at least two screw holes are formed in the object placing table 31, the at least two screw holes comprise at least one normal screw hole and at least one fault screw hole, and each screw hole is provided with a screw; carousel servo motor and carousel encoder set up in the below of putting thing platform 31, and carousel encoder installs on carousel servo motor, and carousel servo motor is connected with putting thing platform 31. The programmable logic controller 10 sends a control instruction to the turntable servo driver according to the preset rotation angle, the turntable servo driver controls the turntable servo motor to rotate according to the control instruction, and the turntable servo motor drives the object placing table 31 to rotate by the preset rotation angle. The rotary disc encoder sends motion information representing a rotary disc servo motor to the rotary disc servo driver, the rotary disc servo driver sends the motion information to the programmable logic controller 10, and the programmable logic controller 10 is used for controlling the object placing table 31 to rotate according to the motion information so as to position the screw 32. It can be understood that the rotary disc encoder sends the motion information representing the rotary disc servo motor to the rotary disc servo driver, and the rotary disc servo driver can directly respond according to the motion information of the rotary disc servo motor, so that the response speed is improved, and the problem that when the connection between the rotary disc servo driver and the programmable logic controller 10 is disconnected, the caused response is not timely, and the wire twisting process is stopped or the wire twisting device is in failure can be prevented. Since the programmable logic controller 10 controls the sequence of the operation of each unit in the twisting device, in this example, the motion information of the turntable servo motor is sent to the programmable logic controller 10 through the turntable servo driver, and then the programmable logic controller 10 controls the object placing table 31 to rotate according to the motion information of the turntable servo motor, thereby improving the reliability and safety of the twisting device.

This application embodiment is through pre-buried putting thing platform 31 with screw 32 in carousel unit 30 for simulate the actual work piece of twisting the silk in-process, this carousel unit 30 includes carousel servo driver, carousel servo motor and carousel encoder, complicated gas circuit or hydraulic circuit design among the not involving prior art, moreover, the steam generator is simple in structure, conveniently screw up and unscrew frequent operation, and pre-buried screw 32 on putting thing platform 31 at carousel unit 30 can not all be twisted out when unscrewing, can circulate the actual process of unscrewing and the process of screwing up of twisting the silk in-process of simulation respectively, unmanned on duty, no consumptive material produces. Through the design of the turntable unit, the design of a complex feeding unit is simplified, and the device is suitable for control operation experiments of a twisting process.

In the embodiment of the present application, at least two screw holes are provided on the object placing table 31, at least one normal screw hole and at least one fault screw hole are included in the at least two screw holes, and a screw is provided in each screw hole. In an example, as shown in fig. 3, fig. 3 is a schematic structural diagram of a turntable unit provided in an embodiment of the present application, 8 screw holes are punched in advance on a placement table 31 of the turntable unit 30, 4 of the 8 screw holes are normal screw holes, the other 4 screw holes are faulty screw holes, and a screw is provided in each screw hole. It is understood that the number of the screw holes may be changed according to actual needs, and fig. 3 illustrates only 8 screw holes. Optionally, the object placing table 31 of the turntable unit 30 may be made of a non-metal material made of white acrylic plastic, and the non-metal material is low in cost and easy to process. In addition, whole carousel unit 30 can be dismantled alone in this application, the later maintenance of being convenient for.

The rotary table unit in the example adopts a rotary table servo driver, a rotary table servo motor and a rotary table encoder to realize accurate rotary positioning of the screw on the object placing table. If the turntable servo driver belongs to a servo driver of a PTI type, the programmable logic controller 10 is connected to the servo driver of the PTI type by a cable. When the turntable servo drive is of the PTI type, the turntable encoder may be an incremental encoder or an absolute encoder. It should be noted that the rotary disc encoder sends motion information representing the rotary disc servo motor to a rotary disc servo driver matched with the rotary disc servo motor, the rotary disc servo driver sends the motion information of the rotary disc servo motor to the programmable logic controller 10, and the programmable logic controller 10 is configured to control the object placing table 31 to rotate according to the motion information of the rotary disc servo motor to position the screw 32. If the turntable servo driver belongs to a PN type servo driver, the programmable logic controller 10 is connected to the turntable servo driver in a communication manner. When the rotary disc servo driver belongs to a PN type servo driver, the rotary disc encoder may belong to an absolute encoder. The precision of the absolute encoder is higher than that of the incremental encoder, when the absolute encoder is used for sending motion information representing a turntable servo motor to the turntable servo driver, the turntable servo driver sends the motion information of the turntable servo motor to the programmable logic controller 10, the programmable logic controller 10 is used for controlling the object placing table 31 to rotate according to the motion information of the turntable servo motor, and when the screw 32 is positioned, zero return operation can be carried out on the screw 32 without the help of a zero return switch. In this example, different working modes of the turntable unit are listed when the turntable servo drivers are respectively of the PTI type and the PN type, and a user can select different types of the turntable servo drivers and the turntable encoders according to requirements, thereby improving the selection diversity of the turntable unit.

