Two-in-one screw locking machine and control method thereof

Abstract

The invention discloses a two-in-one screw locking machine and a control method thereof.The two-in-one screw locking machine comprises a machine box, a workbench is arranged in the machine box, and a supporting frame is arranged on the surface of the workbench; the screw feeder comprises a vibrating mechanism and a fixing structure, an outlet is formed in the side edge of the vibrating mechanism, the fixing structure comprises a rotating disc, a plurality of notches are formed in the side edge of the rotating disc at equal intervals, and the notches of the rotating disc are aligned to the outlet of the vibrating mechanism; the screw locking assembly comprises a locking machine head and a detection structure, and the locking machine head and the detection structure are connected with the supporting frame through a sliding assembly; the clamp comprises a first clamping part, a second clamping part and a movable part, the first clamping part is rotationally connected with the second clamping part, and the side face of the movable part is connected with the second clamping part through a guide rod, so that the second clamping part rotates around the joint of the first clamping part and the second clamping part. The screw supply device effectively improves the screw supply stability and accuracy, is high in compatibility and can adapt to assembly of different products.

Description

Technical Field

[0001] The present application relates to the technical field of screw machines, and in particular to a two-in-one screw locking machine and a control method thereof. Background Art

[0002] With the continuous development of industrial automation, especially in the manufacturing fields of electronic products, home appliances and automobiles, the demand for automation of screw locking operations has gradually increased. The existing manual screw locking method is not only inefficient, but also difficult to maintain consistent screw locking quality due to different operators, and is prone to problems such as screw loss and loose tightening. These problems are particularly prominent in large-scale production, seriously affecting production efficiency and product quality. Therefore, the research and development of automatic screw locking machines has become one of the key technologies to solve this problem. Although the existing automatic screw locking equipment has achieved the automation of screw supply and locking processes to a certain extent, it still faces challenges in efficiency, precision and flexibility in practical applications, and urgently needs to be further optimized.

[0003] Existing automated screw locking machines generally use a screw stacking supply system, but this system can hardly guarantee efficient and stable screw supply, especially when faced with complex workpieces or screws of different specifications, which can easily lead to screw blockage or incorrect supply, thus affecting the operating efficiency of the production line. In addition, although some equipment on the market is equipped with automatic clamps and automatic locking structures, in actual operation, these systems lack flexibility and adaptability, especially when it is necessary to handle screws of various specifications and workpieces of different sizes. The existing clamp structure is difficult to adjust quickly, resulting in loose clamping or inaccurate positioning, which directly affects the quality and accuracy of the locking operation. Therefore, how to improve the adaptability and accuracy of the equipment by optimizing the feeding and fixture design has become a key issue in the development of screw locking machine technology. Summary of the invention

[0004] The purpose of the present application is to provide a two-in-one screw locking machine and a control method thereof, so as to solve the technical problems of unstable feeding and difficult clamp adjustment of the existing screw locking machine, which affect the efficiency and accuracy of the automatic screw locking machine.

[0005] To achieve this goal, this application adopts the following technical solutions: A two-in-one screw locking machine, comprising: A chassis, wherein a workbench is arranged inside the chassis, and a support frame is arranged on the surface of the workbench; A screw feeder, which is arranged on the side of the workbench and includes a vibration mechanism and a fixed structure. The side of the vibration mechanism is provided with an outlet. The fixed structure includes a rotating disk. The side of the rotating disk is provided with a plurality of notches at equal intervals. The notches of the rotating disk are aligned with the outlet of the vibration mechanism. The notches of the rotating disk are used to position the screws output from the outlet of the vibration mechanism. A screw locking assembly, comprising a locking head and a detection structure, wherein the locking head is fixedly connected to the detection structure, and the locking head and the detection structure are connected to the support frame via a sliding assembly; A clamp, comprising a first clamping portion, a second clamping portion and a movable portion, wherein the first clamping portion is arranged on the upper surface of the movable portion, a side portion of the first clamping portion is rotatably connected to the second clamping portion, and a side surface of the movable portion is connected to the second clamping portion through a retractable guide rod, so that the second clamping portion rotates around the connection between the first clamping portion and the second clamping portion.

[0006] The present application also provides a control method for a two-in-one screw locking machine, which is used to control the two-in-one screw locking machine described in any one of the above items, comprising the steps of: Obtaining the number of screws in the screw feeder, and adjusting the vibration mechanism in the screw feeder to perform vibration frequency adjustment processing based on the number of screws, so that the screws move from the braking mechanism to the fixed structure; Acquire the product's dimension data based on the photoelectric sensor on the fixture, perform coordinate matching based on the dimension data and the current angle of the fixture, and calculate the optimal clamping angle of the fixture; Acquire the positioning information of the screw on the fixed structure, calculate the locking path of the locking head based on the positioning information, the size data of the product and the optimal clamping angle of the clamp, and control the locking head to perform locking processing according to the locking path; Acquire real-time torque data of the locking machine head based on the sensor on the locking machine head, and acquire image information after locking processing based on the detection structure; A comprehensive evaluation process is performed based on the real-time torque data and image information to obtain a comprehensive evaluation result of the locking state, and the locking machine head is adjusted according to the comprehensive evaluation result.

[0007] Compared with the prior art, this application has the following beneficial effects: The present invention adopts a combined structure of a screw feeder and a rotating disk, which can effectively improve the stability and accuracy of screw supply. Through the cooperation of the vibration mechanism and the rotating disk, the vibration mechanism can ensure that the screws flow smoothly and are accurately positioned through the gap of the rotating disk, thereby avoiding the problems of screw blockage and incorrect supply, and significantly improving the efficiency and stability of the screw supply system; further, through the design of the combination of the movable part and the guide rod, the second clamping part can rotate around the first clamping part, which is convenient for adjustment according to different specifications of the workpiece and the screw, thereby ensuring the rapid adjustment and precise clamping of the fixture, and improving the adaptability and precision of the equipment; further, the design of the screw locking assembly enables the locking head and the detection structure to be more flexibly connected to the support frame through the cooperation of the sliding assembly, further improving the operational stability and accuracy in the screw locking process, making the entire locking process simpler and more efficient, while improving the quality and consistency of the screw locking. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0009] The structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification so as to facilitate understanding and reading by persons familiar with this technology. They are not used to limit the conditions under which this application can be implemented, and therefore have no substantive technical significance. Any structural modification, change in proportion or adjustment of size, without affecting the effects and purposes that can be achieved by this application, should still fall within the scope of the technical contents disclosed in this application.

[0010] Figure 1 This is a schematic diagram of the overall structure of a two-in-one screw locking machine; Figure 2 This is a partial structural diagram of a two-in-one screw locking machine; Figure 3 It is a structural schematic diagram of an embodiment of a screw feeder of a two-in-one screw locking machine; Figure 4 It is a structural schematic diagram of an embodiment of a screw locking assembly of a two-in-one screw locking machine; Figure 5 It is a structural schematic diagram of an embodiment of a clamp of a two-in-one screw locking machine; Figure 6 It is a structural schematic diagram of another embodiment of a clamp of a two-in-one screw locking machine; Figure 7It is a structural schematic diagram of an embodiment of a sliding assembly of a two-in-one screw locking machine; Figure 8 It is a schematic diagram of the overall steps of the control method of the two-in-one screw locking machine.

