WO2020248298A1 - 一种面向柔性制造的新型自动锁螺丝机 - Google Patents

一种面向柔性制造的新型自动锁螺丝机 Download PDF

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Publication number
WO2020248298A1
WO2020248298A1 PCT/CN2019/092215 CN2019092215W WO2020248298A1 WO 2020248298 A1 WO2020248298 A1 WO 2020248298A1 CN 2019092215 W CN2019092215 W CN 2019092215W WO 2020248298 A1 WO2020248298 A1 WO 2020248298A1
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WIPO (PCT)
Prior art keywords
screw
locking
driving
area
flexible manufacturing
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PCT/CN2019/092215
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English (en)
French (fr)
Inventor
梁淑芬
谢惠敏
黄辉
邹观华
黄树锋
李柏盛
梁沛然
吴泽明
朱麟涛
李晓明
梁立典
杨芳臣
陈琛
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五邑大学
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Application filed by 五邑大学 filed Critical 五邑大学
Publication of WO2020248298A1 publication Critical patent/WO2020248298A1/zh

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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

Definitions

  • the invention relates to the field of screw machines, in particular to a new type of automatic locking screw machine oriented to flexible manufacturing.
  • the screw assembly of the shells and other accessories of many home appliances is manually locked.
  • the shells and other accessories of the home appliances are mostly plastic, and the products injected by the injection molding machine are too hot when the finished product is ejected.
  • the plastic temperature is too low, the thickness is uneven or the product shape is special, etc., which cause the product after injection molding to produce uncertain deformation during the cooling process, which makes the position of the screw hole on the product shift unpredictably.
  • the positioning of the screw machine has a great influence when nailing, so during production, the nailing position set by the screw machine cannot be aligned with the actual screw hole of the plastic part, causing the machine to fail to complete the scheduled nailing work.
  • the automatic screw-locking machine circulating in the market has certain limitations. It can only lock products with regular shapes. For some irregular products such as spheres, the fault tolerance rate is very low; the current automatic screw-locking machine can only adapt to a single product , Industrial efficiency and profit are low; most screw machines can only lock products with regular shapes, and for products with irregular shapes, the fault tolerance rate is relatively low; the screw machines currently on the market are not very good at the torque of screw locking The quality of manual lock payment in some products cannot be achieved by the control of
  • the present invention aims to solve one of the above-mentioned technical problems in the related art at least to a certain extent. For this reason, the present invention proposes a new type of automatic screw-locking machine oriented to flexible manufacturing, which can process a variety of products with extremely high flexibility and cost saving.
  • a new type of automatic screw-locking machine oriented to flexible manufacturing includes a bracket on which a locking platform is provided; an image acquisition area, where the image acquisition area is set on the locking platform; a screw feeding area, The screw supply area is set on one side of the image acquisition area and is used to store the screws to be locked; the lock work area is set on one side of the screw feed area and includes a lock for screw lock Mechanism and a mechanical arm driving the locking mechanism; the central control area includes a processor arranged at the bottom of the locking platform, and the processor is connected to the image acquisition area and the locking working area.
  • the image collection area includes a collection platform, a fixed bracket is arranged around the collection platform, a camera assembly is arranged on the fixed bracket, and the camera assembly includes a vertical camera facing the collection platform and an inclined surface.
  • the camera component is the processor.
  • a slideway is provided on the fixing bracket, a slider is provided in the slideway, and the camera assembly is fixed on the slider.
  • the locking mechanism includes a vertical fixing plate and a horizontal fixing plate arranged on the top of the vertical fixing plate, the top of the horizontal fixing plate is provided with a main shaft connected to the mechanical arm, and the bottom of the horizontal fixing plate is fixed with electricity. Screwdriver assembly, the vertical fixing plate is fixed with air claw assembly on the other side of the electric screwdriver assembly.
  • the electric screwdriver assembly includes an electric screwdriver for locking screws and a motor for driving the electric screwdriver
  • the air claw assembly includes an air claw for clamping the screw and an air claw for driving the screw. Cylinder of the gripper.
  • the output end of the electric screwdriver is provided with a sensor assembly, the output end of the sensor assembly is connected to the processor, and the sensor assembly includes a torque sensor and a rotation speed sensor.