Alternatively, in an embodiment of the present application, the screwing unit 40 comprises: a twisting encoder, a twisting tool bit 41, a twisting servo driver, a twisting servo motor, a mechanical arm servo driver, a mechanical arm servo motor, a mechanical arm 42 and a mechanical arm encoder; the twisting head 41 and the twisting encoder are both arranged on an output shaft of the twisting servo motor, the mechanical arm encoder is arranged on the mechanical arm servo motor, and the twisting servo driver drives the twisting servo motor to rotate so as to drive the twisting head to rotate; the screw-on servo motor is arranged on the mechanical arm 42, the mechanical arm 42 is connected with the mechanical arm servo motor, and the mechanical arm servo driver drives the mechanical arm servo motor to rotate so as to drive the whole mechanical arm to move up and down; the programmable logic controller 10 is used for controlling a mechanical arm servo driver and a mechanical arm servo motor to drive the mechanical arm 42 to move, so that the mechanical arm 42 drives the screwing tool bit 41 to move along the direction parallel to the axis of the screw; the programmable logic controller 10 is also used for controlling a screwing servo driver and a screwing servo motor to drive the screwing tool bit 41 to rotate so as to screw or unscrew the screw.

Optionally, the mechanical arm 42 is connected with a mechanical arm servo motor through a lead screw, the lead screw can convert a rotary motion into a linear motion, and the programmable logic controller 10 controls the mechanical arm servo driver and the mechanical arm servo motor to drive the mechanical arm 42 to move, so that the mechanical arm 42 drives the threading head 41 to move in a direction parallel to the axis of the screw. The screw-on servo motor drives the screw-on encoder to rotate, so that the screw-on encoder sends the movement information of the screw-on servo motor to the screw-on servo driver, the screw-on servo driver sends the movement information of the screw-on servo motor to the programmable logic controller 10, and the programmable logic controller 10 judges the next action on the screw-on tool bit 41 according to the movement information of the screw-on servo motor. The mechanical arm encoder is mounted on the mechanical arm servo motor, the mechanical arm servo motor drives the mechanical arm encoder to rotate, the mechanical arm encoder sends motion information representing the mechanical arm servo motor to the mechanical arm servo driver, the mechanical arm servo driver sends the motion information of the mechanical arm servo motor to the programmable logic controller 10, and the programmable logic controller 10 is used for controlling the mechanical arm 42 to move according to the motion information of the mechanical arm servo motor.

It can be understood that the twisting encoder and the mechanical arm encoder are both the same as the rotary disc encoder in working mode, and have the beneficial effects of the corresponding embodiments, and reference may be made to the description of the corresponding parts in the foregoing embodiments, and no further description is given here. Since the programmable logic controller 10 controls the sequential working sequence of each unit in the screwing device, in this example, the programmable logic controller 10 controls the rotation of the screwing tool bit 41 according to the movement information of the screwing servo motor, and the programmable logic controller 10 controls the mechanical arm 42 to run along the direction parallel to the axis of the screw according to the movement information of the mechanical arm servo motor, so that the reliability and the safety of the screwing device are improved.

In this example, the screw-driving servo motor and the mechanical arm 42 cooperate with each other to complete the screwing operation or the unscrewing operation of the screwed screw, and the programmable logic controller 10 is used to determine the torque in the screw-driving process, determine the slip or the fault in the abnormal state, and set the speed of the screw-driving process, and is suitable for the experiment of the control operation of the screw-driving process. For engineers who only learn the motion control function, the twisting device is simple and clear in structure and simple and convenient to operate, a motion control system of the twisting device can be directly learned, the control operation of the twisting function part is easy, the twisting process is convenient to test, and the test efficiency is improved.

The traditional screw twisting mechanism needs the matching of a screw feeding locking device, a screwdriver nozzle and other auxiliary units, a screw is locked through the suction nozzle and then screwed on a workpiece, the suction nozzle locks the screw again and then screws on the workpiece, and the screw twisting operation is carried out in a reciprocating cycle, so that the structure is complex. Compared with the traditional screwing mechanism, the design of the screwing unit 40 simplifies the design of the complex screwing unit 40, and the operation of screwing is completed through the cooperation of the turntable unit 30 and the screwing unit 40 while the complete test of the motion control function is ensured.

Alternatively, if the threading servo driver is a PTI type servo driver, the programmable logic controller 10 is connected to the threading servo driver by a cable. When the threading servo drive belongs to a PTI type servo drive, the threading encoder may be an incremental encoder. If the screw thread servo driver belongs to a PN type servo driver, the programmable logic controller 10 is connected to the screw thread servo driver in a communication manner, and the screw thread encoder may be an absolute encoder.

It should be noted that, the functions and working modes of the PTI-type servo driver, the PN-type servo driver, the incremental encoder, and the absolute encoder are consistent with the functions of the servo driver and the encoder in the turntable unit 30, and are not described herein again, but different from the above-mentioned functions and working modes of the servo driver and the encoder in the present embodiment, since the screwing unit is used to perform the screwing operation or the unscrewing operation on the screw, in the screwing process, it is determined whether the screwing operation is completed according to the torque, and the zero-returning positioning operation on the screw-driving tool bit can be implemented by directly setting the current position of the screw-driving servo motor as the zero point, so that when the screw-driving encoder is the incremental encoder, a zero-returning switch is not required. In this example, different working modes of the screwing unit 40 are listed when the screwing servo drivers are respectively of a PTI type and a PN type, and a user can select different types of screwing servo drivers and screwing encoders according to requirements, so that the selection diversity of the experimental test of the screwing unit 40 is improved.

