CN113245812A - Intelligent screw locking system with depth control detection function - Google Patents
Intelligent screw locking system with depth control detection function Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
- B25B11/02—Assembly jigs
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
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Abstract
The invention relates to an intelligent screw locking system with a depth control detection function, which relates to the technical field of screw locking and comprises a bottom plate, wherein one end of the upper surface of the bottom plate is connected with a track plate, an image acquisition device is arranged at the lower part of the track plate, a lifting plate is slidably arranged at the upper part of the track plate, an air cylinder is arranged at the upper part of the track plate, a piston rod of the air cylinder is in transmission connection with the lifting plate, a horizontal plate is connected to one side of the lifting plate, a box body is slidably arranged at the bottom of the horizontal plate, a movable plate is slidably arranged in the box body, a cylinder body is connected to the bottom surface of the movable plate and penetrates through the box body, a push rod motor, a controller and a distance measuring sensor are connected to the upper surface of the inner part of the box body. The invention effectively avoids the damage to the object in the screw tightening process due to different materials of the object, and improves the screw tightening efficiency.
Description
Technical Field
The invention relates to the technical field of screw locking, in particular to an intelligent screw locking system with a depth control detection function.
Background
The screw locking device is an automatic application specific device which uses an automatic mechanism to replace hands to finish taking, placing and screwing screws, is widely applied to automatic assembly of computers, display screens, motors, lamps, mobile phones, printers, circuit boards, batteries, instruments and the like, can greatly improve the production efficiency, reduce the production cost and improve the reliability.
Chinese patent publication No.: CN109014881A discloses a screw locking mechanism, which does not consider the difference in pressure bearing capacity between different material articles when screwing, and the screwing of different material articles at the same screwing speed is liable to damage the screwing position of the article, so that the screwing position needs to be reset and the screwing is performed again, thereby reducing the screwing efficiency of the screw.
At present, most screw locking devices cannot control the screwing speed of screws, and the screwing position is easy to damage due to different materials of objects in the screw screwing process, so that the screwing efficiency of the screws is seriously influenced.
Disclosure of Invention
Therefore, the invention provides an intelligent screw locking system with a depth control detection function, which is used for solving the problem of low screwing efficiency caused by the fact that the screwing speed cannot be accurately controlled according to the material of an object in the prior art.
In order to achieve the above object, the present invention provides an intelligent system for screw locking with depth control detection function, comprising,
the device comprises a bottom plate, a track plate, an image acquisition device, a cylinder, a transverse plate and a box body, wherein one end of the upper surface of the bottom plate is connected with the track plate, the lower part of the track plate is provided with the image acquisition device, the upper part of the track plate is slidably provided with a lifting plate, the upper part of the track plate is provided with the cylinder, a piston rod of the cylinder is in transmission connection with the lifting plate, the cylinder is used for driving the lifting plate to move up and down, one side of the lifting plate is connected with the transverse;
a movable plate is slidably mounted in the box body, a cylinder is connected to the bottom surface of the movable plate and penetrates through the box body, a push rod motor, a controller and a distance measuring sensor are connected to the upper surface of the interior of the box body, the lower end of the push rod motor is connected with the upper surface of the movable plate, the controller is used for controlling the working process, the distance measuring sensor is used for detecting the distance between the upper surface of the interior of the box body and the upper surface of the movable plate, a motor is arranged at the bottom of the cylinder, and an output shaft of the motor is in transmission connection with a rotating rod;
a moving block is slidably mounted on the upper surface of the bottom plate, a positioning table is connected to the upper end of the moving block, a gravity sensor is arranged at the central position inside the positioning table and used for detecting the gravity of an object placed on the upper surface of the positioning table, and a positioning mechanism is arranged on the positioning table and comprises two sliding blocks which are symmetrically slidably mounted on the positioning table;
when the controller controls the sliding block to clamp the object on the positioning table, the controller controls the moving speed of the sliding block and the contraction speed of the lifting rod according to the gravity G of the object acquired by the gravity sensor, and meanwhile, the controller adjusts the moving speed of the sliding block and the contraction speed of the lifting rod according to the volume R of the object acquired by the image acquisition device; when the image acquisition device acquires the volume of an article, the controller controls the image acquisition device to acquire the volume of the article for three times, controls the position of the positioning table during the three-time acquisition according to the acquired gravity G of the article, and determines the volume R of the article according to the three-time acquisition result;
after clamping an article, when the controller controls the rotating rod to rotate, the controller controls the rotating speed of the rotating rod and the pushing speed of the push rod motor according to the calculated screw tightening length Fa, when the controller controls the rotating speed of the rotating rod, the controller adjusts the set rotating speed of the rotating rod according to the acquired gravity G of the article, and after the adjustment is finished, the controller corrects the adjusted rotating speed of the rotating rod according to the acquired article volume R;
when the controller controls the rotating rod to tighten the screw on the object, the controller judges whether to terminate the tightening process in advance according to the deformation quantity deltaS of the screw cap.
