CN113441938A - Method and system for controlling screw locking sequence - Google Patents
Method and system for controlling screw locking sequence Download PDFInfo
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- CN113441938A CN113441938A CN202010215201.9A CN202010215201A CN113441938A CN 113441938 A CN113441938 A CN 113441938A CN 202010215201 A CN202010215201 A CN 202010215201A CN 113441938 A CN113441938 A CN 113441938A
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000012545 processing Methods 0.000 claims description 13
- 238000006073 displacement reaction Methods 0.000 claims description 10
- 238000004590 computer program Methods 0.000 claims description 6
- 230000002159 abnormal effect Effects 0.000 description 9
- 238000007689 inspection Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
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- 238000004891 communication Methods 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
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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
- 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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Abstract
A screw locking and paying sequential control method is applied to a system comprising an arm support and a locking and paying device arranged on the arm support, and comprises the steps of obtaining a target position sequential list of a screw locking and paying sequence, and selecting a target position according to the target position sequential list; controlling the arm support to enable the locking device to operate to the target position; calculating the current position of the locking and paying device; judging whether the current position of the locking device is consistent with the target position or not, and controlling the power supply of the locking device to be in an on state when the current position is consistent with the target position; and judging whether the torque value of the locking device reaches a predetermined torque value, and controlling the power supply of the locking device to be in a closed state when the torque value of the locking device is judged to reach the predetermined torque value. The invention also discloses a screw locking sequence control system. The invention can ensure that the screw locking and paying sequence in the product assembly is assembled according to the sequence list.
Description
Technical Field
The present invention relates to the field of automation technologies, and in particular, to a method and a system for controlling a screw locking sequence.
Background
In recent years, with the advent of various intelligent manufacturing technologies and equipment, the traditional manufacturing industry has been shifted towards automation and intelligence. In the manufacturing process, the assembly of products and parts requires locking screws, the assembly of many parts has a specific assembly sequence, and the locking of corresponding screws also has a certain locking sequence. If the screw locking sequence is wrong, the problems of improper assembly of parts, incapability of assembling subsequent parts, overlarge product appearance gap and the like can be caused, and more time and labor rework cost are required for reassembly.
At present, most production manufacturers mainly use a manual inspection or automatic equipment detection mode to remove bad assemblies from an assembly line in order to ensure the reliability of product assembly and the product quality, so that the product shipment is ensured. However, whether the inspection is manual or the automatic inspection of the equipment, an additional inspection step and process are required, which consumes inspection time and equipment cost.
Disclosure of Invention
In view of the above, the present invention provides a method and a system for controlling a screw locking sequence, which can ensure that all the screw locks in the product assembly process are correctly locked according to a preset sequence.
The invention provides a screw locking and paying sequence control method which is applied to a system comprising an arm support and a locking and paying device arranged on the arm support and is characterized by comprising the following steps of obtaining a target position sequence list of a screw locking and paying sequence, and selecting a target position according to the target position sequence list; controlling the arm support to enable the locking device to operate to the target position; calculating the current position of the locking and paying device; and judging whether the current position of the locking device is consistent with the target position, and when the current position of the locking device is consistent with the target position, further executing the following steps of controlling the power supply of the locking device to be in an on state; collecting working parameters of the locking device, wherein the working parameters comprise a torsion value; and judging whether the torque value of the locking device reaches a predetermined torque value, and controlling the power supply of the locking device to be in a closed state when the torque value of the locking device is judged to reach the predetermined torque value.
