CN203062220U - Automatic screw locking device - Google Patents
Automatic screw locking device Download PDFInfo
- Publication number
- CN203062220U CN203062220U CN 201220522766 CN201220522766U CN203062220U CN 203062220 U CN203062220 U CN 203062220U CN 201220522766 CN201220522766 CN 201220522766 CN 201220522766 U CN201220522766 U CN 201220522766U CN 203062220 U CN203062220 U CN 203062220U
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- Prior art keywords
- screw
- screw hole
- control
- light source
- automatic locking
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Abstract
The utility model discloses an automatic screw locking device which collects an image through an image collecting system and filters, sharpens and cuts the collected image. A center-of-gravity shift hole detection method is used for detecting coordinates of a position of a screw hole. A working routine of locking a screw is automatically programmed and optimized according to the obtained coordinates of the position of the screw hole and the screw is locked into the screw hole. The screw hole can be rapidly and effectively detected, the success rate of detecting the screw hole is improved, dependence on an engineer is reduced, manual cost is reduced and working efficiency is improved.
Description
Technical field
The utility model relates to automatic detection and output bas line field, particularly a kind of automatic detection screw hole position and lock screw device.
Background technology
In the production technology of the many products that comprise electronic product, assembling is one important procedure, also be the maximum operations of demand personnel, now along with expanding economy, the manpower scarcity, labour costs increases, and factory is for increasing economic efficiency, reduce and to employ the employee, particularly reduce technician's dependence is brought into schedule, machine replacement personnel carry out product and are assembled into current trend.Final stage in the product assembling is the screw of locking on the shell, but the lock screw device on the present market is hand-held automatic locking filature and Fully-automatic lock filature.The shortcoming of hand-held screw locking machine is that the operating personnel that need are more, and scratches product appearance easily.The shortcoming compatibility of Fully-automatic lock filature is not strong, when changing product, the adjustment time is longer, to operating personnel's specification requirement height, the position data of screw hole is to derive from product casing CAD shelves by the engineer, and imports the Fully-automatic lock filature by the engineer, again by locking screw after programming, the optimization, this requires high-quality operating personnel on the one hand, on the other hand, handles early stage and has taken the plenty of time.In a word, the subject matter of existing lock screw technology is fast and effeciently to obtain accurate screw hole position, and the preliminary preparation time of lock screw is longer, and the cost of labor of cost is more high.
Summary of the invention
For solving the problems of the technologies described above, the utility model provides a kind of automatic locking screw device, can detect screw hole more fast and effectively, improves the success rate that detects screw hole, and shortens the preliminary preparation time of lock screw, reduces cost of labor.
A kind of automatic locking screw device comprises that main frame, control section, operating part, work head, external data import module, display part, also comprise image acquisition system, light source, image process unit, coordinate extraction unit; Main frame is used for control and manages each part, and control section is used for the work of control operating part, and the work head is finished the work of lock screw under the control of operating part; Described image acquisition system is used for gathering the image of workpiece and sending to described image process unit, described light source is used for to the workpiece exposure irradiation, described image process unit is used for setting up coordinate system on the plane at described image place, then described image is detected and obtain the screw hole zone and send to the coordinate extraction unit, described coordinate extraction unit is used for determining the center position of described image screw hole and send to main frame that time for exposure and the frequency of described light source are controlled by control section; Described external data imports module, can import coordinate figure, screw parameter, the workpiece material attribute at screw hole center.
The coordinate extraction unit comprises: the module of measuring the barycentric coodinates in screw hole zone in the described image; Described image is carried out Canny operator edge extracting measure whole marginal points in screw hole zone and the module of coordinate thereof; Measure whole marginal points in described screw hole zone and the distance of its center of gravity respectively, be divided into the module of one or more set according to whole marginal points in the described screw hole of the big young pathbreaker zone of described distance; Search the module at a string of the boundary line in the marginal point in the described screw hole zone set screw hole zone that forms, the line of described string and its mid point and corresponding screw hole regional barycenter is perpendicular; Utilize the gradient of the end points of string to cross the center of circle, measure the module of the coordinate at described screw hole center.
