Locking control system, locking control method and storage device

Abstract

The invention provides a locking control system which is applied to a locking control device. The locking control device comprises a manipulator, a screwdriver, a pressure sensor, a camera, a processor suitable for achieving various instructions, and a storage device suitable for storing the various instructions, wherein the instructions are suitable for being loaded and executed by the processor;the manipulator is controlled to drive the screwdriver to get close to and adsorb a screw; the camera is controlled to take photos for workpieces; the manipulator is controlled to drive the screwdriver to place the screw into a screw hole; the screwdriver is controlled to start to lock the screw in the screw hole and the torsion of the screw is detected in real time, and the pressure sensor is controlled to detect the abut-against pressure borne by the screwdriver in different directions; a corresponding standard torsion curve model is selected, the detected torsion and the selected standardtorsion curve model are compared, and whether locking abnormity happens to the screw or not is judged according to the abut-against pressure; and according to the judgment result, the screwdriver is controlled to perform correcting locking on the screw again. The invention further provides a locking control method and a storage device.

Description

technical field [0001] The invention relates to a locking control system, in particular to a locking control system, a locking control method and a storage device for controlling the locking situation of screws. Background technique [0002] The existing manipulator locking screw equipment is widely used due to its short locking time, high efficiency and less manpower requirement. However, the above-mentioned manipulator screw locking device adopts vacuum adsorption method to take the screw and adopts the point teaching method for positioning. When the manipulator is worn out, the positioning will be inaccurate. At the same time, the torque monitoring curve of the above-mentioned manipulator screw locking device can only It is displayed after the locking is completed to judge defects such as missing lock, locking deviation, and floating lock. The judgment is not timely and reduces the yield rate of locking. Contents of the invention [0003] In view of the above situation...

AI Technical Summary

Problems solved by technology

However, the above-mentioned manipulator screw locking device adopts vacuum adsorption method to take the screw and adopts the point teaching method for positioning. When the manipulator is worn out, the positioning will be inaccurate. At the same time, the torque monitoring curve of the above-mentioned manipulator screw locking device can only It is displayed after the locking is completed to judge defects such as missing locks, locking deviations, and floating locks. The judgment is not timely and reduces the yield of locking

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