Screw installation device, screw installation system and automatic screw installation method

Abstract

The present application relates to the field of automatic installation technology, and specifically provides a screw-on installation device, a screw-on installation system, and a screw-on installation method. The screw-on installation device includes: a screw module, including a screw component for screwing the installation component and a screwing power for driving the screw component to rotate; a material-picking mechanism, which obtains the installation component and moves the installation component to a position to be screwed, so that the installation component and the screw component abut against each other and overlap axially; a first motion mechanism, which drives the screw module to move axially along the screw component; a distance measuring device, which measures the size of the installation component exposed in the installation hole, so that the controller drives or stops the screwing power and the power of the first motion mechanism according to the exposed size. The provided screw-on installation device replaces manual automatic screw-on installation operations, and combines automatic distance measurement to control the installation dimensions, thereby improving efficiency and the accuracy of the installation dimensions, solving the problem of low efficiency and need for improvement in the accuracy of manual stud installation in the prior art.

Description

Technical Field

[0001] This application relates to the technical field of automatic installation, and particularly relates to a screwing installation device, a screwing installation system, and an automatic installation method for screwing parts. Background Art

[0002] In various types of equipment, the process of using screwing connectors such as studs for fastening installation is often involved, and this process is usually manually operated. For example, in wind power generation equipment, the root of the blade needs to be connected to the hub through a large number of double-headed studs. Usually, the staff first installs one end of the double-headed stud onto the flange at the root of the blade, measures the exposed size of the double-headed stud with a tape measure, and makes screwing adjustments according to the measurement results until the exposed size is consistent with the preset size, then this stud is considered qualified for installation. Only after all the studs are installed can the hub be installed. It can be seen that in such an installation process, the studs are manually taken and aligned with the screwdriver, manually screwed and installed, and the installation size of the studs is checked. The efficiency is low, and the installation size is controlled manually, resulting in low precision. Summary of the Invention

[0003] In view of this, the purpose of this application is to provide a screwing installation device to replace manual operation for automatic screwing installation, and combine automatic distance measurement to control the installation size, improving the efficiency and the precision of the installation size, so as to at least to a certain extent solve the problems of low efficiency and low installation precision in the prior art when manually installing studs. This application also provides a screwing system including the above-mentioned screwing installation device, which configures a moving mechanism to drive the screwing installation device to displace, so as to realize the operations of automatic material taking, installation, etc. throughout the process, significantly improving the efficiency and realizing the automatic installation of screwing parts.

[0004] This application provides a screwing installation device on the one hand, including: a screwing module, including a screwing component for screwing a screwing part and a screwing power source for driving the screwing component to rotate; a material taking mechanism for obtaining the screwing part and moving the screwing part to the position to be screwed, so that the screwing part abuts against the screwing component and is axially coincident; a first motion mechanism for driving the screwing module to axially expand and contract and displace along the screwing component; a distance measuring device for measuring the size of the screwing part exposed outside the installation hole, so that the controller drives or stops the screwing power source and the power of the first motion mechanism according to the exposed size.

[0005] In a possible implementation manner, the first motion mechanism includes a first guide rail and a first power source, and both the material taking mechanism and the screwing module are slidably arranged on the first guide rail.

[0006] In a possible implementation, the material taking mechanism includes a material taking module for taking materials, a second motion mechanism for driving the material taking module to perform telescopic displacement in the second direction, and a third motion mechanism for driving the material taking module to perform telescopic displacement in the first direction; wherein, the first direction is parallel to the axial direction of the screwing component.

[0007] In a possible implementation, the material taking module includes a clamping component and a clamping power for driving the clamping component to open and close.

[0008] In a possible implementation, the screwing component includes a screwing rod, one end of the screwing rod has a positioning head, and the positioning head is a clamping head for clamping the mounting part, or a plug inserted into the positioning groove of the mounting part, or an adsorption head adsorbed to the mounting part.

[0009] In a possible implementation, it further includes a fourth motion mechanism for driving the distance measuring device to displace, so that the distance measuring device approaches or moves away from the position to be screwed; both the fourth motion mechanism and the first motion mechanism are connected to the base.

[0010] In a possible implementation, the distance measuring device is a magnetic grating distance measuring ruler.

[0011] On the other hand, the present application further provides a screwing and installing system, including a moving mechanism and the screwing and installing device as described above, and the moving mechanism drives the screwing and installing device to displace between the material taking position and the installation operation position, so that the mounting part located at the position to be screwed is opposite to the target mounting hole position.

[0012] In a possible implementation, it further includes an information collecting device for collecting the position information of the mounting hole, and the control system guides the moving mechanism to drive the screwing and installing device to displace according to the collected position information.

[0013] In a possible implementation, the screwing and installing device has a base connected to the moving mechanism, and the information collecting device is connected to the base.