Optionally, in an embodiment of the present application, the threading unit 40 further comprises: the brake device comprises a band-type brake device, an upper limit switch, a lower limit switch, a mechanical upper limit stop block and a mechanical lower limit stop block; when the mechanical arm 42 moves upwards to trigger the upper limit switch, the upper limit switch sends a first braking instruction to the mechanical arm servo driver; when the mechanical arm 42 moves downwards to trigger the lower limit switch, the lower limit switch sends a second braking instruction to the mechanical arm servo driver, and the mechanical arm servo driver locks the output shaft of the mechanical arm servo motor according to the first braking instruction or the second braking instruction; the mechanical arm servo driver sends the related information of the first braking instruction or the second braking instruction to the programmable logic controller 10; the programmable logic controller 10 is further used for controlling the feeding unit, the turntable unit and the wire twisting unit in a linkage manner according to the relevant information of the first braking instruction or the second braking instruction; the mechanical upper limit stopper and the mechanical lower limit stopper are used for limiting a movement section of the mechanical arm 42 when the mechanical arm runs in a direction parallel to the screw axis; the band-type brake device is installed on arm servo motor's output shaft, and the band-type brake device is used for when arm servo motor removes the enable, the arm servo motor's output shaft of holding tightly.

In one implementation, the motor is controlled in an EPOS (Basic positioning) mode in this example, and when the robot servo driver is a PN type servo driver, the upper limit switch and the lower limit switch are connected to the robot servo driver. When the mechanical arm 42 moves upwards to trigger the upper limit switch, the upper limit switch sends information related to a first braking instruction to the mechanical arm servo driver; when the robot arm 42 moves down to trigger the lower limit switch, the lower limit switch sends information related to the second brake command to the robot arm servo driver. And the mechanical arm servo driver locks the mechanical arm servo motor according to the first braking instruction or the second braking instruction, simultaneously sends related fault information to the programmable logic controller 10, and the programmable logic controller 10 controls the feeding unit, the turntable unit and the wire twisting unit of the wire twisting device in a linkage manner so as to execute the next operation. The linkage control is used for representing the joint coordination control among the feeding unit, the turntable unit and the wire twisting unit in the wire twisting device. It can be understood that, when the conveying unit is further included in the twisting device, when the mechanical arm servo driver sends related fault information to the programmable logic controller 10, the feeding unit, the turntable unit, the twisting unit and the conveying unit of the twisting device are controlled by the programmable logic controller 10 in a linkage manner.

In another implementation manner, the motor is controlled in a TO (Technology Object) mode in this example, when the servo driver of the robot arm belongs TO a servo driver of a PTI type or a PN type, the upper limit switch and the lower limit switch are directly connected TO the programmable logic controller 10, and when the robot arm 42 moves upward TO trigger the upper limit switch, the upper limit switch sends information related TO the first brake command TO the programmable logic controller 10; when the mechanical arm 42 moves downward to trigger the lower limit switch, the lower limit switch sends information related to a second braking instruction to the programmable controller 10; the related information may be a pulse signal characterizing the fault information; after receiving the relevant information of the first braking instruction or the second braking instruction, the programmable logic controller 10 sends the relevant information of the first braking instruction or the relevant information of the second braking instruction to the mechanical arm servo driver, and the mechanical arm servo driver locks an output shaft of the mechanical arm servo motor according to the relevant information and controls the feeding unit, the turntable unit and the wire twisting unit in the wire twisting device in a linkage manner so as to execute the next operation.

Because the mechanical arm 42 drives the twisting head 41 to run along the direction parallel to the axis of the screw, that is, the mechanical arm 42 drives the twisting head 41 to do axis motion, in order to ensure that the whole motion stroke is in a safe range, the band-type brake device is used for tightly holding the output shaft of the mechanical arm servo motor when the mechanical arm servo motor is disabled, and the whole mechanical arm is prevented from sliding down under the action of gravity to cause position deviation and equipment damage.

The screwing unit 40 further comprises a mechanical upper limit stop and a mechanical lower limit stop, the mechanical upper limit stop and the mechanical lower limit stop are respectively arranged at the upper end and the lower end of a route where the axis of the mechanical arm 42 moves in the screwing unit 40, the movement interval of the mechanical arm 42 when the mechanical arm 42 runs along the direction parallel to the axis of the screw is limited, when the mechanical arm 42 is not controlled and exceeds the movement interval limited by the upper limit switch and the lower limit switch, the movement of the mechanical arm 42 can be limited by the mechanical upper limit stop or the mechanical lower limit stop, and the operation of the mechanical arm is ensured to be in an absolute safety range.

In this example, the screwing unit 40 includes not only a virtual limit interval formed by an upper limit switch and a lower limit switch, but also a physical limit interval formed by a mechanical upper limit stop and a mechanical lower limit stop, optionally, the virtual limit interval formed by the upper limit switch and the lower limit switch is located in the physical limit interval formed by the mechanical upper limit stop and the mechanical lower limit stop, and the virtual limit interval and the physical limit interval realize double protection for the mechanical arm, thereby ensuring safe operation of the screwing unit and operation safety of experimenters of different types.

Optionally, in an embodiment of the present application, the threading head 41 is a flexible head. This flexible tool bit can regard as buffering and stress release, is applicable to and carries out frequent unscrewing and screwing up the operation to the screw under experimental environment. The device damage caused by directly and forcibly screwing the screw due to the fact that the screwing tool bit 41 and the screwed screw cannot be absolutely coaxial due to machining and positioning errors is prevented.