[0011] Illustration Description: 1. Chassis; 11. Workbench; 12. Support frame; 2. Screw feeder; 21. Vibration mechanism; 22. Fixed structure; 221. Rotating plate; 2211. Notch; 222. Fixed plate; 223. Arc stopper; 3. Screw locking assembly; 31. Locking head; 311. Driving mechanism; 312. Locking head; 313. Rotating bearing; 314. Compression spring; 32. Detection structure; 321. Guide wall; 322. Positioning plate; 323. Slope structure Structure; 324, photoelectric switch; 325, extension plate; 326, industrial camera; 327, positioning ring; 328, hollow ring structure; 4, clamp; 41, first clamping part; 42, second clamping part; 411, round rod; 43, movable part; 44, guide rod; 45, first driving member; 46, limit member; 47, second driving member; 5, sliding assembly; 51, first slide rail; 52, second slide rail; 53, third slide rail; 6, safety grating; 7, air source interface. DETAILED DESCRIPTION

[0012] In order to make the purpose, features, and advantages of the invention of this application more obvious and easy to understand, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the embodiments described below are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0013] In the description of the present application, it should be understood that the terms "upper", "lower", "top", "bottom", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. It should be noted that when a component is considered to be "connected" to another component, it may be directly connected to the other component or there may be a centrally arranged component at the same time.

[0014] The technical solution of the present application is further explained below with reference to the accompanying drawings and through specific implementation methods.

[0015] Reference Figures 1 to 7The present application provides a two-in-one screw locking machine, comprising: a chassis 1, wherein a workbench 11 is arranged inside the chassis 1, and a support frame 12 is arranged on the surface of the workbench 11; a screw feeder 2, wherein the screw feeder 2 is arranged on the side of the workbench 11, and comprises a vibration mechanism 21 and a fixed structure 22, wherein an outlet is arranged on the side of the vibration mechanism 21, and the fixed structure 22 comprises a rotating disk 221, wherein a plurality of notches 2211 are equidistantly arranged on the side of the rotating disk 221, wherein the notches 2211 of the rotating disk 221 are aligned with the outlet of the vibration mechanism 21, and the notches 2211 of the rotating disk 221 are used to position the screws output from the outlet of the vibration mechanism 21; a screw locking machine; The payment component 3 includes a locking payment head 31 and a detection structure 32, wherein the locking payment head 31 is fixedly connected to the detection structure 32, and the locking payment head 31 and the detection structure 32 are connected to the support frame 12 through a sliding component 5; the clamp 4 includes a first clamping part 41, a second clamping part 42 and a movable part 43, wherein the first clamping part 41 is arranged on the upper surface of the movable part 43, and a side part of the first clamping part 41 is rotatably connected to the second clamping part 42, and a side surface of the movable part 43 is connected to the second clamping part 42 through a retractable guide rod 44, so that the second clamping part 42 rotates around the connection between the first clamping part 41 and the second clamping part 42.

[0016] In this embodiment, the chassis 1 is the outer frame of the entire device, and a workbench 11 is provided inside the chassis 1. A support frame 12 is installed on the surface of the workbench 11. The screw feeder 2 includes a vibration mechanism 21 and a fixed structure 22. The vibration mechanism 21 is located on the side of the screw feeder 2 and is provided with an outlet. The vibration mechanism 21 vibrates at a certain frequency and amplitude so that the screws can be smoothly transported along the feeding channel to the next station, that is, the outlet. The fixed structure 22 is composed of a rotating disk 221. The side of the rotating disk 221 is equidistantly provided with a plurality of notches 2211, and these notches 2211 are aligned with the outlet of the vibration mechanism 21. Specifically, whenever the screw passes through the vibration mechanism 21 and the outlet, the notch 2211 on the rotating disk 221 will fix it in a specific position, ensuring that each supplied screw can accurately reach the working position of the locking machine head 31, avoiding the misalignment, falling or clogging of the screw, thereby improving the efficiency and stability of feeding. For example, in the production process, if a smaller screw is used, the vibration mechanism 21 can ensure smooth supply of the screw by adjusting the vibration intensity, and the notch 2211 of the rotating disk 221 effectively prevents the screws of different specifications from being misaligned, thereby achieving compatible supply of screws of different specifications. In the locking process, the locking head 31 is fixedly connected to the detection structure 32, and the detection structure 32 is connected to the support frame 12 through the sliding component 5, so that the entire locking head 31 can be adjusted horizontally or vertically as needed. The design of this sliding component 5 greatly improves the adaptability and flexibility between the locking head 31 and the workpiece. For example, when producing workpieces of different specifications, by adjusting the sliding component 5, the locking head 31 can be accurately positioned in a suitable working position, ensuring the accuracy of the locking angle and depth of the screw. In addition, the detection structure 32 can monitor the screw locking state in real time, detect whether there are unfastened screws or unqualified locking, and automatically adjust the working parameters on this basis, further improving the automation and accuracy of the operation. The clamp 4 is composed of a first clamping portion 41, a second clamping portion 42 and a movable portion 43, wherein the first clamping portion 41 is located on the upper surface of the movable portion 43 and is connected to the second clamping portion 42, and the side of the movable portion 43 is connected to the second clamping portion 42 through a guide rod 44, so that the second clamping portion 42 can rotate around the connection between the first clamping portion 41 and the second clamping portion 42. This structural design allows the clamp 4 to be flexibly adjusted according to the different sizes of the workpiece, ensuring that a stable clamping force can be provided when clamping different workpieces. For example, during the production process, if the workpiece to be locked is small in size, the movable portion 43 can adjust the position of the second clamping portion 42 by rotating, thereby ensuring that the clamping force is concentrated on the key position of the workpiece, avoiding the workpiece sliding or inaccurate positioning caused by improper clamping. When the workpiece size is large, the adjustment function of the clamp 4 can also ensure the clamping stability and positioning accuracy, thereby avoiding the disadvantage that the traditional clamp 4 cannot be quickly adjusted and adapted to workpieces of multiple specifications.

[0017] In summary, this embodiment solves the problems of low efficiency, poor adaptability and low precision in the prior art by optimizing the screw supply system, locking components and fixture 4 structure, ensuring that the two-in-one screw locking machine can operate efficiently and stably in the process of automatic locking of screws of multiple specifications and complex workpieces. For example, when this equipment is used on a production line, it can not only automatically adjust the fixture 4 to adapt to the size of different workpieces, but also ensure the accuracy and stability of the screw supply through the coordination of vibration and rotating disk 221, thereby significantly improving production efficiency and reducing manual intervention and quality fluctuations in the production process. Through the specific design of this embodiment, the equipment can efficiently and accurately complete the automatic screw locking operation, greatly improving the level of automation in industrial production.

[0018] In one embodiment, the screw locking assembly 3 is divided into two groups, which are respectively arranged on both sides of the workbench 11, so that the device can perform locking operations on two different workpieces at the same time, which significantly improves the working efficiency. Each group of locking assemblies includes an independent locking head 31 and a detection structure 32, which are connected to the support frame 12 through their respective sliding assemblies 5, ensuring the independent movement and precise control of the locking head 31. In practical applications, this design allows the device to achieve double production without adding additional operators, improve the throughput of the production line and reduce the labor cost per unit product.

[0019] In one embodiment, reference Figure 7 The sliding assembly 5 includes a first slide rail 51, a second slide rail 52 and a third slide rail 53. The first slide rail 51 is fixedly connected to the support frame 12. The second slide rail 52 is slidably connected to the first slide rail 51, so that the second slide rail 52 reciprocates along the first direction on the first slide rail 51. The third slide rail 53 is slidably connected to the second slide rail 52, so that the third slide rail 53 reciprocates along the second direction on the second slide rail 52. The locking machine head 31 and the detection structure 32 are slidably connected to the third slide rail 53, so that the locking machine head 31 and the detection structure 32 reciprocate along the third direction on the third slide rail 53, so that the locking machine head 31 and the detection structure 32 can reciprocate in three dimensions on the support frame 12.