[0014] In a possible implementation, the moving mechanism is a manipulator, or the moving mechanism includes: a connecting end seat for fixing the screwing and installing device; a fifth motion mechanism for driving the connecting end seat to generate displacement in the horizontal first direction; a sixth motion mechanism for driving the connecting end seat to generate displacement in the horizontal first direction; a seventh motion mechanism for driving the connecting end seat to generate displacement in the vertical direction; and a rotating mechanism for driving the connecting end seat to rotate.

[0015] On the other hand, the present application further provides an automatic installation method for screwing parts based on the screwing and installing system described in any one of the above, including the following steps:

[0016] The screwing and installing device is moved to the material taking position by a moving mechanism.

[0017] The material taking module of the material taking mechanism moves from the position to be screwed to take the material and then returns to the position to be screwed.

[0018] Through position guidance, the moving mechanism drives the screwing and installing position to move to the installation operation position and positions the installation part at the target installation hole position.

[0019] The screwing module screws the installation part forward. The distance measuring device measures the exposed size L1 of the installation part. When the exposed size L2 reaches the preset size L, the screwing module stops screwing forward.

[0020] After the screwing module stops screwing forward, the distance measuring device measures the exposed size L2 of the installation part. The control system calculates the difference between the exposed size L2 and the preset size L, and drives the screwing module to screw the installation part backward until the difference is zero. Among them, the screwing speed when the screwing module screws backward is lower than the screwing speed when screwing forward.

[0021] According to the screwing and installing device provided by the present application, the screwing module automatically performs the screwing action, and the material taking mechanism places the installation part at the position to be screwed. The position to be screwed is the position where the axis of the installation part coincides with the axis of the screwing part and the installation part abuts against the screwing part. Then, the screwing part screws the installation part, and at the same time, the first motion mechanism drives the screwing module to axially move, efficiently installing the installation part into the installation hole. During this process, the distance measuring device measures the exposed size of the installation part in real time. When the exposed size is consistent with the preset target size, the screwing module stops screwing and axially moving in time, and thus the installation part is installed. Then, the material taking mechanism obtains the next installation part and performs the alignment operation and continues the installation. With such a setting, the screwing and installing device provided by the present application replaces manual operation and automatically realizes operations such as moving the installation part to the installation position aligned with the screwing part, screwing and installing, and measuring the size, significantly improving the installation efficiency. It is especially suitable for installation processes with a large number of installation parts, realizing automated installation to a certain extent. And during the installation process, the installation size is automatically measured, which is not only highly efficient but also highly accurate. It can improve the installation accuracy of a single installation part and the consistency of the overall installation size of batch parts, improving the installation accuracy from two aspects. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 Shown is a schematic structural diagram of the screwing and installing device at a first angle in an embodiment of the present application.

[0023] Figure 2 Shown is a schematic structural diagram of the screwing and installing device at a second angle in an embodiment of the present application.

[0024] Figure 3The figure shows a schematic structural diagram of the screwing module and the first motion mechanism in an embodiment of the present application;

[0025] Figure 4 The figure shows a schematic structural diagram of the material taking mechanism in the embodiment of the present application;

[0026] Figure 5 The figure shows a schematic structural diagram of a distance measuring device in an embodiment of the present application;

[0027] Figure 6 Shown is a structural schematic diagram of the material taking module in an embodiment of the present application.

[0028] Figures 1-6 :

[0029] 1. Base; 2. First connecting seat; 31. Positioning head; 32. Twisting power; 33. Floating block; 4. First motion mechanism; 41. First power source; 42. First guide rail; 5. Retrieving module; 51. Clamp; 52. Bearing; 6. Second motion mechanism; 61. Second power source; 62. Second guide rail; 7. Third motion mechanism; 71. Third power source; 72. Third guide rail; 8. Distance measuring device; 9. Fourth motion mechanism; 91. Fourth power source; 92. Fourth guide rail; 10. Information acquisition device. DETAILED DESCRIPTION

[0030] The embodiments of the present application are dedicated to providing a screw-on installation device that replaces manual screw-on installation operations and combines automatic distance measurement to control installation dimensions, thereby improving efficiency and increasing the accuracy of installation dimensions, thereby resolving the problems of low efficiency and need for improvement in the existing manual installation of studs. The embodiments of the present application are also dedicated to providing a screw-on installation system including the screw-on installation device, which automatically retrieves materials, automatically finds installation positions, automatically installs, and controls installation dimensions for a large number of installation parts with different installation positions, significantly improving installation efficiency and installation accuracy, and realizing the automated installation of a large number of installation parts with different installation positions.

[0031] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0032] Please refer to the attached Figures 1-6, embodiments of the present application provide a screwing and installing device, which includes a screwing module, a material taking mechanism, a first motion mechanism 4, and a ranging device 8. The screwing module includes a screwing component for abutting against the installation part and screwing, and a screwing power 32 for driving the screwing component to rotate. The material taking mechanism is used to obtain the installation part and move the installation part to the position to be screwed. The position to be screwed refers to the position where the axis of the installation part coincides with the axis of the screwing component (denoted as the first direction) and the end of the installation part abuts against the screwing end of the screwing component, so as to perform the position alignment operation before screwing. In this way, the material taking mechanism replaces manual labor and completes the operations of obtaining the bolt and aligning the positions of the bolt and the screwing component.