Further, when the controller controls the sliding block to clamp the article on the positioning table, the controller compares the gravity G of the article obtained by the gravity sensor with a preset gravity G0, and controls the sliding block to clamp the article according to the comparison result, wherein,
when G < G0, the controller controls the slide block to move towards the article at a speed Va1 and controls the lifting rod to contract at a speed Vb 1;
when G is larger than or equal to G0, the controller controls the slide block to move towards the article at a speed Va2, and sets Va2= Va1 x [1+ (G-G0)/G0], and controls the lifting rod to contract at a speed Vb2, and sets Vb2= Vb1 x [1+ (G-G0)/G0 ];
va1 is the preset moving speed of the slider, and Vb1 is the preset retracting speed of the lifting rod.
Further, the controller adjusts the clamping process of the article according to the article volume R acquired by the image acquisition device, compares the acquired article volume R with a preset article volume R0, and adjusts the clamping process of the article according to the comparison result, wherein,
when R < R0, the controller controls the slider to move towards the article at an increased speed Vai ', sets Vai' = Vai x [1+ (R0-R)/R0 ], controls the lifting rod to contract at an increased speed Vbi ', sets Vbi' = Vbi x [1+ (R0-R)/R0 ], and sets i =1, 2;
when R is larger than or equal to R0, the controller controls the slide block to move towards the article at a reduced speed Vai ', sets Vai' = Vai x [1- (R-R0)/R0 ], controls the lifting rod to contract at a reduced speed Vbi ', sets Vbi' = Vbi x [1- (R-R0)/R0 ], and sets i =1, 2.
Further, when the image acquisition device acquires the volume of the article, the controller compares the acquired gravity G of the article with a preset gravity G0 and controls the image acquisition position of the article according to the comparison result, wherein,
when G is less than G0, the controller controls the positioning table to move to the acquisition distance Da1 for the first volume acquisition, after the first volume acquisition, the positioning table is moved to the acquisition distance Da2 for the second volume acquisition, the distance extension coefficient is set as Da2= Da1 x alpha, 1.1 < alpha < 1.3, alpha is set as the distance extension coefficient, after the second volume acquisition, the positioning table is moved to the acquisition distance Da3 for the third volume acquisition, the distance extension coefficient is set as Da3= Da2 x alpha, and the average value of the volume of the articles acquired three times is used as the volume R of the articles; wherein Da1 is a preset small-volume acquisition distance;
when G is larger than or equal to G0, the controller controls the positioning table to move to the acquisition distance Db1 for primary volume acquisition, after the primary volume acquisition, the positioning table is moved to the acquisition distance Db2 for secondary volume acquisition, Db2= Db1 x beta is set, beta is more than 0.8 and less than 0.9, and beta is a distance shortening coefficient, after the secondary volume acquisition, the positioning table is moved to the acquisition distance Db3 for third volume acquisition, Db3= Db2 x beta is set, and the average value of the volumes of the articles acquired three times is used as the volume R of the article; wherein Db1 is a preset large-volume acquisition distance, and Db1 is more than Da 1.
Further, after clamping the object, the controller sets a screw tightening length Fa according to a length F of the screw, sets Fa = F × 1.1+ K, where K is a minimum length of the push rod motor, and when the controller controls the rotating rod to rotate, the controller compares the calculated screw tightening length Fa with a preset screw tightening length Fa0 and controls a rotation process of the rotating rod according to a comparison result, wherein,
when Fa < Fa0, the controller controls the rotating rod to rotate at a rotating speed Q1 and controls the push rod motor to push the movable plate to move at a pushing speed L1;
when Fa is more than or equal to Fa0, the controller controls the rotating rod to rotate at a rotating speed Q2, and sets Q2= Q1 x [1- (Fa-Fa 0)/Fa 0], and controls the push rod motor to push the movable plate to move at a pushing speed L2, and sets L2= L1 x [1- (Fa-Fa 0)/Fa 0];
wherein, Q1 is the predetermined dwang rotational speed, and L1 is the predetermined push rod motor pushing speed.
Further, when the controller controls the rotation speed of the rotating rod, the controller compares the acquired gravity G of the article with a preset gravity G0, and adjusts the set rotation speed Qi of the rotating rod according to the comparison result, setting i =1,2, wherein,
when G < G0, the controller controls the turning lever to rotate at the adjusted rotation speed Qa, setting Qa = Qi × [1- (G0-G)/G0];
when G ≧ G0, the controller controls the turning lever to turn at the adjusted turning speed Qb, setting Qb = Qi × [1+ (G-G0)/G0 ].
Further, after the adjustment of the rotating speed of the rotating rod is completed, the controller compares the collected article volume R with the preset article volume R0, and corrects the adjusted rotating speed of the rotating rod according to the comparison result, wherein,
when R < R0, the controller controls the rotating lever to rotate at the corrected rotation speed Qa ', setting Qa' = Qa × [1+ (R0-R)/R0 ];
when R is equal to or greater than R0, the controller controls the rotating lever to rotate at the corrected rotation speed Qb ', and sets Qb' = Qb × [1- (R-R0)/R0 ].
