CN113146219B - Screw locking machine and control method for driving screw into thread - Google Patents
Screw locking machine and control method for driving screw into thread Download PDFInfo
- Publication number
- CN113146219B CN113146219B CN202110469765.XA CN202110469765A CN113146219B CN 113146219 B CN113146219 B CN 113146219B CN 202110469765 A CN202110469765 A CN 202110469765A CN 113146219 B CN113146219 B CN 113146219B
- Authority
- CN
- China
- Prior art keywords
- screw
- driving
- screwdriver
- feeding
- driving part
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
Abstract
The invention discloses a screw locking machine and a control method for driving a screw into a screw tooth, wherein the control method for driving the screw into the screw tooth by the screw locking machine comprises the following steps: and acquiring the position of the screwdriver head, judging whether the screwdriver head reaches the screw hole or not, starting to lock the screw, if so, controlling the feed driving device to increase a set increased feed speed for feeding movement so as to increase the electronic transmission ratio between the feed driving device and the screwdriver, obviously determining the increment of the increased electronic transmission ratio, directly determining the pressure applied by the screw to the screw hole, and controlling the pressure applied by the screw to the screw hole by increasing the electronic transmission ratio between the feed driving device and the screwdriver.
Description
Technical Field
The invention relates to the technical field of screw locking equipment, in particular to a screw locking machine and a control method for driving a screw into a screw thread.
Background
In the manufacturing industry, screw assembly, namely screw locking, is always an important process in product assembly, and along with the diversification and the continuous increase of the complexity of screw locking workpieces, the difficulty of efficiently, quickly and accurately carrying out screw locking is higher and higher, particularly communication and electroacoustic products, the product types are more, the product shapes are diversified, the automation degree of screw locking ring joints at a work station at the tail end of an assembly line is lower, and the screw locking ring joints are the bottleneck of large-scale production.
In the screw locking process, whether the screw can be reliably screwed into the screw is a key link for successfully locking the screw, so that the control of the pressure applied by the screw to the screw hole when the screw is initially screwed is a key link for successfully locking the screw, and in the prior art, the pressure applied by the screw to the screw hole is not effectively controlled.
Disclosure of Invention
The invention provides a screw locking machine and a control method for driving a screw into a screw tooth, wherein when the screw reaches a screw hole and starts to be locked in a screw locking process, a driving part of a feeding driving device is controlled to increase a set increased feeding speed for feeding movement so as to increase an electronic transmission ratio between the driving part and a screwdriver head and control the pressure applied by the screw to the screw hole.
In order to achieve the above object, the present invention provides a method for controlling a screw driving and threading device of a screw driving machine, the screw driving machine includes a feeding driving device, an electric screwdriver and a position detecting system, the feeding driving device has a driving part movably arranged in a feeding direction, the electric screwdriver is arranged in the driving part to be driven by the driving part to move along the feeding direction, the electric screwdriver includes a screwdriver head, the position detecting system is used for directly or indirectly detecting a position of the screwdriver head, the method for controlling the screw driving and threading device of the screw driving machine includes:
acquiring the position of the screwdriver head, and judging whether the screwdriver head reaches a screw hole or not to start to lock a screw;
and if so, controlling the feeding driving device to increase the feeding speed with a set increment to perform feeding activity so as to increase the electronic transmission ratio between the feeding driving device and the electric screwdriver.
Optionally, the electric screwdriver is movably connected to the driving part in the feeding direction and has an initial position limited to move in a direction away from the driving part, so that the electric screwdriver moves back and forth between the initial position and the driving part, and an elastic member is arranged between the driving part and the electric screwdriver;
the steps of obtaining the position of the screwdriver head and judging whether the screwdriver head reaches the screw hole to start to lock the screw comprise:
in the screw driving process, obtaining the displacements S1 and S2 of the driving part and the screwdriver in the feeding direction;
the difference value S is obtained between S1 and S2;
when the S is changed from zero to zero, the screwdriver head is judged to reach the screw hole to start to lock the screw.
Optionally, if yes, before the step of controlling the feed driving device to increase the feed speed by a set increase amount to perform the feeding activity so as to increase the electronic transmission ratio between the feed driving device and the electric batch, the method includes:
and obtaining the set increment corresponding to the screw according to the related information of the screw.
