WO2022227633A1 - 锁螺丝机及其打螺丝入牙的控制方法 - Google Patents
锁螺丝机及其打螺丝入牙的控制方法 Download PDFInfo
- Publication number
- WO2022227633A1 WO2022227633A1 PCT/CN2021/139570 CN2021139570W WO2022227633A1 WO 2022227633 A1 WO2022227633 A1 WO 2022227633A1 CN 2021139570 W CN2021139570 W CN 2021139570W WO 2022227633 A1 WO2022227633 A1 WO 2022227633A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- screw
- feeding
- driving part
- electric batch
- batch
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 46
- 230000005540 biological transmission Effects 0.000 claims abstract description 26
- 238000001514 detection method Methods 0.000 claims abstract description 21
- 230000033001 locomotion Effects 0.000 claims abstract description 11
- 238000006073 displacement reaction Methods 0.000 claims description 26
- 230000008569 process Effects 0.000 claims description 12
- 238000010079 rubber tapping Methods 0.000 claims description 9
- 230000003031 feeding effect Effects 0.000 claims description 5
- 230000007246 mechanism Effects 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000008094 contradictory effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 229920001296 polysiloxane Polymers 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
Definitions
- the invention relates to the technical field of screw-locking equipment, in particular to a screw-locking machine and a control method for driving screws into teeth.
- screw assembly that is, screw locking
- screw locking has always been an important process in product assembly.
- the degree of automation is still relatively low, which is the bottleneck of mass production.
- the invention provides a screw-locking machine and a control method for screwing into the teeth.
- the driving part of the feeding driving device is controlled to increase the feed of the set increment.
- the feeding movement is performed at the speed to increase the electronic transmission ratio between the driving part and the bit, so as to control the pressure exerted by the screw on the screw hole.
- the present invention provides a control method for screwing into the teeth of a screw-locking machine.
- the screw-locking machine includes a feed drive device, an electric batch and a position detection system.
- a movably arranged driving part the electric batch is set on the driving part to be driven by the driving part to move along the feeding direction, the electric batch includes a batch head, and the position detection system is used for Directly or indirectly detect the position of the bit head, and the control method for screwing the screw into the teeth of the screw locking machine includes:
- control the feed drive device to increase the feed speed of the set increment to carry out the feed activity, so as to increase the electronic transmission ratio between the feed drive device and the electric batch.
- the electric batch is movably connected to the driving part in the feeding direction, and has an initial position restricted from moving in a direction away from the driving part, so that the electric batch is in the initial position.
- the position and the driving part move back and forth, and an elastic member is arranged between the driving part and the electric batch;
- the steps of obtaining the position of the bit head and judging whether the bit head reaches the screw hole to start locking the screw include:
- control the feed drive device to increase the feed speed of the set increment to carry out the feeding activity, before the step of increasing the electronic transmission ratio between the feed drive device and the electric batch ,include:
- the set increment corresponding to the screw is obtained.
- the relevant information of the screw includes the type of the screw, and the type of the screw includes a self-tapping screw and a common screw;
- the step of obtaining the set increment corresponding to the screw includes:
- the first set increase amount is greater than the set increase amount.
- the feeding driving device includes a stepping motor
- the set increment is an increment of the pulse quantity driven by the stepping motor in a unit time.
- the present invention also provides a locking screw machine, characterized in that it includes:
- a feed drive device which has a drive part movably arranged in the feed direction;
- an electric batch which is arranged on the driving part to be driven by the driving part to move along the feeding direction, and the electric batch includes a batch head;
- a position detection system for directly or indirectly detecting the position of the bit head
- control device electrically connected with the feed drive device, the electric batch and the position detection system, the control device includes a memory, a processor, and is stored on the memory and can run on the processor
- the control program of the screw-locking machine for screwing into the teeth, the control program for screwing the screw into the teeth of the screw-locking machine is executed by the processor to realize the control method of the screw-locking machine as described in any one of the above A step of.
- the electric batch is movably connected to the driving part in the feeding direction, and has an initial position restricted from moving in a direction away from the driving part, so that the electric batch is in the initial position.
- the position and the driving part move back and forth, and an elastic member is arranged between the driving part and the electric batch. .
- the feed drive device further includes:
- the driving part is sleeved on the screw rod and forms a ball screw pair with the screw rod, and the electric batch is slidably installed on the screw rod.
- the feeding driving device includes a stepping motor, and the stepping motor drives the driving part to move linearly through a transmission mechanism;
- the position detection system includes:
- the displacement sensor is used to detect the displacement of the electric batch in the feeding direction.
- the displacement sensor includes:
- the grating is arranged on the electric batch to move with the electric batch.
- the control method for screwing the screw into the teeth of the screw locking machine includes: obtaining the position of the bit head, and judging whether the bit head reaches the screw hole to start Lock the screw, if so, control the feed drive device to increase the feed speed of the set increment to carry out the feeding activity, so as to increase the electronic transmission ratio between the feed drive device and the electric batch, obviously increasing The incremental size of the electronic transmission ratio directly determines the pressure exerted by the screw on the screw hole, so as to control the increase of the electronic transmission ratio between the feed drive device and the electric batch, the screw to screw The pressure applied to the hole is controlled.
- FIG. 1 is a schematic perspective view of an embodiment of a screw locking machine provided by the present invention
- Fig. 2 is the side view schematic diagram of the partial structure of Fig. 1;
- Fig. 3 is the working schematic diagram of the electric batch of the locking screw machine in Fig. 1;
- FIG. 4 is a schematic flowchart of the first embodiment of the control method for screwing into the teeth of a screw locking machine provided by the present invention
- FIG. 5 is a schematic flowchart of a second embodiment of the control method for screwing into the teeth of a screw locking machine provided by the present invention
- FIG. 6 is a schematic flowchart of a third embodiment of the control method for screwing into the teeth of a screw locking machine provided by the present invention.