[0033] The first motion mechanism 4 drives the entire screwing module to axially displace along the axis of the screwing component, so that the screwing module axially displaces along the axis of the installation part. During the screwing process, the screwing component always abuts tightly against the installation part for efficient installation. Therefore, after the material taking mechanism moves the installation part to the position to be screwed opposite to the screwing component, the screwing component abuts against the installation part to prepare for the screwing and installation work. When the screwing and installing device is at the target installation position and the installation part is aligned with the target installation hole, the screwing power 32 drives the screwing component to rotate, and the screwing component drives the installation part to rotate, so that the installation part can be screwed into the target installation hole. At the same time, the first motion mechanism 4 drives the screwing module to displace in the direction close to the target installation hole position, so that the screwing module always tightly presses against the installation part, thereby enabling smooth and rapid installation.

[0034] During the process of screwing the installation part, the ranging device 8 measures in real time the size of the installation part outside the target installation hole position, that is, the exposed size. When the exposed size reaches the preset target size, the controller or control system timely stops driving the screwing mechanism, the screwing module stops displacing, and the screwing component also stops rotating. This makes the exposed size of the installed installation part highly accurately match the preset target size, which is very convenient for subsequent connection and installation of the installation part with other components.

[0035] With such a setting, the screwing and installing device provided by the present application can replace manual operations and automatically realize operations such as moving the installation part to the position to be screwed opposite to the screwing component, performing screwing and installation, and measuring the installation size, significantly improving the installation efficiency. It is especially suitable for installation processes with a large number of installation parts, achieving a certain degree of automatic installation. Moreover, during the installation process, the installation size is automatically measured, which is not only highly efficient but also highly accurate. It can improve the installation accuracy of a single installation part and the consistency of the overall installation size of batch parts, improving the installation accuracy from two aspects.

[0036] It should be noted that the operation of placing the screwing and installing device at the target installation position opposite to the position of the target installation hole can be that the moving mechanism automatically moves the screwing and installing device to align it with the installation holes at multiple different positions one by one, or that the moving mechanism drives the component or device to which the installation part needs to be installed to move. For example, when installing a stud on a wind blade, the wind blade can be moved to align the screwing and installing device with the installation holes at multiple different positions one by one. It can also be that the screwing and installing device is manually moved and aligned. For example, the screwing and installing device is fixed to an end seat and can be rotated or moved at the same time. By manually rotating or moving the screwing and installing device, it can be aligned with the installation holes at multiple different positions one by one.

[0037] The controller or control system that drives or stops the screwing mechanism according to the dimensions measured by the distance measuring device 8 can be a component of the screwing and installing device. For example, the screwing and installing device is provided with a controller that is communicatively connected to the distance measuring device 8 to obtain the measured dimension data and is electrically connected to the power of the first motion mechanism 4 and the screwing power 32 to drive or stop the two powers. Alternatively, the above-mentioned controller or control system can be a component of other systems (systems that cooperate with the screwing and installing device, such as the control system of the screwing and installing system in an embodiment below) and establish a communication connection with the distance measuring device 8, the screwing power 32, and the power of the first motion mechanism 4.

[0038] The specific component structure of the screwing and installing device will be described by way of example below.

[0039] In some embodiments, not only is the screwing module driven by the first motion mechanism 4 to displace axially along the screwing component, but also the material taking mechanism displaces along this direction with the first motion mechanism 4. For example, the first motion mechanism 4 includes a first guide rail 42 and a first power source 41. The first guide rail 42 extends along the first direction and is parallel to the axial direction of the screwing component. Both the screwing module and the material taking mechanism are integrally slidably arranged on the first guide rail 42. Specifically, as Figure 1 shown, the screwing and installing device has a base 1 that supports and fixes the first guide rail 42, and also has a first connecting seat 2 that is slidably arranged on the first guide rail 42. Both the screwing module and the material taking mechanism are fixed on the first connecting seat 2. When the first power source 41 is a linear power source, such as a cylinder, denoted as the first cylinder, its telescopic piston rod is connected to the above-mentioned first connecting seat 2 to drive the screwing module and the material taking mechanism to slide along the first direction. When the first power source 41 is a rotational power source, such as a motor, the first guide rail 42 is a lead screw, and the power output shaft is connected to the lead screw to drive the lead screw to rotate, while the first connecting seat 2 is threadedly connected to the lead screw, thereby driving the screwing module and the material taking mechanism to slide.