Optionally, the information related to the screw includes a type of the screw, and the type of the screw includes a self-tapping screw and a general screw;
the step of obtaining the set increment corresponding to the screw according to the related information of the screw comprises the following steps:
when the screw is a self-tapping screw, obtaining a first set increment corresponding to the screw;
when the screw is a common screw, obtaining a second set increment corresponding to the screw;
wherein the first set increase is greater than the second set increase.
Optionally, the feed drive comprises a stepper motor;
and if so, controlling a driving part of the feed driving device to increase the feed speed by a set increase amount to perform feed activities so as to increase the electronic transmission ratio between the feed driving device and the electric batch, wherein the set increase amount is the increase amount of the pulse amount driven by the stepping motor in unit time.
The invention also provides a screw locking machine, which is characterized by comprising:
a feed driving device having a driving part movably provided in a feeding direction;
the electric screwdriver is arranged on the driving part and driven by the driving part to move along the feeding direction, and comprises a screwdriver head;
a position detection system to directly or indirectly detect a position of the batch head; and (c) a second step of,
the control device is electrically connected with the feeding driving device, the screwdriver and the position detection system, the control device comprises a memory, a processor and a control program which is stored on the memory and can be run on the processor for screwing into teeth of the screw locking machine, and the step of the control method for screwing into teeth of the screw locking machine is realized when the control program for screwing into teeth of the screw locking machine is executed by the processor.
Optionally, the electric screwdriver is movably connected to the driving part in the feeding direction and has an initial position limited to move in a direction away from the driving part, so that the electric screwdriver moves back and forth between the initial position and the driving part, and an elastic member is arranged between the driving part and the electric screwdriver. .
Optionally, the feed drive further comprises:
a feed drive motor; and the number of the first and second groups,
the screw rod is connected with a motor shaft of the feeding driving motor;
the driving part is sleeved on the screw rod, a ball screw pair is formed between the driving part and the screw rod, and the electric screwdriver is slidably mounted on the screw rod.
Optionally, the feeding driving device comprises a stepping motor, and the stepping motor drives the driving part to move linearly through a transmission mechanism;
the position detection system includes:
an encoder for detecting the number of steps of the stepping motor; and the number of the first and second groups,
and the displacement sensor is used for detecting the displacement of the electric screwdriver in the feeding direction.
Optionally, the displacement sensor comprises:
the grating ruler is fixedly arranged; and the number of the first and second groups,
and the grating is arranged on the electric batch and moves along with the electric batch.
The invention provides a screw locking machine and a control method for driving a screw into a screw tooth, wherein the control method for driving the screw into the screw tooth by the screw locking machine comprises the following steps: the method comprises the steps of obtaining the position of a screwdriver head, judging whether the screwdriver head reaches a screw hole or not, starting to lock a screw, if so, controlling a feed driving device to increase a set increased amount of feed speed to carry out feed movement so as to increase an electronic transmission ratio between the feed driving device and an electric screwdriver, obviously determining the increment of the increased electronic transmission ratio, directly determining the pressure applied by the screw to the screw hole, and controlling the pressure applied by the screw to the screw hole by controlling and increasing the electronic transmission ratio between the feed driving device and the electric screwdriver.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a schematic perspective view of an embodiment of a screw driving machine according to the present invention;
FIG. 2 is a side view of a portion of the structure of FIG. 1;
FIG. 3 is a schematic view of the operation of the screwdriver of the screw driving machine of FIG. 1;
FIG. 4 is a flowchart illustrating a first embodiment of a method for controlling a screw driving and threading of a screw machine according to the present invention;
FIG. 5 is a flowchart illustrating a control method for driving a screw into a screw thread of a screw driving machine according to a second embodiment of the present invention;
fig. 6 is a flowchart illustrating a method for controlling a screw driving and threading of a screw driving machine according to a third embodiment of the present invention.