Further, when the controller controls the rotating rod to screw the screw on the object, the controller compares the deformation quantity deltaS of the screw cap with the preset deformation quantity deltaS 0 of the screw cap, and judges whether to terminate the screwing process in advance according to the comparison result, and sets deltaS = | Sa-Sb |, wherein Sa is the area of the screw cap collected by the image collecting device before the start of screw screwing, and Sb is the area of the screw cap monitored by the image collecting device in real time when the screw is screwed, wherein,
when Δ S <. Δ S0, the controller determines that it is not necessary to terminate the tightening process prematurely;
when the delta S is not less than the delta S0, the controller judges that the tightening process is stopped in advance, controls the rotating rod to stop rotating and controls the push rod motor to retract.
Further, the inside of dwang is provided with adjusts the chamber, the bottom of adjusting the chamber transversely is provided with the regulation pole, it runs through to adjust the pole the inner wall of dwang, it is located to adjust the pole the outside one end fixedly connected with triangle-shaped inserted sheet of dwang, it is used for control to adjust the intracavity be equipped with the adjustment mechanism who adjusts pole horizontal migration.
Further, positioning mechanism including symmetry slidable mounting in two sliders on the location platform, the top of slider articulates there is the L pole, the other end of L pole articulates there is the press board, be connected with the lifter of vertical setting on the slider, the top of lifter articulates there is the down tube, the other end and the L pole of down tube are articulated, the both ends of location platform are equipped with the rectangle through-hole, the slider with the inner wall sliding connection of rectangle through-hole, the one end of rectangle through-hole is connected with the electric telescopic handle of level setting, electric telescopic handle's the other end and slider are connected.
Compared with the prior art, the invention has the advantages that the positioning table is provided with the slider, the slider can clamp an object placed on the positioning table, the stability of the object is effectively ensured during screw tightening by clamping the object, so that the damage of a tightening position caused by the shaking of the object is avoided, the screw tightening efficiency is further improved, the other end of the L rod is hinged with the pressing plate, the stability of the object can be further ensured by arranging the pressing plate, when the object is clamped, the controller controls the moving speed of the slider and the contraction speed of the lifting rod according to the gravity G of the object acquired by the gravity sensor, the moving speed of the slider and the contraction speed of the lifting rod can be effectively ensured not to be damaged during the clamping process by accurately controlling the moving speed of the slider and the contraction speed of the lifting rod, and the controller can effectively ensure that the objects of different materials cannot be damaged during the clamping process according to the moving speed of the slider and the contraction speed of the lifting rod by the object volume R acquired by the image acquisition device The moving speed of the sliding block and the contraction speed of the lifting rod are adjusted, the integrity of articles made of different materials in the clamping process is further guaranteed, meanwhile, when the volume of the article is collected, the controller controls the image collecting device to collect the volume of the article for three times, the volume R of the article is determined according to the three-time collecting result, the accuracy of the volume R of the article is effectively guaranteed through the three-time collecting of different positions, the accuracy of adjusting the moving speed of the sliding block and the contraction speed of the lifting rod is further guaranteed, and the integrity of the articles made of different materials in the clamping process is further guaranteed; after the object is clamped, when the rotating rod is controlled to rotate, the rotating speed of the rotating rod and the pushing speed of the push rod motor are controlled according to the calculated screw tightening length Fa, the tightening length Fa is determined according to the length of the screw, the rotating speed of the rotating rod and the accuracy of the pushing speed of the push rod motor are further guaranteed, the influence of screws with different lengths on the tightening process is avoided, meanwhile, the rotating speed of the set rotating rod is adjusted according to the gravity G of the object, the rotating speed of the adjusted rotating rod is corrected according to the collected object volume R, the accuracy of the rotating speed of the rotating rod is further guaranteed, so that the objects made of different materials are effectively guaranteed not to be damaged when the screws are tightened, the tightening efficiency of the screw is further improved, and meanwhile, the controller judges whether to terminate the tightening process in advance according to the deformation quantity Delta S of the screw cap, through the deflection of real-time supervision screw cap, can prevent effectively that the screw from being damaged to the efficiency of screwing up of screw has further been improved.
Particularly, the controller controls the sliding block to clamp the object by comparing the gravity G of the object acquired by the gravity sensor with the preset gravity G0, so that the object made of different materials is effectively prevented from being damaged in the clamping process, and the screwing efficiency of the screw is further improved.
Particularly, the controller adjusts the clamping process of the object by comparing the collected object volume R with the preset object volume R0, and further ensures that objects made of different materials are not damaged in the clamping process by adjusting the clamping process, thereby further improving the screwing efficiency of the screw.