Above-mentioned operating part comprises stepper motor, the stepper motor of controlling the rotation of work head, screw arrangement machine and the screw connecting gear that control work head moves up and down at two mobile stepper motors of in-plane, control work head.
Above-mentioned display part comprises LCD liquid crystal display and alarm lamp, and the LCD liquid crystal display is connected in described main frame, is used for showing the duty of described automatic locking screw device, the coordinate position of work head, the operating path of work head; Alarm lamp is used for the abnormal work state status of described automatic locking screw device is carried out alarm.
Include the upper layer software (applications) unit on the above-mentioned main frame, be used for each part of described automatic locking screw device is controlled and managed, the screw terminal operating path of the operating path of the head of preferably working, bookkeeping personnel appointment, carries out the setting of screw parameter.
Above-mentioned a kind of automatic locking screw device, also can further comprise Sensor section, described Sensor section comprises one or more limit sensors of control working head facial planes direction position, the one or more limit sensors that move up and down the position, the position sensor that detects screw position, the input and output material sensor of control screw conveying, the torsion torque sensor that detects the screw means state, the pressure sensor of testing head decline state.
Above-mentioned a kind of automatic locking screw device also can further comprise Network Interface Module, and by described Network Interface Module, this automatic locking screw device can be connected to LAN or internet.
Above-mentioned light source is led light source, and this led light source comprises three kinds of red, green, blues.
Also can further comprise the module that described image is carried out filtering, sharpening and cuts apart in the above-mentioned image process unit.
The beneficial effects of the utility model: can detect screw hole automatically, especially when picture quality is bad, can detect the position of screw hole more fast and accurately, and can realize automated programming, optimize the operating path of locking screw, the compatible enhancing, improve product thread-changing efficient and packaging efficiency, reduced the dependence to the technician.Reduce cost of labor, improved high efficiency.
Description of drawings
Fig. 1 provides the flow chart of method for the utility model;
Fig. 2 is the structural representation of the utility model generator;
Fig. 3 measures screw hole centre coordinate process schematic diagram according to the relation principle of center of gravity and circle;
Fig. 4 is the structure installation diagram of the utility model generator;
Fig. 5 is the work head structural representation of the utility model generator;
Among the figure: 1. electric cabinet Qianmen, 2. mass transport front-wheel, 3. material conveyer belt, 4. device frame, 5.X axial filament thick stick, 6. work head, 7. display, 8. mass transport trailing wheel, 9. charging aperture, 10. conveying solenoid coil, 11. work holder,heads (left side), 12. work head gripper shoes, 13. X-axis leading screw (with 5), 14. feed screw nut, 15. whippletrees, 16. screws are arranged machine, 17 work holder,heads (right side), 18. the R shaft step motor, 19. cameras, 20.Z shaft housing, 21. screw stops piece, 22. light source, 23.Z shaft step motor, 24. working head lower carrier plates.
The specific embodiment
Below in conjunction with the specific embodiment the utility model is further described.
As shown in Figure 1, a kind of automatic locking screw method that the utility model provides, comprise workpiece is carried out the screw hole position probing, then screw is locked in the screw hole that detects the position on the workpiece, described screw hole position probing comprises the steps: that specifically image collection, image processing, coordinate extract.
The image collection step is used for gathering the image of the workpiece under the light source irradiation.
The image processing step is used for: set picture quality threshold value T, image is carried out smothing filtering, sharpening, image binaryzation is become gray level image, coordinate system is set up on plane at described image place, horizontal direction is X-axis, vertical direction is Y-axis, according to gray value image is detected, and split image obtains candidate's screw hole zone.
The coordinate extraction step is used for measuring the center point coordinate value of image screw hole, specifically comprises: the barycentric coodinates value of measuring screw hole zone in the described image; Detection obtains each screw hole zone marginal point set and interior each point coordinate figure of described set separately in the described image; According to the barycentric coodinates value in described each screw hole zone and the marginal point set interior each point coordinate figure corresponding with it, determine the center point coordinate value of described screw hole.