Optionally, in an embodiment of the present application, the wire twisting device further includes: a conveying unit 50; the programmable logic controller 10 is connected with the conveying unit 50; the programmable logic controller 10 is further configured to control the conveying unit 50 to act after the screwing unit 40 finishes screwing the screw, so as to simulate a process of conveying away the workpiece with the screwed screw.

The whole wire twisting process in the application is completed by controlling the feeding unit 20, the turntable unit 30, the wire twisting unit 40 and the conveying unit 50 through the programmable logic controller 10, and the whole wire twisting process is circularly executed and comprises the following steps: the method comprises the steps of starting feeding, finishing feeding, starting turntable positioning, finishing turntable positioning, starting twisting, finishing twisting, starting belt conveying, finishing belt conveying, and starting feeding and twisting in a new round. The thread twisting process conforms to the normal operation process of the thread twisting device, but the mechanical structures of the feeding unit 20, the turntable unit 30, the thread twisting unit 40 and the conveying unit 50 are simplified, and on the basis of realizing the basic functions of the thread twisting device, a user can conveniently realize the test of controlling all the motion functions. After the screwing operation of the screw is completed in this example, the work of conveying the screwed workpiece is simulated by the conveying unit 50.

Optionally, in an embodiment of the present application, the conveying unit 50 includes: a speed reducer and conveyor 51; the conveyor belt 51 is connected with a feeding motor through a speed reducer; the programmable logic controller 10 is further configured to control the frequency converter and the feeding motor to respectively complete a feeding process function and a conveying process function, and the programmable logic controller 10 is further configured to control the frequency converter to drive the feeding motor to rotate, and the feeding motor drives the speed reducer to operate, so that the speed reducer drives the conveyor belt 51 to move after reducing the operation speed.

It should be noted that the conveyor belt 51 may be a belt or a chain, in this example, the conveyor motor and the feeding motor of the conveyor unit 50 are the same motor, and the feeding motor respectively performs different functions in the feeding process and the conveying process, i.e., the feeding rotation function and the belt conveying function, and the programmable controller 10 performs different function differentiation, so as to ensure that the feeding motor is only used for feeding rotation or belt conveying at the same time, thereby increasing the reusability of the assembly and saving the space. Optionally, the feed motor is a three-phase asynchronous motor.

The feeding motor is connected with the conveyor belt 51, the programmable logic controller 10 drives the feeding motor to rotate by controlling the frequency converter, the purpose of driving the conveyor belt 51 to rotate is achieved, and meanwhile, the rotating speed of the conveyor belt 51 can simulate feeding processes of different speed degrees. Optionally, the conveying unit 50 further includes a speed reducer, and the conveyor belt 51 is connected to the feeding motor through the speed reducer. The problem that the feed motor leads to generating heat easily when the frequency is low excessively, and feed motor and conveyer belt 51 lug connection, the feed motor is when the frequency is too high, conveyer belt 51 rotates too fast, the problem of fish tail appears easily, this example is through setting up the speed reducer between conveyer belt 51 and feed motor, this speed reducer is guaranteeing that conveyer belt 51 operates under the prerequisite of suitable speed, and can effectively prevent because converter output frequency is low excessively, the problem of generating heat that the feed motor moved and lead to under the low frequency, guarantee the safe operation of equipment.

Optionally, in an embodiment of the present application, the screwing device further includes: a touch screen 60; the touch screen 60 is connected with the programmable logic controller 10; a touch screen 60 for sending a control test instruction to the programmable logic controller 10 in response to a touch operation; and the programmable logic controller 10 is also used for performing inching test and linkage test of the whole wire twisting device on the feeding unit 20, the turntable unit 30, the wire twisting unit 40 and the conveying unit 50 respectively according to the control test instruction.

As shown in fig. 4, fig. 4 is a schematic structural diagram of another wire twisting device provided in the embodiment of the present application, in this example, the wire twisting device further includes a housing, a left side sealing plate or a right side sealing plate of the housing is movably connected to a hinge plate, and the hinge plate is provided with an emergency stop switch. If the hinge plate is movably connected with the left sealing plate, the hinge plate can be folded towards the left sealing plate. If the hinge plate is movably connected with the right sealing plate of the shell, the hinge plate can be folded towards the right sealing plate. In fig. 4, the hinge plate and the sealing plate at the right side of the housing are movably connected as an example, the sealing plate at the right side of the housing is provided with a through hole corresponding to the emergency stop switch, and when the hinge plate is folded towards the sealing plate at the right side, the emergency stop switch passes through the through hole, so that the hinge plate can be attached to the sealing plate at the right side, the structural design is compact, and the packaging and transportation are convenient. Enough space is reserved on the hinge plate, and if the requirement of installing a switch button and the requirement of installing operating equipment such as a display screen, a microcomputer and a panel are needed in the later period, the hinge plate can be directly installed, and is very convenient. The touch screen 60 is disposed on the hinge plate, and optionally, the touch screen 60 may be a touch screen of a smart type or a touch screen of a smart type.