- the present invention provides a screw locking machine.
- Figures 1 to 3 are an embodiment of the screw locking machine provided by the present invention. Please refer to Figures 1 to 3.
- the screw locking machine 100 includes a feeding driving device 1, an electric screwdriver 2.
- a position detection system and a control device the feeding driving device 1 has a driving part 11 that can be movably arranged in the feeding direction (specifically, up and down in this embodiment), and the electric batch 2 is provided in the
- the driving part 11 is driven by the driving part 11 to move along the feeding direction
- the electric batch 2 includes a batch head 20
- the position detection system is used to directly or indirectly detect the position of the batch head 20
- the control device is electrically connected with the feed drive device 1, the electric batch 2 and the position detection system
- the control device includes a memory, a processor, and is stored in the memory and can be used in the A control program for screwing into the teeth of a screw-locking machine running on the processor, and a control method for screwing into the teeth of the screw-locking machine
- “electronic transmission ratio” is the ratio between the minimum displacement n1 of the feed drive device 1 in the advancing direction and the minimum displacement n2 of the electric batch 2 in the feeding direction, that is, n1:n2 is the electronic transmission ratio, for example , the feed drive device 1 of the screw locking machine adopts a stepping servo system, then the feed drive device 1 includes a stepping motor, and the drive part 11 and the stepping motor shaft are connected by a ball screw mechanism, wherein the wire The rod is connected with the motor shaft of the stepper motor, that is, the pitch of the lead screw for the feed shaft is 1.5mm, and the pitch of the screw is 0.25mm, then the linkage ratio of the two shafts is 6:1, and the main shaft of the electric batch rotates 6 times per revolution. circle, the feed axis rotates 1 revolution.
- the incremental size of the increased electronic transmission ratio directly determines the pressure exerted by the screw on the screw hole, so as to increase the electronic transmission ratio between the feeding drive device 1 and the electric batch 2 by controlling it. Controls the pressure applied by the screw to the tapped hole.
- the electric batch 2 is movably connected to the driving part 11 in the feeding direction, and has an initial position restricted from moving away from the driving part 11 , so that the electric batch The batch 2 moves back and forth between the initial position and the driving part 11, and an elastic member 3 is arranged between the driving part 11 and the electric batch 2, so that the electric batch 2 is driven to the electric batch 2.
- the elastic member 3 is elastically pressed, so that the electric batch 2 can move upward, and the position detection system is used to directly or indirectly detect the driving part 11 and the electric batch 2.
- the feeding driving device 1 may be an air cylinder or an electric cylinder, and in this embodiment, the feeding driving device 1 further includes a feed drive motor 12 and a screw rod 13, the screw rod 13 is connected with the motor shaft of the feed drive motor 12, and the feed drive part 11 is sleeved on the screw rod 13 and is connected with the A ball screw pair is formed between the screw rods 13 , and the electric batch 2 is slidably mounted on the screw rod 13 .
- the rotation of the feed drive motor 12 is converted into the linear motion of the feed drive part 11 .
- the elastic member 3 is arranged between the electric batch 2 and the feeding drive part 11 , and the elastic member 3 may be a spring, a spring or a silicone member, etc.
- the elastic member 3 is a spring.
- the spring is sleeved on the screw rod 13 , and the spring connects the electric batch 2 and the feeding drive part 11 .
- the position detection system directly or indirectly detects the position of the batch head 20.
- the position detection system directly detects the distance between the batch head 20 and the screw hole, or indirectly detects other displacements.
- the displacement of the bit head 20 specifically, in the embodiment of the present invention, the feeding driving device 1 includes a stepping motor, and the stepping motor drives the feeding driving part 11 to move linearly through a transmission mechanism,
- the position detection system includes an encoder 41 and a displacement sensor 42, wherein the encoder 41 is used to detect the number of steps of the stepping motor, because the distance between the stepping motor and the feeding driving part 11 is The transmission ratio is fixed, for this reason, the displacement of the feeding drive part 11 in the feeding direction can be obtained according to the number of steps of the stepping motor, and the displacement sensor 42 is used to detect the electric batch 2.
- the displacement sensor 42 includes a grating ruler 421 and a grating 422, wherein the grating ruler 421 is fixedly arranged, and the grating 422 is arranged on the 2, the control device can obtain the displacement of the electric batch 2 in the feeding direction according to the change of the grating 422 on the grating ruler 421.
- the electric batch 2 includes a batch rod sleeve 21 and a batch rod 22, the batch head 20 is provided at the end of the batch rod 22, and the batch rod sleeve 21 is used in the feeding
- the direction can be elastically retracted, the batch rod 22 is arranged in the batch rod sleeve 21, and the batch rod 22 is used to rotate and tighten the screw.
- the batch rod sleeve 21 is closed. The edge of the screw hole moves against the direction of the feeding driving part 11 .
- FIG. 4 is the first embodiment of the control method for screwing into the teeth of the screw-locking machine.
- the control method for screwing into the teeth of the screw locking machine includes:
- Step S10 obtaining the position of the bit head 20, and judging whether the bit head 20 reaches the screw hole to start locking the screw;
- the position of the batch head 20 is directly or indirectly detected by a position detection system, so as to transmit the detected position parameters to the control device.
- the position detection system directly detects the relationship between the batch head 20 and the screw hole. The distance between them can also be indirectly detected by detecting other displacements to detect the displacement of the batch head 20.
- the electric batch 2 is movably connected to the feeding direction in the feeding direction.