Detection obtain each screw hole zone in the described image separately the marginal point set and described set in the process of each point coordinate figure specifically comprise step: described image is carried out whole marginal points and the coordinate figure thereof that Canny operator edge extracting is measured the screw hole zone; Measure whole marginal points in described screw hole zone and the distance of its center of gravity respectively, be divided into one or more set according to whole marginal points in the described screw hole of the big young pathbreaker zone of described distance.
Have following relation principle between screw hole center of gravity in the described image and the circle: the screw hole major part is circular, and the center of gravity of circle and the center of circle overlap, and when picture quality was good, center of gravity was the center of circle; When picture quality was bad, the integrity degree of screw hole was affected, Yi Bian from beginning influence, and beginning is fuzzy gradually, produces certain straight line edge, according to the rotational symmetry of circle, its center of gravity also can be offset certain distance along the perpendicular bisector direction of straight line, and image is about straight line perpendicular bisector symmetry.
Relation principle according to above-mentioned screw hole center of gravity and circle, above-mentioned barycentric coodinates value and the marginal point corresponding with it according to described each screw hole zone are gathered interior each point coordinate figure, determine the process of the center point coordinate value of described screw hole, specifically comprise step: search a string gathering the boundary line in the screw hole zone that forms at the marginal point in described screw hole zone, the line of described string and its mid point and corresponding screw hole regional barycenter is perpendicular; Utilize the gradient of the end points of string to cross the center of circle, measure the coordinate figure at described screw hole center.
As shown in Figure 3, be example with one of them screw hole zone, further the process to the center point coordinate value of above-mentioned definite described screw hole describes, and the center of gravity of supposing this screw hole zone is G, and its step is as follows:
(1) sets picture quality threshold value T;
(2) image is carried out smothing filtering, sharpening, binaryzation and Region Segmentation;
(3) threshold values of setting centre-of gravity shift distance is d0 and default radius;
(4) whether judge picture quality greater than threshold value T, greater than then forwarding (7) to, otherwise forward (5) to;
(5) find out the center of gravity G of its continuum, at 2 A, B arbitrarily of finding in this zone on its edge, its coordinate is respectively (x
1, y
1), (x
2, y
2), connect at these 2 and become line segment AB, calculate the coordinate (x of the mid point C of line segment AB
0, y
0);
The coordinate Calculation relational expression that A, B point and C are ordered is:
(6) structure straight line AB is L
AB, structure straight line GC is L
GC, judge L
ABAnd L
GCWhether vertical, be then to forward (7) to, in this screw hole zone, find in addition two points on its edge again otherwise forward (4) to, as new A point and B point;
(7) obtain the straight line L of the gradient direction that A point and B order respectively
AAnd L
B, and judge straight line L
AWith straight line L
ABAngle and L
BWith straight line L
ABAngle whether equate, if unequal then in this screw hole zone, find two points in addition on its edge again, as new A point and B point;
(8) ask L
AAnd L
BThe coordinate of focus O (m n), and judges that the O point is to G point (picture quality is greater than T) or straight line L
GC(picture quality is not more than T) apart from d whether less than threshold value d0, be, then be left this focus O for this regional center of circle, not, then cast out;
(9) ask this regional center of circle radius r, namely the A point is to the distance of focus O, and judges that whether this radius conforms to the magnitude range of the screw hole radius of reality, be, then confirm focus O for one of them screw hole in the image of this extracting the center, its coordinate be (m, n).
(10) the coordinate extraction unit is according to the coordinate of above-mentioned detected screw hole in image, and control module is issued the umber of pulse of stepper motor, and the parameter of leading screw and the calculation of parameter of stepper motor go out the product casing concrete coordinate in hole of tightening up a screw, and are stored into main frame;
A kind of automatic locking screw method method of present embodiment, before screw being locked into the screw hole that workpiece detects the position, the step that also comprises preferred lock screw operating path, by the operating path that optimizes, the process that screw is locked into the screw hole that detects the position on the workpiece is carried out.In the present embodiment, the installation time minimum of tightening up a screw with workpiece is the operating path optimum principle.
