A method for locking an inclined screw hole and an inclined screw locking machine

Abstract

The present invention provides a method for locking an inclined screw hole and an inclined screw machine, comprising: driving a locking mechanism to move in a direction perpendicular to a workpiece; obtaining distance data between the locking mechanism and the workpiece; controlling the locking mechanism to stop moving downward when the distance data is determined to be equal to a specified distance; obtaining an image of the screw hole to be locked; controlling the locking mechanism to rotate a corresponding angle according to the image of the screw hole to be locked, so that the locking mechanism is perpendicular to the inclined surface where the screw hole to be locked is located; driving the locking mechanism to move to the screw hole to be locked, so that the locking mechanism locks the screw hole to be locked. By moving the locking mechanism to a specified height, acquiring an image of the screw hole to be locked, obtaining the angle required for the locking mechanism to rotate according to the image, and driving the locking mechanism to rotate, so that the locking mechanism is perpendicular to the inclined surface where the screw hole to be locked is located, and thus locking the screw hole to be locked by the locking mechanism, the automation level of locking the inclined screw hole is improved, and human resources for locking the inclined screw hole are saved.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic screw hole locking, and in particular to a bevel screw hole locking method and an oblique screw locking machine. Background Art

[0002] In the production process of notebook computers, it is necessary to lock the back cover screws. The industry often uses a straight locking screw machine to lock the back cover screws. The back cover screws of some models need to be driven into inclined screw holes, such as screw holes opened on the non-horizontal back cover surface.

[0003] However, when using traditional straight screw machines to tighten the screws of the rear cover on the beveled holes, not only are screws prone to being screwed, screws not being screwed, or screws being missed, but the rear cover is also often damaged or scratched. Therefore, screw tightening operations on beveled screw holes still rely heavily on manual labor, which is labor-intensive. Summary of the invention

[0004] The main purpose of the present invention is to provide a method for locking an inclined screw hole and an inclined locking screw machine, so as to at least solve the above technical problems existing in the prior art.

[0005] In order to achieve the above-mentioned purpose, the first aspect of the present disclosure provides a method for locking an inclined screw hole, which is applied to an oblique locking screw machine, wherein the oblique locking screw machine includes a locking mechanism, and the method includes: driving the locking mechanism to move in a direction perpendicular to the workpiece; obtaining distance data between the locking mechanism and the workpiece; wherein the distance data is the distance between the execution end of the locking mechanism and the workpiece; when it is determined that the distance data is equal to a specified distance, controlling the locking mechanism to stop moving downward; obtaining an image of the screw hole to be locked; according to the image of the screw hole to be locked, controlling the locking mechanism to rotate a corresponding angle so that the locking mechanism is perpendicular to the inclined surface where the screw hole to be locked is located; driving the locking mechanism to move to the screw hole to be locked, so that the locking mechanism locks the screw hole to be locked.

[0006] In one possible implementation, the oblique locking screw machine further includes an image acquisition component; accordingly, acquiring the image of the screw hole to be locked includes: acquiring the image of the screw hole to be locked along a direction perpendicular to the workpiece through the image acquisition component.

[0007] In one possible implementation, controlling the locking mechanism to rotate a corresponding angle based on the image of the screw hole to be locked includes: determining, based on the image of the screw hole to be locked, the major axis length and the minor axis length of the ellipse of the screw hole to be locked in the image; determining, based on the major axis length and the minor axis length, an inclination angle between the inclined plane where the screw hole to be locked is located and a horizontal plane; and using the inclination angle as the rotation angle of the locking mechanism to control the rotation of the locking mechanism.

[0008] In one possible implementation, before controlling the locking mechanism to rotate a corresponding angle based on the image of the screw hole to be locked, the method further includes: acquiring a template image; the template image is an elliptical image of a standard inclined screw hole at a perpendicular angle to the workpiece; based on the image of the screw hole to be locked, determining a degree of match between the image of the screw hole to be locked and the template image; when it is determined that the degree of match reaches a specified degree of match, controlling the locking mechanism to perform the locking work.

[0009] In one possible implementation, the oblique locking screw machine also includes an alarm component; accordingly, before controlling the locking mechanism to rotate a corresponding angle according to the image of the screw hole to be locked, the method also includes: when it is determined that the matching degree is lower than a specified matching degree, controlling the alarm component to execute an alarm.