The invention also provides a screw locking sequence control system, which is characterized by comprising an arm support; the control device also comprises a processing unit and a storage unit, wherein the storage unit is used for storing at least one computer program, and the computer program comprises an instruction executed by the processing unit, so that the processing unit executes the following steps of acquiring a target position sequence list of a screw locking sequence and selecting a target position according to the target position sequence list; controlling the arm support to enable the locking device to operate to the target position; calculating the current position of the locking and paying device; and judging whether the current position of the locking device is consistent with the target position, and when the current position of the locking device is consistent with the target position, further executing the following steps of controlling the power supply of the locking device to be in an on state; collecting working parameters of the locking device, wherein the working parameters comprise a torsion value; and judging whether the torque value of the locking device reaches a predetermined torque value, and controlling the power supply of the locking device to be in a closed state when the torque value of the locking device is judged to reach the predetermined torque value.
Compared with the prior art, the screw locking sequence control method and the screw locking sequence control system are simple in erection and easy to debug, can be widely applied to the existing assembly line, reduce redundant labor cost, and can be effectively controlled only by the torque values of the arm support and the locking device.
Drawings
Fig. 1 is a block diagram of a screw-tightening sequence control system according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of an arm support in the system according to an embodiment of the present invention.
FIG. 3 is a flowchart illustrating a method for controlling a screw tightening sequence according to an embodiment of the present invention.
Fig. 4 is a flowchart of acquiring a target position order list of screw locking according to an embodiment of the present invention.
Description of the main elements
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Detailed Description
Referring to fig. 1, a block diagram of a screw lock order control system 100 according to an embodiment of the invention is shown. The system 100 includes a control device 102, a boom 104, a lock payment device 106, an operation unit 108, and an alarm module 110. It should be understood that the components of the system 100 shown in FIG. 1 are not intended to limit the system 100, and in various embodiments, more or fewer components than shown may be included, or certain components may be combined, or a different arrangement of components may be used.
In this embodiment, the control device 102 is electrically connected to the arm 104, the operation unit 108 and the warning module 110, and is electrically connected to the locking device 106 through the arm 104. The control device 102 is configured to control the boom 104 to enable the locking and paying device 106 to operate to a target position, calculate current position information of the locking and paying device 106, and further control a working state of the locking and paying device 106 according to the target position and the current position information of the locking and paying device 106. Specifically, the control device 102 may control the power of the locking device 106 to be turned on or off. In one embodiment, the control device 102 may also collect an operating parameter of the locking device 106, such as a torque value.
In one embodiment, the control device 102 may include a processing unit and a storage unit. The processing unit is electrically connected with the storage unit. The processing unit may be a microcontroller, microprocessor or other circuitry with arithmetic processing capabilities, configured to execute or process instructions, data and computer programs stored in the memory unit. The memory unit includes a Read Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk storage medium device, an optical storage medium device, a flash memory device, an electrical, optical, or other physical/tangible (e.g., non-transitory) computer-readable storage medium for storing one or more computer programs that control the operation of the control device 102 and are executed by the processing unit.
Referring to fig. 2, a schematic structural diagram of the arm support 104 according to an embodiment of the invention is shown. The arm support 104 includes a first arm 1041, a second arm 1042 and a third arm 1043, wherein the first arm 1041, the second arm 1042 and the third arm 1043 are connected in sequence. Specifically, a first power device 1044 is disposed at a first end of the first supporting arm 1041, a second end of the first supporting arm 1041 is connected to a first end of the second supporting arm 1042, and a second power device 1045 is disposed at a connection position; the second end of the second support arm 1042 is connected with the first end of the third support arm 1043, and a third power device 1046 is arranged at the connection position; and a second end of the third arm 1043 is used for installing the locking device 106. In one embodiment, the locking device 106 is an electric screwdriver. Specifically, the second arm 1042 and the third arm 1043 may be disposed on the same plane (XY plane), and the first arm 1041 is installed perpendicular to the second arm 1042. In one embodiment, the first power device 1044 is configured to drive the first arm 1041 to move along the Z direction, the second power device 1045 is configured to drive the second arm 1042 to rotate and move in the X direction, and the third power device 1046 is configured to drive the third arm 1043 to rotate and move in the Y direction. In an embodiment, the first power device 1044, the second power device 1045 and the third power device 1046 are motors. In one embodiment, the second power device 1045 further includes a first angle sensor (not shown in fig. 2), and the third power device 1046 further includes a second angle sensor (not shown in fig. 2) for measuring angles between the second arm 1042 and the third arm 1043 on the horizontal plane and the X axis and the Y axis, respectively. In an embodiment, the control device 102 may determine the original length and the displacement distance of the first arm 1041; the original length, the displacement distance, and the X-axis included angle of the second arm 1042 and the original length, the displacement distance, and the Y-axis included angle of the third arm 1043 calculate the coordinates of the locking device 106 in the three-dimensional space.