When the thread twisting apparatus is started up, the worker inputs operation data related to the feeding unit 20, the turntable unit 30, the thread twisting unit 40, and the conveying unit 50 through the touch screen 60, which is used for related control of testing the feeding unit 20, the turntable unit 30, the thread twisting unit 40, and the conveying unit 50, to test the operation states of the units. The touch screen 60 is connected with the programmable logic controller 10, and receives a control test command sent by the touch screen 60 through the programmable logic controller 10, and performs inching test and linkage test of the whole wire twisting device on any one of the feeding unit 20, the turntable unit 30, the wire twisting unit 40 and the conveying unit 50 respectively. For engineers who learn the motion control function, the operation conditions of the units can be known, and the safety is improved.

Further, for the feeding unit 20 of the twisting device of the present application, the feeding unit 20 includes a frequency converter, a feeding motor and a feeding encoder for simulating a feeding process to the turntable unit 30. Taking the frequency converter V20 as an example for explanation, in the present application, when the complete twisting process is matched, the feeding unit is also configured with a corresponding matching standard functional module for realizing the following functions: the frequency converter V20 is quickly debugged, the frequency converter V20 drives the feeding motor to realize a local hardware terminal control function, the frequency converter V20 drives the feeding motor to realize a remote USS communication control function, and the frequency converter V20 realizes a high-speed counting function of automatic feeding by utilizing a high-speed counter of a programmable logic controller. It can be understood that engineers may also design the matching functional module by themselves using the hardware facilities of the feeding unit, so as to implement the following functions: relevant function debugging of the frequency converter V20, and relevant operation of motion function control is realized through MODBUS RTU communication mode by the frequency converter V20. It should be noted here that the USS communication mode and the MODBUS RTU communication mode are different modes for controlling the feeding unit by remote control, and a user can select the modes according to actual requirements, thereby improving the diversity of the feeding unit control.

Further, to the carousel unit 30 of this application twisting device, carousel unit 30 includes the carousel encoder, puts thing platform 31, carousel servo motor, with the supporting carousel servo driver of carousel servo motor and carousel zeroing switch for the simulation carries out the process of rotational positioning to screw 32 in carousel unit 30 on the thing platform 31. Taking the servo driver V90 as an example for explanation, in the present application, when the complete thread twisting process is matched, the turntable unit 30 is further configured with corresponding matched standard functional modules for implementing the following functions: the configuration and debugging of the process object in the programmable logic controller 10, the zero returning operation of the turntable unit 30, the inching control of the turntable unit 30, and the repeated positioning control of the screw 32 on the object placing table 31 by the turntable unit 30 according to the preset angle. It will be appreciated that the engineer may also use the hardware facilities of the turntable unit 30 to design the functional modules themselves to implement the following functions: the servo motor with the incremental encoder and the related function debugging of the servo driver V90 matched with the servo motor are adopted, the rotating speed of the rotary table unit 30 is matched with the speed of the whole wire twisting device, the rotary table unit 30 is interlocked with the safety fault of the whole wire twisting device, and the rotary table unit 30 and the touch screen 60 are in related communication and control.

Further, for the screwing unit 40 of the screwing device of the present application, the screwing unit 40 includes a screwing encoder, a screwing servo motor, a screwing servo driver matched with the screwing servo motor, a mechanical arm 42, a mechanical arm encoder and a screwing tool bit 41, and is used for simulating the screwing unit 40 to unscrew or screw the screw. The screwing unit 40 further comprises a band-type brake device, an upper limit switch, a lower limit switch, a mechanical upper limit stop and a mechanical lower limit stop, and is used for protecting a mechanical arm servo motor and a mechanical arm 42. Taking the servo driver V90 as an example for explanation, in the present application, when the complete screwing process is matched, the screwing unit 40 is further configured with corresponding matched standard functional modules for implementing the following functions: the PN configuration and the configuration of the programmable logic controller 10 and the servo driver V90, the inching control of the mechanical arm 42, the inching control of the wire twisting unit 40, and the cooperation of the mechanical arm 42 and the wire twisting unit 40 complete the wire twisting movement. It will be understood that the engineer may also use the hardware facilities of the threading unit 40 to design the functional modules themselves to implement the following functions: the system comprises a mechanical arm servo motor related protection function, a mechanical arm servo motor band-type brake function and a wire twisting servo motor related protection function, wherein the wire twisting unit 40 is matched with the speed of the whole wire twisting device, the wire twisting unit 40 is linked with the fault of the whole wire twisting device, the wire twisting unit 40 is in related communication and control with a touch screen 60, and the fault diagnosis related to PN communication.

The mechanical structure of the twisting device in the embodiment of the application comprises the feeding unit 20, the turntable unit 30, the twisting unit 40 and the conveying unit 50, and on the premise of meeting the testing twisting control function, the mechanical structure is simplified, so that a control engineer can conveniently test the twisting function by using the twisting device in a laboratory. The wire twisting device is combined with a motion control system, so that the related function test of the wire twisting process can be completed, related matched control products can be changed and updated according to requirements, a mechanical structure does not need to be changed, and the flexibility is high. Mechanical structure cooperation standard functional module, software and hardware combine for twist a device more standardizes, and is diversified, can help the engineer to master automated motion control's correlation function fast. According to the twisting device provided by the embodiment of the application, engineers can design own control flow and architecture, enough space is reserved for different types of learning, and the flexibility and the practicability of the twisting device are improved.

Based on the wire twisting device provided by any one of the above embodiments, the embodiment of the present application provides a wire twisting method, as shown in fig. 5, fig. 5 is a flowchart of steps of the wire twisting method provided by the embodiment of the present application, and the wire twisting method includes steps 501 to 503.