[0040] With such an arrangement, during the initial screwing stage of the mounting member, the picking mechanism also moves along the axial direction of the mounting member toward the mounting hole. The picking mechanism can also fix the mounting member and release the mounting member after the mounting member enters the mounting hole a certain distance. In this way, the installation can be performed more safely and smoothly, and the mounting member can be prevented from falling. The picking mechanism and the screwing module are synchronously displaced by the first motion mechanism 4, which can maintain high synchronization of displacement, prevent the two from colliding, and also simplify the structure. At the same time, from another perspective, the picking mechanism is fixed relative to the screwing module as a whole, which can enhance to a certain extent the convenience of the picking module 5 of the picking mechanism for fixing the mounting member to move back and forth between the picking position and the position to be screwed. Generally, the initial position of the screwing member can be fixed and matched with the above-mentioned position to be screwed. After the picking mechanism obtains the mounting member, it moves to the position to be screwed, and the alignment operation of the mounting member and the screwing member can be completed.

[0041] like Figure 3 As shown, the screwing component includes a screwing rod, and the screwing end of the screwing rod has a positioning head 31. The positioning head 31 is a clamping head for clamping the mounting part, or a plug embedded in the positioning groove of the mounting part, or an adsorption head adsorbed with the mounting part. It can also be a magnetic plug with a magnetic effect. In this way, the positioning head 31 can clamp the mounting part, or be adsorbed with the mounting part, or be embedded in the positioning groove of the mounting part, which can enhance the stability of the screwing. For example, when the mounting part is a double-headed stud, the positioning head 31 is a plug used to be inserted into the groove of the stud end, such as a flat head or a cross head. Alternatively, the positioning head 31 is a magnetic plug with a magnetic structure or formed by a magnetic part, which can be inserted into the groove of the mounting part and produce an adsorption effect with the mounting part.

[0042] The screwing power 32 and the screwing rod can be connected via a rotating shaft. For example, the power output shaft of the screwing power 32 is in driving connection with the rotating shaft, while the screwing rod is fixed to the rotating shaft. This facilitates replacement of the screwing rod. For example, the screwing rod can be detachably connected to the rotating shaft, so that replacement can be achieved by simply removing the screwing rod.

[0043] In some embodiments, the screwing component includes not only a screwing rod, but also a floating block 33. The positioning head 31 is a plug, and the floating block 33 is sleeved on the screwing rod. Figure 3 As shown, it includes a stop block positioned near the positioning head 31 and a resilient return member with one end abutting against the stop block and the other end abutting against a component that fixes the rotating shaft. The resilient return member can be a compression spring. With this arrangement, when the positioning head 31 is inserted into the positioning slot of a mounting member, such as a stud, the stop block of the floating stop block 33 will abut against the end face of the stud, increasing the area of pressure against the stud and enhancing pressure stability.

[0044] In some embodiments, the screwing power 32 is a motor, such as a forward and reverse motor. With such a setting, on the one hand, it can both tighten screw-like mounting parts, such as studs or screws, in the forward direction and loosen the mounting parts in the reverse direction, facilitating the adjustment of the mounting dimensions. For example, when the screwing mechanism stops working, if the exposed dimension of the mounting part is smaller than the preset target dimension, the mounting part can be screwed in the reverse direction at a low speed, so that the exposed dimension of the mounting part precisely conforms to the preset target dimension with high precision, reducing the mounting error. On the other hand, it enables the screwing and mounting device to also perform the operation of disassembling the mounting part and can accurately control the disassembly dimension of the mounting part through the distance measuring device 8. For example, the above preset target dimension is set as the first target dimension, and a second target dimension is set, where the second target dimension is smaller than the first preset target dimension. When, during the disassembly process, the exposed dimension of the mounting part measured by the distance measuring device 8 reaches the second target dimension, the mounting part is about to completely exit the mounting hole. The controller timely reduces the screwing speed and drives the material taking mechanism to move to clamp or adsorb the mounting part to prevent the mounting part from falling, and then transports the mounting part back to the material pile. Equivalently, the rotary mounting device can realize the operations of automatic installation and automatic disassembly, which can significantly improve the automation degree of the installation process.

[0045] In some embodiments, as Figure 4 shown, the material taking mechanism includes a material taking module 5, a second motion mechanism 6 and a third motion mechanism 7. The second motion mechanism 6 drives the material taking module 5 to displace along the second direction, so that the material taking module 5 can move to the position where the materials are centrally placed to clamp the mounting part or move to a certain position to receive the mounting part, and can carry the mounting part to a position where the mounting part is axially aligned with the screwing part and has a gap with the screwing part. The third motion mechanism 7 drives the material taking module 5 to perform telescopic displacement along the first direction, and the first direction is the axial direction of the above-mentioned screwing part and also the installation direction of the mounting part. In this way, the third motion mechanism 7 drives the mounting part to approach the screwing part and moves to the above-mentioned position to be screwed, so that the end of the mounting part abuts against the positioning head 31 of the screwing part.

[0046] Among them, usually the second direction is perpendicular to the first direction. For example, when the first direction is the horizontal direction, the second direction is the vertical direction, and the screwing mechanism performs horizontal installation while the material taking mechanism performs vertical material taking.