  • the mechanical arm includes a base, a first extension arm is connected to the base through a first rotating shaft, and a second extension arm is connected to the end of the first extension arm through a second rotating shaft, and the second extension arm
  • An electric screwdriver module for screw locking is connected to the bottom, and a first driving device for driving the first rotating shaft and the second rotating shaft is arranged in the base.
  • a fixing seat is arranged on the second extension arm, and a lead screw connected to the electric screwdriver module is arranged in the fixing seat, and the lead screw can move up and down under the driving of a second driving device.
  • the central control area further includes a touch screen arranged on the lock platform, and the touch screen is connected to the processor.
  • a sliding rail for conveying products is arranged between the image acquisition area and the locking work area.
  • One or more technical solutions of the present invention have at least the following beneficial effects: one of the technical solutions of the present invention performs image collection and screw hole recognition on the product in the image collection area, and the collected information is transmitted to the processor for analysis to obtain The result is transferred to the locking work area to assist the mechanical arm to drive the locking mechanism to complete the screw locking.
  • the whole process is automated, instead of manual locking, which improves the efficiency of locking, and the image recognition area can identify the pending locks of multiple products Screw holes, corresponding to different product planning locking paths, one screw machine can process a variety of products, extremely flexible and cost-saving.
  • Figure 1 is a schematic structural diagram of an embodiment of the present invention
  • FIG. 2 is a schematic diagram of the structure of the image acquisition area in the embodiment of the present invention.
  • Figure 3 is a schematic structural diagram of a locking mechanism in an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of the structure of the robotic arm in the embodiment of the present invention.
  • Fig. 5 is a schematic diagram of the internal structure of the fixing seat in the embodiment of the present invention.
  • a new type of automatic screw-locking machine for flexible manufacturing of the present invention includes a bracket 100 on which a locking platform 110 is provided; an image acquisition area 200, which is set on the Above the locking platform 110; screw feeding area 300, the screw feeding area 300 is set on the side of the image acquisition area 200, for storing the screws to be locked; locking working area 400, the locking working area 400 Set on the side of the screw feeding area 300, it includes a locking mechanism 410 for screw locking and a mechanical arm 420 that drives the locking mechanism 410; the central control area includes processing at the bottom of the locking platform 110 510, the processor 510 is connected to the image acquisition area 200 and the lock working area 400.
  • the image acquisition area 200 performs image acquisition and screw hole recognition on the product, and the collected information is transmitted to the processor 510 for analysis, and the screw hole position is calibrated by three-dimensional reconstruction, and the locking route is planned by the ant colony algorithm.
  • the result is obtained
  • the incoming locking work area 400 assists the mechanical arm 420 to drive the locking mechanism 410 to complete the screw locking.
  • the whole process is automated, instead of manual locking, which improves the efficiency of locking, and the image recognition area can identify the pending locks of multiple products With screw holes, the locking path is planned for different products.
  • One screw machine can process a variety of products, which is extremely flexible and saves costs.
  • the image capture area 200 includes a capture platform 210, a fixed bracket 220 is arranged around the capture platform 210, a camera assembly 230 is arranged on the fixed bracket 220, and the camera assembly 230 includes a vertical surface capture
  • the vertical camera 231 of the platform 210 and the inclined camera 232 that face the collection platform 210 obliquely, the camera assembly 230 is the processor 510.
  • a single product is sampled and placed on the collection platform 210, and image data from multiple angles of the product can be collected through camera shooting, and multiple collections and coverage can be performed.
  • the photographed data is transmitted to the processor 510, and the screw hole coordinates are located through the three-dimensional reconstruction technology.
  • the point source filter can be used to determine the position of the screw hole in the three-dimensional plane of the product as the coordinate position.
  • This device has a simple structure, low requirements for hardware and recognition environment, and better recognition results for irregular products.
  • the camera assembly 230 is used to shoot at different angles, so as to obtain multiple two-dimensional images at different angles. Multiple two-dimensional images with different angles are captured from the same point of the object.
  • the image is preprocessed in the processor 510, feature selection and stereo projection imaging are used to split the image into multiple point sources.
  • Recombination and arrangement are carried out under the equation planning to realize the three-dimensional reconstruction of the object; and then through the processing of feature matching and camera calibration, the three-dimensional position of the point is calculated using the parallax, and the position coordinates of the screw hole are obtained.