- step S10 includes:
- Step S11 in the process of screwing, obtain the displacements S1 and S2 of the driving part 11 and the electric batch 2 in the feeding direction;
- Step S12 Calculate the difference ⁇ S between S1 and S2;
- Step S13 when ⁇ S changes from greater than zero to zero, it is determined that the bit head 20 reaches the screw hole to start screw locking;
- the electric batch 2 In the process of locking the screw, the electric batch 2 is in contact with the edge of the screw hole first. At this time, the bit head 20 of the electric batch 2 has not exposed the lower end of the shell of the electric batch 2. At this time, the The driving part 11 will continue to move in the direction of the screw hole, and the electric batch 2 is limited because it is in contact with the edge of the screw hole, so that there is a relative displacement between the driving part 11 and the electric batch 2 in the feeding direction, As the bit 20 continues to move in the feeding direction, the bit 20 will be exposed to contact with the screw holes, and then the bit 20 will move with the screw in the feeding direction. At this time, the driving part 11 and the electric batch 2 move toward the feeding direction together in the feeding direction, so that it can be judged whether the bit head 20 reaches the screw hole by detecting the relative displacement change between the electric batch 2 and the driving part 11 .
- Step S20 If yes, control the feeding driving device to increase the feed speed of the set increment to perform feeding activities, so as to increase the electronic transmission ratio between the feeding driving device and the electric batch.
- the feed driving device 1 includes a stepper motor, and in step S10, the set increment is the increment of the pulse amount driven by the stepper motor per unit time , in this way, the increase of the pulse amount can be directly controlled to increase the electronic transmission ratio between the feed drive device 1 and the electric batch 2, and the control is more direct and efficient.
- the screw locking machine and the control method for screwing the screw into the teeth provided by the present invention includes: obtaining the position of the bit 20, and judging whether the bit 20 reaches the screw hole Start to lock the screw, if so, control the feed drive device 1 to increase the feed speed of the set increment to carry out the feeding movement, so as to increase the electronic force between the feed drive device 1 and the electric batch 20.
- the transmission ratio obviously the incremental size of the increased electronic transmission ratio, directly determines the pressure applied by the screw to the screw hole, so as to increase the electronic transmission ratio between the feed drive device 1 and the electric batch 20, to control the pressure applied by the screw to the screw hole.
- FIG. 5 is a second embodiment of the control method for screwing into the teeth of a screw locking machine provided by the present invention. Please refer to FIG. 4 and FIGS. 1 to 3 together.
- step S10 include:
- Step S30 Obtain the set increment corresponding to the screw according to the relevant information of the screw: different screws require different pressures when they are locked, for example, different types of screws, such as self-tapping screws, It must be pressed to be locked. For ordinary screws, it is theoretically not necessary to apply pressure. However, because of the problem of manufacturing accuracy or the problem of a little deviation between the screw and the screw hole, in many cases, it is necessary to apply pressure. The ordinary screws are matched with the screw holes. In addition, even if the screws of the same type have different sizes, the corresponding applied pressures are also different. Therefore, in this embodiment, different screws can be preset to have different sizes. Set the increase amount, which can be obtained by experiment.
- the relevant information of the screw includes the type of the screw, and the type of the screw includes a self-tapping screw and a common screw; step S30 includes: when the screw is a self-tapping screw, Obtain a first set increment corresponding to the screw; when the screw is an ordinary screw, obtain a second set increment corresponding to the screw; wherein the first set increment is greater than the set increment. That is to say, in this embodiment, the self-tapping screw must apply pressure before it can be locked, while for ordinary screws theoretically, it does not need to apply pressure, but due to the problem of manufacturing accuracy or the alignment of the screw and the screw hole is a little bit deviated. In many cases, it is still necessary to apply pressure to match the ordinary screw with the screw hole. Usually, the self-tapping screw needs to apply more pressure when locking than the ordinary screw.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Details Of Spanners, Wrenches, And Screw Drivers And Accessories (AREA)
- Control Of Position Or Direction (AREA)
Abstract
一种锁螺丝机及其打螺丝入牙的控制方法，锁螺丝机（100）包括进给驱动装置（1）、电批（2）、位置检测系统和控制装置，进给驱动装置（1）具有在进给方向上可活动设置的驱动部（11），电批（2）包括批头（20），位置检测系统用以直接或者间接地检测批头（20）的位置，控制装置控制锁螺丝机执行锁螺丝机打螺丝入牙的控制方法的步骤：获取批头（20）的位置，判断批头（20）是否达到螺孔处以开始进行锁螺丝，若是，则控制进给驱动装置（1）增加设定增加量的进给速度进行进给活动，以增加进给驱动装置（1）与电批（2）之间的电子传动比，从而通过增加进给驱动装置与电批之间的电子传动比，来对螺丝对螺孔施加压力进行控制。
Description
本发明涉及锁螺丝设备技术领域，尤其涉及一种锁螺丝机及其打螺丝入牙的控制方法。
在制造业，产品装配中螺丝装配即螺丝锁付一直是重要的工序，随着螺丝锁付工件多样化、复杂化程度的不断增加，高效快速精确地进行螺丝锁付的难度越来越大，特别是通讯、电声类产品，产品种类多，产品形状多样化，在流水线末端工站的锁螺丝环节，自动化的程度还比较低，是大规模生产的瓶颈。
在螺丝锁付过程中，螺丝是否可靠入牙是螺丝锁付成功与否的关键环节，因此螺丝初始旋合时螺丝对螺孔所施加压力控制是能够成功锁螺丝的关键，现有技术中，对于螺丝对螺孔所施加压力没有进行有效的控制。
发明内容
本发明提供一种锁螺丝机及其打螺丝入牙的控制方法，在锁螺丝过程当螺丝达到螺孔开始锁螺丝时，通过控制所述进给驱动装置的驱动部增加设定增加量的进给速度进行进给活动，以增加所述驱动部与所述批头之间的电子传动比，以对螺丝对螺孔所施加压力进行控制。
为实现上述目的，本发明提供一种锁螺丝机打螺丝入牙的控制方法，所述锁螺丝机包括进给驱动装置、电批和位置检测系统，所述进给驱动装置具有在进给方向上可活动设置的驱动部，所述电批设于所述驱动部，以被所述驱动部驱动沿着所述进给方向活动，所述电批包括批头，所述位置检测系统用以直接或者间接地检测所述批头的位置，所述锁螺丝机打螺丝入牙的控制方法包括：
获取所述批头的位置，判断所述批头是否达到螺孔处以开始进行锁螺丝；
若是，则控制所述进给驱动装置增加设定增加量的进给速度进行进给活 动，以增加所述进给驱动装置与所述电批之间的电子传动比。
可选地，所述电批在所述进给方向上活动连接于所述驱动部，且具有被限制向远离所述驱动部的方向活动的初始位置，以使得所述电批在所述初始位置与所述驱动部之间来回活动，且所述驱动部与所述电批之间设置有弹性件；
获取所述批头的位置，判断所述批头是否达到螺孔处以开始进行锁螺丝的步骤包括：
在打螺丝过程中，获取所述驱动部和所述电批在所述进给方向的位移S1和S2；
将S1与S2进行求差值ΔS；
当ΔS由大于零变为零时，则判断所述批头达到螺孔处以开始进行锁螺丝。
可选地，若是，则控制所述进给驱动装置增加设定增加量的进给速度进行进给活动，以增加所述进给驱动装置与所述电批之间的电子传动比的步骤之前，包括：