[0020] In this embodiment, the sliding assembly 5 includes a first slide rail 51, a second slide rail 52 and a third slide rail 53. The first slide rail 51 is fixedly connected to the support frame 12, and it plays a supporting role, providing a stable foundation for the entire sliding system. The second slide rail 52 is slidably connected to the first slide rail 51, and the second slide rail 52 can reciprocate along the first direction (first horizontal direction) under the guidance of the first slide rail 51. The third slide rail 53 is slidably connected to the second slide rail 52, so that the third slide rail 53 can reciprocate along the second direction (second horizontal direction, i.e., depth direction) under the guidance of the second slide rail 52, forming a three-dimensional sliding system, which can realize three-dimensional precise movement of the locking machine head 31 and the detection structure 32. In practical applications, the locking head 31 and the detection structure 32 are both fixed on the third slide rail 53, and can reciprocate along the movement direction (i.e., longitudinal direction) of the third slide rail 53, so that the locking head 31 can not only accurately position in the horizontal and vertical directions when the screw is locked, but also can be fine-tuned in the depth direction to ensure high precision and stability during the screw locking process. Compared with the traditional screw locking machine, this three-dimensional motion system makes the locking operation more flexible and can adapt to workpieces of different shapes, sizes or complexities. Specifically, a support frame 12 is provided on the workbench 11 in the chassis 1, and the support frame 12 provides a stable reference surface to ensure that the sliding component 5 can accurately move along the predetermined trajectory during the screw locking process. The three-dimensional motion system of the sliding component 5 enables the locking head 31 to accurately align the screw hole of the workpiece before each screw locking. Assuming that a workpiece with a complex shape needs to be locked, such as a workpiece with multiple holes or inclined holes, the traditional screw locking machine may not be able to accurately lock because it cannot adjust the depth or angle. The locking head 31 of the sliding assembly 5 can be fine-tuned in three directions according to the different shapes and positioning requirements of the workpiece, thereby greatly improving the accuracy of locking screws. In addition, the locking head 31 can also move toward the screw feeder 2 from multiple directions to absorb the screws.

[0021] In one embodiment, reference Figure 4The detection structure 32 includes a guide wall 321, which is connected to the sliding assembly 5. A positioning plate 322 is provided on the side of the guide wall 321 away from the sliding assembly 5. A slope structure 323 is provided on the side of the positioning plate 322 away from the guide wall 321. A photoelectric switch is provided on the slope structure 323; an extension plate 325, which is fixedly connected to the positioning plate 322. An industrial camera 326 is provided on the side of the extension plate 325. A positioning ring 327 is provided at one end of the extension plate 325 away from the positioning plate 322. A first through hole is provided inside the positioning ring 327. A hollow annular structure 328 is provided on the side of the positioning ring 327 close to the industrial camera 326. The annular edge of the hollow annular structure 328 is provided with a plurality of equidistant second through holes. The diameter of the first through hole is smaller than the lens diameter of the industrial camera 326, and the hollow part of the hollow annular structure 328 is larger than the lens diameter of the industrial camera 326.

[0022] In this embodiment, the detection structure 32 includes a guide wall 321, a positioning plate 322, a photoelectric switch and an extension plate 325. The purpose of the combination of these components is to ensure the accurate locking of the screw. The guide wall 321 is connected to the sliding assembly 5, so that the detection structure 32 can be accurately adjusted with the movement of the locking head 31, thereby ensuring the synchronization and stability of the entire system. During the operation of the screw locking machine, a slope structure 323 is provided on one side of the positioning plate 322, and a photoelectric switch is installed on the slope structure 323. The function of the photoelectric switch is to detect whether the product enters the fixture 4. Once the photoelectric switch detects that the product enters the predetermined position, the subsequent locking action is triggered; the extension plate 325 is fixedly connected to the positioning plate 322, and an industrial camera 326 is provided on the side of the extension plate 325. The function of the industrial camera 326 is to monitor in real time whether the screw is correctly placed in the locking position through visual sensing technology. Through the image processing algorithm, the industrial camera 326 can accurately identify the position of the screw and feed back the data to the control system. If it is found that the screw is not properly aligned or other problems occur, the system will automatically adjust the position of the locking head 31 to ensure that each screw can be accurately locked into the workpiece. A positioning ring 327 is provided at the far end of the extension plate 325, and a first through hole is provided inside the positioning ring 327. The diameter of the first through hole is smaller than the diameter of the lens of the industrial camera 326. This design enables the industrial camera 326 to focus on the locking position of the screw without interference. The function of the positioning ring 327 is to ensure the stability and accuracy of the industrial camera 326, while preventing any external factors from interfering with the image acquisition. A plurality of equidistant second through holes are also provided in the hollow annular structure 328 of the positioning ring 327. The role of the hollow annular structure 328 is to further provide optical support to avoid imaging errors caused by changes in the distance between the lens angle and the workpiece. Through this design, the industrial camera 326 can accurately align the locking point in three-dimensional space, ensuring that the visual recognition system can accurately judge the condition of the screw. The second through hole provided on the annular edge of the hollow structure can achieve more flexible light control, further optimize the working environment of the visual system, and reduce the interference of external light. For example, on some automated production lines, the workpiece may have slight deviations due to various factors (such as processing errors, temperature changes, etc.), resulting in slight deviations in the screw hole positions. If there is no accurate positioning and visual inspection system, the screw locking may fail, causing production stagnation or substandard product quality. Through the detection structure 32 described in this embodiment, the industrial camera 326 can monitor the position of each screw in real time, and adjust the position of the locking head 31 through the feedback system, thereby ensuring that each screw can be accurately locked into the screw hole of the workpiece.It is worth noting that in this embodiment, the locking head 31 and the detection device are arranged adjacent to each other. After the screw hole is positioned by the detection device, the locking head 31 is moved a corresponding distance according to the distance of the adjacent setting to make it work. In another embodiment, the locking head 31 and the detection device can also be set to be separated, and the data exchange between the two can be realized through wireless communication technology. In this design, the locking head 31 can be moved independently of the detection device, and the detection device can be flexibly placed in a more suitable position to accommodate workpieces of different sizes and shapes. The application of wireless communication technology, such as Bluetooth or Wi-Fi, ensures the stability and real-time nature of data transmission, so that the locking head 31 can respond quickly to the instructions of the detection device.

[0023] In one embodiment, reference Figure 4 The locking head 31 includes a driving mechanism 311 and a locking head 312. The driving mechanism 311 is connected to the guide wall 321 through a fourth guide rail. The driving mechanism 311 includes a motor and a connecting shaft. The motor is connected to the locking head 312 through a connecting shaft. The end of the locking head 312 away from the driving mechanism 311 is provided with a screw receiving groove. The size of the screw receiving groove matches the outer diameter of the screw. The outer surface of the locking head 312 is provided with an air outlet interface; a rotating bearing 313, which is arranged on the driving mechanism 311 and the locking head 312, and is sleeved on the connecting shaft, the inner ring of the rotating bearing 313 cooperates with the outer ring of the connecting shaft, and the outer ring of the rotating bearing 313 cooperates with the inner ring of the locking head 312, so that the locking head 312 can rotate around the connecting shaft; a compression spring 314, the compression spring 314 is arranged between the driving mechanism 311 and the rotating bearing 313, and is sleeved on the connecting shaft, and the rotating bearing 313 is provided with a groove corresponding to the compression spring 314 on one side close to the driving mechanism 311.