[0010] In one embodiment, the oblique locking screw machine also includes an image acquisition component; the shooting height of the template image is a first height; accordingly, obtaining the image of the screw hole to be locked includes: when determining that the distance between the image acquisition component and the workpiece is the first height, obtaining the image of the screw hole to be locked.

[0011] In one possible implementation, controlling the locking mechanism to rotate a corresponding angle according to the image of the screw hole to be locked includes: driving the locking mechanism to rotate with the execution end of the locking mechanism as the center.

[0012] According to a second aspect of the present disclosure, there is provided an oblique locking screw machine, characterized in that it includes: a locking mechanism for locking the screw hole to be locked; a driving mechanism for driving the locking mechanism to move in a direction perpendicular to the workpiece; driving the locking mechanism to move to the screw hole to be locked; a distance measuring component for acquiring distance data between the locking mechanism and the workpiece; wherein the distance data is the distance between the execution end of the locking mechanism and the workpiece; an image acquisition component for acquiring an image of the screw hole to be locked; a control center for controlling the locking mechanism to stop moving downward when determining that the distance data is equal to a specified distance; and controlling the locking mechanism to rotate a corresponding angle according to the image of the screw hole to be locked so that the locking mechanism is perpendicular to the inclined surface where the screw hole to be locked is located.

[0013] In one embodiment, the control center is also used to obtain a template image; the template image is an elliptical image of a standard inclined screw hole at a perpendicular angle to the workpiece; based on the image of the screw hole to be locked, the matching degree between the image of the screw hole to be locked and the template image is determined; when it is determined that the matching degree reaches a specified matching degree, the locking mechanism is controlled to perform the locking work.

[0014] In one possible implementation, it further includes an alarm component; the control center is further configured to control the alarm component to execute an alarm when it is determined that the matching degree is lower than a specified matching degree.

[0015] The inclined surface screw hole locking method disclosed in the present invention moves the locking mechanism to a specified height, collects an image of the screw hole to be locked, obtains the required rotation angle of the locking mechanism according to the image, and drives the locking mechanism to rotate, so that the locking mechanism is perpendicular to the inclined surface where the screw hole to be locked is located, thereby locking the screw hole to be locked by the locking mechanism, improving the automation level of the inclined surface screw hole locking and saving human resources for the inclined surface screw hole locking.

[0016] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and other objects, features and advantages of the exemplary embodiments of the present disclosure will become readily understood by reading the detailed description below with reference to the accompanying drawings. In the accompanying drawings, several embodiments of the present disclosure are shown in an exemplary and non-limiting manner, in which:

[0018] In the drawings, the same or corresponding reference numerals represent the same or corresponding parts.

[0019] Figure 1 The schematic diagram shows the implementation process of the inclined screw hole locking method of the embodiment of the present disclosure. Figure 1 ;

[0020] Figure 2 The schematic diagram shows the implementation process of the inclined screw hole locking method of the embodiment of the present disclosure. Figure 2 ;

[0021] Figure 3 The schematic diagram shows the implementation process of the inclined screw hole locking method of the embodiment of the present disclosure. Figure 3 ;

[0022] Figure 4 The schematic diagram shows the implementation process of the inclined screw hole locking method of the embodiment of the present disclosure. Figure 4 ;

[0023] Figure 5 Schematic diagram showing the overall structure of the oblique locking screw machine according to an embodiment of the present disclosure.

[0024] The above drawings include the following reference numerals:

[0025] 1. Machine body; 2. Locking mechanism; 3. Driving mechanism; 4. Distance measurement component; 5. Image acquisition component; 6. Control center. DETAILED DESCRIPTION

[0026] In order to make the purpose, features, and advantages of the present disclosure more obvious and easy to understand, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present disclosure.

[0027] In order to improve the automation level of bevel screw hole locking and save human resources for bevel screw hole locking, refer to Figure 1 The embodiment of the present disclosure provides a method for locking an inclined screw hole, which is applied to an oblique locking screw machine. The oblique locking screw machine includes a locking mechanism. The method includes:

[0028] Step 101, drive the locking mechanism to move in a direction perpendicular to the workpiece; wherein, when the locking mechanism is on standby, the locking mechanism is vertically arranged and the execution end is located directly above the screw hole to be locked, and the workpiece is placed horizontally. When driving, the locking mechanism is driven to move vertically downward in a direction perpendicular to the workpiece.