根据螺丝的相关信息，获得与所述螺丝相对应的所述设定增加量。
可选地，所述螺丝的相关信息包括螺丝的类型，所述螺丝的类型包括自攻螺丝和普通螺丝；
根据螺丝的相关信息，获得与所述螺丝相对应的所述设定增加量的步骤，包括：
当所述螺丝为自攻螺丝时，获得与所述螺丝相对应的第一设定增加量；
当所述螺丝为普通螺丝时，获得与所述螺丝相对应的第二设定增加量；
其中，所述第一设定增加量大于所述设定增加量。
可选地，所述进给驱动装置包括步进电机；
若是，则控制所述进给驱动装置的驱动部增加设定增加量的进给速度进行进给活动，以增加所述进给驱动装置与所述电批之间的电子传动比的步骤中，所述设定增加量为驱动所述步进电机驱动的脉冲量在单位时间内的增加量。
本发明还提供一种锁螺丝机，其特征在于，包括：
进给驱动装置，具有在进给方向上可活动设置的驱动部；
电批，设于所述驱动部上，以被所述驱动部驱动沿着所述进给方向活动，所述电批包括批头；
位置检测系统，用以直接或者间接地检测所述批头的位置；以及，
控制装置，与所述进给驱动装置、所述电批以及所述位置检测系统电性连接，所述控制装置包括存储器、处理器及存储在所述存储器上并可在所述处理器上运行的锁螺丝机打螺丝入牙的控制程序，所述锁螺丝机打螺丝入牙的控制程序被所述处理器执行时实现如上述任一项所述的锁螺丝机打螺丝入牙的控制方法的步骤。
可选地，所述电批在所述进给方向上活动连接于所述驱动部，且具有被限制向远离所述驱动部的方向活动的初始位置，以使得所述电批在所述初始位置与所述驱动部之间来回活动，且所述驱动部与所述电批之间设置有弹性件。。
可选地，所述进给驱动装置还包括：
进给驱动电机；以及，
丝杆，与所述进给驱动电机的电机轴连接；
其中，所述驱动部套设于所述丝杆上且与所述丝杆之间形成滚珠丝杆副，所述电批滑动安装于所述丝杆。
可选地，所述进给驱动装置包括步进电机，所述步进电机通过传动机构驱动所述驱动部直线活动；
所述位置检测系统包括：
编码器，用以检测所述步进电机的步数；以及，
位移传感器，用以检测所述电批在进给方向的位移。
可选地，所述位移传感器包括：
光栅尺，呈固定设置；以及，
光栅，设于所述电批，以随同所述电批移动。
本发明提出的锁螺丝机及其打螺丝入牙的控制方法，所述锁螺丝机打螺丝入牙的控制方法包括：获取所述批头的位置，判断所述批头是否达到螺孔处以开始进行锁螺丝，若是，则控制所述进给驱动装置增加设定增加量的进 给速度进行进给活动，以增加所述进给驱动装置与所述电批之间的电子传动比，显然增加的电子传动比的增量大小，直接决定所述螺丝对螺孔施加的压力大小，以通过控制增加所述进给驱动装置与所述电批之间的电子传动比大小，来对螺丝对螺孔所施加压力进行控制。
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图示出的结构获得其他的附图。
图1为本发明提供的锁螺丝机的一实施例的立体示意图；
图2为图1的部分结构的侧视示意图；
图3为图1中锁螺丝机的电批的工作示意图；
图4为本发明提供的锁螺丝机打螺丝入牙的控制方法的第一实施例的流程示意图；
图5为本发明提供的锁螺丝机打螺丝入牙的控制方法的第二实施例的流程示意图；
图6为本发明提供的锁螺丝机打螺丝入牙的控制方法的第三实施例的流程示意图。
附图标号说明：
| 标号 | 名称 | 标号 | 名称 |
| 100 | 锁螺丝机 | 21 | 批杆套 |
| 1 | 进给驱动装置 | 22 | 批杆 |
| 11 | 进给驱动部 | 3 | 弹性件 |
| 12 | 进给驱动电机 | 41 | 编码器 |
| 13 | 丝杆 | 42 | 位移传感器 |
| 2 | 电批 | 421 | 光栅尺 |
| 20 | 批头 | 422 | 光栅 |
本发明目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。
应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明的一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明，若本发明实施例中有涉及方向性指示(诸如上、下、左、右、前、后……)，则该方向性指示仅用于解释在某一特定姿态(如附图所示)下各部件之间的相对位置关系、运动情况等，如果该特定姿态发生改变时，则该方向性指示也相应地随之改变。
另外，若本发明实施例中有涉及“第一”、“第二”等的描述，则该“第一”、“第二”等的描述仅用于描述目的，而不能理解为指示或暗示其相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。另外，各个实施例之间的技术方案可以相互结合，但是必须是以本领域普通技术人员能够实现为基础，当技术方案的结合出现相互矛盾或无法实现时应当认为这种技术方案的结合不存在，也不在本发明要求的保护范围之内。
本发明提供一种锁螺丝机，图1至图3为本发明提供的锁螺丝机的一实施例，请参阅图1至图3，所述锁螺丝机100包括进给驱动装置1、电批2、位置检测系统和控制装置，所述进给驱动装置1具有在进给方向(具体在本实施例中为上下向)上可活动设置的驱动部11，所述电批2设于所述驱动部11，以被所述驱动部11驱动沿着所述进给方向活动，所述电批2包括批头20，所述位置检测系统用以直接或者间接地检测所述批头20的位置，所述控制装置与所述进给驱动装置1、所述电批2以及所述位置检测系统电性连接，所述控制装置包括存储器、处理器及存储在所述存储器上并可在所述处理器上运 行的锁螺丝机打螺丝入牙的控制程序，所述锁螺丝机打螺丝入牙控制程序被所述处理器执行时实现锁螺丝机打螺丝入牙的控制方法，该方法包括：获取所述批头20的位置，判断所述批头20是否达到螺孔处以开始进行锁螺丝；若是，则控制所述进给驱动装置增加设定增加量的进给速度进行进给活动，以增加所述进给驱动装置1与所述电批2之间的电子传动比。
在本申请中“电子传动比”为进给驱动装置1在进行方向上的最小位移n1与电批2在进给方向的最小位移n2之间的比值，即n1：n2为电子传动比，例如，锁螺丝机的进给驱动装置1采用步进伺服系统，则所述进给驱动装置1包括步进电机，所述驱动部11与步进电机轴之间采用滚珠丝杆机构连接，其中丝杆与所述步进电机的电机轴连接，即进给轴使用丝杆的螺距为1.5mm，螺钉的螺距为0.25mm，则两轴的联动比例为6:1，电批的主轴每转6圈，进给轴转1圈。
显然增加的电子传动比的增量大小，直接决定所述螺丝对螺孔施加的压力大小，以通过控制增加所述进给驱动装置1与所述电批2之间的电子传动比大小，来对螺丝对螺孔所施加压力进行控制。
在本实施例中，所述电批2在所述进给方向上活动连接于所述驱动部11，且具有被限制向远离所述驱动部11的方向活动的初始位置，以使得所述电批2在所述初始位置与所述驱动部11之间来回活动，且所述驱动部11与所述电批2之间设置有弹性件3，以在所述电批2受到向所述驱动部11方向的作用力时，所述弹性件3被弹性压制，以使得所述电批2可以向上移动，所述位置检测系统用以直接或者间接检测所述驱动部11和所述电批2在进给方向的移动，如此，在锁螺丝过程中，所述电批2先与螺孔的边缘接触，则此时，所述电批2的批头20还没有露出电批2的壳体的下端，则此时，所述驱动部11会有继续向螺孔方向的位移，而电批2因为与螺孔的边缘接触而被限制，进而使得所述驱动部11与所述电批2在进给方向上存在相对位移，随着批头20的继续在进给方向移动，批头20会露出至螺孔接触，而后，批头20将带螺丝一起在进给方向移动，则此时，所述驱动部11与电批2在进给方向一同向着进给方向活动，如此，可以通过检测所述电批2与驱动部11的相对位移变化，可以判断出批头20是否达到螺孔。