[0047] In some embodiments, the material taking module 5 includes a clamping member and a clamping power for driving the clamping member to open and close, so that the clamping member can clamp or release the material. With such a setting, in the present application, the material taking module 5 clamps the material by clamping. In combination with the second motion mechanism 6 and the third motion mechanism 7, when the material taking module 5 clamps the material, it can move in two directions, such as the horizontal and vertical directions, which is more convenient for adjusting the position and more convenient for clamping the material, enabling the material taking mechanism to clamp the material from a fixed position where the material is stacked, without the need for other mechanisms to cooperate to supply the material to the material taking mechanism. Moreover, the material taking component is a clamping member, rather than other components such as an adsorption component, which is convenient for cooperating with the screwing component. The clamping member will not collide with the screwing module, so there is no need to set up avoidance for the clamping member and the screwing component.

[0048] In some embodiments, the material taking module 5 is a clamping jaw cylinder, and the clamping jaws of the clamping jaw cylinder form the above-mentioned clamping member. The cylinder body drives the clamping jaws to open and close to clamp the material. Using the clamping jaw cylinder as the material taking module 5, the opening and closing action is smooth and durable enough to support multiple repeated opening and closing actions. Of course, in other embodiments, the material taking module 5 can also be composed of two opposite components and a power for driving the two components to move towards or away from each other respectively. Or, it can also be formed by a suction cup and a component for pumping air or releasing air.

[0049] In some embodiments, as Figure 6 shown, the material taking module 5 includes clamping jaws, and inside the clamping jaws, a rolling unit is provided that abuts against the mounting member. In some embodiments, the rolling unit includes a clamping plate 51 connected to the clamped jaw arm, a flaring groove provided on the clamping plate 51, and a bearing 52 rotatably provided on the side wall of the flaring groove, and the outer wall of the bearing 52 is used to abut against the mounting member. Specifically, the clamping jaws include two oppositely arranged jaw arms, and two clamping plates 51 are provided and are respectively fixedly connected to the two jaw arms. When clamping the material, the two clamping plates 51 open and close along with the clamping jaws to grab the material. One side of the clamping plate 51 is connected to the jaw arm, and the other side has a flaring groove. The distance between the two side walls of the flaring groove gradually increases. A set of bearings 52 are respectively provided on the two side walls of the flaring groove, and each set includes two bearings 52 arranged along the length direction of the flaring groove. The outer wall of the bearing 52 protrudes from the side wall of the flaring groove. Thus, when clamping the material, the two flaring grooves enclose a space for clamping the mounting member, and the outer wall of the mounting member abuts against the outer wall of the bearing 52. When the screwing component screws the mounting member and the material taking module 5 does not release the mounting member, the mounting member rotates relative to the clamping jaws. Therefore, when the clamping plates 51 and the bearings 52 are provided inside the clamping jaws, the friction between the mounting member and the bearings 52 is rolling friction, which can significantly reduce the friction force and avoid affecting the screwing.

[0050] The second moving mechanism 6 includes a second power source 61 and a second guide rail 62 extending in the second direction. The third moving mechanism 7 includes a third power source 71 and a third guide rail 72 extending in the first direction. The material taking module 5 is slidably arranged on the second guide rail 62 through a second connecting seat and is displaced by the second power source 61. The material taking module 5 and the second moving mechanism 6 are integrally slidably arranged on the third guide rail 72 through a third connecting seat, and the third guide rail 72 is fixed on the first connecting seat 2; alternatively, the material taking module 5 and the second moving mechanism 6 are connected to one end of the third guide rail 72 through a third connecting seat, and the third guide rail 72 is slidably arranged relative to the third power source 71. The third power source 71 drives the material taking module 5 and the second moving mechanism 6 to displace.

[0051] The second moving mechanism 6 and / or the third moving mechanism 7 may include a cylinder and a linear optical rail, or may include a motor and a lead screw. As Figure 1 and Figure 4 shown, the material taking module 5 is a clamping jaw cylinder, the second power source 61 is a second cylinder, and the third power source 71 is a third cylinder. The cylinder body of the clamping jaw cylinder is slidably arranged on the second guide rail 62 through a second connecting seat, and the piston rod of the second cylinder is connected to the cylinder body of the clamping jaw cylinder and drives the clamping jaw cylinder to displace along the second guide rail 62. The cylinder body of the second cylinder is fixedly connected to one end of the third guide rail 72 through a third connecting seat, the piston rod of the third cylinder is fixedly connected to the third connecting seat, and the third guide rail 72 is slidably arranged relative to the cylinder body of the third cylinder.

[0052] In some embodiments, the screwing and installing device further includes a fourth moving mechanism 9 that drives the distance measuring device 8 to displace, so that the distance measuring device 8 approaches or moves away from the above-mentioned screwing position. The fourth moving mechanism 9 is fixed on the base 1, so that the distance measuring device 8 can move relative to the screwing module and the material taking module 5.