As shown in Figure 2, a kind of automatic locking screw device that the utility model provides, comprise that main frame, control section, operating part, work head, external data import module, display part, also comprise image acquisition system, light source, image process unit, coordinate extraction unit.
Main frame is used for control and manages each part, and control section is used for receiving the lock screw working procedure that main frame sends, and according to the work of this working procedure control operating part, the work head is finished the work of lock screw under the control of operating part.
Image acquisition system is used for gathering the image of workpiece and sending to image process unit, and light source is used for to the workpiece exposure irradiation; When image acquisition system is gathered the image of workpiece, by time for exposure and the frequency of control section control light source.
Image process unit is used for image binaryzation is become gray level image, coordinate system is set up on plane at described image place, horizontal direction is X-axis, vertical direction is Y-axis, according to gray value image is detected, split image obtains candidate's screw hole zone, then detection is obtained the screw hole zone and sends to the coordinate extraction unit.Comprise the module of described image being carried out filtering, sharpening in this image process unit.
The coordinate extraction unit is used for determining the center position of described image screw hole and sending to main frame.
The coordinate extraction unit comprises: the module of measuring the barycentric coodinates in screw hole zone in the described image; Detection obtains the marginal point set separately of each screw hole zone and the module of interior each point coordinates of described set in the described image; According to the barycentric coodinates value in described each screw hole zone and the marginal point set interior each point coordinate figure corresponding with it, issue umber of pulse, the leading screw parameter of the stepper motor of operating part in conjunction with control section, determine the module of the central point accurate coordinates of described screw hole.
Above-mentioned detection obtain each screw hole zone in the described image separately the marginal point set and described set in comprise in the module of each point coordinates: described image is carried out Canny operator edge extracting measures whole marginal points in screw hole zone and the module of coordinate thereof; Measure whole marginal points in described screw hole zone and the distance of its center of gravity respectively, be divided into the module of one or more set according to whole marginal points in the described screw hole of the big young pathbreaker zone of described distance.
Above-mentioned barycentric coodinates value and the marginal point corresponding with it according to described each screw hole zone are gathered interior each point coordinate figure, determine to comprise in the module of central point accurate coordinates of described screw hole: search the module at a string of the boundary line in the marginal point set screw hole zone that forms in described screw hole zone, the line of described string and its mid point and corresponding screw hole regional barycenter is perpendicular; Utilize the gradient of the end points of string to cross the center of circle, measure the module of the coordinate at described screw hole center.
Above-mentioned operating part comprises that the Z shaft step motor that control work head moves up and down at the mobile X-axis of in-plane and two stepper motors of Y-axis, control work head, R shaft step motor, the screw of control work head rotation arrange machine and screw connecting gear.
Above-mentioned a kind of automatic locking screw device, also comprise Sensor section, described Sensor section comprises one or more limit sensors of control working head facial planes direction position, the one or more limit sensors that move up and down the position, the position sensor that detects screw position, the input and output material sensor of control screw conveying, the torsion torque sensor that detects the screw means state, the pressure sensor of testing head decline state.
X and the y-axis stepper motor of control section control operating part, make the work head of lock screw move to accurate position, and control Z shaft step motor, after making the working head subordinate move on to the suitable degree of depth, control R shaft step motor rotates, begin to lock screw, according to the feedback signal of each sensor of Sensor section, obtain the screw locking state.
Above-mentioned display part comprises LCD liquid crystal display and alarm lamp, and the LCD liquid crystal display is connected in described main frame, is used for showing the duty of described automatic locking screw device, the coordinate position of work head, the operating path of work head; Alarm lamp is used for the abnormal work state status of described automatic locking screw device is carried out alarm.
Include the upper layer software (applications) unit on the above-mentioned main frame, be used for operating path, the bookkeeping personnel appointment of preferred work head the screw terminal operating path, carry out the setting of screw parameter.