所述进给驱动装置1的具体构造不做限制，在本发明的一些实施例中， 所述进给驱动装置1可以是气缸、电缸，而在本实施例中，所述进给驱动装置1还包括进给驱动电机12和丝杆13，所述丝杆13与所述进给驱动电机12的电机轴连接，所述进给驱动部11套设于所述丝杆13上且与所述丝杆13之间形成滚珠丝杆副，所述电批2滑动安装于所述丝杆13，为此，所述丝杆13和所述进给驱动部11构成的滚珠丝杆13副，将所述进给驱动电机12转动转化为所述进给驱动部11的直线运动。
所述弹性件3设置在所述电批2和所述进给驱动部11之间，所述弹性件3可以是弹片、弹簧或者硅胶件等，在本实施例中，所述弹性件3为弹簧。具体地，在本实施例中，所述弹簧套接与所述丝杆13上，并且，所述弹簧将所述电批2和所述进给驱动部11连接。
所述位置检测系统直接或者间接地检测所述批头20的位置，例如，所述位置检测系统直接检测批头20与螺孔之间的间距，也可以通过检测其他的位移，来间接检测出所述批头20的位移，具体地，在本发明的实施例中，所述进给驱动装置1包括步进电机，所述步进电机通过传动机构驱动所述进给驱动部11直线活动，所述位置检测系统包括编码器41和位移传感器42，其中，所述编码器41用以检测所述步进电机的步数，因为所述步进电机与所述进给驱动部11之间的传动比是固定的，为此，可以根据所述步进电机的步数，获得所述进给驱动部11在所述进给方向上的位移，所述位移传感器42用以检测所述电批2在进给方向的位移，具体地，在本实施例中，所述位移传感器42包括光栅尺421和光栅422，其中，所述光栅尺421固定设置，所述光栅422设置在所述电批2上，所述控制装置可以根据所述光栅422在所述光栅尺421上的变化，获得所述电批2在所述进给方向上的位移。
在本发明的实施例中，所述电批2包括批杆套21和批杆22，所述批头20设于所述批杆22的端部，所述批杆套21在所述进给方向可弹性伸缩设置，所述批杆22设于所述批杆套21内，所述批杆22用以旋转拧紧螺丝，在所述批杆2达到螺丝孔时，所述批杆套21被螺丝孔缘抵顶向所述进给驱动部11的方向活动。
基于上述的锁螺丝机100，本发明还提供一种锁螺丝机打螺丝入牙的控制方法，图4为本发明提供的锁螺丝机打螺丝入牙的控制方法的第一实施例，请参阅图4，并一并参阅图1至图3，所述锁螺丝机打螺丝入牙的控制方法包括：
步骤S10、获取所述批头20的位置，判断所述批头20是否达到螺孔处以开始进行锁螺丝；
具体地，通过位置检测系统直接或者间接地检测所述批头20的位置，以将该检测的位置参数传输给所述控制装置，例如，所述位置检测系统直接检测批头20与螺孔之间的间距，也可以通过检测其他的位移，来间接检测出所述批头20的位移，具体地，在本发明的实施例中，所述电批2在所述进给方向上活动连接于所述驱动部11，且具有被限制向远离所述驱动部11的方向活动的初始位置，以使得所述电批2在所述初始位置与所述驱动部11之间来回活动，且所述驱动部11与所述电批2之间设置有弹性件3，以在所述电批2受到向所述驱动部11方向的作用力时，所述弹性件3被弹性压制，以使得所述电批2可以向上移动，可以通过检测电批2与所述驱动部11之间是否发生相对位移来判断所述批头20是否达到螺孔处以开始进行锁螺丝，具体地，如图5所示，在本发明的一实施例中，步骤S10包括：
步骤S11：在打螺丝过程中，获取所述驱动部11和所述电批2在所述进给方向的位移S1和S2；
步骤S12：将S1与S2进行求差值ΔS；
步骤S13：当ΔS由大于零变为零时，则判断所述批头20达到螺孔处以开始进行锁螺丝；
在锁螺丝过程中，所述电批2先与螺孔的边缘接触，则此时，所述电批2的批头20还没有露出电批2的壳体的下端，则此时，所述驱动部11会有继续向螺孔方向的位移，而电批2因为与螺孔的边缘接触而被限制，进而使得所述驱动部11与所述电批2在进给方向上存在相对位移，随着批头20的继续在进给方向移动，批头20会露出至螺孔接触，而后，批头20将带螺丝一起在进给方向移动，则此时，所述驱动部11与电批2在进给方向一同向着进给方向活动，如此，可以通过检测所述电批2与驱动部11的相对位移变化，可以判断出批头20是否达到螺孔。
步骤S20、若是，则控制所述进给驱动装置增加设定增加量的进给速度进行进给活动，以增加所述进给驱动装置与所述电批之间的电子传动比。在本发明的一实施例中，所述进给驱动装置1包括步进电机，在步骤S10中，所述设定增加量为驱动所述步进电机驱动的脉冲量在单位时间内的增加量，如 此，可以直接控制脉冲量的增加量即可控制增加所述进给驱动装置1与所述电批2之间的电子传动比，控制更为直接且高效。
本发明提出的锁螺丝机及其打螺丝入牙的控制方法，所述锁螺丝机打螺丝入牙的控制方法包括：获取所述批头20的位置，判断所述批头20是否达到螺孔处以开始进行锁螺丝，若是，则控制所述进给驱动装置1增加设定增加量的进给速度进行进给活动，以增加所述进给驱动装置1与所述电批20之间的电子传动比，显然增加的电子传动比的增量大小，直接决定所述螺丝对螺孔施加的压力大小，以通过增加所述进给驱动装置1与所述电批20之间的电子传动比，来对螺丝对螺孔所施加压力进行控制。
图5为本发明提供的锁螺丝机打螺丝入牙的控制方法的第二实施例，请参阅图4，并一并参阅图1至图3，在本发明的实施例中，步骤S10之前还包括：
步骤S30、根据螺丝的相关信息，获得与所述螺丝相对应的所述设定增加量：不同的螺丝在锁付时其需要施加的压力不一样，例如不同类型的螺丝，如自攻螺丝，其必须需要施加压力才可以进行锁付，而对于普通螺丝理论上其不需要施加压力，但因为存在制造精度的问题或者螺丝与螺孔对位有点偏差的问题，很多情况还是需要施加压力才可以将普通螺丝与螺孔进行配合，此外，即使是同一类型的螺丝其不同大小，其对应的施加压力大小也不一样，故而，在本实施例中，可以预设针对不同的螺丝设置有不同的设定增加量，该设定增加量可以通过实验获得。
为此，在本发明的一实施例中，所述螺丝的相关信息包括螺丝的类型，所述螺丝的类型包括自攻螺丝和普通螺丝；步骤S30包括：当所述螺丝为自攻螺丝时，获得与所述螺丝相对应的第一设定增加量；当所述螺丝为普通螺丝时，获得与所述螺丝相对应的第二设定增加量；其中，所述第一设定增加量大于所述设定增加量。也即在本实施例中，自攻螺丝其必须需要施加压力才可以进行锁付，而对于普通螺丝理论上其不需要施加压力，但因为存在制造精度的问题或者螺丝与螺孔对位有点偏差的问题，很多情况还是需要施加压力才可以将普通螺丝与螺孔进行配合，通常情况下，自攻螺丝在锁付时需 要施加的压力比普通螺丝更大。
需要说明的是，在本文中，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者装置不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者装置所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括该要素的过程、方法、物品或者装置中还存在另外的相同要素。