  • the fixing bracket 220 is provided with a slide 221
  • the slide 221 is provided with a slider 222
  • the camera assembly 230 is fixed on the slide 222.
  • the camera assembly 230 is fixed to the fixed bracket 220 through the slider 222, and the position of the camera can be adjusted at any time, which is convenient for covering all the planes of irregular products, making the whole device more flexible; at the same time, it can reduce a certain number of cameras and save cost.
  • the locking mechanism 410 includes a vertical fixing plate 411 and a horizontal fixing plate 412 arranged on the top of the vertical fixing plate 411.
  • the top of the horizontal fixing plate 412 is provided with a main shaft 413 connected to the mechanical arm 420.
  • An electric screwdriver assembly is fixed at the bottom of the horizontal fixing plate 412, and an air claw assembly is fixed on the other side of the vertical fixing plate 411 relative to the electric screwdriver assembly.
  • the gripper and the electric screwdriver are respectively distributed on both sides of the vertical fixing plate 411, during the operation of the screw machine, the integrated and continuous operation of the grasping and locking actions can be realized, the space is small, the mechanism is simple, and the cost is reduced.
  • the electric screwdriver assembly includes an electric screwdriver 414 for locking screws and a motor 415 for driving the electric screwdriver 414
  • the air claw assembly includes an air claw 416 for clamping screws and a To drive the air cylinder 417 of the air claw 416.
  • the motor 415 can drive the electric screwdriver 414 to complete the locking
  • the air cylinder 417 drives the air claw 416 to clamp the screws
  • the air cylinder 417 and the air claw 416 are integrated on the side of the vertical fixing plate 411
  • the motor 415 and the electric screwdriver 414 are integrated On the other side of the vertical fixing plate 411, the space occupation is reduced and the space cost is saved.
  • the output end of the electric screwdriver 414 is provided with a sensor assembly 418, the output end of the sensor assembly 418 is connected to the processor 510, and the sensor assembly 418 includes a torque sensor and a rotational speed sensor.
  • the lock screwdriver is combined with the sensor assembly 418 to form a torque feedback device.
  • the screwdriver is used as the physical sensing body.
  • the change of physical information will cause the pulse feedback through the torsion feedback device to sense the magnitude of the torque received in the screw locking in real time.
  • the central control system will make the screwdriver adjust the torque and speed accordingly in order to pursue the best locking effect and avoid the phenomenon of sliding and bursting nails.
  • the robot arm 420 includes a base 421, a first extension arm 423 is connected to the base 421 through a first shaft 422, and a second extension arm is connected to the end of the first extension arm 423 through a second shaft 424 425.
  • An electric screwdriver 414 for screw locking is connected to the bottom of the second extension arm 425, and a first driving device for driving the first shaft 422 and the second shaft 424 is provided in the base 421.
  • the first drive device drives the first extension arm 423
  • the second drive device drives the second extension arm 425, so that the electric screwdriver 414 fixed on the second extension arm 425 can quickly reach all the distances within the farthest distance. Position, complete the screw hole lock payment.
  • the whole device After adopting the double extension arm structure, the whole device has a compact structure, flexible movement, high movement speed and position accuracy, and is especially suitable for screw hole locking of irregular products. Its use greatly improves the adaptability of the entire device to complex assembly tasks, while also reducing the processing time and improving the utilization of working space and time.
  • a fixing seat 426 is provided on the second extension arm 425, and a lead screw 427 connected to the electric screwdriver 414 is provided in the fixing seat 426.
  • the lead screw 427 can be driven by the second driving device. move up and down. After the screw 427 is installed, the electric screwdriver 414 connected to the screw 427 can move up and down under the action of the screw 427 to complete the displacement in the vertical direction. This design makes the whole device more flexible, and only the screw The 427 action completes the vertical action, the structure is simple, and the cost is saved.
  • the central control area also includes a touch screen set on the lock platform 110, the touch screen is connected to the processor 510, the setting can facilitate the operator to control the device and lock the calibration results Observe data such as torque.