[0024] In this embodiment, the locking head 31 includes a driving mechanism 311 and a locking head 312. The driving mechanism 311 is mainly composed of a motor and a connecting shaft. The motor provides power to drive the connecting shaft to rotate, and the connecting shaft transmits the rotational power of the motor to the locking head 312. In order to ensure that the locking head 312 rotates in a precise direction, the driving mechanism 311 is connected to the guide wall 321 through a fourth guide rail to ensure that the driving mechanism 311 does not deviate or vibrate during operation. The guide wall 321 provides stable support for the driving mechanism 311 to ensure that it maintains a precise motion trajectory during rotation, thereby improving the accuracy and reliability of locking. The power of the driving mechanism 311 is transmitted to the locking head 312 through the connecting shaft. The locking head 312 is located at one end away from the driving mechanism 311. The locking head 312 includes a screw receiving groove. The size of the receiving groove matches the outer diameter of the screw to ensure that each screw can be accurately received in the locking head 312 to prevent locking failure due to size mismatch. The precise size of the screw receiving groove matches the outer diameter of the screw, so that the screw can stay firmly in the locking head 312, ready for the locking operation. The rotating shaft is located between the driving mechanism 311 and the locking head 312, and the role of the rotating bearing 313 is to enable the locking head 312 to rotate freely around the connecting shaft, thereby realizing the screwing-in action of the screw. The rotating bearing 313 is connected to the connecting shaft and the locking head 312 through the cooperation of its inner ring and outer ring, so that the locking head 312 can rotate around the connecting shaft under the power of the driving mechanism 311 and lock the screw at a suitable angle. In this design, the rotating bearing 313 not only plays the role of transmitting power, but more importantly, by reducing friction, the rotation of the locking head 312 is smoother, ensuring that the screw can be evenly applied during the locking process, thereby avoiding the situation of locking failure or screw damage. The compression spring 314 is located between the driving mechanism 311 and the rotating bearing 313, and is sleeved on the connecting shaft. The function of the compression spring 314 is to provide a certain elasticity to ensure that the locking head 312 can maintain a certain pressure when performing the screw locking action, thereby making the contact between the screw and the workpiece closer. A groove is provided on the side of the compression spring 314 close to the driving mechanism 311. This groove corresponds to the compression spring 314, which can play a buffering role when the compression spring 314 is under pressure to prevent the locking head 312 from being damaged due to excessive compression. The compression spring 314 not only improves the accuracy of locking, but also enhances the durability of the equipment and reduces wear and tear during long-term use. For example, in an automated production line, especially in situations where high-precision screw locking is required, such as electronic product assembly, automobile parts assembly, etc., every detail of the screw locking machine needs to be precisely controlled. The connecting shaft is driven to rotate by the motor, and then the locking head 312 is rotated around the connecting shaft through the rotating bearing 313. The screw is steadily entered into the screw hole of the workpiece under the guidance of the locking head 312.During this process, the reverse pressure provided by the compression spring 314 can ensure that the force of locking the screw is uniform, thereby avoiding loose locking or thread damage caused by excessive or insufficient force.

[0025] In one embodiment, reference Figure 5 and Figure 6 The first clamping part 41 and the second clamping part 42 are both composed of multiple rows of round rods 411, and the round rods 411 include a round shell and a round shaft. The round shells in the same row are connected by the round shaft, and the round shaft includes multiple layers of rings, and gaps are provided between each layer of rings; a groove is provided on the side of the movable part 43, and the groove is used to accommodate a limiter 46. A first driving member 45 is provided on the inner side of the movable part 43, and the output end of the first driving member 45 is connected to the limiter 46, so that the limiter 46 moves back and forth in the groove along the length direction of the movable part 43. The guide rod 44 includes a plurality of rod segments, the ends of which are connected to each other through connecting pieces. One end of the guide rod 44 is connected to a side of the second clamping portion 42 close to the movable portion 43, and the other end of the guide rod 44 is connected to a side of the movable portion 43 and to a second driving member 47 inside the movable portion 43 to limit the rotation angle between the guide rod 44 and the movable portion 43, thereby driving the second clamping portion 42 to rotate around the first clamping portion 41.

[0026] In this embodiment, the clamp 4 includes a first clamping part 41 and a second clamping part 42, both of which are composed of multiple rows of round rods 411, and each row of round rods 411 is composed of a round shell and a round shaft. Such a design makes the clamping part more stable and flexible in structure. The round shaft adopts a multi-layer ring design, and there is a gap between each layer of rings. The purpose of this design is to reduce friction, improve the flexibility and durability between the round rods 411, so as to ensure that the opening and closing action of the clamp 4 is smoother and less susceptible to wear. At the same time, due to the gap between each layer of rings, the overall structure of the circular shaft can also adapt to different operating environments and work intensity, thereby improving the overall stability and service life of the equipment. In order to realize the opening and closing action of the clamp 4, a groove is set on the side of the movable part 43. The function of the groove is to accommodate the limiter 46. The limiter 46 can reciprocate in the groove along the length direction of the movable part 43, ensuring that the first clamping part 41 and the second clamping part 42 can be opened and closed according to a predetermined trajectory, avoiding the clamp 4 from operating errors or equipment damage caused by excessive opening and closing or incomplete opening and closing. The limiting member 46 is connected to the first driving member 45 provided on the inner side of the movable part 43. The first driving member 45 drives the limiting member 46 to move in the groove through its output end, thereby realizing the precise opening and closing of the clamp 4, ensuring that the product can be firmly and accurately clamped during the locking process, while also avoiding the situation of excessive clamping or loosening. Specifically, the first driving member 45 can be an electric motor or a pneumatic device, and its output end is connected to the limiting member 46, and by driving the limiting member 46 to move back and forth in the groove, the opening and closing of the clamp 4 is controlled. The guide rod 44 is formed by connecting a plurality of rod segments, and the ends of the plurality of rod segments are connected to each other through a connecting member, so that the guide rod 44 can smoothly perform mechanical movement under the cooperation of the movable part 43. One end of the guide rod 44 is connected to the second clamping part 42, and the other end is connected to the side of the movable part 43, and is connected to the second driving member 47 in the movable part 43. Driven by the second driving member 47, the guide rod 44 can limit the rotation angle between the movable part 43 and the clamping part, so that the second clamping part 42 can maintain a precise rotation angle when rotating around the first clamping part 41, so as to adapt to products of different lengths. In general, the limiter 46 is suitable for limiting the position of products of different widths, and the guide rod 44 is suitable for products of different lengths. Through precise control in two directions, the clamp 4 can achieve stable clamping of products of various sizes. In one embodiment, a photoelectric sensor is provided on the outer surface of the movable part 43 for detecting the length of the product. The photoelectric sensor detects whether the product reaches the predetermined position by emitting and receiving light, thereby ensuring the precise positioning of the product during the locking process. When the product reaches the specified position, the sensor sends a signal to the control system, and the control system then instructs the first driving member 45 and the second driving member 47 to perform corresponding actions to complete the locking of the product.

[0027] In one embodiment, a groove is provided inside the vibration mechanism 21, the height of the groove matches the diameter of the screw, and the length of the groove is adapted to the feeding path of the screw. The vibration mechanism 21 includes a plurality of electromagnetic vibration devices, both ends of which are connected to a power source through a conductive cable, and the electromagnetic vibration device is fixedly connected to a vibration plate, and the working port of the electromagnetic vibration device faces the surface of the vibration plate, so that the vibration plate can generate horizontal vibration and drive the screw to advance along the groove toward the outlet; the fixed structure 22 also includes a fixed plate 222, and the rotating disk 221 is embedded in the interior of the fixed plate 222, and an arc-shaped limit block 223 is provided on the upper surface of the fixed plate 222, and the arc surface of the arc-shaped limit block 223 faces the center of the rotating disk 221.