[0029] Step 102, obtaining distance data between the locking mechanism and the workpiece; wherein the distance data is the distance between the execution end of the locking mechanism and the workpiece. When the locking mechanism is driven to move, the distance between the locking mechanism and the workpiece is obtained in real time. The distance between the locking mechanism and the workpiece is obtained by a distance measuring component, and the distance measuring component can be a distance sensor, such as a laser distance sensor, an acoustic wave distance sensor, etc.

[0030] Step 103: When it is determined that the distance data is equal to the specified distance, the locking mechanism is controlled to stop moving downward.

[0031] Step 104, obtaining an image of the screw hole to be locked; the image of the screw hole to be locked can be obtained by an image acquisition component, such as a CCD camera.

[0032] Step 105, according to the image of the screw hole to be locked, control the locking mechanism to rotate a corresponding angle so that the locking mechanism is perpendicular to the inclined surface where the screw hole to be locked is located.

[0033] Among them, after obtaining the image of the screw hole to be locked, the angle between the inclined surface where the screw hole to be locked is located and the horizontal plane can be calculated according to the major and minor axes of the ellipse presented by the screw hole to be locked in the image, and the angle between the inclined surface where the screw hole to be locked is located and the horizontal plane can also be obtained by establishing an affine transformation matrix, so as to specifically control the locking mechanism to rotate to the corresponding angle, so that the locking mechanism is perpendicular to the inclined surface where the screw hole to be locked is located.

[0034] Step 106, driving the locking mechanism to move to the screw hole to be locked, so that the locking mechanism locks the screw hole to be locked.

[0035] When locking the screw hole to be locked, first drive the locking mechanism vertically arranged directly above the screw hole to be locked to move in the direction perpendicular to the workpiece until the distance between the execution end of the locking mechanism and the workpiece is equal to the specified distance, control the locking mechanism to stop at this position, and then collect the image of the screw hole to be locked, and analyze the angle between the locking mechanism and the inclined surface where the screw hole to be locked is located based on the image, and analyze how many degrees the locking mechanism needs to be rotated to be perpendicular to the inclined surface where the screw hole to be locked is located, and then drive the locking mechanism to rotate until it is perpendicular to the inclined surface where the screw hole to be locked is located. After the rotation is completed, drive the locking mechanism to continue to move vertically downward until the execution end of the locking mechanism is aligned with the screw hole to be locked, and complete the locking work of the screw hole to be locked through the locking mechanism.

[0036] By moving the locking mechanism to a specified height, capturing an image of the screw hole to be locked, obtaining the required rotation angle of the locking mechanism based on the image and driving the locking mechanism to rotate, the locking mechanism is made perpendicular to the inclined surface where the screw hole to be locked is located, thereby locking the screw hole to be locked through the locking mechanism, thereby improving the automation level of locking the inclined screw hole and saving human resources for locking the inclined screw hole.

[0037] In one embodiment, the oblique locking screw machine further includes an image acquisition component;

[0038] Correspondingly, step 104, obtaining an image of the screw hole to be screwed, includes:

[0039] The image of the screw hole to be locked is obtained along a direction perpendicular to the workpiece through the image acquisition component.

[0040] In one embodiment, referring to Figure 2 Step 105, according to the image of the screw hole to be locked, controls the locking mechanism to rotate to a corresponding angle, including:

[0041] Step 1051, determining the major axis length and the minor axis length of the ellipse of the screw hole to be locked in the image according to the image of the screw hole to be locked;

[0042] Step 1052, determining the inclination angle between the inclined plane where the screw hole to be locked is located and the horizontal plane according to the length of the major axis and the length of the minor axis;

[0043] Step 1053, using the inclination angle as the rotation angle of the locking mechanism to control the rotation of the locking mechanism.

[0044] Since in step 104, the image acquisition component acquires the image of the screw hole to be locked in a direction perpendicular to the workpiece, and there is a certain angle between the inclined surface where the screw hole to be locked is located and the plane where the workpiece is located, the circular screw hole to be locked appears as an ellipse in the acquired image of the screw hole to be locked. In steps 1051 and 1052, by analyzing the lengths of the major axis and the minor axis of the ellipse, the angle between the inclined surface where the screw hole to be locked is located and the horizontal plane can be obtained, which can be calculated by the following formula:

[0045]

[0046] Among them, a is the major axis of the ellipse in the image of the screw hole to be locked, b is the minor axis of the ellipse in the image of the screw hole to be locked, a and b can be directly measured through the collected image; α is the angle between the inclined plane where the screw hole to be locked is located and the horizontal plane.