The reference numbers illustrate:
| reference numerals | Name(s) | Reference numerals | Name(s) |
| 100 | |
21 | Screwdriver rod sleeve |
| 1 | |
22 | |
| 11 | |
3 | |
| 12 | |
41 | Encoder for encoding a |
| 13 | Screw mandrel | 42 | |
| 2 | |
421 | |
| 20 | |
422 | Grating |
The implementation, functional features and advantages of the present invention will be further described with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative position relationship between the components, the motion situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The present invention provides a screw driving machine, fig. 1 to 3 show an embodiment of the screw driving machine provided by the present invention, and referring to fig. 1 to 3, the screw driving machine 100 includes a feeding driving device 1, an electric batch 2, a position detecting system and a control device, the feeding driving device 1 has a driving part 11 movably disposed in a feeding direction (specifically, in the present embodiment, upward and downward directions), the electric batch 2 is disposed in the driving part 11 to be driven by the driving part 11 to move in the feeding direction, the electric batch 2 includes a batch head 20, the position detecting system is configured to directly or indirectly detect a position of the batch head 20, the control device is electrically connected to the feeding driving device 1, the electric batch 2 and the position detecting system, the control device includes a memory, a processor and a control program for controlling a screw driving tooth of the screw driving machine, the control program for the screw driving tooth of the screw driving machine stored in the memory and operable on the processor, and the control method for controlling the screw driving tooth of the screw driving machine when the screw driving tooth of the screw driving machine is executed by the processor includes: acquiring the position of the batch head 20, and judging whether the batch head 20 reaches a screw hole or not to start to lock a screw; if yes, controlling the feeding driving device to increase the feeding speed with a set increment to perform feeding activity so as to increase the electronic transmission ratio between the feeding driving device 1 and the electric screwdriver 2.
In the present application, the "electronic transmission ratio" is the ratio between the minimum displacement n1 of the feed drive 1 in the advance direction and the minimum displacement n2 of the electrode batch 2 in the feed direction, i.e. n1: n2 is an electronic transmission ratio, for example, if the feed driving device 1 of the screw locking machine adopts a step servo system, the feed driving device 1 includes a step motor, the driving portion 11 is connected with a shaft of the step motor by a ball screw mechanism, wherein a screw is connected with the shaft of the step motor, that is, the screw pitch of the screw used for the feed shaft is 1.5mm, the screw pitch of the screw is 0.25mm, the linkage ratio of the two shafts is 6:1, and the feed shaft rotates 1 ring per 6 rings of the main shaft of the screw driver.
Obviously, the increment of the increased electronic transmission ratio directly determines the pressure exerted by the screw on the screw hole, so as to control the pressure exerted by the screw on the screw hole by controlling and increasing the electronic transmission ratio between the feed driving device 1 and the electric screw driver 2.
In this embodiment, the electric screwdriver 2 is movably connected to the driving portion 11 in the feeding direction, and has an initial position limited to move in a direction away from the driving portion 11, so that the electric screwdriver 2 moves back and forth between the initial position and the driving portion 11, and an elastic member 3 is disposed between the driving portion 11 and the electric screwdriver 2, so that when the electric screwdriver 2 is forced in the direction of the driving portion 11, the elastic member 3 is elastically pressed, so that the electric screwdriver 2 can move upward, and the position detection system is used to directly or indirectly detect the movement of the driving portion 11 and the electric screwdriver 2 in the feeding direction, so that during the screwing process, the electric screwdriver 2 contacts with the edge of the screw hole first, at this time, the screwdriver head 20 of the electric screwdriver 2 is not yet exposed at the lower end of the housing of the electric screwdriver 2, at this time, the driving portion 11 will continue to displace in the screw hole direction, and the electric screwdriver 2 is limited by contacting with the edge of the screw hole, so that the driving portion 11 and the electric screwdriver 2 have relative displacement in the feeding direction, and the screw hole 20 will move in the opposite direction, and then the electric screwdriver 2 can be moved in the feeding direction, and the driving portion 11 and the electric screwdriver head can be judged whether the screwdriver head can move in the feeding direction and can be moved together with the feeding direction, and the feeding head can be changed together with the feeding direction, so that the electric screwdriver 2 can be moved in the feeding direction, and the electric screwdriver head can be detected.
The specific configuration of the feeding driving device 1 is not limited, in some embodiments of the present invention, the feeding driving device 1 may be an air cylinder or an electric cylinder, and in this embodiment, the feeding driving device 1 further includes a feeding driving motor 12 and a lead screw 13, the lead screw 13 is connected to a motor shaft of the feeding driving motor 12, the feeding driving portion 11 is sleeved on the lead screw 13 and forms a ball screw pair with the lead screw 13, and the electric batch 2 is slidably mounted on the lead screw 13, for this reason, the ball screw 13 pair formed by the lead screw 13 and the feeding driving portion 11 converts the rotation of the feeding driving motor 12 into the linear motion of the feeding driving portion 11.