  • a sliding rail 240 for transporting products is arranged between the image acquisition area 200 and the locking work area 400, which facilitates the transportation of products between the image acquisition area 200 and the locking work area 400 and saves manpower.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automatic Assembly (AREA)
  • General Factory Administration (AREA)

Abstract

一种面向柔性制造的自动锁螺丝机，包括支架（100），支架上设置有锁付平台（110）；图像采集区（200），图像采集区设置于锁付平台之上；锁付工作区（400），锁付工作区设置于螺丝供料区（300）一侧，包括用于螺丝锁付的锁付机构（410）和带动锁付机构的机械臂（420）；中央控制区，包括设置于锁付平台底部的处理器（510）。通过在图像采集区对产品进行图像采集和螺孔识别，采集到的信息传入处理器进行分析，得到的结果传入锁付工作区协助机械臂带动锁付机构完成对螺丝的锁付，全程自动化，提高了锁付的效率，而且图像识别区可识别多种产品的待锁付螺孔，对应不同产品规划锁付路径，一台螺丝机可加工多种产品，灵活度极高，节省成本。

Description

一种面向柔性制造的新型自动锁螺丝机
技术领域
本发明涉及螺丝机领域，特别是一种面向柔性制造的新型自动锁螺丝机。
背景技术
目前许多家电产品的外壳等配件的螺丝装配都是采用人工锁付的方式，这是因为家电产品的外壳等配件大多都是塑料，而注塑机注塑出来的产品，因为成品顶出时太热、塑料温度太低、厚度不匀或产品的形状特别等原因，导致注塑之后的产品在冷却过程中会产生不确定的变形，从而使得螺丝孔在产品上的位置发生无法准确预测的偏移，对螺丝机打钉时定位影响很大，那么在生产时，螺丝机设置的打钉位置就无法对准塑料零件实际的螺丝孔，造成机器无法完成预定的打钉工作。这一情况使得目前对于这种配件一般只能采取人工锁付的方式，但是人工锁付不仅效率低，而且长期劳动会使工人的效率下降，强度大的话还可能会让工人感到疲劳或者不适等，阻碍企业的发展。
另一方面，市场上流通的自动锁螺丝机存在一定局限，只能锁付形状规则的产品，对于一些球体等不规则产品，容错率非常低；目前的自动锁螺丝机只能适应单种产品，工业效率与收益较低；大部分螺丝机只能锁付形状规则的产品，对于形状不规则的产品，容错率比较低；目前市面上的螺丝机对螺丝锁付的扭力做不到很好的控制，达不到部分产品中人工锁付的质量。
发明内容
本发明旨在至少在一定程度上解决相关技术中的上述技术问题之一。为此，本发明提出一种面向柔性制造的新型自动锁螺丝机，可加工多种产品，灵活度极高，节省成本。
本发明解决其技术问题所采用的技术方案是：
一种面向柔性制造的新型自动锁螺丝机，包括支架，所述支架上设置有锁付平台；图像采集区，所述图像采集区设置于所述锁付平台之上；螺丝供料区，所述螺丝供料区设置于图像采集区一侧，用于储存待锁付螺丝；锁付工作区，所述锁付工作区设置于螺丝供料区一侧，包括用于螺丝锁付的锁付机构和带动所述锁付机构的机械臂；中央控制区，包括设置于所述锁付平台底部的处理器，所述处理器连接所述图像采集区和所述锁付工作区。
作为上述技术方案的改进，所述图像采集区包括采集平台，所述采集平台四周设置有固定支架，所述固定支架上设置摄像头组件，所述摄像头组件包括垂直面向采集平台的垂直摄像头和倾斜面对采集平台的倾斜摄像头，所述摄像头组件所述处理器。
作为上述技术方案的进一步改进，所述固定支架上设置有滑道，所述滑道中设置有滑块，所述摄像头组件固定于所述滑块上。