[0047] Since the locking mechanism is perpendicular to the horizontal plane in the current state, the angle between the locking mechanism and the screw hole to be locked and the angle α between the inclined plane where the screw hole to be locked is located and the horizontal plane are complementary angles. Therefore, in step 1053, after the locking mechanism is driven to rotate an angle α with the execution end as the center, it is perpendicular to the inclined plane where the screw hole to be locked is located.

[0048] In one embodiment, referring to Figure 3 In step 105, before controlling the locking mechanism to rotate to a corresponding angle according to the image of the screw hole to be locked, the method further includes:

[0049] Step 201, obtaining a template image; the template image is an elliptical image of a standard inclined screw hole at an angle perpendicular to the workpiece;

[0050] Step 202, determining the matching degree between the image of the screw hole to be locked and the template image according to the image of the screw hole to be locked;

[0051] The ellipse presented by the identified screw hole to be locked in the acquired image of the screw hole to be locked is compared with the marked ellipse image in the template image, and the matching degree is determined. In one example, the matching degree is determined according to the degree of image overlap between the ellipse presented by the screw hole to be locked and the marked ellipse image in the template image.

[0052] In one example, to determine the matching degree M between the image of the screw hole to be locked and the template image, a normalized correlation coefficient matching method can be used for template matching. For example, the matching degree M can be calculated by the following formula:

[0053]

[0054] Where I represents the image, T represents the template, and R represents the result, which is the sum of the overlapping area x'=0..w-1, y'=0..h-1 between the template and the image, where w represents the length of the image and h represents the width of the image. The matching degree M=R(x, y), M=1 represents a perfect match, M=-1 represents a poor match, and M=0 represents no correlation.

[0055] Step 203: When it is determined that the matching degree reaches a specified matching degree, the locking mechanism is controlled to perform the locking operation.

[0056] Before controlling the locking mechanism to perform the locking work, first determine through image acquisition and template matching that the screw hole to be locked on the workpiece is located at the position to be locked, and then determine that there is no placement deviation of the workpiece, thereby improving the stability of the locking work.

[0057] In one embodiment, the oblique locking screw machine further includes an alarm component;

[0058] Accordingly, refer to Figure 4 In step 105, before controlling the locking mechanism to rotate to a corresponding angle according to the image of the screw hole to be locked, the method further includes:

[0059] Step 204: When it is determined that the matching degree is lower than the specified matching degree, the alarm component is controlled to execute an alarm.

[0060] When the matching degree does not meet the standard, it is considered that the workpiece is not placed correctly or the sensor and other mechanisms have positioning deviations, etc. At this time, the locking work is not performed, and the alarm component is controlled to alarm to prompt the operator of the abnormal state.

[0061] In one embodiment, the oblique locking screw machine further includes an image acquisition component; the shooting height of the template image is a first height;

[0062] Correspondingly, step 104, obtaining an image of the screw hole to be screwed, includes:

[0063] When it is determined that the distance between the image acquisition component and the workpiece is a first height, an image of the screw hole to be screwed is acquired.

[0064] When capturing the image of the screw hole to be locked, the same height as the template image is used to facilitate the comparison between the screw hole to be locked and the template image in step 202, thereby improving the convenience of matching degree calculation.

[0065] In another embodiment, when the distance data is a specified distance, the distance between the image acquisition component and the workpiece is equal to the first height.

[0066] By setting the image acquisition component at the corresponding position, when the locking mechanism stops and the distance between the execution end of the locking mechanism and the workpiece is a specified distance, the distance between the image acquisition component and the workpiece is exactly equal to the first height. When the locking mechanism stops, the image of the screw hole to be locked can be directly acquired, thereby improving the convenience of controlling the locking mechanism.

[0067] In one embodiment, step 105, when controlling the locking mechanism to rotate a corresponding angle according to the image of the screw hole to be locked, includes:

[0068] The locking mechanism is driven to rotate with the execution end of the locking mechanism as the center.

[0069] After the locking mechanism moves vertically downward in step 101, the execution end of the locking mechanism is still located directly above the screw hole to be locked. When the locking mechanism is driven to rotate, it rotates with the execution end of the locking mechanism as the center. After rotating to the required angle, the locking mechanism can be directly driven to continue to move downward in the vertical direction. The execution end of the locking mechanism can be directly aligned with the screw hole to be locked, thereby improving the convenience of controlling the locking mechanism.