And step 501, sending a pulse signal to the programmable logic controller through the feeding encoder.

Wherein, the pulse signal is used for representing the quantity of the simulated feeding of the screw.

And 502, when the number of the pulse signals simulating feeding reaches a preset value, the programmable logic controller controls the turntable unit to move so as to position a screw arranged on the turntable unit.

And 503, after the screws are positioned by the turntable unit, controlling the screwing unit to screw the screws according to the preset number of the screws by the programmable logic controller.

Optionally, in an embodiment of the present application, when the turntable unit includes a storage table, a turntable servo driver, a turntable servo motor and a turntable encoder, step 502 may be implemented by the following steps: the programmable logic controller sends a control instruction to the rotary table servo driver according to a preset rotation angle, the rotary table servo driver controls the rotary table servo motor to rotate according to the control instruction, and the rotary table servo motor drives the object placing table to rotate by the preset rotation angle; the turntable encoder sends motion information representing a turntable servo motor to a turntable servo driver, and the turntable servo driver sends the motion information to the programmable logic controller; the programmable logic controller is used for controlling the object placing table to rotate according to the motion information so as to position the screw.

Alternatively, in an embodiment of the present application, when the threading unit includes a threading encoder, a threading head, a threading servo driver, a threading servo motor, a robot arm servo driver, a robot arm servo motor and a robot arm encoder, step 503 may be implemented by: the mechanical arm servo motor drives the mechanical arm encoder to rotate, so that the mechanical arm encoder sends motion information representing the mechanical arm servo motor to the mechanical arm servo driver, the mechanical arm servo driver sends the motion information of the mechanical arm servo motor to the programmable logic controller, and the programmable logic controller controls the mechanical arm to move according to the motion information of the mechanical arm servo motor, so that the mechanical arm drives the twisting screw tool bit to run in a direction parallel to the axis of the screw; the screw driving servo motor drives the screw encoder to rotate, the screw encoder sends movement information of the screw servo motor to the screw servo driver, the screw servo driver sends movement information of the screw servo motor to the programmable logic controller, and the programmable logic controller controls the screw driver to rotate according to the movement information of the screw servo motor, so that screws are screwed or unscrewed according to the preset number of screws.

Optionally, in an embodiment of the present application, when the screwing unit further includes an upper limit switch and a lower limit switch, the screwing method further includes: when the mechanical arm moves upwards to trigger the upper limit switch, a first braking instruction is sent to the mechanical arm servo driver through the upper limit switch; or when the mechanical arm moves downwards to trigger the lower limit switch, a second braking instruction is sent to the mechanical arm servo driver through the lower limit switch; locking an output shaft of a mechanical arm servo motor by a mechanical arm servo driver according to the first braking instruction or the second braking instruction; and the mechanical arm servo driver sends the related information of the first braking instruction or the second braking instruction to the programmable logic controller, and the programmable logic controller controls the feeding unit, the turntable unit and the wire twisting unit in a linkage manner according to the related information of the first braking instruction or the second braking instruction.

Optionally, in an embodiment of the present application, when the screwing device further includes the conveying unit, after the screwing unit is controlled by the programmable logic controller to screw the screws according to the preset number of screws, the screwing method further includes: the programmable logic controller controls the conveying unit to act, and the process that the workpieces with screwed screws are conveyed away is simulated.

Optionally, in an embodiment of the present application, when the twisting device further includes a touch screen, the twisting method further includes: responding to touch operation through a touch screen, and sending a control test instruction to a programmable logic controller; and performing inching test and linkage test of the whole wire twisting device on the feeding unit, the turntable unit, the wire twisting unit and the conveying unit respectively through a programmable logic controller according to a control test instruction.

It can be understood that, for convenience and brevity of description, a person skilled in the art may clearly understand that, in the specific working process of the method described in any one of the above embodiments, reference may be made to the description of the corresponding wire twisting device in the foregoing method embodiment, and details are not described herein again.

Based on the wire twisting method described in any of the above embodiments, the present application provides a computer storage medium storing a computer program, which when executed by a processor implements the wire twisting method described in any of the above embodiments.

It should be noted that, according to the implementation requirement, each component/step described in the embodiment of the present application may be divided into more components/steps, and two or more components/steps or partial operations of the components/steps may also be combined into a new component/step to achieve the purpose of the embodiment of the present application.

The above-described methods according to embodiments of the present application may be implemented in hardware, firmware, or as software or computer code storable in a recording medium such as a CD ROM, a RAM, a floppy disk, a hard disk, or a magneto-optical disk, or as computer code originally stored in a remote recording medium or a non-transitory machine-readable medium downloaded through a network and to be stored in a local recording medium, so that the methods described herein may be stored in such software processes on a recording medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware such as an ASIC or FPGA. It is understood that a computer, processor, microprocessor programmable controller or programmable hardware includes memory components (e.g., RAM, ROM, flash memory, etc.) that can store or receive software or computer code that, when accessed and executed by a computer, processor or hardware, implements the twisting method described herein. Further, when a general-purpose computer accesses code for implementing the threading method illustrated herein, execution of the code converts the general-purpose computer into a special-purpose computer for performing the threading method illustrated herein.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.

Those of ordinary skill in the art will appreciate that the various illustrative elements and method steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the embodiments of the present application.