Above-mentioned external data imports module, can import the material properties (yield limit, workhardness, strain rate, thermal softening coefficient, thermal conductivity, elastic modelling quantity, Poisson's ratio, fusing point, density etc.) of coordinate figure, screw parameter, workpiece and the screw at screw hole center.
Above-mentioned a kind of automatic locking screw device also can further comprise Network Interface Module, and by described Network Interface Module, this automatic locking screw device can be connected to LAN or internet.
Preferably, above-mentioned light source is led light source, and this led light source comprises three kinds of red, green, blues.
As shown in Figure 4 and Figure 5, the framework of a kind of automatic locking screw device of present embodiment also comprises: the mass transport front-wheel is equipped with at the place at left charging aperture, and the mass transport trailing wheel is equipped with at right charging aperture place; Front-end bearing pedestal is housed, rear bearing block and linear guides in the framework; The electric cabinet Qianmen is housed before the framework, left part, right part, shell is equipped with on top.
Wherein at mass transport front-wheel and mass transport trailing wheel material conveyer belt is housed.
In its bottom bracket bearing is housed, the Y-axis leading screw is housed in the bearing, leading screw is connected with stepper motor by shaft coupling; Platform support is housed on the linear guides.
Wherein on the platform support bearing block is housed, bearing is housed in the bearing block, what cooperate with bearing housing is the X-axis leading screw, and leading screw is connected with stepper motor by shaft coupling.
Wherein on the X-axis leading screw feed screw nut is housed, what link to each other with feed screw nut is work head gripper shoe; On the work head gripper shoe work holder,head is housed, on the work holder,head cross bar is housed, at cross bar screw is housed and arranges machine.
Wherein work camera for gathering image is housed on the holder,head (right side), on the work holder,head (left side) working head subordinate support plate is housed.
Light source and Z shaft step motor are housed under the lower carrier plate, the Z shaft housing are housed on lower carrier plate the right, in Z axostylus axostyle and bearing are arranged, what link to each other with the Z axostylus axostyle in Z shaft housing top is the R shaft step motor.
What wherein screw arrangement machine linked to each other is to carry solenoid coil, carries the lower end of solenoid coil to be connected with screw stop piece.
After the coordinate extraction unit sends to main frame with the central point accurate coordinates of screw hole in the image, on the display part that host computer control shows the screw hole coordinate, can make an amendment to the screw hole coordinate in case of necessity.
After external data importing module input screw parameter (screw specification, pitch, middle footpath, working depth, radius of corner etc.), main frame begins the operating path of Automatic Optimal work head, and downloads to control section.
Control section control operating part X, y-axis stepper motor, mobile working head are to first screw hole position, and in moving process, screw is arranged machine work and the screw that arranges is stopped piece through carrying solenoid coil to deliver to screw.
Control section control Z shaft step motor is started working, and the work head is sent corresponding screw into screw hole, and control section is also judged the screw state according to pressure sensor.
Control section control R shaft step motor is started working, and the work head is locked screw hole with corresponding screw, and control section is judged the screw state and in time stopped the R shaft step motor according to torsion torque sensor.
The counter-rotating of control section control Z shaft step motor, the withdrawal of work head, and move to next screw hole, and begin to lock the corresponding screw of this screw hole, whole screws on the lock finished piece(s), under the control of control section, operating part X, the reposition of y-axis stepper motor mobile working head.
The below only statement for by preferred embodiment main principle of the present utility model and spirit being carried out; be not limited to the utility model; for a person skilled in the art; the utility model can have various changes and variation; all any modifications of within spirit of the present utility model and principle, doing, be equal to replacement, improvement etc., all should be included within the protection domain of the present utility model.
Claims (3)
1. automatic locking screw device, comprise main frame, control section, operating part, work head, display part, main frame is used for control and manages each part, control section is used for the work of control operating part, the work head is finished the work of lock screw under the control of control section, it is characterized in that, also comprises light source, described light source is used for to the workpiece exposure irradiation, and light source is connected with control section; Described operating part comprises stepper motor, the stepper motor of controlling the rotation of work head, screw arrangement machine and the screw connecting gear that control work head moves up and down at two mobile stepper motors of in-plane, control work head; Described display part comprises LCD liquid crystal display and alarm lamp, and described LCD liquid crystal display is connected in described main frame, is used for showing the duty of described automatic locking screw device, the coordinate position of work head, the operating path of work head; Described alarm lamp is used for the abnormal work state status of described automatic locking screw device is carried out alarm.