[0070] Reference Figure 5 The embodiment of the present disclosure also provides an oblique locking screw machine, including: a machine body 1, a locking mechanism 2, a driving mechanism 3, a distance measuring component 4, an image acquisition component 5 and a control center 6.

[0071] The locking mechanism 2 is used to lock the bolt to the screw hole to be locked. When in standby mode, the locking mechanism 2 is vertically downwardly arranged and is located directly above the screw hole to be locked. The locking mechanism 2 can use an electric screwdriver to lock the screw hole to be locked.

[0072] The driving mechanism 3 is used to drive the locking mechanism 2 to move and rotate. The driving mechanism 3 can be a manipulator, such as a four-axis manipulator or a six-axis manipulator, or a combination of a slide rail and a rotating shaft. It only needs to be able to drive the locking mechanism 2 to move in the vertical direction and the horizontal direction and to drive the execution end of the locking mechanism 2 to rotate to a suitable angle. This embodiment is not limited here.

[0073] The distance measuring component 4 is used to measure the distance between the execution end of the locking mechanism 2 and the specified plane. The distance measuring component 4 can use a distance sensor, such as a laser distance sensor, an acoustic wave distance sensor, etc., which mainly determines the distance between the execution end of the locking mechanism 2 and the specified plane, thereby judging and determining the position of the locking mechanism 2.

[0074] The image acquisition component 5 is used to acquire the image of the screw hole to be locked. The image acquisition component 5 can use a camera to take pictures of the screw hole to be locked, such as a CCD camera.

[0075] The control center 6 is used to analyze the screw hole image collected by the image acquisition component 5 to determine the screw hole position. At the same time, it is also used to control the driving mechanism 3 to drive the locking mechanism 2 to move according to the data provided by the distance measurement component 4, thereby completing the locking work.

[0076] When locking the inclined screw hole, first, the locking mechanism 2 is perpendicular to the top of the workpiece through the driving mechanism 3, and then the driving mechanism 3 drives the locking mechanism 2 to move perpendicularly to the workpiece in the direction of the workpiece. During this movement, the distance between the execution end of the locking mechanism 2 and the inclined surface where the screw hole to be locked is located is continuously measured by the distance measuring component 4. When the distance reaches the specified distance, the locking mechanism 2 stops the vertical movement, and then the image below the locking mechanism 2 is collected by the image acquisition component 5. Since there is an angle between the plane where the screw hole to be locked is located and the locking mechanism 2, the circular screw hole to be locked is elliptical in the collected image. In an example, the angle between the locking mechanism 2 and the inclined surface where the screw hole to be locked is located can be obtained through the major axis and minor axis of the ellipse of the image of the screw hole to be locked. According to the angle, the control center 6 can control the locking mechanism 2 to rotate to be perpendicular to the inclined surface where the screw hole to be locked is located through the driving mechanism 3. Finally, the driving mechanism 3 drives the locking mechanism 2 to continue to move downward to the screw hole to be locked, and then the locking work can be performed.

[0077] In one embodiment, the locking mechanism 2 includes two symmetrically arranged electric screwdrivers. The two electric screwdrivers can carry two bolts at a time and switch to lock different screw holes to be locked in turn, thereby improving efficiency.

[0078] In one example, the image acquisition component 5 is installed on the locking mechanism 2 and moves with the locking mechanism 2 .

[0079] In one embodiment, when the image acquisition component 5 acquires the image of the screw hole to be locked, it obtains the image of the screw hole to be locked along a direction perpendicular to the workpiece.

[0080] In one embodiment, the control center 6 is also used to determine the major axis length and minor axis length of the ellipse of the screw hole to be locked in the image according to the image of the screw hole to be locked; determine the inclination angle between the inclined plane where the screw hole to be locked is located and the horizontal plane according to the major axis length and the minor axis length; and use the inclination angle as the rotation angle of the locking mechanism 2 to control the rotation of the locking mechanism 2.

[0081] In one embodiment, the control center 6 is also used to obtain a template image; the template image is an elliptical image of a standard inclined screw hole at a perpendicular angle to the workpiece; based on the image of the screw hole to be locked, the matching degree between the image of the screw hole to be locked and the template image is determined; when it is determined that the matching degree reaches a specified matching degree, the locking mechanism 2 is controlled to perform the locking work.