The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, as for the system embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and reference may be made to the partial description of the method embodiment for relevant points.

The above embodiments are only used for illustrating the embodiments of the present application, and not for limiting the embodiments of the present application, and those skilled in the relevant art can make various changes and modifications without departing from the spirit and scope of the embodiments of the present application, so that all equivalent technical solutions also belong to the scope of the embodiments of the present application, and the scope of patent protection of the embodiments of the present application should be defined by the claims.

Claims

1. A wire twisting device, the device comprising: the wire twisting machine comprises a programmable logic controller (10), a feeding unit (20), a turntable unit (30) and a wire twisting unit (40), wherein the programmable logic controller (10) is respectively connected with the feeding unit (20), the turntable unit (30) and the wire twisting unit (40);

the feeding unit (20) comprises a feeding motor and a feeding encoder, the feeding encoder is mounted on the feeding motor, and the feeding motor drives the feeding encoder to rotate, so that the feeding encoder sends pulse signals to the programmable logic controller (10), wherein the pulse signals are used for representing the number of screws subjected to simulated feeding;

the programmable logic controller (10) is used for controlling the turntable unit (30) to move when the number of the pulse signals according to the simulated feeding reaches a preset value so as to position a screw (32) arranged on the turntable unit (30);

the programmable logic controller (10) is further configured to control the screwing unit (40) to screw the screws (32) according to a preset number of screws after the screws (32) are positioned.

2. The threading device according to claim 1, wherein the feeding unit (20) further comprises: a frequency converter;

the frequency converter is connected with the feeding motor;

the programmable logic controller (10) is used for controlling the starting, stopping and rotating speed of the feeding motor through the frequency converter.

3. The threading device according to claim 1, wherein the carousel unit (30) comprises: the rotary table comprises a storage table (31), a rotary table servo driver, a rotary table servo motor and a rotary table encoder;

the object placing table (31) is provided with at least two screw holes, the at least two screw holes comprise at least one normal screw hole and at least one fault screw hole, and each screw hole is provided with one screw (32);

the turntable servo motor and the turntable encoder are arranged below the object placing table (31), the turntable encoder is installed on the turntable servo motor, and the turntable servo motor is connected with the object placing table (31);

the programmable logic controller (10) sends a control instruction to the rotary table servo driver according to a preset rotation angle, the rotary table servo driver controls the rotary table servo motor to rotate according to the control instruction, and the rotary table servo motor drives the object placing table (31) to rotate by the preset rotation angle;

the rotary disc encoder sends the motion information representing the rotary disc servo motor to the rotary disc servo driver, the rotary disc servo driver sends the motion information to the programmable logic controller (10), and the programmable logic controller (10) is used for controlling the object placing table (31) to rotate according to the motion information so as to position the screw (32).

4. The threading device according to claim 1, wherein the threading unit (40) comprises: the wire twisting device comprises a wire twisting encoder, a wire twisting tool bit (41), a wire twisting servo driver, a wire twisting servo motor, a mechanical arm servo driver, a mechanical arm (42), a mechanical arm servo motor and a mechanical arm encoder;

the wire twisting tool bit (41) and the wire twisting encoder are both arranged on an output shaft of the wire twisting servo motor, and the wire twisting servo driver drives the wire twisting servo motor to rotate so as to drive the wire twisting tool bit to rotate;

the wire twisting servo motor is arranged on the mechanical arm (42), the mechanical arm (42) is connected with the mechanical arm servo motor, the mechanical arm encoder is arranged on the mechanical arm servo motor, and the mechanical arm servo driver drives the mechanical arm servo motor to rotate so as to drive the whole mechanical arm to move up and down;

the programmable logic controller (10) is used for controlling the mechanical arm servo driver and the mechanical arm servo motor to drive the mechanical arm (42) to move, so that the mechanical arm (42) drives the screwing tool bit (41) to move along the direction parallel to the axis of the screw;

the programmable logic controller (10) is further used for controlling the screw-driving servo driver and the screw-driving servo motor to drive the screw-driving tool bit (41) to rotate so as to screw or unscrew the screw (32).

5. The threading device according to claim 4, wherein the threading unit (40) further comprises: the brake device comprises a band-type brake device, an upper limit switch, a lower limit switch, a mechanical upper limit stop block and a mechanical lower limit stop block;

when the mechanical arm (42) moves upwards to trigger the upper limit switch, the upper limit switch sends a first braking instruction to the mechanical arm servo driver;

when the mechanical arm (42) moves downwards to trigger the lower limit switch, the lower limit switch sends a second braking instruction to the mechanical arm servo driver, and the mechanical arm servo driver locks an output shaft of the mechanical arm servo motor according to the first braking instruction or the second braking instruction;

the mechanical arm servo driver sends the related information of the first braking instruction or the second braking instruction to the programmable logic controller (10), and the programmable logic controller (10) is further used for controlling the feeding unit, the turntable unit and the wire twisting unit in a linkage manner according to the related information of the first braking instruction or the second braking instruction;

the mechanical upper limit stop and the mechanical lower limit stop are used for limiting a movement section of the mechanical arm (42) when the mechanical arm runs along a direction parallel to the screw axis;

the band-type brake device is installed on the output shaft of the mechanical arm servo motor, and the band-type brake device is used for tightly holding the output shaft of the mechanical arm servo motor when the mechanical arm servo motor is disabled.