Particularly, the controller controls the image acquisition position of the article by comparing the acquired gravity G of the article with the preset gravity G0, and determines the volume of the article through image acquisition at different positions for three times, so that the accuracy of the volume of the acquired article is further ensured, the adjustment accuracy of the clamping process is improved, the articles made of different materials are further prevented from being damaged in the clamping process, and the screwing efficiency of the screw is further improved.
Especially, the controller controls through comparing the screw tightening length Fa that obtains with preset screw tightening length Fa0 the rotation process of dwang has effectively avoided the influence of different length screws to the tightening process to the tightening efficiency of screw has further been improved.
Particularly, the controller adjusts the rotating speed Qi of the rotating rod by comparing the acquired gravity G of the article with the preset gravity G0, so that the accuracy of adjusting the rotating speed Qi is further ensured, the damage to the article due to different materials of the article is further avoided, and the screwing efficiency of the screw is further improved.
In particular, the controller corrects the rotating speed of the rotating rod after adjustment by comparing the collected article volume R with the preset article volume R0, so that the accuracy of correcting the rotating speed after adjustment is further ensured, the damage to the articles due to different article materials is further avoided, and the screwing efficiency of the screw is further improved.
Particularly, the controller judges whether the screwing process is stopped in advance by comparing the deformation quantity Delta S of the screw cap with the preset deformation quantity Delta S0 of the screw cap, and effectively avoids the damage to the screw in the screwing process by monitoring the deformation quantity Delta S of the screw cap in real time, thereby further improving the screwing efficiency of the screw.
Drawings
FIG. 1 is a schematic structural diagram of an intelligent system for screw locking with depth control and detection functions according to the present invention;
FIG. 2 is a schematic sectional view of the case according to the present invention;
FIG. 3 is a schematic cross-sectional view of a rotating lever according to the present invention;
FIG. 4 is a cross-sectional view of the positioning table portion of the present invention;
FIG. 5 is a schematic cross-sectional view of a slider according to the present invention;
fig. 6 is a schematic cross-sectional side view of the moving block of the present invention.
Detailed Description
In order that the objects and advantages of the invention will be more clearly understood, the invention is further described below with reference to examples; it should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and do not limit the scope of the present invention.
It should be noted that in the description of the present invention, the terms of direction or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Referring to fig. 1, it is a schematic structural diagram of an intelligent screw locking system with depth control detection function according to the present invention, including,
the device comprises a base plate 1, wherein one end of the upper surface of the base plate is connected with a track plate 2, the lower part of the track plate 2 is provided with an image acquisition device 34, the upper part of the track plate 2 is slidably provided with a lifting plate 3, the upper part of the track plate 2 is provided with a cylinder 4, a piston rod of the cylinder 4 is in transmission connection with the lifting plate 3, the cylinder 4 is used for driving the lifting plate 3 to move up and down, one side of the lifting plate 3 is connected with a horizontal plate 5 which is horizontally arranged, the bottom of the horizontal plate 5 is slidably provided with a box body 6, the upper surface of the base plate 1 is slidably provided with a moving block 23, the upper end of the moving block 23 is connected with a positioning table 24, the inner center of the positioning table 24 is provided with a gravity sensor 35, the gravity sensor 35 is used for detecting the gravity of articles placed on the upper surface of the positioning table 24, and the positioning table 24 is provided with a positioning mechanism.
Referring to fig. 2, a movable plate 11 is slidably mounted in the box body 6, a column 8 is connected to the bottom surface of the movable plate 11, the column 8 penetrates through the box body 6, a push rod motor 12, a controller 13 and a distance measuring sensor 14 are connected to the upper surface inside the box body 6, the lower end of the push rod motor 12 is connected to the upper surface of the movable plate 11, the controller 13 is used for controlling the working process, the distance measuring sensor 14 is used for detecting the distance between the upper surface inside the box body 6 and the upper surface of the movable plate 11, a motor 10 is arranged at the bottom of the column 8, and an output shaft of the motor 10 is in transmission connection with the rotating rod 9; the bottom of the transverse plate 5 is provided with a horizontally arranged groove, the top of the box body 6 is in sliding connection with the inner wall of the groove, a hydraulic cylinder 7 is horizontally arranged in the groove, and a piston rod of the hydraulic cylinder 7 is connected with one side of the box body 6.