进一步，所述锁付机构包括垂直固定板和设置于所述垂直固定板顶部的水平固定板，所述水平固定板顶部设置有连接所述机械臂的主轴，所述水平固定板底部固定有电螺丝批组件，所述垂直固定板相对于电螺丝批组件另一侧固定有气爪组件。
进一步，所述电螺丝批组件包括用于锁付螺丝的电螺丝批和用于驱动所述电螺丝批的电机，所述气爪组件包括用于夹持螺丝的气爪和用于驱动所述气爪的气缸。
进一步，所述电螺丝批的输出端设置有传感器组件，所述传感器组件输出端连接处理器，所述传感器组件包括力矩传感器和转速传感器。
进一步，所述机械臂包括机座，所述机座上通过第一转轴连接有第一伸展臂，所述第一伸展臂末端通过第二转轴连接有第二伸展臂，所述第二伸展臂底部连接有用于螺丝锁付的电螺丝批模组，所述机座内设置有驱动所述第一转轴和第二转轴的第一驱动装置。
进一步，所述第二伸展臂上设置有固定座，所述固定座内设置有连接所述电螺丝批模组的丝杠，所述丝杠在第二驱动装置的驱动下可上下移动。
进一步，所述中央控制区还包括设置于锁付平台之上的触控显示屏，所述触控显示屏连接所述处理器。
进一步，所述图像采集区和锁付工作区之间设置有用于运送产品的滑轨。
本发明中一个或多个技术方案至少具有以下有益效果：本发明的其中一个技术方案在通过在图像采集区对产品进行图像采集和螺孔识别，采集到的信息传入处理器进行分析，得到的结果传入锁付工作区协助机械臂带动锁付机构完成对螺丝的锁付，全程自动化，代替人工锁付，提高了锁付的效率，而且图像识别区可识别多种产品的待锁付螺孔，对应不同产品规划锁付路径，一台螺丝机可加工多种产品，灵活度极高，节省成本。
附图说明
下面结合附图和实施例对本发明进一步说明。
图1是本发明实施例的结构示意图；
图2是本发明实施例中图像采集区的结构示意图；
图3是本发明实施例中锁付机构的结构示意图；
图4是本发明实施例中机械臂的结构示意图；
图5是本发明实施例中固定座的内部结构示意图。
具体实施方式
本部分将详细描述本发明的具体实施例，本发明之较佳实施例在附图中示出，附图的作用在于用图形补充说明书文字部分的描述，使人能够直观地、形象地理解本发明的每个技术特征和整体技术方案，但其不能理解为对本发明保护范围的限制。
在本发明的描述中，需要理解的是，涉及到方位描述，例如上、下、前、后、左、右等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
在本发明的描述中，若干的含义是一个或者多个，多个的含义是两个以上，大于、小于、超过等理解为不包括本数，以上、以下、以内等理解为包括本数。如果有描述到第一、第二只是用于区分技术特征为目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量或者隐含指明所指示的技术特征的先后关系。
本发明的描述中，除非另有明确的限定，设置、安装、连接等词语应做广义理解，所属技术领域技术人员可以结合技术方案的具体内容合理确定上述词语在本发明中的具体含义。
下面结合附图，对本发明实施例作进一步阐述。
参照图1，本发明的一种面向柔性制造的新型自动锁螺丝机，包括支架100，所述支架100上设置有锁付平台110；图像采集区200，所述图像采集区200设置于所述锁付平台110之上；螺丝供料区300，所述螺丝供料区300设置于图像采集区200一侧，用于储存待锁付螺丝；锁付工作区400，所述锁付工作区400设置于螺丝供料区300一侧，包括用于螺丝锁付的锁付机构410和带动所述锁付机构410的机械臂420；中央控制区，包括设置于所述锁付平台110底部的处理器510，所述处理器510连接所述图像采集区200和所述锁付工作区400。工作时，图像采集区200对产品进行图像采集和螺孔识别，采集到的信息传入处理器510进行分析，采用三维重构标定螺孔位置，采用蚁群算法规划锁付路线，得到的结果传入锁付工作区400协助机械臂420带动锁付机构410完成对螺丝的锁付，全程自动化，代替人工锁付，提高了锁付的效率，而且图像识别区可识别多种产品的待锁付螺孔，对应不同产品规划锁付路径，一台螺丝机可加工多种产品，灵活度极高，节省成本。