In one embodiment, the operation unit 108 includes a display screen and an input unit. In an embodiment, the operation unit 108 is configured to connect to a client and perform data communication with the client. The user can input an operation command via the operation unit 108 to control the arm support 104, so as to change the current position of the lock payment device 106.
In one embodiment, the warning module 110 is configured to alarm when the locking device 106 performs the locking operation out of order. In one embodiment, the warning module 110 includes a normal warning light and an abnormal warning light. In one embodiment, when the control device 102 determines that the locking device 106 does not perform locking in sequence, the abnormal warning light is controlled to flash, light or extinguish; when the control device 102 determines that the working state of the locking device 106 is normal, the normal warning lamp is controlled to flash, light or extinguish. Specifically, the normal warning lamp and the abnormal warning lamp may be Light-emitting diodes (LEDs). In one embodiment, the normal warning light and the abnormal warning light may emit lights with different colors as a partition, for example, the normal warning light is green, and the abnormal warning light is red. In one embodiment, the warning module 110 may further include a buzzer for sounding an alarm.
Referring to fig. 3, a flowchart of a method for controlling a screw locking sequence of a product according to an embodiment of the invention is shown. In this embodiment, the storage unit of the control device 102 may store a screw locking sequence control program, and the processing unit of the control device 102 executes the steps of the method.
Step S302, a target position sequence list of the screw locking is obtained.
Step S304, selecting a target position according to the target position sequence table, and controlling the boom 104 to enable the locking device 106 to operate to the target position, so as to assist an operator in completing positioning of a locking screw.
Step S306, calculating the current position of the lock payment device 106. In an embodiment, the current position is a coordinate value, and can be calculated from the original length and the displacement distance of the first arm 1041, the original length, the displacement distance and the X-axis included angle of the second arm 1042, and the original length, the displacement distance and the Y-axis included angle of the third arm 1043.
Step S308, judging whether the current position is consistent with the target position. Although the positioning of the lock device 106 is completed in step S304, in an actual operation, the lock device 106 may be manually moved to an incorrect position due to an operation error of the operator, and therefore, step S308 excludes the operation error by determining whether the current position of the lock device 106 matches the target position. If the current position of the locking device 106 is determined to be consistent with the target position, executing step S314; if the current position of the locking device 106 is determined to be inconsistent with the target position, step S310 is executed.
Step S310, the power of the locking device 106 is turned off, and an alarm is issued. Specifically, the abnormal warning light of the warning module 110 may be controlled to emit a warning by controlling the light emitting state of the abnormal warning light, for example, controlling the abnormal warning light to be in a flashing state. The operator can visually judge that an error occurs in the current operation through the power of the locking device 106 being turned off by the control device 102 and the light-emitting state of the warning module 110.
Step S312, after waiting for a preset time, acquiring the current position of the locking device 106 again, comparing whether the current position of the locking device 106 is consistent with the target position, and if so, judging that the current position of the locking device 106 is corrected; if not, it is determined that the current position of the locking device 106 has not been corrected. If the current position of the locking device 106 is corrected, step S314 is executed; if the current position of the locking device 106 has not been corrected, step S310 is continuously executed. In one embodiment, if the current position of the locking device 106 is corrected, the normal warning light is turned on and the abnormal display light is turned off to remind the operator.