Referring to fig. 3, an adjusting cavity 15 is formed inside the rotating rod 9, an adjusting rod 20 is transversely arranged at the bottom of the adjusting cavity 15, the adjusting rod 20 penetrates through the inner wall of the rotating rod 9, a triangular inserting piece 21 is fixedly connected to one end, located outside the rotating rod 9, of the adjusting rod 20, and an adjusting mechanism for controlling the adjusting rod 20 to horizontally move is arranged in the adjusting cavity 15;
please continue to refer to fig. 3, the adjusting mechanism includes a vertical plate 19 connected to the other end of the adjusting rod 20, the vertical plate 19 is symmetrically provided with two vertical plates, a reverse screw rod 18 is installed in the adjusting cavity 15 in a rotating manner, the reverse screw rod 18 is in threaded connection with the two vertical plates 19, the reverse screw rod 18 is used for driving the vertical plate 19 to move transversely, a gear 22 is sleeved on the reverse screw rod 18, a push rod motor 16 is arranged above the inner part of the adjusting cavity 15, the other end of the push rod motor 16 is connected with a rack 17, the rack 17 is engaged with the gear 22, the reverse screw rod 18 is composed of a left threaded rod and a right threaded rod, the thread directions of the left threaded rod and the right threaded rod are opposite, and the two vertical plates 19 are respectively connected with the left threaded rod and the right threaded rod.
Referring to fig. 4, the positioning mechanism includes two sliders 25 symmetrically slidably mounted on the positioning table 24, an L-shaped rod 26 is hinged to the top of each slider 25, a pressure plate 27 is hinged to the other end of the L-shaped rod 26, a vertically arranged lifting rod 28 is connected to each slider 25, an inclined rod 29 is hinged to the top of each lifting rod 28, the other end of each inclined rod 29 is hinged to the L-shaped rod 26, rectangular through holes 30 are formed in two ends of the positioning table 24, the sliders 25 are slidably connected to the inner walls of the rectangular through holes 30, a horizontally arranged electric telescopic rod 31 is connected to one end of each rectangular through hole 30, and the other end of each electric telescopic rod 31 is connected to each slider 25.
Referring to fig. 5, a driving cavity is provided on the slider 25, an electric push rod 32 is vertically disposed in the driving cavity, a bottom of the lifting rod 28 extends into the driving cavity, and a push rod end of the electric push rod 32 is connected to the lifting rod 28.
Referring to fig. 6, a sliding groove is formed at the top of the bottom plate 1, a lead screw 33 is rotatably mounted at one side of the bottom plate 1, one end of the lead screw 33 is connected with the inner wall of the sliding groove, and the lead screw 33 is in threaded connection with the moving block 23.
Specifically, when the controller controls the sliding block to clamp the article on the positioning table, the controller compares the gravity G of the article obtained by the gravity sensor with a preset gravity G0, and controls the sliding block to clamp the article according to the comparison result, wherein,
when G < G0, the controller controls the slide block to move towards the article at a speed Va1 and controls the lifting rod to contract at a speed Vb 1;
when G is larger than or equal to G0, the controller controls the slide block to move towards the article at a speed Va2, and sets Va2= Va1 x [1+ (G-G0)/G0], and controls the lifting rod to contract at a speed Vb2, and sets Vb2= Vb1 x [1+ (G-G0)/G0 ];
va1 is the preset moving speed of the slider, and Vb1 is the preset retracting speed of the lifting rod.
Specifically, this embodiment the controller is through with the gravity G of the article that gravity sensor obtained compares control with preset gravity G0 the slider presss from both sides tightly article, has effectively guaranteed that the article of different materials are not damaged in clamping process to the screwing up efficiency of screw has further been improved.
Specifically, the controller adjusts the clamping process of the article according to the article volume R acquired by the image acquisition device, compares the acquired article volume R with a preset article volume R0, and adjusts the clamping process of the article according to the comparison result, wherein,
when R < R0, the controller controls the slider to move towards the article at an increased speed Vai ', sets Vai' = Vai x [1+ (R0-R)/R0 ], controls the lifting rod to contract at an increased speed Vbi ', sets Vbi' = Vbi x [1+ (R0-R)/R0 ], and sets i =1, 2;
when R is larger than or equal to R0, the controller controls the slide block to move towards the article at a reduced speed Vai ', sets Vai' = Vai x [1- (R-R0)/R0 ], controls the lifting rod to contract at a reduced speed Vbi ', sets Vbi' = Vbi x [1- (R-R0)/R0 ], and sets i =1, 2.
Specifically, when the image acquisition device acquires the volume of an article, the distance between the center position of the positioning table and the track plate is defined as an acquisition distance, the controller controls the image acquisition position of the article according to the acquired gravity G of the article, the controller compares the acquired gravity G of the article with a preset gravity G0 and controls the image acquisition position of the article according to the comparison result, wherein,
when G is less than G0, the controller controls the positioning table to move to the acquisition distance Da1 for the first volume acquisition, after the first volume acquisition, the positioning table is moved to the acquisition distance Da2 for the second volume acquisition, the distance extension coefficient is set as Da2= Da1 x alpha, 1.1 < alpha < 1.3, alpha is set as the distance extension coefficient, after the second volume acquisition, the positioning table is moved to the acquisition distance Da3 for the third volume acquisition, the distance extension coefficient is set as Da3= Da2 x alpha, and the average value of the volume of the articles acquired three times is used as the volume R of the articles; wherein Da1 is a preset small-volume acquisition distance;
when G is larger than or equal to G0, the controller controls the positioning table to move to the acquisition distance Db1 for primary volume acquisition, after the primary volume acquisition, the positioning table is moved to the acquisition distance Db2 for secondary volume acquisition, Db2= Db1 x beta is set, beta is more than 0.8 and less than 0.9, and beta is a distance shortening coefficient, after the secondary volume acquisition, the positioning table is moved to the acquisition distance Db3 for third volume acquisition, Db3= Db2 x beta is set, and the average value of the volumes of the articles acquired three times is used as the volume R of the article; wherein Db1 is a preset large-volume acquisition distance, and Db1 is more than Da 1.