对产品进行图像采集，还可以对图像中的物体进行数据的归一化处理后，传入设计的深度学习模型，进行物体目标的位置识别，在初步滤除掉无关信息和背景信息后，对保留的图像信息进一步处理，将深度学习运用到螺丝机中，只要收集可以快速完成产品的识别，提高工作效率
作为上述技术方案的改进，所述图像采集区200包括采集平台210，所述采集平台210四周设置有固定支架220，所述固定支架220上设置摄像头组件230，所述摄像头组件230包括垂直面向采集平台210的垂直摄像头231和倾斜面对采集平台210的倾斜摄像头232，所述摄像头组件230所述处理器510。在工作中，抽样单个产品，将其放置于采集平台210上，通过摄像头的拍摄，进行产品多个角度的图像数据采集，并可以进行多次采集并覆盖。拍摄得到的数据传输至处理器510中，通过三维重构技术对螺丝孔坐标进行定位。在充分采集待锁付产品的图像数据和标定坐标系以后，能够通过点源滤析确定产品的立体平面中螺丝孔的作为坐标位置。这一装置机构简单，对硬件和识别环境要求较低，而且对不规则产品的识别结果较好。采用摄像头组件230进行不同角度的拍摄，进而获得多个不同角度的二维图像。由该物体的同一个点拍摄到多幅不同角度的二维图像，在处理器510中经过图像预处理，特征选取及立体投影成像把图像拆分成多个点源，多个点源在线性方程规划下进行重新组合排列，从而实现物体的三维重构；再通过特征匹配和相机标定等处理，利用视差计算出该点的三维位置，和得到螺丝孔的位置坐标。
作为上述技术方案的进一步改进，所述固定支架220上设置有滑道221，所述滑道221中设置有滑块222，所述摄像头组件230固定于所述滑块222上。将摄像头组件230通过滑块222固定于固定支架220上，可随时调整摄像头的位置，便于完成对不规则产品所有平面的覆盖，使装置整体更为灵活；同时也可减少一定数量的摄像机，节省成本。
进一步，所述锁付机构410包括垂直固定板411和设置于所述垂直固定板411顶部的水平固定板412，所述水平固定板412顶部设置有连接所述机械臂420的主轴413，所述水平固定板412底部固定有电螺丝批组件，所述垂直固定板411相对于电螺丝批组件另一侧固定有气爪组件。工作时，主动带动整个机构移动至取螺丝区，气爪组件完成螺丝的抓取，然后主轴413将整个机构移动至锁付区，气爪组件先将螺丝放入螺孔中，然后电螺丝批组件完成螺丝的锁付，依此循环。由于气爪和电螺丝批分别分布在垂直固定板411两侧，在螺丝机的运作过程中，可以实现抓取、锁付动作一体连续操作，占用空间小，机构简单，减少了成本。
进一步，所述电螺丝批组件包括用于锁付螺丝的电螺丝批414和用于驱动所述电螺丝批414的电机415，所述气爪组件包括用于夹持螺丝的气爪416和用于驱动所述气爪416的气缸417。电机415可驱动电螺丝批414完成锁付，气缸417驱动气爪416进行螺丝的夹取，而且将气缸417与气爪416集成与垂直固定板411一侧，将电机415与电螺丝批414集成与垂直固定板411另一侧，减少了空间的占用，节省了空间成本。
进一步，所述电螺丝批414的输出端设置有传感器组件418，所述传感器组件418输出端连接处理器510，所述传感器组件418包括力矩传感器和转速传感器。把锁付螺丝批与传感器组件418相结合，组成一个扭力反馈装置。螺丝在锁付过程中，以螺丝批作为物理感知体，物理信息变化会引起通过扭力反馈装置反馈的脉冲，实时感知螺丝锁付中所受力矩大小。通过其变化的幅度和大小，中央控制系统会让螺丝批依次对扭力和转速进行相应的适应变化，以追求最优的锁付效果，避免滑钉、爆钉现象。
进一步，所述机械臂420包括机座421，所述机座421上通过第一转轴422连接有第一伸展臂423，所述第一伸展臂423末端通过第二转轴424连接有第二伸展臂425，所述第二伸展臂425底部连接有用于螺丝锁付的电螺丝批414，所述机座421内设置有驱动所述第一转轴422和第二转轴424的第一驱动装置。工作时，第一驱动装置驱动第一伸展臂423，第二驱动装置驱动第二伸展臂425，使固定于第二伸展臂425上的电螺丝批414可以较快地到达最远距离内的所有位置，完成螺孔的锁付。采用了双伸展臂结构后，整个装置结构紧凑，动作灵活，运动速度和位置精度都较高，特别适合不规则产品的螺孔锁付。它的使用大大提高了整个装置对复杂装配任务的适应性，同时也降低了加工时间，提高了工作空间和时间的利用率。