[0028] In this embodiment, a groove is provided inside the vibration mechanism 21, the height of the groove matches the diameter of the screw, and the width and depth of the groove are to ensure that the screw can slide freely in the groove and will not get stuck or piled up. The vibration mechanism 21 includes a plurality of electromagnetic vibration devices, both ends of which are connected to the power supply through conductive cables. When the electromagnetic vibration device is working, it will generate a vibration effect through the change of current, thereby driving the connected vibration plate to vibrate. The working port of the vibration plate faces the surface of the groove, so that the vibration force generated by the electromagnetic vibration device can be transmitted to the vibration plate, thereby driving the screw in the groove to move toward the outlet direction. Since the vibration plate can generate horizontal vibration, this vibration mode can efficiently push the screw forward along the groove, while avoiding the risk of screw rolling or uneven distribution due to vertical vibration. Therefore, through the cooperation of the electromagnetic vibration device and the vibration plate, the screw can be pushed along the groove in an orderly manner and finally enter the notch 2211 of the rotating disk 221. For the fixed structure 22, the rotating disk 221 can fix and transport the screws delivered from the vibration mechanism 21. The side of the rotating disk 221 is equidistantly provided with a number of notches 2211, and each notch 2211 is aligned with the outlet of the vibration mechanism 21. The function of these notches 2211 is to fix the screws, so that the screws output from the vibration mechanism 21 can be positioned on the rotating disk 221 and stably enter the locking position. The rotating disk 221 is aligned with the outlet of the vibration mechanism 21, ensuring that each output screw can smoothly enter the corresponding notch 2211 of the rotating disk 221, thereby avoiding the screw from being misplaced or falling. The fixed structure 22 of the rotating disk 221 also includes a fixed plate 222, and the rotating disk 221 is embedded in the fixed plate 222. An arc-shaped limit block 223 is provided on the upper surface of the fixed plate 222, and the arc surface of the arc-shaped limit block 223 faces the center of the rotating disk 221, which is used to prevent the rotating disk 221 from excessive rotation or displacement during operation, thereby ensuring the accuracy and stability of its operation. The arc-shaped limit block 223 limits the rotation angle of the rotating disk 221 by cooperating with the rotating disk 221 , thereby controlling the alignment accuracy between the notch 2211 and the outlet of the vibration mechanism 21 each time the rotating disk 221 rotates.

[0029] In one embodiment, a safety grating 6 is provided on the side of the chassis 1, and the safety grating 6 includes a plurality of photoelectric grating units, and the grating unit is arranged at the upper part of the side of the chassis 1, and the port of the grating unit faces the outside of the chassis 1; an air source interface 7, and the air source interface 7 is arranged at the bottom of the side of the chassis 1, including a gas connecting pipe and a control valve, and the gas connecting pipe is connected to the external air source through a quick connector, and the control valve is arranged at the air source interface 7, and the port of the control valve faces the inside of the chassis 1, which is used to adjust the air source flow.

[0030] In this embodiment, the setting of the safety grating 6 is mainly to ensure the safety of the two-in-one screw locking machine during operation, especially in automated production, where the contact between personnel and machines avoids potential dangers. The safety grating 6 is composed of a plurality of photoelectric grating units. The grating unit detects objects by emitting and receiving light beams. When the photoelectric grating unit on the side of the chassis 1 is installed, its port faces the outside of the chassis 1, which means that these grating units are responsible for monitoring personnel or objects outside the chassis 1. If the operator accidentally approaches the working area of ​​the chassis 1, or any abnormal situation occurs in the machine (such as parts falling, misoperation, etc.), the photoelectric grating will immediately sense it and issue an alarm or automatically stop the operation of the machine through the signal control system, thereby protecting the safety of the operator. Specifically, when the light beam emitted by the grating unit is blocked, the system can immediately stop the machine or trigger the safety mechanism after detecting this change to prevent accidents caused by personnel or objects entering the working area. The air source interface 7 is arranged at the bottom of the side of the chassis 1. Its function is to provide the machine with the required air source power. The air source interface 7 includes a gas connecting pipe and a control valve. The gas connecting pipe is connected to the external air source through a quick connector. This design allows the external air source to be quickly connected to the pneumatic system of the screw locking machine. The operator can connect the external air source device to the pneumatic system inside the chassis 1 through a quick connector. The control valve plays the role of adjusting the air source flow. It is arranged at the air source interface 7, and the port faces the inside of the chassis 1, which is convenient for the user to adjust the airflow during the operation of the equipment and ensure that the pneumatic system in the equipment can work in the best state. The adjustment function of the control valve can control the air flow entering the chassis 1, thereby adjusting the operating state of the pneumatic components inside the machine (such as pneumatic motors, pneumatic clamps 4, etc.) to achieve precise motion control.

[0031] Reference Figure 8 The present application also proposes a control method for a two-in-one screw locking machine, which is applied to any of the two-in-one screw locking machines described above, comprising the steps of: S1: obtaining the number of screws in the screw feeder, and adjusting the vibration mechanism in the screw feeder to adjust the vibration frequency based on the number of screws, so that the screws move from the braking mechanism to the fixed structure; In step S1, the number of screws in the screw feeder is obtained, which can be achieved by installing a sensor on the screw feeder or connected to the feeder. The sensor can monitor the change in the number of screws in real time and inform the control system of the remaining amount of screws in the current feeder through data feedback. The sensor may include a photoelectric sensor, an ultrasonic sensor or a pressure sensor, etc., which provide accurate information to the control system by measuring the number of screws in the feeder. The working state of the vibration mechanism is automatically adjusted according to the number of screws, and the flow speed of the screws is adjusted by changing the vibration frequency or amplitude. If the number of screws in the feeder is large, it means that the load of the vibration mechanism is large, and the control system will reduce the vibration frequency to avoid too many screws from being quickly gathered together, resulting in uneven feeding or screw jamming. On the contrary, when the number of screws is small, the vibration frequency of the vibration mechanism will be appropriately increased to ensure that the screws can be effectively moved and smoothly delivered to the fixed structure, to prevent the feeding speed from being too slow or the screws from reaching the target position due to the low vibration frequency. The adjustment of the vibration frequency is not a simple linear process, and can be dynamically adjusted according to the number of screws in the feeder and the physical properties of the vibration mechanism (such as the relationship between the vibration amplitude, the vibration frequency and the screw flow rate). For example, when there are a large number of screws, too high a vibration frequency may cause the screws to collide with each other, pile up or become congested, so the system will reduce the frequency to optimize the delivery path and flow state of the screws. When there are fewer screws, the system will automatically increase the vibration frequency to increase the flow speed of the screws, thereby improving the production efficiency of the entire screw locking machine and ensuring that the screws can be moved to the fixed structure in a timely and accurate manner to enter the next step of operation.

[0032] S2: Acquire the size data of the product based on the photoelectric sensor on the fixture, perform coordinate matching based on the size data and the current angle of the fixture, and calculate the optimal clamping angle of the fixture; In step S2, the size data of the product is obtained by the photoelectric sensor on the fixture. The sensor detects the size data of the product by emitting and receiving light signals. The photoelectric sensor can accurately measure the size of the product by reflecting or blocking the light beam without contacting the product. The working principle of these sensors is based on the reflection characteristics of light. When the light beam is reflected back to the sensor by the surface of the product, the sensor will calculate the size data of the product based on the intensity of the reflected light, time difference and other parameters. Since the photoelectric sensor can capture the shape and size information of the product with high precision, it can provide key data for subsequent operations. After obtaining the size data of the product, coordinate matching will be performed based on these data combined with the current angle of the fixture. The angle of the fixture refers to the relative angle of the fixture in space. By matching with the size data, the optimal clamping angle that the fixture needs to be adjusted to can be calculated. The calculation of this angle not only involves the shape and size of the product, but also takes into account the way the fixture contacts the product, the uniformity of the clamping force, and the relative position relationship between the fixture and the locking machine head.