Particularly, this embodiment the controller is through the gravity G of the article that will acquire and preset gravity G0 and compare the image acquisition position of control article, and the volume of article is confirmed to the image acquisition of the different positions of rethread cubic, has further guaranteed the degree of accuracy of gathering the article volume to improve the accuracy that the clamping process was adjusted, further guaranteed that the article of different materials is not damaged at the clamping process, thereby further improved the screwing up efficiency of screw.
Specifically, after clamping an article, defining a distance between the movable plate and an upper surface inside the box body as a screw tightening length, setting a screw tightening length Fa by the controller according to the length F of the screw, setting Fa = F × 1.1+ K, where K is a minimum length of the push rod motor, comparing the screw tightening length Fa obtained by calculation with a preset screw tightening length Fa0 by the controller when the controller controls the rotating rod to rotate, and controlling a rotating process of the rotating rod according to a comparison result, wherein,
when Fa < Fa0, the controller controls the rotating rod to rotate at a rotating speed Q1 and controls the push rod motor to push the movable plate to move at a pushing speed L1;
when Fa is more than or equal to Fa0, the controller controls the rotating rod to rotate at a rotating speed Q2, and sets Q2= Q1 x [1- (Fa-Fa 0)/Fa 0], and controls the push rod motor to push the movable plate to move at a pushing speed L2, and sets L2= L1 x [1- (Fa-Fa 0)/Fa 0];
wherein, Q1 is the predetermined dwang rotational speed, and L1 is the predetermined push rod motor pushing speed.
Specifically, when the controller controls the rotation speed of the rotating rod, the controller compares the acquired gravity G of the article with a preset gravity G0, and adjusts the set rotation speed Qi of the rotating rod according to the comparison result, setting i =1,2, wherein,
when G < G0, the controller controls the turning lever to rotate at the adjusted rotation speed Qa, setting Qa = Qi × [1- (G0-G)/G0];
when G ≧ G0, the controller controls the turning lever to turn at the adjusted turning speed Qb, setting Qb = Qi × [1+ (G-G0)/G0 ].
Specifically, the controller according to this embodiment adjusts the rotation speed Qi of the rotating rod by comparing the acquired gravity G of the article with the preset gravity G0, so as to further ensure the accuracy of the adjustment of the rotation speed Qi, and further avoid the damage to the article due to the difference in material of the article, thereby further improving the efficiency of screwing the screw.
Specifically, after the adjustment of the rotation speed of the rotating rod is completed, the controller compares the collected article volume R with the preset article volume R0, and corrects the adjusted rotation speed of the rotating rod according to the comparison result, wherein,
when R < R0, the controller controls the rotating lever to rotate at the corrected rotation speed Qa ', setting Qa' = Qa × [1+ (R0-R)/R0 ];
when R is equal to or greater than R0, the controller controls the rotating lever to rotate at the corrected rotation speed Qb ', and sets Qb' = Qb × [1- (R-R0)/R0 ].
Specifically, when the controller controls the rotating rod to screw a screw on an article, the controller compares the deformation quantity Δ S of the screw cap with a preset screw cap deformation quantity Δ S0, and determines whether to terminate the screwing process in advance according to the comparison result, and sets Δ S = | Sa-Sb |, where Sa is the area of the screw cap collected by the image collecting device before the start of screw screwing, and Sb is the area of the screw cap monitored by the image collecting device in real time when the screw is screwed, and where,
when Δ S <. Δ S0, the controller determines that it is not necessary to terminate the tightening process prematurely;
when the delta S is not less than the delta S0, the controller judges that the tightening process is stopped in advance, controls the rotating rod to stop rotating and controls the push rod motor to retract.
Specifically, the controller of the embodiment compares the deformation amount Δ S of the screw cap with the preset deformation amount Δ S0 of the screw cap to determine whether to terminate the screwing process in advance, and monitors the deformation amount Δ S of the screw cap in real time, so that the damage to the screw in the screwing process is effectively avoided, and the screwing efficiency of the screw is further improved.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.