Step S314, determining whether the power of the locking device 106 is turned on, and if not, turning on the power of the locking device 106.
Step S316, collecting the working parameters of the locking device 106. Specifically, the torque force value of the lock device 106 may be collected.
In step S318, it is determined whether the torque value of the locking device 106 reaches a predetermined torque value to determine whether the locking device 106 has completed locking the screw at the current position. If the torque value of the locking device 106 is determined to reach the predetermined torque value, step S320 is executed; otherwise, step S316 is performed. In one embodiment, the user can set the predetermined torque value for all screws via the operation unit 108 and store the predetermined torque value in the storage unit of the control device 102. In another embodiment, different types of screws may exist in the product, and the torque values required for locking the screws are different, so that the user can set the predetermined torque values required for locking the screws through the operation unit 108. In one embodiment, the normal warning light may be continuously turned on before the torque value of the locking device 106 reaches the predetermined torque value, and turned off when the torque value of the locking device 106 reaches the predetermined torque value, so as to prompt the operator that the screw locking operation is completed. In another embodiment, the normal warning light is turned off and the power of the locking device 106 is turned off to avoid over-tightening the screw.
And step S320, judging whether the locking of all the screws is finished or not according to the target position sequence list. If all the screw locking payments are judged to be completed, the screw locking payment sequence control program of the product is ended, and if all the screw locking payments are judged not to be completed, the step S304 is returned.
Referring to fig. 4, a detailed flowchart of step S302 is shown.
In step S402, an operation instruction input by the user through the operation unit 108 is received.
Step S404, controlling the operation of the boom 104 according to the received operation instruction, so as to change the current position of the lock and payment device 106.
Step S406, after waiting for a first predetermined time, for example, fifteen seconds, and receiving no operation instruction from the user or receiving a confirmation instruction from the user, calculating a coordinate value of the current position of the locking device 106, storing the coordinate value as the target position sequence table, and storing the coordinate value in the storage unit of the control device 102. In another embodiment, the user may also input a standard torque value of the screw corresponding to the current position of the locking device 106 as a predetermined torque value, and store the torque value in the target position sequence list.
Step S408, judging whether all the screw coordinate values are stored completely. In an embodiment, the user may input an end instruction through the operation unit 108, and after receiving the end instruction of the user, determine that all the screw coordinate values have been stored. In another embodiment, the method waits for a second predetermined time, such as one minute, and determines that all the screw coordinate values have been stored if no operation command is received. If the coordinate values of all the screws are completely stored, the process is ended; otherwise, returning to step S402, processing continues with the next operation instruction.
In summary, the method and system for controlling the screw locking sequence of the present invention can be applied to the existing product assembly line to prompt the operator whether the current operation meets the predetermined requirement, and can reduce the assembly error and the rework rate of the product to the maximum extent, and ensure the product quality.
It should be noted that the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.
Claims (10)
1. A screw locking and paying sequence control method is applied to a system comprising an arm support and a locking and paying device arranged on the arm support, and is characterized by comprising the following steps:
acquiring a target position sequence list of a screw locking sequence, and selecting a target position according to the target position sequence list;
controlling the arm support to enable the locking device to operate to the target position;
calculating the current position of the locking and paying device; and
judging whether the current position of the locking device is consistent with the target position, and when the current position of the locking device is judged to be consistent with the target position, further executing the following steps:
controlling the power supply of the locking device to be in an open state;
collecting working parameters of the locking device, wherein the working parameters comprise a torsion value; and
and judging whether the torque value of the locking device reaches a predetermined torque value, and controlling the power supply of the locking device to be in a closed state when the torque value of the locking device is judged to reach the predetermined torque value.