[0033] S3: obtaining the positioning information of the screw on the fixing structure, calculating the locking path of the locking head based on the positioning information, the size data of the product and the optimal clamping angle of the clamp, and controlling the locking head to perform locking processing according to the locking path; In step S3, the positioning information of the screw on the fixed structure is obtained, which can be obtained through various sensors and visual detection systems, such as cameras, laser rangefinders or photoelectric sensors, which can accurately measure the position and direction of the screw in the fixed structure. After obtaining the positioning information of the screw, the size data of the product and the optimal clamping angle of the fixture, the control system needs to perform a comprehensive calculation to determine the locking path of the locking head. The locking path refers to the accurate trajectory that the locking head needs to follow when performing the locking operation. The calculation of the path is not just a simple geometric problem, but also involves the precise coordination of mechanics, dynamics and control systems. The calculation of the locking path calculates the optimal motion trajectory of the locking head from the current position to the screw locking into the product hole according to the positioning information, the size data of the product and the optimal clamping angle of the fixture. In addition, the path calculation of the locking head must also take into account the movement limitations of the machine, such as moving speed, acceleration, rotation angle, etc. Specifically, a path optimization strategy based on dynamic programming or genetic algorithm can be used to achieve the optimization of the locking path. The dynamic programming algorithm can predict the optimal path selection based on the current state and historical information, while the genetic algorithm continuously iterates and optimizes the path by simulating the process of natural selection to achieve the purpose of reducing the locking time and improving the locking efficiency. After the path calculation is completed, the control system will generate a detailed locking instruction sequence to guide the locking head to accurately lock according to the predetermined path and speed.

[0034] S4: acquiring real-time torque data of the locking machine head based on the sensor on the locking machine head, and acquiring image information after locking processing based on the detection structure; In step S4, when the locking head performs the locking task, it applies a rotational torque to the screw through a motor or a servo system to complete the locking operation. The locking head is equipped with a high-precision torque sensor, which can detect the rotational torque applied during the locking process, convert it into an electrical signal, and transmit it to the control system. The industrial camera on the detection mechanism can further obtain the image information after the locking process. The image information can help the system determine whether the screw has been completely locked into the lock hole of the product and the accuracy of the locking. The image processing algorithm will analyze these image data, identify the alignment of the screw with the product lock hole, check whether there are problems such as screw position offset and oblique insertion, and even detect whether there are any screws missing or stuck. The image information can also further determine whether the locked product meets the quality standards, such as whether there is obvious thread damage or other signs of improper locking.

[0035] S5: Perform comprehensive evaluation processing based on the real-time torque data and image information to obtain a comprehensive evaluation result of the locking state, and adjust the locking machine head according to the comprehensive evaluation result.

[0036] In step S5, the real-time torque data and image information are comprehensively evaluated and processed to evaluate the locking state, and the locking head is adjusted according to the evaluation results. Specifically, the torque data and image information collected in step S4 are integrated and data processed. Through the data analysis algorithm, it can be determined whether the locking is within the appropriate parameter range and whether there are any abnormalities. For example, if the torque data is too high and the image shows that the screw is not completely locked, the system will judge it as over-tightening or the position of the fixture is wrong; if the torque data is too low and the image shows that the screw has obvious signs of loosening, it means that the locking is incomplete and the torque setting or the fixture angle may need to be adjusted. After combining this information, the system will generate an evaluation report on the locking state and adjust the machine according to the evaluation results. For example, when the system detects an abnormality in a certain link, it will instruct to adjust the torque output of the locking head, or adjust the angle and position of the fixture, or even optimize the entire process by adjusting the vibration frequency of the feeder. In addition, if certain locking tasks have produced adverse results, the system may initiate a self-diagnosis program to analyze whether there is a mechanical failure or operating error, and prompt maintenance personnel to take appropriate measures through troubleshooting.

[0037] In one embodiment, the steps of obtaining the positioning information of the screw on the fixed structure, calculating the locking path of the locking head based on the positioning information, the size data of the product and the optimal clamping angle of the clamp, and controlling the locking head to perform the locking process according to the locking path include: Performing positioning processing on the positioning information of the screw on the fixed structure, extracting the geometric center coordinates and posture data of the screw, and obtaining the positioning coordinate system of the screw; Convert the positioning coordinate system of the screw to the reference coordinate system of the product to obtain the spatial relationship between the relative position of the screw and the product, thereby correcting the offset of the screw relative to the product; The positioning information of the screw is rotated and adjusted according to the angle parameter of the fixture to obtain a new coordinate information, and it is judged whether the new coordinate information meets the optimal clamping condition of the fixture. If not, the fixture angle is recalculated and fine-tuned to obtain the optimal clamping angle; The locking path planning process is performed based on the corrected screw positioning information, the product's dimension data and the optimal clamping angle of the fixture, and the path planning is corrected based on the mobile sensor data to obtain the optimal planned path, and the locking head is controlled to perform locking processing according to the optimal planned path.

[0038] In this embodiment, the geometric center coordinates and posture data of the screw are captured by sensors or image recognition technology to ensure that the specific position and direction of the screw relative to the fixed structure can be accurately obtained, and the positioning coordinate system of the screw is converted to the reference coordinate system of the product, so that the spatial relationship between the screw and the product can be corrected. A mathematical model of coordinate transformation, such as a rotation matrix or a translation matrix, can be used to convert the screw coordinates from a local coordinate system to another global coordinate system. For example, if there is a rotation and translation difference between the fixed structure and the product coordinate system, the conversion formula can be adjusted by the rotation matrix, and the calculated target coordinates will be the exact position of the screw relative to the product. After the conversion, the offset of the screw relative to the product can be accurately known, thereby preparing for the next step of the fixture angle adjustment and path planning. After obtaining the relative position of the screw and the product, the position of the screw is rotated and adjusted according to the angle parameters of the fixture to ensure that the screw can enter the lock hole of the product at the correct angle. This process includes rotating the positioning information of the screw to obtain new coordinate information. The fine adjustment of the fixture angle can be achieved by reverse calculation. If the current angle of the fixture does not match the optimal angle for screw positioning, the system will calculate the optimal angle and make fine adjustments. For example, suppose the current angle of the fixture is 15 degrees, and based on the position of the screw and the lock hole requirements of the product, the optimal fixture angle should be 20 degrees. The system adjusts the fixture angle to ensure the optimal clamping angle of the screw, which ensures that the screw can accurately dock with the lock hole and be locked smoothly. The trajectory of the locking head is dynamically calculated and corrected based on the model algorithm and real-time data. In order to cope with possible errors, the path is adjusted in real time according to the data of the mobile sensor to ensure that the locking head is always in the most appropriate position and angle for locking operations. If a deviation is found in the preset path of the locking head during the path planning process, the path is corrected and the movement trajectory of the head is adjusted through sensor data.

[0039] In one embodiment, the step of performing comprehensive evaluation processing based on the real-time torque data and image information to obtain a comprehensive evaluation result of the locking state, and adjusting the locking machine head according to the comprehensive evaluation result includes: The real-time torque data of the locking machine head is analyzed and processed to obtain a torque waveform curve, and the machine head state is extracted according to the maximum value, minimum value and fluctuation frequency of the torque waveform curve, and the machine head state includes a starting state and a completion state; Using image processing algorithms to perform edge detection and shape recognition on the image data after the locking process, extract the locking state of the screws after locking, and set corresponding image feature weights for each type of the screw locking state, wherein the screw locking state includes at least qualified, deviation and defective; Performing weighted fusion on the state of the machine head and the state of the screw locking, calculating a comprehensive evaluation value based on a fusion algorithm based on Bayesian inference, and determining whether the comprehensive evaluation value is greater than a preset threshold; If it is greater than, maintain the current action state of the locking head and continue to execute the next locking operation; if it is less than, adjust the parameter information of the locking head until the comprehensive evaluation value is greater than the preset threshold, and the parameter information includes at least torque, angle and speed.