Claims (10)
1. An intelligent screw locking system with depth control and detection functions is characterized by comprising,
the device comprises a bottom plate, a track plate, an image acquisition device, a cylinder, a transverse plate and a box body, wherein one end of the upper surface of the bottom plate is connected with the track plate, the lower part of the track plate is provided with the image acquisition device, the upper part of the track plate is slidably provided with a lifting plate, the upper part of the track plate is provided with the cylinder, a piston rod of the cylinder is in transmission connection with the lifting plate, the cylinder is used for driving the lifting plate to move up and down, one side of the lifting plate is connected with the transverse plate which is horizontally arranged, and the bottom of the transverse plate is slidably provided with the box body;
a movable plate is slidably mounted in the box body, a cylinder is connected to the bottom surface of the movable plate and penetrates through the box body, a push rod motor, a controller and a distance measuring sensor are connected to the upper surface of the interior of the box body, the lower end of the push rod motor is connected with the upper surface of the movable plate, the controller is used for controlling the working process, the distance measuring sensor is used for detecting the distance between the upper surface of the interior of the box body and the upper surface of the movable plate, a motor is arranged at the bottom of the cylinder, and an output shaft of the motor is in transmission connection with a rotating rod;
a moving block is slidably mounted on the upper surface of the bottom plate, a positioning table is connected to the upper end of the moving block, a gravity sensor is arranged at the central position inside the positioning table and used for detecting the gravity of an object placed on the upper surface of the positioning table, and a positioning mechanism is arranged on the positioning table and comprises two sliding blocks which are symmetrically slidably mounted on the positioning table;
when the controller controls the sliding block to clamp the object on the positioning table, the controller controls the moving speed of the sliding block and the contraction speed of the lifting rod according to the gravity G of the object acquired by the gravity sensor, and meanwhile, the controller adjusts the moving speed of the sliding block and the contraction speed of the lifting rod according to the volume R of the object acquired by the image acquisition device; when the image acquisition device acquires the volume of an article, the controller controls the image acquisition device to acquire the volume of the article for three times, controls the position of the positioning table during the three-time acquisition according to the acquired gravity G of the article, and determines the volume R of the article according to the three-time acquisition result;
after clamping an article, when the controller controls the rotating rod to rotate, the controller controls the rotating speed of the rotating rod and the pushing speed of the push rod motor according to the calculated screw tightening length Fa, when the controller controls the rotating speed of the rotating rod, the controller adjusts the set rotating speed of the rotating rod according to the acquired gravity G of the article, and after the adjustment is finished, the controller corrects the adjusted rotating speed of the rotating rod according to the acquired article volume R;
when the controller controls the rotating rod to tighten the screw on the object, the controller judges whether to terminate the tightening process in advance according to the deformation quantity deltaS of the screw cap.
2. The intelligent screw locking system with depth control detection function according to claim 1, wherein when the controller controls the slide block to clamp the object on the positioning table, the controller compares the gravity G of the object obtained by the gravity sensor with a preset gravity G0 and controls the slide block to clamp the object according to the comparison result, wherein,
when G < G0, the controller controls the slide block to move towards the article at a speed Va1 and controls the lifting rod to contract at a speed Vb 1;
when G is larger than or equal to G0, the controller controls the slide block to move towards the article at a speed Va2, and sets Va2= Va1 x [1+ (G-G0)/G0], and controls the lifting rod to contract at a speed Vb2, and sets Vb2= Vb1 x [1+ (G-G0)/G0 ];
va1 is the preset moving speed of the slider, and Vb1 is the preset retracting speed of the lifting rod.
3. The intelligent screw locking system with depth control detection function according to claim 2, wherein the controller adjusts the clamping process of the article according to the article volume R collected by the image collection device, compares the collected article volume R with a preset article volume R0, and adjusts the clamping process of the article according to the comparison result, wherein,
when R < R0, the controller controls the slider to move towards the article at an increased speed Vai ', sets Vai' = Vai x [1+ (R0-R)/R0 ], controls the lifting rod to contract at an increased speed Vbi ', sets Vbi' = Vbi x [1+ (R0-R)/R0 ], and sets i =1, 2;
when R is larger than or equal to R0, the controller controls the slide block to move towards the article at a reduced speed Vai ', sets Vai' = Vai x [1- (R-R0)/R0 ], controls the lifting rod to contract at a reduced speed Vbi ', sets Vbi' = Vbi x [1- (R-R0)/R0 ], and sets i =1, 2.
4. The intelligent screw locking system with depth control detection function according to claim 3, wherein when the image capturing device captures the volume of the object, the controller compares the captured gravity G of the object with a preset gravity G0, and controls the image capturing position of the object according to the comparison result, wherein,
when G is less than G0, the controller controls the positioning table to move to the acquisition distance Da1 for the first volume acquisition, after the first volume acquisition, the positioning table is moved to the acquisition distance Da2 for the second volume acquisition, the distance extension coefficient is set as Da2= Da1 x alpha, 1.1 < alpha < 1.3, alpha is set as the distance extension coefficient, after the second volume acquisition, the positioning table is moved to the acquisition distance Da3 for the third volume acquisition, the distance extension coefficient is set as Da3= Da2 x alpha, and the average value of the volume of the articles acquired three times is used as the volume R of the articles; wherein Da1 is a preset small-volume acquisition distance;
when G is larger than or equal to G0, the controller controls the positioning table to move to the acquisition distance Db1 for primary volume acquisition, after the primary volume acquisition, the positioning table is moved to the acquisition distance Db2 for secondary volume acquisition, Db2= Db1 x beta is set, beta is more than 0.8 and less than 0.9, and beta is a distance shortening coefficient, after the secondary volume acquisition, the positioning table is moved to the acquisition distance Db3 for third volume acquisition, Db3= Db2 x beta is set, and the average value of the volumes of the articles acquired three times is used as the volume R of the article; wherein Db1 is a preset large-volume acquisition distance, and Db1 is more than Da 1.