The elastic member 3 is disposed between the electric screwdriver 2 and the feeding driving portion 11, the elastic member 3 may be a spring, a silicone member, or the like, and in this embodiment, the elastic member 3 is a spring. Specifically, in the present embodiment, the spring is sleeved on the screw 13, and the spring connects the electric screwdriver 2 and the feeding driving part 11.
The position detecting system directly or indirectly detects the position of the batch head 20, for example, the position detecting system directly detects the distance between the batch head 20 and the screw hole, and may also indirectly detect the displacement of the batch head 20 by detecting other displacements, specifically, in an embodiment of the present invention, the feeding driving device 1 includes a stepping motor, the stepping motor drives the feeding driving part 11 to move linearly through a transmission mechanism, the position detecting system includes an encoder 41 and a displacement sensor 42, wherein the encoder 41 is configured to detect the number of steps of the stepping motor, because a transmission ratio between the stepping motor and the feeding driving part 11 is fixed, for this reason, the displacement of the feeding driving part 11 in the feeding direction can be obtained according to the number of steps of the stepping motor, the displacement sensor 42 is configured to detect the displacement of the electric batch 2 in the feeding direction, specifically, in this embodiment, the displacement sensor 42 includes a grating scale 421 and a grating 422, wherein the grating scale 421 is fixedly disposed, the grating scale 422 is disposed on the electric batch 2, and the control device can obtain the displacement of the grating scale 421 in the feeding direction.
In an embodiment of the present invention, the electric screwdriver 2 includes a screwdriver rod sleeve 21 and a screwdriver rod 22, the screwdriver head 20 is disposed at an end of the screwdriver rod 22, the screwdriver rod sleeve 21 is elastically and telescopically disposed in the feeding direction, the screwdriver rod 22 is disposed in the screwdriver rod sleeve 21, the screwdriver rod 22 is used to rotate and tighten a screw, and when the screwdriver rod 2 reaches a screw hole, the screwdriver rod sleeve 21 is pushed by a screw hole edge to move in a direction of the feeding driving portion 11.
Based on the above-mentioned screw driving machine 100, the present invention further provides a method for controlling the screw driving and the screw driving of the screw driving machine, fig. 4 is a first embodiment of the method for controlling the screw driving and the screw driving of the screw driving machine provided by the present invention, please refer to fig. 4 and also refer to fig. 1 to 3, the method for controlling the screw driving and the screw driving of the screw driving machine includes:
step S10, acquiring the position of the screwdriver head 20, and judging whether the screwdriver head 20 reaches a screw hole or not to start to lock a screw;
specifically, the position of the batch head 20 is directly or indirectly detected by a position detection system to transmit the detected position parameter to the control device, for example, the position detection system directly detects the distance between the batch head 20 and the screw hole, and may also indirectly detect the displacement of the batch head 20 by detecting other displacements, specifically, in an embodiment of the present invention, the electric batch 2 is movably connected to the driving part 11 in the feeding direction and has an initial position limited to move away from the driving part 11, so that the electric batch 2 moves back and forth between the initial position and the driving part 11, and an elastic member 3 is disposed between the driving part 11 and the electric batch 2, so that when the electric batch 2 is applied with a force in a direction of the driving part 11, the elastic member 3 is elastically pressed to allow the electric batch 2 to move upwards, and whether the batch head 20 reaches the screw hole to start to lock the screw hole can be determined by detecting whether a relative displacement occurs between the electric batch 2 and the driving part 11, specifically, as shown in fig. 5, in an embodiment of the present invention, includes:
step S11: in the screw driving process, the displacements S1 and S2 of the driving part 11 and the electric screwdriver 2 in the feeding direction are obtained;
step S12: the difference value S is obtained between S1 and S2;
step S13: when the S is changed from zero to zero, the screwdriver head 20 is judged to reach the screw hole to start to lock the screw;
in the process of locking the screw, the electric screwdriver 2 is firstly contacted with the edge of the screw hole, at this time, the screwdriver head 20 of the electric screwdriver 2 is not exposed out of the lower end of the shell of the electric screwdriver 2, at this time, the driving part 11 can continuously move towards the screw hole direction, the electric screwdriver 2 is limited due to the contact with the edge of the screw hole, further, the driving part 11 and the electric screwdriver 2 have relative displacement in the feeding direction, the screwdriver head 20 can be exposed to the screw hole contact along with the continuous movement of the screwdriver head 20 in the feeding direction, then, the screwdriver head 20 moves together with the screw in the feeding direction, at this time, the driving part 11 and the electric screwdriver 2 move towards the feeding direction together in the feeding direction, and therefore, whether the screwdriver head 20 reaches the screw hole can be judged by detecting the relative displacement change of the electric screwdriver 2 and the driving part 11.