上述本发明实施例序号仅仅为了描述，不代表实施例的优劣。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到上述实施例方法可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质(如ROM/RAM、磁碟、光盘)中，包括若干指令用以使得一台终端设备(可以是手机，计算机，云端服务器，空调器，或者网络设备等)执行本发明各个实施例的方法。
以上仅为本发明的优选实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。
Claims (10)
- 一种锁螺丝机打螺丝入牙的控制方法，其特征在于，所述锁螺丝机包括进给驱动装置、电批和位置检测系统，所述进给驱动装置具有在进给方向上可活动设置的驱动部，所述电批设于所述驱动部，以被所述驱动部驱动沿着所述进给方向活动，所述电批包括批头，所述位置检测系统用以直接或者间接地检测所述批头的位置，所述锁螺丝机打螺丝入牙的控制方法包括：获取所述批头的位置，判断所述批头是否达到螺孔处以开始进行锁螺丝；若是，则控制所述进给驱动装置增加设定增加量的进给速度进行进给活动，以增加所述进给驱动装置与所述电批之间的电子传动比。
- 如权利要求1所述的锁螺丝机打螺丝入牙的控制方法，其特征在于，所述电批在所述进给方向上活动连接于所述驱动部，且具有被限制向远离所述驱动部的方向活动的初始位置，以使得所述电批在所述初始位置与所述驱动部之间来回活动，且所述驱动部与所述电批之间设置有弹性件；获取所述批头的位置，判断所述批头是否达到螺孔处以开始进行锁螺丝的步骤包括：在打螺丝过程中，获取所述驱动部和所述电批在所述进给方向的位移S1和S2；将S1与S2进行求差值ΔS；当ΔS由大于零变为零时，则判断所述批头达到螺孔处以开始进行锁螺丝。
- 如权利要求1所述的锁螺丝机打螺丝入牙的控制方法，其特征在于，若是，则控制所述进给驱动装置增加设定增加量的进给速度进行进给活动，以增加所述进给驱动装置与所述电批之间的电子传动比的步骤之前，包括：根据螺丝的相关信息，获得与所述螺丝相对应的所述设定增加量。
- 如权利要求3所述的锁螺丝机打螺丝入牙的控制方法，其特征在于，所述螺丝的相关信息包括螺丝的类型，所述螺丝的类型包括自攻螺丝和普通 螺丝；根据螺丝的相关信息，获得与所述螺丝相对应的所述设定增加量的步骤，包括：当所述螺丝为自攻螺丝时，获得与所述螺丝相对应的第一设定增加量；当所述螺丝为普通螺丝时，获得与所述螺丝相对应的第二设定增加量；其中，所述第一设定增加量大于所述设定增加量。
- 如权利要求1所述的锁螺丝机打螺丝入牙的控制方法，其特征在于，所述进给驱动装置包括步进电机；若是，则控制所述进给驱动装置增加设定增加量的进给速度进行进给活动，以增加所述进给驱动装置与所述电批之间的电子传动比的步骤中，所述设定增加量为驱动所述步进电机驱动的脉冲量在单位时间内的增加量。
- 一种锁螺丝机，其特征在于，包括：进给驱动装置，具有在进给方向上可活动设置的驱动部；电批，设于所述驱动部上，以被所述驱动部驱动沿着所述进给方向活动，所述电批包括批头；位置检测系统，用以直接或者间接地检测所述批头的位置；以及，控制装置，与所述进给驱动装置、所述电批以及所述位置检测系统电性连接，所述控制装置包括存储器、处理器及存储在所述存储器上并可在所述处理器上运行的锁螺丝机打螺丝入牙的控制程序，所述锁螺丝机打螺丝入牙的控制程序被所述处理器执行时实现如权利要求1至5中任一项所述的锁螺丝机打螺丝入牙的控制方法的步骤。
- 如权利要求6所述的锁螺丝机，其特征在于，所述电批在所述进给方向上活动连接于所述驱动部，且具有被限制向远离所述驱动部的方向活动的初始位置，以使得所述电批在所述初始位置与所述驱动部之间来回活动，且所述驱动部与所述电批之间设置有弹性件。
- 如权利要求7所述的锁螺丝机，其特征在于，所述进给驱动装置还包括：进给驱动电机；以及，丝杆，与所述进给驱动电机的电机轴连接；其中，所述驱动部套设于所述丝杆上且与所述丝杆之间形成滚珠丝杆副，所述电批滑动安装于所述丝杆。
- 如权利要求6所述的锁螺丝机，其特征在于，所述进给驱动装置包括步进电机，所述步进电机通过传动机构驱动所述驱动部直线活动；所述位置检测系统包括：编码器，用以检测所述步进电机的步数；以及，位移传感器，用以检测所述电批在进给方向的位移。
- 如权利要求9所述的锁螺丝机，其特征在于，所述位移传感器包括：光栅尺，呈固定设置；以及，光栅，设于所述电批，以随同所述电批移动。
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110469765.X | 2021-04-28 | ||
| CN202110469765.XA CN113146219B (zh) | 2021-04-28 | 2021-04-28 | 锁螺丝机及其打螺丝入牙的控制方法 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2022227633A1 true WO2022227633A1 (zh) | 2022-11-03 |
Family
ID=76872254
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/CN2021/139570 WO2022227633A1 (zh) | 2021-04-28 | 2021-12-20 | 锁螺丝机及其打螺丝入牙的控制方法 |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN113146219B (zh) |
| WO (1) | WO2022227633A1 (zh) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113146219B (zh) * | 2021-04-28 | 2022-10-18 | 歌尔股份有限公司 | 锁螺丝机及其打螺丝入牙的控制方法 |
| CN115055949A (zh) * | 2022-05-11 | 2022-09-16 | 上海大学 | 一种小型螺轴的自动认向装置 |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070144753A1 (en) * | 2005-12-22 | 2007-06-28 | Microtorq, L.L.C. | Transducerized rotary tool |
| CN111185745A (zh) * | 2020-01-22 | 2020-05-22 | 深圳市顶配自动化技术有限公司 | 一种螺丝的浮锁检测方法 |
| CN111215879A (zh) * | 2020-03-10 | 2020-06-02 | 深圳市森阳智能制造装备有限公司 | 具有深度控制检测功能的螺丝锁付装置 |
| EP3663046A1 (de) * | 2018-12-07 | 2020-06-10 | SWEDEX GmbH Industrieprodukte | Schraubendreheranordnung sowie verfahren zum betrieb einer schraubendreheranordnung |
| CN112388297A (zh) * | 2020-10-27 | 2021-02-23 | 深圳市研控自动化科技有限公司 | 自动锁螺丝方法、螺丝机及存储介质 |