5. The intelligent screw locking system with depth control detection function according to claim 4, wherein after clamping an object, the controller sets a screw tightening length Fa according to a length F of a screw, Fa = F x 1.1+ K, K being a minimum length of the push rod motor, and when the controller controls the rotation of the rotation lever, the controller compares the calculated screw tightening length Fa with a preset screw tightening length Fa0 and controls a rotation process of the rotation lever according to the comparison result, wherein,
when Fa < Fa0, the controller controls the rotating rod to rotate at a rotating speed Q1 and controls the push rod motor to push the movable plate to move at a pushing speed L1;
when Fa is more than or equal to Fa0, the controller controls the rotating rod to rotate at a rotating speed Q2, and sets Q2= Q1 x [1- (Fa-Fa 0)/Fa 0], and controls the push rod motor to push the movable plate to move at a pushing speed L2, and sets L2= L1 x [1- (Fa-Fa 0)/Fa 0];
wherein, Q1 is the predetermined dwang rotational speed, and L1 is the predetermined push rod motor pushing speed.
6. The intelligent screw locking system with depth control detection function according to claim 5, wherein when the controller controls the rotation speed of the rotating rod, the controller compares the acquired gravity G of the article with a preset gravity G0, and adjusts the set rotation speed Qi of the rotating rod according to the comparison result, setting i =1,2, wherein,
when G < G0, the controller controls the turning lever to rotate at the adjusted rotation speed Qa, setting Qa = Qi × [1- (G0-G)/G0];
when G ≧ G0, the controller controls the turning lever to turn at the adjusted turning speed Qb, setting Qb = Qi × [1+ (G-G0)/G0 ].
7. The intelligent screw locking system with depth control detection function according to claim 6, wherein after the rotation speed of the rotating rod is adjusted, the controller compares the collected object volume R with a preset object volume R0, and corrects the adjusted rotation speed of the rotating rod according to the comparison result, wherein,
when R < R0, the controller controls the rotating lever to rotate at the corrected rotation speed Qa ', setting Qa' = Qa × [1+ (R0-R)/R0 ];
when R is equal to or greater than R0, the controller controls the rotating lever to rotate at the corrected rotation speed Qb ', and sets Qb' = Qb × [1- (R-R0)/R0 ].
8. The intelligent screw locking system with depth control detection function according to claim 7, wherein the controller compares the deformation quantity Δ S of the screw cap with a preset screw cap deformation quantity Δ S0 when the controller controls the rotary rod to screw the screw on the object, and determines whether to terminate the screwing process in advance according to the comparison result, wherein Δ S = | Sa-Sb |, Sa is the area of the screw cap collected by the image collecting device before the start of screw screwing, and Sb is the area of the screw cap monitored by the image collecting device in real time when the screw is screwed, and wherein,
when Δ S <. Δ S0, the controller determines that it is not necessary to terminate the tightening process prematurely;
when the delta S is not less than the delta S0, the controller judges that the tightening process is stopped in advance, controls the rotating rod to stop rotating and controls the push rod motor to retract.
9. The intelligent system is paid to screw lock with depth control detects function of claim 1, characterized in that, the inside of dwang is provided with adjusts the chamber, the bottom in adjusting the chamber transversely is provided with adjusts the pole, it runs through to adjust the pole the inner wall of dwang, it is located to adjust the pole one end fixedly connected with triangle-shaped inserted sheet outside the dwang, be equipped with in the regulation chamber and be used for controlling adjust pole horizontal migration's adjustment mechanism.
10. The intelligent screw locking system with the depth control detection function according to claim 1, wherein the positioning mechanism comprises two sliding blocks symmetrically slidably mounted on the positioning table, an L-shaped rod is hinged to the top of each sliding block, a press plate is hinged to the other end of each L-shaped rod, a vertically arranged lifting rod is connected to each sliding block, an inclined rod is hinged to the top of each lifting rod, the other end of each inclined rod is hinged to each L-shaped rod, rectangular through holes are formed in two ends of the positioning table, each sliding block is slidably connected with the inner wall of each rectangular through hole, a horizontally arranged electric telescopic rod is connected to one end of each rectangular through hole, and the other end of each electric telescopic rod is connected with each sliding block.
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