[0053] For example, the fourth moving mechanism 9 is provided with a fourth guide rail 92 extending in the first direction and a fourth power source 91. The fourth guide rail 92 is fixed on the base 1, and the fourth power source 91 drives the distance measuring device 8 to displace in the first direction, which can not only avoid and prevent interference and obstruction to the movement of the material taking module 5, but also streamline the movement directions of each component and simplify the structure. The fourth power source 91 may be a fourth cylinder, which is slidably arranged relative to the fourth guide rail 92. The distance measuring device 8 is fixedly connected to the cylinder body of the fourth cylinder, and the piston rod of the fourth cylinder is fixedly arranged relative to the fourth guide rail 92.

[0054] Specifically, the distance measuring device 8 may be a magnetic grating distance measuring ruler. As Figure 5 shown, the magnetic grating distance measuring ruler is arranged in the first direction. In this way, as the installation part is screwed into the installation hole, the magnetic grating distance measuring ruler can quickly and accurately measure the exposed size of the installation part outside the hole. Of course, the distance measuring device 8 may also be a laser scanner, a vision camera, an infrared distance measuring instrument, etc.

[0055] As Figure 1 shown, in some embodiments, the first connecting seat 2 includes a bottom plate slidably disposed on the first guide rail 42, a vertical plate erected on the bottom plate, and a horizontal plate connected to the vertical plate. The bottom plate, the horizontal plate, and the base 1 extend in the same direction and all extend along the first direction. The screwing power 32 is fixed on the vertical plate and located on the first side of the vertical plate, and its power output shaft penetrates the vertical plate and is connected to the positioning head located on the second side of the vertical plate. The material taking mechanism is fixed on the horizontal plate. For example, the third cylinder is fixed on the horizontal plate. The material taking module 5 is located on the second side of the vertical plate.

[0056] An embodiment of the present application further provides a screwing and installing system, including the screwing and installing device as described in any one of the above and a moving mechanism for driving the displacement of the screwing and installing device. The moving mechanism drives the screwing and installing device to displace between the material taking position and the installation operation position to position each installation part to a position opposite to the target installation hole position. Then, when installing a large number of installation parts with different installation positions, the entire screwing and installing device automatically makes multiple round trips between the material taking position and many target installation hole positions by the moving mechanism, and the moving mechanism can move the screwing and installing device to the target installation hole position, realizing the alignment of the installation part, the screwing and installing device, and each installation hole position. The entire screwing and installing system realizes a series of installation operations such as automatic material taking, positioning to the corresponding target installation hole position, automatic alignment and installation, and automatic distance measurement, can install a large number of installation parts one by one into different positions, has a high degree of automation and high efficiency, and realizes the automation of the installation process.

[0057] In some embodiments, the screwing and installing system includes an information acquisition device 10 for acquiring the position information of the installation holes. The control system of the screwing and installing system drives and guides the moving mechanism to drive the displacement of the screwing and installing device according to the acquired position information, so that the installation part obtained by the material taking mechanism, that is, the installation part already located at the position to be screwed, is opposite to the target installation hole position. In this way, instead of manual work, the operation of positioning each installation part to the corresponding installation hole, axially coinciding with the installation hole, and being opposite to the installation hole is completed. Then, the first moving mechanism 4 drives the screwing module to displace, and the screwing power 32 drives the screwing component to screw to perform the installation.

[0058] Specifically, the information acquisition device 10 may be a vision camera, and photographs a device with many installation holes, such as a wind blade, to obtain the positions of each installation hole. In other embodiments, the information acquisition device 10 may also be a laser scanner.

[0059] The moving mechanism has a connection end seat for fixing the screwing installation device, a fifth motion mechanism for driving the connection end seat to displace in the first horizontal direction, a sixth motion mechanism for driving the connection end seat to displace in the second horizontal direction, a seventh motion mechanism for driving the connection end seat to displace in the vertical direction, and a rotation mechanism for driving the connection end seat to rotate. In this way, the moving mechanism can drive the screwing installation device to perform displacements in the first horizontal direction, the second horizontal direction, and the vertical direction, and can adjust the angle of the screwing installation device, which is suitable for installation working conditions with a large installation area and a wide distribution of installation holes.

[0060] The base 1 of the screwing installation device is fixedly connected to the connection end seat of the moving mechanism. The above-mentioned material taking mechanism, screwing module, first motion mechanism 4, and ranging device 8 are all arranged on the base 1. In some embodiments, the information acquisition device 10 is also arranged on the base 1. In this way, the information acquisition device 10 and the screwing installation device are integrated together, which is convenient for manufacturing and also convenient for integrally connecting to the connection end seat of the moving mechanism; and the information acquisition device 10 is located at the moving end of the moving mechanism, which is convenient for moving to acquire position information and can also acquire position information over a wider area.

[0061] As Figure 1 shown, when the screwing installation device is placed in the direction shown in the figure, the first direction is the horizontal direction. The first motion mechanism, the screwing module, the ranging device, the fourth motion mechanism, and the material taking mechanism are all connected to the first side of the base, and the information acquisition device is connected to the second side of the base opposite to the first side.