[0040] In this embodiment, the real-time torque data of the locking machine head reflects the state of the machine head during the screw tightening process, and the torque waveform curve can provide real-time feedback during the locking process, including the initial start-up state of the locking, the changes when the screw begins to tighten, and the stable stage during the final tightening process. By analyzing these data, key parameters such as the maximum value, minimum value, and fluctuation frequency can be identified, which can reflect the normal working state of the machine head during the tightening process and whether the ideal tightening degree has been achieved. For example, when the screw enters the lock hole and starts to tighten, the torque curve should show a gradually rising trend until the preset torque value is reached. If the curve fluctuates abnormally, it may mean that the screw is not correctly aligned with the lock hole, or the fixture does not clamp the screw correctly. At this time, the system needs to judge whether the machine head is in a normal state based on the change of the torque waveform. The state of the screw after locking is analyzed by an image processing algorithm, including edge detection and shape recognition. Edge detection can help the system identify the outer contour of the screw and determine whether it is in the correct position, while shape recognition can help confirm whether the screw is fully in place and whether there is skew or other defects. For example, by acquiring an image of a screw through an industrial camera, it is possible to identify whether the screw has deviated from the predetermined locking hole position, and to determine whether there is a misalignment of the thread through shape analysis. In addition, the setting of image feature weights enables the system to assign different weights to different locking states (such as qualified, deviation, and defective). These weights reflect the importance of each locking state, so that when making a comprehensive assessment, the system can adjust its decision logic according to the severity of different states. By weighted fusion of real-time torque data and image information, a comprehensive evaluation value can be obtained. The weighted fusion process relies on the Bayesian inference algorithm, which is a mathematical method that combines multiple data sources to obtain the optimal judgment result in the presence of uncertainty and ambiguity. Bayesian inference can infer the most likely situation by calculating the posterior probability based on prior knowledge and new observation data. For example, if during a certain locking process, the torque waveform shows obvious abnormal fluctuations, and the image analysis results show that the screw position deviation is large, the Bayesian inference algorithm will give a lower comprehensive evaluation value based on this information, indicating that there is a problem with the locking process and it needs to be adjusted. On the contrary, if the torque curve is stable and the image processing results show that the screw locking state is normal, the comprehensive evaluation value will be high, indicating that there is no problem with the current locking process and it can continue. When the comprehensive evaluation value is greater than the preset threshold, it is judged that the working state of the current locking head is within the normal range, and no adjustment is required, and the next locking task is directly executed. If the comprehensive evaluation value is less than the preset threshold, it means that there are some deviations or defects in the current locking operation, and the relevant parameters of the locking head will be automatically adjusted according to the comprehensive evaluation results. The adjustment parameters include torque, angle and speed.For example, if the torque value is lower than the preset range, it may be because the fixture does not completely clamp the screw, resulting in insufficient tightening force. The system will automatically increase the torque value. If the image detection finds that the screw is out of position, the system will adjust the fixture angle to ensure that the screw can be tightened at the optimal angle. If the tightening speed is too fast, it may cause incomplete tightening of the screw or damage to the thread. The system will reduce the speed to ensure the tightening quality.

[0041] In one embodiment, the calculation expression of the above comprehensive evaluation value E is: , where E is the final comprehensive evaluation value, which determines whether the locking machine head needs to adjust its operating parameters; N is the total number of evaluation items, including torque evaluation and image evaluation; is the weight of the evaluation item, indicating the relative importance of different evaluation items in the comprehensive evaluation; and They are the weighting coefficients for torque data and image data, respectively, controlling their relative influence in the evaluation. is the processing result for the i-th torque data point, indicating the torque evaluation value; is the processing result for the i-th image data point, representing the image evaluation value. In the calculation, multiple torque values ​​within a certain period of time are collected. These data points represent the torque values ​​applied by the machine head to the screw during the locking process. Then, the average value (mean) of these torque data is calculated. This mean reflects the overall torque level. By calculating the deviation between each torque value and the average value (that is, the degree of fluctuation of each data point), it is possible to understand whether the torque data is stable. If the fluctuation is too large, it may indicate that there are unstable factors in the mechanical movement during the locking process, which may cause the screw to not be locked correctly. Calculate the difference between the maximum and minimum values ​​of the torque in the data, and compare this difference with the set maximum and minimum torque values. This is to determine whether the fluctuation amplitude of the torque is within the allowable range and avoid fluctuations that are too large or too small. In this way, the system can evaluate whether the fluctuation amplitude exceeds a reasonable range. Finally, the fluctuations and deviations of all data points are comprehensively evaluated. If the fluctuation is found to be too large or the deviation is too far, the system will determine that it is a problem in the locking process, and it may be necessary to adjust the torque setting or check the stability of the mechanical equipment. In the image evaluation value In the image analysis, an industrial camera is used to capture images of screws after locking. When analyzing the images, an edge detection algorithm is used to extract information about the screw edges in the image. The clarity of the screw edge is one of the key factors in determining whether the locking is qualified. If the edge of the screw is unclear, it may mean that the screw is not locked correctly or is in the wrong position. A shape recognition algorithm is used to analyze whether the shape of the screw meets the predetermined standards. This includes determining whether the screw is complete, aligned with the lock hole, and whether there are any abnormalities in shape (such as deflection or deformation). If the shape of the screw is found to be inconsistent, the system will determine that the locking has failed or is unqualified. The image evaluation function also assigns different weights to different images based on their importance. For example, images taken from different angles may have different contributions to determining whether the locking is successful. The system adjusts its influence in the final evaluation by assigning appropriate weights to each image. Finally, the edge detection and shape recognition results of each image are combined to obtain an overall evaluation of the locking quality. If most images show that the screw has position deviation or shape abnormality, the system will determine that the locking has failed, otherwise it will be considered successful.

[0042] As described above, the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A two-in-one screw locking machine, characterized in that: include: A chassis (1), wherein a workbench (11) is arranged inside the chassis (1), and a support frame (12) is arranged on the surface of the workbench (11); A screw feeder (2), the screw feeder (2) being arranged on the side of a workbench (11), comprising a vibrating mechanism (21) and a fixing structure (22), the side of the vibrating mechanism (21) being provided with an outlet, the fixing structure (22) comprising a rotating disk (221), the side of the rotating disk (221) being provided with a plurality of notches (2211) equidistantly arranged, the notches (2211) of the rotating disk (221) being aligned with the outlet of the vibrating mechanism (21), the notches (2211) of the rotating disk (221) being used to position screws output from the outlet of the vibrating mechanism (21); A screw locking assembly (3), comprising a locking head (31) and a detection structure (32), wherein the locking head (31) and the detection structure (32) are fixedly connected, and the locking head (31) and the detection structure (32) are connected to the support frame (12) via a sliding assembly (5); A clamp (4), the clamp (4) comprising a first clamping portion (41), a second clamping portion (42) and a movable portion (43), the first clamping portion (41) being arranged on the upper surface of the movable portion (43), a side portion of the first clamping portion (41) being rotatably connected to the second clamping portion (42), and a side portion of the movable portion (43) being connected to the second clamping portion (42) via a retractable guide rod (44), so that the second clamping portion (42) is rotatable around a connection between the first clamping portion (41) and the second clamping portion (42).

2. The two-in-one screw locking machine according to claim 1, characterized in that: The sliding assembly (5) comprises a first slide rail (51), a second slide rail (52) and a third slide rail (53); the first slide rail (51) is fixedly connected to the support frame (12); the second slide rail (52) is slidably connected to the first slide rail (51), so that the second slide rail (52) reciprocates along a first direction on the first slide rail (51); the third slide rail (53) is slidably connected to the second slide rail (52), so that the third slide rail (53) reciprocates along a second direction on the second slide rail (52); the locking machine head (31) and the detection structure (32) are slidably connected to the third slide rail (53), so that the locking machine head (31) and the detection structure (32) reciprocate along a third direction on the third slide rail (53), so that the locking machine head (31) and the detection structure (32) reciprocate in three dimensions on the support frame (12).

3. The two-in-one screw locking machine according to claim 1, characterized in that: The detection structure (32) comprises a guide wall (321), the guide wall (321) being connected to the sliding assembly (5), a positioning plate (322) being provided on a side of the guide wall (321) away from the sliding assembly (5), an inclined surface structure (323) being provided on a side of the positioning plate (322) away from the guide wall (321), and a photoelectric switch being provided on the inclined surface structure (323); An extension plate (325), the extension plate (325) being fixedly connected to the positioning plate (322), an industrial camera (326) being arranged on a side of the extension plate (325), a positioning ring (327) being arranged at one end of the extension plate (325) away from the positioning plate (322), a first through hole being arranged inside the positioning ring (327), a hollow annular structure (328) being arranged on a side of the positioning ring (327) close to the industrial camera (326), a plurality of equidistant second through holes being arranged on an annular edge of the hollow annular structure (328), a diameter of the first through hole being smaller than a lens diameter of the industrial camera (326), and a hollow portion of the hollow annular structure (328) being larger than the lens diameter of the industrial camera (326).