[0082] In one embodiment, the oblique locking screw machine further includes an alarm component;

[0083] The control center 6 is also used to control the alarm component to execute an alarm when it is determined that the matching degree is lower than a specified matching degree.

[0084] In one embodiment, the driving mechanism 3 is also used to control the rotation with the execution end of the locking mechanism 2 as the center.

[0085] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0086] In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. Directional terms such as "first direction" and "second direction" all refer to a certain linear direction, unless otherwise clearly and specifically defined. In the description of the present disclosure, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0087] The above is only a specific embodiment of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any person skilled in the art who is familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present disclosure, which should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be based on the protection scope of the claims.

Claims

1. A method for locking an inclined screw hole, characterized in that: Applied to an oblique locking screw machine, the oblique locking screw machine includes a locking mechanism, and the method includes: Driving the locking mechanism to move in a direction perpendicular to the workpiece; Acquire the distance data between the locking mechanism and the workpiece; wherein the distance data is the distance between the execution end of the locking mechanism and the workpiece; When it is determined that the distance data is equal to the specified distance, controlling the locking mechanism to stop moving downward; Acquire an image of the screw hole to be locked; According to the image of the screw hole to be locked, the locking mechanism is controlled to rotate a corresponding angle so that the locking mechanism is perpendicular to the inclined surface where the screw hole to be locked is located; Driving the locking mechanism to move to the screw hole to be locked, so that the locking mechanism locks the screw hole to be locked; Before controlling the locking mechanism to rotate a corresponding angle according to the image of the screw hole to be locked, the method further comprises: acquiring a template image; the template image is an elliptical image of a standard inclined screw hole at an angle perpendicular to the workpiece; and determining a matching degree between the image of the screw hole to be locked and the template image according to the image of the screw hole to be locked; The normalized correlation coefficient matching method is used for template matching, and the matching degree M can be calculated by the following formula: Where I represents the image, T represents the template, and R represents the result, which is the sum of the overlapping area between the template and the image x'=0..w-1, y'=0..h-1, where w represents the length of the image and h represents the width of the image; When it is determined that the matching degree reaches the specified matching degree, the locking mechanism is controlled to perform the locking work; the oblique locking screw machine also includes an alarm component; accordingly, before the locking mechanism is controlled to rotate a corresponding angle according to the image of the screw hole to be locked, the method also includes: when it is determined that the matching degree is lower than the specified matching degree, the alarm component is controlled to execute an alarm.

2. The method according to claim 1, characterized in that The oblique locking screw machine also includes an image acquisition component; the shooting height of the template image is a first height; Correspondingly, the step of acquiring the image of the screw hole to be screwed includes: When it is determined that the distance between the image acquisition component and the workpiece is a first height, an image of the screw hole to be locked is acquired.

3. The method according to claim 1, characterized in that: The method of controlling the locking mechanism to rotate a corresponding angle according to the image of the screw hole to be locked includes: The locking mechanism is driven to rotate with the execution end of the locking mechanism as the center.

4. An oblique locking screw machine, characterized in that: include: A locking mechanism, used for locking the screw hole to be locked; A driving mechanism, used for driving the locking mechanism to move in a direction perpendicular to the workpiece; Driving the locking mechanism to move to the screw hole to be locked; A distance measuring component, used to obtain distance data between the locking mechanism and the workpiece; wherein the distance data is the distance between the execution end of the locking mechanism and the workpiece; An image acquisition component, used to acquire an image of the screw hole to be locked; The control center is used to control the locking mechanism to stop moving downward when determining that the distance data is equal to the specified distance; and control the locking mechanism to rotate a corresponding angle according to the image of the screw hole to be locked, so that the locking mechanism is perpendicular to the inclined surface where the screw hole to be locked is located; The control center is also used to obtain a template image; the template image is an elliptical image of a standard inclined screw hole at a perpendicular angle to the workpiece; based on the image of the screw hole to be locked, the matching degree between the image of the screw hole to be locked and the template image is determined; when it is determined that the matching degree reaches a specified matching degree, the locking mechanism is controlled to perform the locking work.

5. The oblique locking screw machine according to claim 4, characterized in that: Also includes an alarm component; The control center is further configured to control the alarm component to execute an alarm when it is determined that the matching degree is lower than a specified matching degree.

Images