[0062] The moving mechanism can be a manipulator, which realizes the displacement of the end, that is, the connection end seat, in multiple directions through at least four motors or through six motors and multiple arm joints. Or, the moving mechanism can include a fifth motion mechanism, a sixth motion mechanism, a seventh motion mechanism, and a rotation mechanism. The fifth motion mechanism drives the connection end seat to generate a displacement in the first horizontal direction, the sixth motion mechanism drives the connection end seat to generate a displacement in the second horizontal direction, the seventh motion mechanism drives the connection end seat to generate a displacement in the vertical direction, and the rotation mechanism drives the connection end seat to rotate.

[0063] Among them, the fifth motion mechanism, the sixth motion mechanism, and the seventh motion mechanism can all be sliding mechanisms. For example, the fifth motion mechanism is a first lead screw module arranged along the first horizontal direction, the sixth motion mechanism is a second lead screw module arranged along the second horizontal direction, and the seventh motion mechanism is a third lead screw module arranged in the vertical direction. The lead screw module refers to a combined module of a motor and a lead screw, and the motor drives the slider on the lead screw to slide. The second lead screw module is fixed on the slider of the first lead screw module, the third module is fixed on the slider of the second lead screw module, and the rotation mechanism is fixed on the slider of the third lead screw module.

[0064] Alternatively, the fifth, sixth, and seventh motion mechanisms are cylinder guide rail modules. A cylinder guide rail module refers to a module that includes a guide rail and a cylinder, and the cylinder can drive a component to slide on the guide rail. The fifth motion mechanism includes a fifth cylinder and a fifth guide rail extending along a first horizontal direction. The sixth motion mechanism includes a sixth cylinder and a sixth guide rail extending along a second horizontal direction. The seventh motion mechanism includes a seventh cylinder and a seventh guide rail extending along a vertical direction. The rotating mechanism is slidably disposed on the fifth guide rail and is driven by the fifth cylinder to slide. The entire fifth motion mechanism is slidably disposed on the sixth guide rail and is driven by the sixth cylinder to displace the rotating mechanism. The entire sixth motion mechanism is slidably disposed on the seventh guide rail and is driven by the seventh cylinder to displace the entire fifth motion mechanism and the rotating mechanism.

[0065] The rotating mechanism includes a rotating power source and a rotating shaft. The rotating power source is a motor or a rotating cylinder.

[0066] This application also provides an embodiment for elaborating on the automatic installation method of the screwing component. The automatic installation method of the screwing component in this embodiment is a method implemented based on the screwing installation system described in the above embodiment. Specifically, this method includes the following steps:

[0067] S01, Move the screwing installation device to the material taking position through the moving mechanism.

[0068] S02, The material taking mechanism moves from the position to be screwed to take the material and then returns to the position to be screwed.

[0069] S03, Through position guidance, the moving mechanism drives the screwing installation position to move to the installation operation position and guides the material taking mechanism to position the installation part at the target installation hole position.

[0070] S04, The screwing module screws the installation part forward. The distance measuring device 8 measures the exposed dimension L1 of the installation part. When the exposed dimension L2 reaches the preset dimension L, the screwing module stops screwing forward.

[0071] S05, After the screwing module stops screwing forward, the distance measuring device 8 measures the exposed dimension L2 of the installation part. The control system calculates the difference between the exposed dimension L2 and the preset dimension L, and drives the screwing module to screw the installation part backward until the difference is zero. Among them, the screwing speed when the screwing module screws backward is lower than the screwing speed when screwing forward.

[0072] In actual operation, the preset dimension L is not greater than the required exposed dimension.

[0073] In this way, during the automatic installation of a screwing component such as a stud, not only is the exposed dimension of the installation measured in real time by the distance measuring device 8, but also during the screwing operation, the installation part is screwed in with an overtravel and then loosened. Through this screwing method, to a certain extent, the exposed length of the stud can more accurately meet the required target dimension.

[0074] The basic principles of the present application have been described in conjunction with specific embodiments. However, it should be noted that the advantages, benefits, effects, etc. mentioned in the present application are only examples and not limitations. It cannot be considered that these advantages, benefits, effects, etc. are essential for each embodiment of the present application. Additionally, the specific details disclosed above are only for illustrative and facilitating understanding purposes, rather than limitations. These details do not limit the present application to necessarily implementing with the above specific details.

[0075] The components and devices involved in the present application are only illustrative examples and do not intend to require or imply that they must be connected, arranged, and configured in the manner shown in the drawings. As those skilled in the art will recognize, these components and devices can be connected, arranged, and configured in any way. Words such as "including", "comprising", "having", etc. are open-ended terms, meaning "including but not limited to", and can be used interchangeably with each other. The word "or" and "and" used here refer to the phrase "and / or", and can be used interchangeably with it, unless the context clearly indicates otherwise. The word "such as" used here refers to the phrase "such as but not limited to", and can be used interchangeably with it.