进一步，所述第二伸展臂425上设置有固定座426，所述固定座426内设置有连接所述电螺丝批414的丝杠427，所述丝杠427在第二驱动装置的驱动下可上下移动。设置丝杠427后，连接于丝杠427上的电螺丝批414可在丝杠427的作用下上下移动，完成在垂直方向上的位移，这一设计使整个装置更为灵活，只需丝杠427动作即完成垂直动作，结构简单，节省了成本。
进一步，所述中央控制区还包括设置于锁付平台110之上的触控显示屏，所述触控显示屏连接所述处理器510，设置可方便操作者对装置进行操控并对标定结果锁付力矩等数据进行观察。
进一步，所述图像采集区200和锁付工作区400之间设置有用于运送产品的滑轨240，方便产品在图像采集区200和锁付工作区400间的运输，节省人力。
以上具体结构和尺寸数据是对本发明的较佳实施例进行了具体说明，但本发明创造并不限于所述实施例，熟悉本领域的技术人员在不违背本发明精神的前提下还可做出种种的等同变形或替换，这些等同的变形或替换均包含在本申请权利要求所限定的范围内。

Claims (10)

  1. 一种面向柔性制造的新型自动锁螺丝机，其特征在于：包括
    支架，所述支架上设置有锁付平台；
    图像采集区，所述图像采集区设置于所述锁付平台之上；
    螺丝供料区，所述螺丝供料区设置于图像采集区一侧，用于储存待锁付螺丝；
    锁付工作区，所述锁付工作区设置于螺丝供料区一侧，包括用于螺丝锁付的锁付机构和带动所述锁付机构的机械臂；
    中央控制区，包括设置于所述锁付平台底部的处理器，所述处理器连接所述图像采集区和所述锁付工作区。
  2. 根据权利要求1所述的面向柔性制造的新型自动锁螺丝机，其特征在于：所述图像采集区包括采集平台，所述采集平台四周设置有固定支架，所述固定支架上设置摄像头组件，所述摄像头组件包括垂直面向采集平台的垂直摄像头和倾斜面对采集平台的倾斜摄像头，所述摄像头组件所述处理器。
  3. 根据权利要求2所述的面向柔性制造的新型自动锁螺丝机，其特征在于：所述固定支架上设置有滑道，所述滑道中设置有滑块，所述摄像头组件固定于所述滑块上。
  4. 根据权利要求1所述的面向柔性制造的新型自动锁螺丝机，其特征在于：所述锁付机构包括垂直固定板和设置于所述垂直固定板顶部的水平固定板，所述水平固定板顶部设置有连接所述机械臂的主轴，所述水平固定板底部固定有电螺丝批组件，所述垂直固定板相对于电螺丝批组件另一侧固定有气爪组件。
  5. 根据权利要求4所述的面向柔性制造的新型自动锁螺丝机，其特征在于：所述电螺丝批组件包括用于锁付螺丝的电螺丝批和用于驱动所述电螺丝批的电机，所述气爪组件包括用于夹持螺丝的气爪和用于驱动所述气爪的气缸。
  6. 根据权利要求5所述的面向柔性制造的新型自动锁螺丝机，其特征在于：所述电螺丝批的输出端设置有传感器组件，所述传感器组件输出端连接处理器，所述传感器组件包括力矩传感器和转速传感器。
  7. 根据权利要求1所述的面向柔性制造的新型自动锁螺丝机，其特征在于：所述机械臂包括机座，所述机座上通过第一转轴连接有第一伸展臂，所述第一伸展臂末端通过第二转轴连接有第二伸展臂，所述第二伸展臂底部连接有用于螺丝锁付的电螺丝批模组，所述机座内设置有驱动所述第一转轴和第二转轴的第一驱动装置。
  8. 根据权利要求7所述的面向柔性制造的新型自动锁螺丝机，其特征在于：所述第二伸展臂上设置有固定座，所述固定座内设置有连接所述电螺丝批模组的丝杠，所述丝杠在第二驱动装置的驱动下可上下移动。
  9. 根据权利要求1所述的面向柔性制造的新型自动锁螺丝机，其特征在于：所述中央控制区还包括设置于锁付平台之上的触控显示屏，所述触控显示屏连接所述处理器。
  10. 根据权利要求1所述的面向柔性制造的新型自动锁螺丝机，其特征在于：所述图像采集区和锁付工作区之间设置有用于运送产品的滑轨。
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