And S20, if so, controlling the feeding driving device to increase the feeding speed with set increment to perform feeding activity so as to increase the electronic transmission ratio between the feeding driving device and the electric batch. In an embodiment of the present invention, the feeding driving device 1 includes a stepping motor, and in step S10, the set increment is an increment of a pulse amount driven by the stepping motor in a unit time, so that the increment of the pulse amount can be directly controlled to control and increase the electronic transmission ratio between the feeding driving device 1 and the electric batch 2, and the control is more direct and efficient.
The invention provides a screw locking machine and a control method for driving a screw into a screw thread, wherein the control method for driving the screw into the screw thread by the screw locking machine comprises the following steps: acquiring the position of the screwdriver head 20, judging whether the screwdriver head 20 reaches a screw hole or not, starting to lock the screw, if so, controlling the feed driving device 1 to increase the feed speed with a set increment to carry out feed movement so as to increase the electronic transmission ratio between the feed driving device 1 and the screwdriver 20, obviously determining the increment of the increased electronic transmission ratio, directly determining the pressure exerted by the screw on the screw hole, and controlling the pressure exerted by the screw on the screw hole by increasing the electronic transmission ratio between the feed driving device 1 and the screwdriver 20.
Fig. 5 is a second embodiment of a method for controlling a screw driving and threading of a screw driving machine according to the present invention, referring to fig. 4 and fig. 1 to 3 together, in the embodiment of the present invention, before step S10, the method further includes:
step S30, obtaining the set increment corresponding to the screw according to the relevant information of the screw: different screws need different pressures when being locked, for example, different types of screws, such as self-tapping screws, need to apply pressure to lock, while ordinary screws do not need to apply pressure theoretically, but because of the problem of manufacturing accuracy or the problem of point deviation of screw and screw hole alignment, pressure is often required to be applied to match the ordinary screws with screw holes, and in addition, even if the same type of screws have different sizes, the corresponding applied pressures are different, so in the embodiment, different set increments can be preset for different screws, and the set increments can be obtained through experiments.
To this end, in an embodiment of the present invention, the information related to the screw includes a type of the screw, and the type of the screw includes a self-tapping screw and a general screw; step S30 includes: when the screw is a self-tapping screw, obtaining a first set increment corresponding to the screw; when the screw is a common screw, obtaining a second set increment corresponding to the screw; wherein the first set increase is greater than the second set increase. That is, in the present embodiment, the tapping screw needs to be locked by applying pressure, while the ordinary screw does not theoretically need to be locked by applying pressure, but because of the problem of manufacturing accuracy or the problem of slight misalignment between the screw and the screw hole, the ordinary screw and the screw hole can be matched by applying pressure in many cases, and the tapping screw needs to be applied by a larger pressure than the ordinary screw during locking in general.
It should be noted that, in this document, 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 phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be substantially or partially embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk), and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a cloud server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structures or equivalent processes performed by the present invention or directly or indirectly applied to other related technical fields are also included in the scope of the present invention.
Claims (8)
1. The utility model provides a control method that lock screw machine beat screw and go into tooth, its characterized in that, lock screw machine is including feeding drive arrangement, screwdriver and position detecting system, it has the drive division of mobile setting in the direction of feed to feed drive arrangement, the screwdriver is located the drive division, in order by the drive division drive is along the direction of feed activity, the screwdriver includes criticizing the head, position detecting system is used for directly or indirectly detecting the position of criticizing the head, the control method that lock screw machine beat screw and go into tooth includes:
acquiring the position of the screwdriver head, and judging whether the screwdriver head reaches a screw hole or not to start to lock a screw;
if yes, controlling the feeding driving device to increase a feeding speed with a set increment to perform feeding activities so as to increase an electronic transmission ratio between the feeding driving device and the electric batch;
the electric screwdriver is movably connected to the driving part in the feeding direction and provided with an initial position limited to move towards a direction far away from the driving part, so that the electric screwdriver moves back and forth between the initial position and the driving part, and an elastic piece is arranged between the driving part and the electric screwdriver;
the steps of obtaining the position of the screwdriver bit and judging whether the screwdriver bit reaches the screw hole to start to lock the screw comprise:
in the screw driving process, obtaining the displacements S1 and S2 of the driving part and the electric screwdriver in the feeding direction;
the difference value S is obtained between S1 and S2;
when the S is changed from zero to zero, the screwdriver head is judged to reach the screw hole to start to lock the screw.