4. The two-in-one screw locking machine according to claim 3, characterized in that: The locking head (31) comprises a driving mechanism (311) and a locking head (312); the driving mechanism (311) is connected to the guide wall (321) via a fourth guide rail; the driving mechanism (311) comprises a motor and a connecting shaft; the motor is connected to the locking head (312) via the connecting shaft; an end of the locking head (312) away from the driving mechanism (311) is provided with a screw receiving groove; the size of the screw receiving groove matches the outer diameter of the screw; and an air outlet interface is provided on the outer surface of the locking head (312); a rotating bearing (313), the rotating bearing (313) being arranged between the driving mechanism (311) and the locking head (312), and being sleeved on the connecting shaft, the inner ring of the rotating bearing (313) being matched with the outer ring of the connecting shaft, and the outer ring of the rotating bearing (313) being matched with the inner ring of the locking head (312), so that the locking head (312) can rotate around the connecting shaft; A compression spring (314), the compression spring (314) being arranged between the driving mechanism (311) and the rotary bearing (313), and being sleeved on the connecting shaft; a groove corresponding to the compression spring (314) is arranged on a side of the rotary bearing (313) close to the driving mechanism (311).

5. The two-in-one screw locking machine according to claim 1, characterized in that: The first clamping portion (41) and the second clamping portion (42) are both composed of multiple rows of round rods (411), the round rods (411) comprising a round shell and a round shaft, the round shells in the same row are connected via the round shaft, the round shaft comprises multiple layers of round rings, and gaps are provided between each layer of round rings; A groove is provided on the side of the movable part (43), the groove is used to accommodate a limiting member (46), a first driving member (45) is provided on the inner side of the movable part (43), an output end of the first driving member (45) is connected to the limiting member (46), so that the limiting member (46) reciprocates in the groove along the length direction of the movable part (43), so as to realize the opening and closing action of the first clamping part (41) and the second clamping part (42); The guide rod (44) comprises a plurality of rod segments, the ends of the plurality of rod segments being connected to each other via a connecting member, one end of the guide rod (44) being connected to a side of the second clamping portion (42) close to the movable portion (43), the other end of the guide rod (44) being connected to a side surface of the movable portion (43) and being connected to a second driving member (47) inside the movable portion (43) so as to limit a rotation angle between the guide rod (44) and the movable portion (43), thereby driving the second clamping portion (42) to rotate around the first clamping portion (41).

6. The two-in-one screw locking machine according to claim 1, characterized in that: The vibration mechanism (21) is provided with a groove inside, the height of the groove matches the diameter of the screw, and the length of the groove is adapted to the feeding path of the screw, the vibration mechanism (21) comprises a plurality of electromagnetic vibration devices, both ends of the electromagnetic vibration devices are connected to a power source via a conductive cable, the electromagnetic vibration devices are fixedly connected to a vibration sheet, and the working port of the electromagnetic vibration device faces the surface of the vibration sheet, so that the vibration sheet can generate horizontal vibration, driving the screw to advance along the groove in a direction toward the outlet; The fixing structure (22) further comprises a fixing plate (222), the rotating disk (221) being embedded in the fixing plate (222), an arc-shaped limit block (223) being provided on the upper surface of the fixing plate (222), and the arc-shaped surface of the arc-shaped limit block (223) facing the center of the rotating disk (221).

7. The two-in-one screw locking machine according to claim 1, characterized in that: A safety grating (6) is arranged on the side of the chassis (1), the safety grating (6) comprising a plurality of photoelectric grating units, the grating units being arranged on the upper part of the side of the chassis (1), and the ports of the grating units facing the outside of the chassis (1); A gas source interface (7), the gas source interface (7) being arranged at the bottom of the side of the chassis (1), comprising a gas connecting pipe and a control valve, the gas connecting pipe being connected to an external gas source via a quick connector, the control valve being arranged at the gas source interface (7), the port of the control valve being oriented toward the interior of the chassis (1), and being used to adjust the gas source flow rate.

8. A control method for a two-in-one screw locking machine, used to control the two-in-one screw locking machine according to any one of claims 1 to 7, characterized in that: Includes steps: Obtaining the number of screws in the screw feeder, and adjusting the vibration mechanism in the screw feeder to perform vibration frequency adjustment processing based on the number of screws, so that the screws move from the braking mechanism to the fixed structure; Acquire the product's dimension data based on the photoelectric sensor on the fixture, perform coordinate matching based on the dimension data and the current angle of the fixture, and calculate the optimal clamping angle of the fixture; Acquire the positioning information of the screw on the fixed structure, calculate the locking path of the locking head based on the positioning information, the size data of the product and the optimal clamping angle of the clamp, and control the locking head to perform locking processing according to the locking path; Acquire real-time torque data of the locking machine head based on the sensor on the locking machine head, and acquire image information after locking processing based on the detection structure; A comprehensive evaluation process is performed based on the real-time torque data and image information to obtain a comprehensive evaluation result of the locking state, and the locking machine head is adjusted according to the comprehensive evaluation result.

9. The control method of the two-in-one screw locking machine according to claim 8, characterized in that: The steps of obtaining the positioning information of the screw on the fixed structure, calculating the locking path of the locking head based on the positioning information, the size data of the product and the optimal clamping angle of the clamp, and controlling the locking head to perform the locking process according to the locking path include: Performing positioning processing on the positioning information of the screw on the fixed structure, extracting the geometric center coordinates and posture data of the screw, and obtaining the positioning coordinate system of the screw; Convert the positioning coordinate system of the screw to the reference coordinate system of the product to obtain the spatial relationship between the relative position of the screw and the product, thereby correcting the offset of the screw relative to the product; The positioning information of the screw is rotated and adjusted according to the angle parameter of the fixture to obtain a new coordinate information, and it is judged whether the new coordinate information meets the optimal clamping condition of the fixture. If not, the fixture angle is recalculated and fine-tuned to obtain the optimal clamping angle; The locking path planning process is performed based on the corrected screw positioning information, the product's dimension data and the optimal clamping angle of the fixture, and the path planning is corrected based on the mobile sensor data to obtain the optimal planned path, and the locking head is controlled to perform locking processing according to the optimal planned path.

10. The control method of the two-in-one screw locking machine according to claim 8, characterized in that: The step of performing comprehensive evaluation processing based on the real-time torque data and image information to obtain a comprehensive evaluation result of the locking state, and adjusting the locking machine head according to the comprehensive evaluation result includes: The real-time torque data of the locking machine head is analyzed and processed to obtain a torque waveform curve, and the machine head state is extracted according to the maximum value, minimum value and fluctuation frequency of the torque waveform curve, and the machine head state includes a starting state and a completion state; Using image processing algorithms to perform edge detection and shape recognition on the image data after the locking process, extract the locking state of the screws after locking, and set corresponding image feature weights for each type of the screw locking state, wherein the screw locking state includes at least qualified, deviation and defective; Performing weighted fusion on the state of the machine head and the state of the screw locking, calculating a comprehensive evaluation value based on a fusion algorithm based on Bayesian inference, and determining whether the comprehensive evaluation value is greater than a preset threshold; If it is greater than, maintain the current action state of the locking head and continue to execute the next locking operation; if it is less than, adjust the parameter information of the locking head until the comprehensive evaluation value is greater than the preset threshold, and the parameter information includes at least torque, angle and speed.

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