6. The threading device according to claim 4, wherein the threading head (41) is a flexible head.

7. The threading device of claim 2 wherein the device further comprises: a conveying unit (50);

the programmable logic controller (10) is connected with the conveying unit (50);

the programmable logic controller (10) is further configured to control the conveying unit (50) to act after the screwing unit (40) finishes screwing the screw (32), so as to simulate a process of conveying away the screwed workpiece.

8. The threading device according to claim 7, wherein the delivery unit (50) comprises: a speed reducer and a conveyor belt (51);

the conveying belt (51) is connected with the feeding motor through the speed reducer;

the programmable logic controller (10) is also used for controlling the frequency converter and the feeding motor to respectively complete the functions of the feeding process and the conveying process;

the programmable logic controller (10) is also used for controlling the frequency converter to drive the feeding motor to rotate, and the feeding motor drives the speed reducer to operate, so that the speed reducer drives the conveyor belt (51) to move after reducing the operation speed.

9. The threading device of claim 7, wherein the threading device further comprises: a touch screen (60);

the touch screen (60) is connected with the programmable logic controller (10);

the touch screen (60) is used for responding to touch operation and sending a control test instruction to the programmable logic controller (10);

the programmable logic controller (10) is also used for carrying out inching test and linkage test of the whole wire twisting device on the feeding unit (20), the turntable unit (30), the wire twisting unit (40) and the conveying unit (50) respectively according to the control test instruction.

10. A screwing method based on the screwing device according to any one of claims 1 to 9, comprising:

sending a pulse signal to the programmable logic controller through the feeding encoder, wherein the pulse signal is used for representing the quantity (501) of the simulated feeding of the screws;

when the programmable logic controller reaches a preset value according to the number of the pulse signals of the simulated feeding, the programmable logic controller controls the turntable unit to move so as to position a screw arranged on the turntable unit (502);

and after the turntable unit positions the screws, the screwing unit is controlled by the programmable logic controller according to the preset number of the screws to screw the screws (503).

11. The threading method of claim 10, wherein when the turntable unit includes a stage, a turntable servo drive, a turntable servo motor, and a turntable encoder, the controlling, by the programmable logic controller, the movement of the turntable unit to position a screw disposed on the turntable unit (502) comprises:

the programmable logic controller sends a control instruction to the rotary table servo driver according to a preset rotation angle, the rotary table servo driver controls the rotary table servo motor to rotate according to the control instruction, and the rotary table servo motor drives the object placing table to rotate by the preset rotation angle;

the rotary disc encoder sends motion information representing the rotary disc servo motor to the rotary disc servo driver, and the rotary disc servo driver sends the motion information to the programmable logic controller;

and the programmable logic controller is used for controlling the object placing table to rotate according to the motion information so as to position the screw.

12. The threading method of claim 10, wherein when said threading unit comprises a threading encoder, a threading head, a threading servo driver, a threading servo motor, a robot arm servo driver, a robot arm servo motor, and a robot arm encoder, said controlling said threading unit to thread said screws by said programmable logic controller according to a predetermined number of screws (503) comprises:

the mechanical arm servo motor drives the mechanical arm encoder to rotate, so that the mechanical arm encoder sends motion information representing the mechanical arm servo motor to the mechanical arm servo driver, the mechanical arm servo driver sends the motion information of the mechanical arm servo motor to the programmable logic controller, and the programmable logic controller controls the mechanical arm to move according to the motion information of the mechanical arm servo motor, so that the mechanical arm drives the wire twisting tool bit to run in a direction parallel to the axis of the screw;

the screw driving servo motor drives the screw encoder to rotate, the screw encoder sends motion information of the screw servo motor to the screw servo driver, the screw servo driver sends the motion information of the screw servo motor to the programmable logic controller, and the programmable logic controller controls the screw driver head to rotate according to the motion information of the screw servo motor, so that screws or unscrews screws according to the preset number of screws.

13. The threading method as claimed in claim 12, wherein when the threading unit further includes an upper limit switch and a lower limit switch, the threading method further comprises:

when the mechanical arm moves upwards to trigger the upper limit switch, a first braking instruction is sent to the mechanical arm servo driver through the upper limit switch;

or,

when the mechanical arm moves downwards to trigger the lower limit switch, a second braking instruction is sent to the mechanical arm servo driver through the lower limit switch;

locking an output shaft of the mechanical arm servo motor by the mechanical arm servo driver according to the first braking instruction or the second braking instruction;

and the mechanical arm servo driver sends the related information of the first braking instruction or the second braking instruction to the programmable logic controller, and the feeding unit, the turntable unit and the wire twisting unit are controlled in a linkage manner through the programmable logic controller according to the related information of the first braking instruction or the second braking instruction.

14. The threading method of claim 10, wherein when the threading device further comprises a conveying unit, after said controlling the threading unit by the programmable logic controller to thread the screw according to a preset number of screws (503), the threading method further comprises:

and the programmable logic controller is used for controlling the conveying unit to act, and simulating the process of conveying away the workpieces with screwed screws.

15. The threading method of claim 14 wherein, when the threading device further comprises a touch screen, the threading method further comprises:

responding to touch operation through the touch screen, and sending a control test instruction to the programmable logic controller;

and performing inching test and linkage test of the whole wire twisting device on the feeding unit, the turntable unit, the wire twisting unit and the conveying unit respectively through the programmable logic controller according to the control test instruction.