[0076] It should be noted that in the devices, equipment, and methods of the present application, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent solutions of the present application.

[0077] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects are very obvious to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to the broadest scope consistent with the principles and novel features disclosed herein.

[0078] It should be understood that the qualifiers "first", "second", "third", "fourth", "fifth", "sixth", and "seventh" used in the description of the embodiments of the present application are only for more clearly elaborating the technical solutions and cannot be used to limit the protection scope of the present application.

[0079] The above description has been given for purposes of illustration and description. In addition, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions, and sub-combinations thereof.

[0080] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. A screwing and installing device, characterized in that, Comprising: A screwing module, including a screwing component for screwing an installation part and a screwing power for driving the screwing component to rotate; A material taking mechanism, which acquires the installation part and moves the installation part to the position to be screwed, so that the installation part abuts against the screwing component and is axially coincident; and the material taking mechanism includes a jaw cylinder, a jaw cylinder for taking materials, a second motion mechanism for driving the jaw cylinder to perform telescopic displacement in a second direction, and a third motion mechanism for driving the jaw cylinder to perform telescopic displacement in a first direction, wherein the first direction is parallel to the axis of the screwing component; the jaw cylinder includes jaws and a rolling unit, and the rolling unit includes a clamping plate connected to the jaw arm of the jaw, a flaring groove arranged on the clamping plate, and a bearing rotatably arranged on the side wall of the flaring groove, and the outer wall of the bearing is used for abutting against the installation part; A first motion mechanism, including a first guide rail arranged along the first direction and parallel to the axis of the screwing component, a first connecting seat arranged on the first guide rail, and a first power source for driving the first connecting seat to move, and the material taking mechanism and the screwing module are both arranged on the first connecting seat to perform telescopic displacement along the axis of the screwing component under the drive of the first power source; A ranging device, which measures the size of the installation part exposed outside the installation hole, so that the controller drives or stops the screwing power and the power of the first motion mechanism according to the exposed size.

2. The screwing and mounting device according to claim 1, characterized in that, The screwing component includes a screwing rod, and one end of the screwing rod has a positioning head, and the positioning head is a clamping head for clamping the installation part, or a plug inserted into a positioning groove of the installation part, or an adsorption head for adsorbing the installation part.

3. The screwing and mounting device according to claim 2, characterized in that The screwing component further includes a floating abutting block, the floating abutting block is sleeved on the screwing rod, and includes an abutting block arranged close to the positioning head, and a reset elastic member with one end abutting against the abutting block and the other end abutting against the component fixing the screwing rod.

4. The screwing and mounting device according to claim 1, wherein It further includes a fourth motion mechanism for driving the ranging device to displace, so that the ranging device approaches or moves away from the position to be screwed; the fourth motion mechanism and the first motion mechanism are both connected to the base.

5. The screwing and installing device according to claim 1, characterized in that The ranging device is a magnetic grating ranging ruler.

6. A screwing installation system, characterized in that, Comprising a moving mechanism and the screwing and installing device according to any one of claims 1-5, and the moving mechanism drives the screwing and installing device to displace between the material taking position and the installation operation position, so that the installation part located at the position to be screwed is opposite to the target installation hole position.

7. The screwing installation system according to claim 6, wherein, It further includes an information acquisition device for acquiring the position information of the installation hole, and the control system guides the moving mechanism to drive the screwing and installing device to displace according to the acquired position information.

8. The screwing installation system according to claim 7, characterized in that, The base of the screwing and installing device is connected to the moving mechanism, and the information acquisition device is connected to the base.

9. The screwing installation system according to claim 6, characterized in that, The moving mechanism includes: A connecting end seat for fixing the screwing and installing device; A fifth motion mechanism for driving the connecting end seat to generate displacement in a horizontal first direction; A sixth motion mechanism for driving the connecting end seat to generate displacement in a horizontal second direction; A seventh motion mechanism for driving the connecting end seat to generate displacement in the vertical direction; A rotating mechanism for driving the connecting end seat to rotate.

10. An automatic installation method for a screwing part of the screwing installation system according to any one of claims 6-9, characterized in that, Comprising the following steps: The screwing and installing device is moved to the material taking position by the moving mechanism. The material taking module of the material taking mechanism moves from the position to be screwed to take the material and then returns to the position to be screwed. Under position guidance, the moving mechanism drives the screwing and installing position to move to the installation operation position and positions the installation part at the target installation hole position. The screwing module screws the installation part forward. The distance measuring device measures the exposed size L1 of the installation part. When the exposed size L2 reaches the preset size L, the screwing module stops screwing forward. After the screwing module stops screwing forward, the distance measuring device measures the exposed size L2 of the installation part. The control system calculates the difference between the exposed size L2 and the preset size L, and drives the screwing module to screw the installation part backward until the difference is zero; wherein, the screwing speed when the screwing module screws backward is lower than the screwing speed when screwing forward.

Images