| CN113146219A (zh) * | 2021-04-28 | 2021-07-23 | 歌尔股份有限公司 | 锁螺丝机及其打螺丝入牙的控制方法 |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109702468A (zh) * | 2018-12-25 | 2019-05-03 | 珠海格力智能装备有限公司 | 锁螺丝装置及具有其的锁螺丝系统 |
| CN211361283U (zh) * | 2019-11-01 | 2020-08-28 | 深圳市圆梦精密技术研究院 | 拧螺母装置及其拧螺母机构 |
| CN110814716A (zh) * | 2019-11-01 | 2020-02-21 | 深圳市圆梦精密技术研究院 | 拧螺母装置及其拧螺母机构 |
| CN110919342B (zh) * | 2019-12-27 | 2021-08-13 | 天津大学 | 一种自动打螺丝系统及自动打螺丝机器人 |
| CN112621198B (zh) * | 2020-12-16 | 2022-05-24 | 歌尔光学科技有限公司 | 螺丝锁付机控制方法、装置、设备及存储介质 |
-
2021
- 2021-04-28 CN CN202110469765.XA patent/CN113146219B/zh active Active
- 2021-12-20 WO PCT/CN2021/139570 patent/WO2022227633A1/zh active Application Filing
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070144753A1 (en) * | 2005-12-22 | 2007-06-28 | Microtorq, L.L.C. | Transducerized rotary tool |
| EP3663046A1 (de) * | 2018-12-07 | 2020-06-10 | SWEDEX GmbH Industrieprodukte | Schraubendreheranordnung sowie verfahren zum betrieb einer schraubendreheranordnung |
| CN111185745A (zh) * | 2020-01-22 | 2020-05-22 | 深圳市顶配自动化技术有限公司 | 一种螺丝的浮锁检测方法 |
| CN111215879A (zh) * | 2020-03-10 | 2020-06-02 | 深圳市森阳智能制造装备有限公司 | 具有深度控制检测功能的螺丝锁付装置 |
| CN112388297A (zh) * | 2020-10-27 | 2021-02-23 | 深圳市研控自动化科技有限公司 | 自动锁螺丝方法、螺丝机及存储介质 |
| CN113146219A (zh) * | 2021-04-28 | 2021-07-23 | 歌尔股份有限公司 | 锁螺丝机及其打螺丝入牙的控制方法 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113146219B (zh) | 2022-10-18 |
| CN113146219A (zh) | 2021-07-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2022227633A1 (zh) | 锁螺丝机及其打螺丝入牙的控制方法 | |
| US20140354209A1 (en) | Machine tool and control method therefor | |
| WO2021159581A1 (zh) | 一种电批的控制方法及螺丝锁附装置 | |
| US20180058969A1 (en) | Torque sensing system with wireless two-way communication | |
| CN107076654B (zh) | 可调偏心凸轮流变仪系统 | |
| US20210237218A1 (en) | Machine tool adjustment method and system thereof | |
| WO2024060569A1 (zh) | Scara机器人的臂长参数补偿方法、装置、设备及非易失性可读存储介质 | |
| JP2002273628A (ja) | サーボプレス機のプレス制御装置及び制御方法 | |
| CN109213109A (zh) | 编码器分辨率检测方法 | |
| CN110641462B (zh) | 一种农业机械自动转向方法 | |
| CN106643616A (zh) | 接触式分中测量方法 | |
| US4633920A (en) | Positioning device | |
| JP2019217574A (ja) | 作業支援装置、作業支援方法、作業支援プログラム、締付工具 | |
| JP2760934B2 (ja) | 多関節型ロボットの原点校正方法 | |
| KR100224862B1 (ko) | 로봇 암의 캘리브레이션 장치 및 방법 | |
| CN113001169A (zh) | 锁螺丝机及其打螺丝初始位置的标定方法 | |
| US20240017363A1 (en) | Cutter bending angle detection device, cutter bending machine, and cutter bending angle detection method | |
| CN113001170B (zh) | 锁螺丝机及其打螺丝入牙的判断方法 | |
| CN220729071U (zh) | 一种窗口结构类零件便捷式测量工具 | |
| CN111230863B (zh) | 导轨定位机构、方法、装置、存储介质及导轨定位设备 | |
| TWI715065B (zh) | 擰螺絲系統 | |
| US11772350B2 (en) | Press device, load correction method, and recording medium | |
| US20240051171A1 (en) | Robot system, method, and computer program for performing scraping process | |
| JP3261577B2 (ja) | 刃材曲げ機の刃材送り装置 | |
| TWI606228B (zh) | 自動角度量測裝置及其方法 |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 21939092 Country of ref document: EP Kind code of ref document: A1 |
|
| NENP | Non-entry into the national phase |
Ref country code: DE |
|
| 122 | Ep: pct application non-entry in european phase |
Ref document number: 21939092 Country of ref document: EP Kind code of ref document: A1 |