2. The method according to claim 1, wherein the arm support comprises a first arm, a second arm and a third arm, wherein the first arm, the second arm and the third arm are connected in sequence, the second arm and the third arm are arranged on the same plane, the first arm is perpendicular to the second arm, a first power device is further arranged at a first end of the first arm for driving the first arm to move along the Z direction, a second end of the first arm is connected with a first end of the second arm, and a second power device is further arranged at a connection point for driving the second arm to rotate and move along the X direction; the second end of the second support arm is connected with the first end of the third support arm, and a third power device is arranged at the connection position and used for driving the third support arm to rotate and displace in the Y direction; and the second end of the third support arm is used for installing the locking device.
3. The screw lock delivery sequence control method of claim 2, wherein the second power unit comprises a first angle sensor; and the third power plant includes a second angle sensor.
4. The screw locking and paying sequential control method as claimed in claim 3, wherein the coordinate value of the current position of the locking and paying device is based on the original length and displacement distance of the first arm; and calculating the included angle value measured by the first angle sensor and the included angle value measured by the original length and the displacement distance of the second support arm and the included angle value measured by the second angle sensor.
5. The method for controlling the sequence of screw locking and paying of claim 1, further comprising controlling the power supply of the locking and paying device to be in a closed state and giving out a warning when the current position of the locking and paying device is judged to be inconsistent with the target position.
6. A screw tightening sequence control system, comprising:
a boom;
a locking device mounted on the arm support, and
the control device is used for being electrically connected with the arm support and the locking device, wherein the control device further comprises:
a processing unit, and
a storage unit for storing at least one computer program, wherein the computer program contains instructions for execution by the processing unit to cause the processing unit to perform the steps of:
acquiring a target position sequence list of a screw locking sequence, and selecting a target position according to the target position sequence list;
controlling the arm support to enable the locking device to operate to the target position;
calculating the current position of the locking and paying device; and
judging whether the current position of the locking device is consistent with the target position, and when the current position of the locking device is judged to be consistent with the target position, further executing the following steps:
controlling the power supply of the locking device to be in an open state;
collecting working parameters of the locking device, wherein the working parameters comprise a torsion value; and
and judging whether the torque value of the locking device reaches a predetermined torque value, and controlling the power supply of the locking device to be in a closed state when the torque value of the locking device is judged to reach the predetermined torque value.
7. The screw locking and paying sequential control system as claimed in claim 6, wherein the arm support comprises a first arm, a second arm and a third arm, wherein the first arm, the second arm and the third arm are connected in sequence, the second arm and the third arm are arranged on the same plane, the first arm is perpendicular to the second arm, a first power device is further arranged at a first end of the first arm and used for driving the first arm to move along the Z direction, a second end of the first arm is connected with a first end of the second arm, and a second power device is further arranged at a connection position and used for driving the second arm to rotate and move along the X direction; the second end of the second support arm is connected with the first end of the third support arm, and a third power device is arranged at the connection position and used for driving the third support arm to rotate and displace in the Y direction; and the second end of the third support arm is used for installing the locking device.
8. The screw lock sequence control system of claim 7, wherein said second motive means comprises a first angle sensor; and the third power plant includes a second angle sensor.
9. The screw locking and paying sequential control system as claimed in claim 8, wherein the coordinate value of the current position of the locking and paying device is based on the original length and displacement distance of the first arm; and calculating the included angle value measured by the first angle sensor and the included angle value measured by the original length and the displacement distance of the second support arm and the included angle value measured by the second angle sensor.
10. The screw-tightening sequence control system according to claim 7, wherein when it is determined that the current position of the tightening device is not consistent with the target position, the power supply of the tightening device is controlled to be in an off state and a warning is issued.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010215201.9A CN113441938A (en) | 2020-03-24 | 2020-03-24 | Method and system for controlling screw locking sequence |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010215201.9A CN113441938A (en) | 2020-03-24 | 2020-03-24 | Method and system for controlling screw locking sequence |
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| CN202010215201.9A Pending CN113441938A (en) | 2020-03-24 | 2020-03-24 | Method and system for controlling screw locking sequence |
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