2. The method for controlling the driving thread of the screw driver according to claim 1, wherein if yes, the step of controlling the feeding driving device to increase the feeding speed by a set increase amount to perform the feeding operation so as to increase the electronic transmission ratio between the feeding driving device and the screwdriver comprises:
and obtaining the set increment corresponding to the screw according to the related information of the screw.
3. The screw driving and threading control method for the screw driving machine according to claim 2, wherein the information related to the screw includes a type of the screw, and the type of the screw includes a self-tapping screw and a general screw;
the step of obtaining the set increment corresponding to the screw according to the related information of the screw comprises the following steps:
when the screw is a self-tapping screw, obtaining a first set increment corresponding to the screw;
when the screw is a common screw, obtaining a second set increment corresponding to the screw;
wherein the first set increase is greater than the second set increase.
4. The screw driving and threading control method of a screw machine according to claim 1, wherein the feeding driving means includes a stepping motor;
and if so, controlling the feed driving device to increase the feed speed by a set increase amount to perform feed activities so as to increase the electronic transmission ratio between the feed driving device and the electric screwdriver, wherein the set increase amount is the increase amount of the pulse amount driven by the stepping motor in unit time.
5. A screw locking machine, comprising:
a feed driving device having a driving part movably provided in a feeding direction;
the electric screwdriver is arranged on the driving part and driven by the driving part to move along the feeding direction, and comprises a screwdriver head;
a position detection system to directly or indirectly detect a position of the batch head; and the number of the first and second groups,
a control device electrically connected to the feeding driving device, the screwdriver and the position detecting system, wherein the control device includes a memory, a processor and a control program for driving a screw into a screw thread of a screw driving machine, which is stored in the memory and can be run on the processor, and when the control program for driving a screw into a screw thread of a screw driving machine is executed by the processor, the step of implementing the control method for driving a screw into a screw thread of a screw driving machine according to any one of claims 1 to 4 is performed;
the electric screwdriver is movably connected to the driving part in the feeding direction and is provided with an initial position limited to move towards a direction far away from the driving part, so that the electric screwdriver moves back and forth between the initial position and the driving part, and an elastic piece is arranged between the driving part and the electric screwdriver.
6. The screw locking machine of claim 5, wherein the feed drive further comprises:
a feed drive motor; and the number of the first and second groups,
the screw rod is connected with a motor shaft of the feeding driving motor;
the driving part is sleeved on the screw rod, a ball screw pair is formed between the driving part and the screw rod, and the electric screwdriver is slidably mounted on the screw rod.
7. The screw locking machine of claim 5, wherein the feeding driving device comprises a stepping motor, and the stepping motor drives the driving part to move linearly through a transmission mechanism;
the position detection system includes:
an encoder for detecting the number of steps of the stepping motor; and (c) a second step of,
and the displacement sensor is used for detecting the displacement of the electric screwdriver in the feeding direction.