2. a kind of automatic locking screw device according to claim 1 is characterized in that, also comprises Sensor section and Network Interface Module; Described Sensor section comprises one or more limit sensors of control working head facial planes direction position, the one or more limit sensors that move up and down the position, the position sensor that detects screw position, the input and output material sensor of control screw conveying, the torsion torque sensor that detects the screw means state, the pressure sensor of testing head decline state; By described Network Interface Module, described automatic locking screw device can be connected to LAN or internet.
3. a kind of automatic locking screw device according to claim 1 is characterized in that, described light source is led light source, and described led light source comprises three kinds of red, green, blues.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220522766 CN203062220U (en) | 2012-10-13 | 2012-10-13 | Automatic screw locking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220522766 CN203062220U (en) | 2012-10-13 | 2012-10-13 | Automatic screw locking device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203062220U true CN203062220U (en) | 2013-07-17 |
Family
ID=48761046
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220522766 Expired - Fee Related CN203062220U (en) | 2012-10-13 | 2012-10-13 | Automatic screw locking device |
Country Status (1)
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| CN (1) | CN203062220U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104353992A (en) * | 2014-12-12 | 2015-02-18 | 环旭电子股份有限公司 | Screw locking-attaching pipe manufacturing system and operation method thereof |
| CN104625716A (en) * | 2015-03-06 | 2015-05-20 | 翰桥（湖州）五金制品有限公司 | Equipment for tightly tightening complex automobile parts |
| CN105033627A (en) * | 2015-07-30 | 2015-11-11 | 苏州玄禾物联网科技有限公司 | Intelligent filtering self-rotating electronic control screw |
| CN105127960A (en) * | 2015-06-19 | 2015-12-09 | 中山亿山智能装备有限公司 | Multifunctional working platform |
| CN107825118A (en) * | 2016-09-16 | 2018-03-23 | 天津思博科科技发展有限公司 | Screw device is beaten based on strain gauge technology automatically |
| CN110170827A (en) * | 2019-05-30 | 2019-08-27 | 河南沐桐环保产业有限公司 | Battery pack screw disassembling method |
| CN110695675A (en) * | 2019-11-25 | 2020-01-17 | 歌尔股份有限公司 | Screw locking device and control method |
-
2012
- 2012-10-13 CN CN 201220522766 patent/CN203062220U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104353992A (en) * | 2014-12-12 | 2015-02-18 | 环旭电子股份有限公司 | Screw locking-attaching pipe manufacturing system and operation method thereof |
| CN104353992B (en) * | 2014-12-12 | 2016-08-24 | 环旭电子股份有限公司 | Screw locking control system and operational approach thereof |
| CN104625716A (en) * | 2015-03-06 | 2015-05-20 | 翰桥（湖州）五金制品有限公司 | Equipment for tightly tightening complex automobile parts |
| CN105127960A (en) * | 2015-06-19 | 2015-12-09 | 中山亿山智能装备有限公司 | Multifunctional working platform |
| CN105033627A (en) * | 2015-07-30 | 2015-11-11 | 苏州玄禾物联网科技有限公司 | Intelligent filtering self-rotating electronic control screw |
| CN107825118A (en) * | 2016-09-16 | 2018-03-23 | 天津思博科科技发展有限公司 | Screw device is beaten based on strain gauge technology automatically |
| CN110170827A (en) * | 2019-05-30 | 2019-08-27 | 河南沐桐环保产业有限公司 | Battery pack screw disassembling method |
| CN110695675A (en) * | 2019-11-25 | 2020-01-17 | 歌尔股份有限公司 | Screw locking device and control method |
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|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130717 Termination date: 20151013 |
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| EXPY | Termination of patent right or utility model |