8. The screw locking machine of claim 7, wherein the displacement sensor comprises:
the grating ruler is fixedly arranged; and the number of the first and second groups,
and the grating is arranged on the electric batch and moves along with the electric batch.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110469765.XA CN113146219B (en) | 2021-04-28 | 2021-04-28 | Screw locking machine and control method for driving screw into thread |
| PCT/CN2021/139570 WO2022227633A1 (en) | 2021-04-28 | 2021-12-20 | Screw locking machine and screw feeding control method therefor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110469765.XA CN113146219B (en) | 2021-04-28 | 2021-04-28 | Screw locking machine and control method for driving screw into thread |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113146219A CN113146219A (en) | 2021-07-23 |
| CN113146219B true CN113146219B (en) | 2022-10-18 |
Family
ID=76872254
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110469765.XA Active CN113146219B (en) | 2021-04-28 | 2021-04-28 | Screw locking machine and control method for driving screw into thread |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN113146219B (en) |
| WO (1) | WO2022227633A1 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113146219B (en) * | 2021-04-28 | 2022-10-18 | 歌尔股份有限公司 | Screw locking machine and control method for driving screw into thread |
| CN115055949A (en) * | 2022-05-11 | 2022-09-16 | 上海大学 | Automatic direction-recognizing device for small screw shaft |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070144753A1 (en) * | 2005-12-22 | 2007-06-28 | Microtorq, L.L.C. | Transducerized rotary tool |
| PL3663046T3 (en) * | 2018-12-07 | 2022-01-10 | SWEDEX GmbH Industrieprodukte | Screw driver assembly and method for operating same |
| CN109702468A (en) * | 2018-12-25 | 2019-05-03 | 珠海格力智能装备有限公司 | Lock screw device and the lock screw system with it |
| CN110814716A (en) * | 2019-11-01 | 2020-02-21 | 深圳市圆梦精密技术研究院 | Nut screwing device and nut screwing mechanism thereof |
| CN211361283U (en) * | 2019-11-01 | 2020-08-28 | 深圳市圆梦精密技术研究院 | Nut screwing device and nut screwing mechanism thereof |
| CN110919342B (en) * | 2019-12-27 | 2021-08-13 | 天津大学 | Automatic screw system and automatic screw robot of beating |
| CN111185745B (en) * | 2020-01-22 | 2022-03-29 | 深圳市顶配自动化技术有限公司 | Floating lock detection method for screw |
| CN111215879A (en) * | 2020-03-10 | 2020-06-02 | 深圳市森阳智能制造装备有限公司 | Screw locking device with depth control detection function |
| CN112388297A (en) * | 2020-10-27 | 2021-02-23 | 深圳市研控自动化科技有限公司 | Automatic screw locking method, screw machine and storage medium |
| CN112621198B (en) * | 2020-12-16 | 2022-05-24 | 歌尔光学科技有限公司 | Screw locking machine control method, device, equipment and storage medium |
| CN113146219B (en) * | 2021-04-28 | 2022-10-18 | 歌尔股份有限公司 | Screw locking machine and control method for driving screw into thread |
-
2021
- 2021-04-28 CN CN202110469765.XA patent/CN113146219B/en active Active
- 2021-12-20 WO PCT/CN2021/139570 patent/WO2022227633A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| CN113146219A (en) | 2021-07-23 |
| WO2022227633A1 (en) | 2022-11-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113146219B (en) | Screw locking machine and control method for driving screw into thread | |
| EP3065523A1 (en) | Lead wire cut-and-clinch device | |
| CN110278660B (en) | PCB back drilling device and system | |
| EP2837908A1 (en) | Method and system for controlling a feeding length of a wire | |
| JP4916970B2 (en) | Connector press-fitting device | |
| CN112639429B (en) | Press device, terminal device, ball screw estimated life calculating method, and program | |
| US11673178B2 (en) | Adjustment device of punching device and adjustment method of punching device | |
| CN107968360B (en) | Wire harness peeling machine and batch wire harness peeling method | |
| JP5909414B2 (en) | Pinching position detection device and pinching position detection method in a processing machine | |
| CN113001170B (en) | Screw locking machine and method for judging screw driving and thread entering of screw locking machine | |
| CN113001169B (en) | Screw locking machine and calibration method for initial screw driving position thereof | |
| US20020050159A1 (en) | Method and apparatus for producing a crimped connection | |
| US11772350B2 (en) | Press device, load correction method, and recording medium | |
| US10452049B2 (en) | Servomotor control device, and servomotor control system | |
| CN211036346U (en) | Template machine and template detection device that targets in place thereof | |
| CN212567437U (en) | Encoder for encoding a video signal | |
| JP5300804B2 (en) | Press-in method | |
| CN114393066B (en) | stamping die | |
| CN111360413B (en) | Laser marking system and control method thereof | |
| JPH01186219A (en) | Die for press brake | |
| CN215114341U (en) | Porous synchronous aperture detection device | |
| CN218946835U (en) | Fool-proof device for pressing in elastic cylindrical pin | |
| JP2015044214A (en) | Load cell | |
| CN220544444U (en) | Connector crimping apparatus | |
| CN218034988U (en) | Mould flatness detection device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |