Intelligent lock attachment detection method

Abstract

The application discloses a smart lock attachment detection method, comprising the following steps: acquiring electric wrench torque data to perform torque point detection, and judging whether the torque value exceeds the torque threshold; if the torque data is less than or equal to the torque threshold, a material taking instruction is sent; the negative pressure state of a monitoring suction nozzle is acquired, and whether the negative pressure of the monitoring suction nozzle is normal is judged; if the negative pressure of the monitoring suction nozzle is normal, a locking instruction is sent; the locking result is acquired, and whether the locking result is abnormal is judged; if the locking result is not abnormal, whether all the points are locked is judged; if all the points are locked, an instruction is sent to control the carrier to exit, the detection efficiency and precision are determined through multiple process point detections, and the locking is ensured to be completed.

Description

Technical Field

[0001] This application relates to the field of equipment control, and in particular to an intelligent lock attachment detection method. Background Technology

[0002] In the current product assembly process, various screw tightening operations are often required. The traditional method is to tighten screws manually with a hand screwdriver. However, this inefficient manual operation method can no longer meet the needs of modern industrial production and mechanical automation. To address this, automatic screw tightening machines have been developed. This equipment can automatically feed and tighten screws, greatly improving production efficiency and adapting to the needs of modern large-scale production and assembly.

[0003] See related technologies. Figure 1 The screw fastening machine includes a main control unit, a three-axis motion mechanism, an electric screwdriver assembly, an electric screwdriver torque detector, and a waste collection box. The three-axis motion mechanism includes an X-axis motion mechanism, a Y-axis motion mechanism, and a Z-axis motion mechanism. The X-axis motion mechanism is located above the main control unit. The Y-axis motion mechanism includes two parallel, spaced-apart lines embedded on the surface of the main control unit, on which a universal carrier plate and a fixture box are mounted. The fixture box is used to position and clamp parts and has working holes that expose the screw fastening position. The Z-axis motion mechanism is connected to the X-axis motion mechanism. The electric screwdriver assembly is used for screw picking and fastening operations. The feeding assembly is used to provide screws for the electric screwdriver assembly to pick up. The electric screwdriver torque detector is used to detect torque before the electric screwdriver assembly drives screws. The waste collection box is used to receive waste screws transferred by the electric screwdriver assembly when the electric screwdriver assembly triggers an alarm for stripped screws or abnormal screw float. Based on the relevant technology, how to determine the completion of screw fastening and achieve intelligent screw fastening detection is a technical problem that urgently needs to be solved. Summary of the Invention

[0004] The purpose of this application is to realize intelligent locking detection of the locking machine.

[0005] The above-mentioned technical objective of this application is achieved through the following technical solution:

[0006] This application discloses a smart lock attachment detection method, which includes:

[0007] Acquire electric screwdriver torque data to perform torque point checks and determine whether the torque value exceeds the torque threshold.

[0008] If the torque data is less than or equal to the torque threshold, a material handling instruction is sent.

[0009] Acquire the negative pressure status of the monitoring nozzle to determine whether the negative pressure of the monitoring nozzle is normal;

[0010] If the negative pressure of the suction nozzle is normal, a locking command will be issued;

[0011] Obtain the locking result and determine if the locking result is abnormal;

[0012] If there are no abnormalities in the locking result, then determine whether all points have been locked.

[0013] Once all points are locked, a command is sent to control the vehicle to exit.

[0014] The above-mentioned solution in this application checks the torque of the electric screwdriver to determine if the torque is normal. After the check is normal, the screw is picked up, and the negative pressure state of the monitoring nozzle is judged to determine the stability of the screw being picked up. After the negative pressure state of the monitoring nozzle is verified to be normal, the locking result is obtained. If the locking result is normal and all points are locked, a control command is sent to control the carrier to exit, thus completing the intelligent locking detection. Through multiple process checks, the detection efficiency and accuracy are determined to ensure that the locking is completed.

[0015] Optionally, the intelligent locking detection method further includes, after the step of acquiring electric screwdriver torque data for torque detection and determining whether the torque value exceeds the torque threshold:

[0016] If the torque value is greater than the threshold, then mark the torque check as abnormal;

[0017] Get the number of torque check anomalies within a single process;

[0018] If the number of abnormal torque checks exceeds the first abnormality threshold, a stop command is sent to control the equipment to stop and issue an alarm.

[0019] The above-mentioned solution in this application obtains the torque value. If the torque value is greater than the threshold, it indicates that the torque check is abnormal, which may result in stripping or damage. Furthermore, if the number of abnormal torque checks in a single process exceeds the first abnormal number threshold, it indicates that the torque check position has been abnormal multiple times. At this time, a stop command needs to be sent to shut down the equipment and carry out repairs, thereby improving safety.

[0020] Optionally, the intelligent lock attachment detection method further includes, after the step of obtaining the number of torque check anomalies within a single process:

[0021] If the number of abnormal torque checks is less than or equal to the first abnormal number threshold, torque compensation is performed, and the electric screwdriver torque data is acquired again for torque checks.

[0022] The above-mentioned scheme of this application performs torque compensation to repair the torque point when the number of abnormal torque occurrences is less than the first abnormal occurrence threshold, and performs torque point inspection again to determine whether the torque point is abnormal or needs maintenance. When the number of torque point inspections exceeds the first abnormal occurrence threshold, a stop command is sent.

[0023] Optionally, the intelligent locking detection method further includes, after the steps of acquiring the negative pressure status of the monitoring nozzle and determining whether the negative pressure of the monitoring nozzle is normal:

[0024] If the negative pressure of the suction nozzle is abnormal, a shutdown command will be sent to control the equipment to stop and issue an alarm.

[0025] The above-mentioned solution in this application obtains the negative pressure status of the monitoring nozzle. If it is normal, it means that the screw can be properly adsorbed. If the negative pressure of the monitoring nozzle is abnormal, the screw cannot be properly adsorbed and thus cannot be locked. Therefore, by sending a stop command, the equipment is controlled to stop and an alarm is issued.

[0026] Optionally, the intelligent lock attachment detection method further includes, after the steps of obtaining the lock attachment result and determining whether the lock attachment result is abnormal:

[0027] If the locking result is abnormal, mark the locking point as abnormal;

[0028] Get the number of abnormal lock attachment points;

[0029] If the number of abnormal occurrences at the locking point exceeds the second abnormal occurrence threshold, a shutdown command will be sent to control the equipment to stop and issue an alarm.

[0030] In the above-mentioned scheme of this application, when the locking result is abnormal, the locking point is marked as abnormal and the number of abnormal locking points is obtained. If the number of abnormal locking points is greater than the second abnormal number threshold, it indicates that the locking point is damaged and needs to be stopped for maintenance. At this time, a stop command is sent to control the equipment to stop.

[0031] Optionally, the intelligent lock attachment detection method further includes, after the step of obtaining the number of abnormal lock attachment points:

[0032] Get the number of lockpoint anomalies. If the number of lockpoint anomalies is less than or equal to the second anomaly count threshold, get the corresponding anomaly handling method and perform anomaly handling.

[0033] In the above scheme of this application, if the number of abnormal occurrences at the locking point is less than the second abnormal occurrence threshold, it means that the locking point does not need to be shut down for maintenance and can be repaired. The corresponding abnormal handling method is then obtained for abnormal handling.

[0034] Optionally, in the aforementioned smart lock attachment detection method, the anomaly handling method includes immediate handling, and the anomaly handling steps for immediate handling include:

[0035] Automatically handle any abnormalities at the locking point and re-evaluate whether the negative pressure of the monitoring nozzle is normal;

[0036] If the negative pressure of the suction nozzle is abnormal, a shutdown command will be sent to control the equipment to stop and issue an alarm.

[0037] If the negative pressure of the suction nozzle is normal, the abnormal locking point is handled and the next material removal can proceed.

[0038] The solution described in this application automatically handles abnormal locking points and then re-checks whether the negative pressure of the suction nozzle is normal. If it is normal, the next material handling proceeds; otherwise, the machine stops and an alarm sounds, ensuring efficient handling of abnormalities.

[0039] Optionally, in the aforementioned intelligent lock attachment detection method, the anomaly handling method includes delayed processing, and the anomaly handling steps of the delayed processing include:

[0040] Record any abnormal locking points and skip them before proceeding to the next point for material handling.

[0041] The above-described solution in this application, by delaying the processing of abnormal locking points, records the abnormal locking point and skips it, proceeding to the next point for material handling, and then performs subsequent abnormality processing.

[0042] Optionally, in the aforementioned intelligent locking detection method, if the locking result is normal, the step of determining whether all points have been locked further includes:

[0043] If not all locking points are completed, proceed to the next locking point for material removal.

[0044] The above-mentioned solution of this application, after a locking point is locked, makes a judgment. If there is a point that is not locked, the material is picked up from the next point that is not locked, so as to ensure that all locking points are locked.

[0045] Optionally, the smart lock attachment detection method further includes:

[0046] The system acquires a feeder signal. When the feeder signal is a material shortage signal, it sends a stop command to control the equipment to stop and issue an alarm.

[0047] The above-mentioned solution in this application obtains the feeder signal, and when the feeder is short of material, it stops the machine and alarms, and supplies material in a timely manner to ensure the normal operation of the equipment.

[0048] In summary, the above-mentioned solution of this application has at least one of the following beneficial effects:

[0049] 1. By checking the torque of the electric screwdriver, it is determined whether the torque of the electric screwdriver is normal. After the check is normal, the material is picked up, and the negative pressure state of the monitoring nozzle is judged to determine the stability of the screw being picked up. After the negative pressure state of the monitoring nozzle is verified to be normal, the locking result is obtained. If the locking result is normal and all points are locked, a control command is sent to control the carrier to exit, thus completing the intelligent locking detection. Through multiple process checks, the detection efficiency and accuracy are determined to ensure that the locking is completed.

[0050] 2. By acquiring the torque value, if the torque value is greater than the threshold, it indicates that the torque check is abnormal, which may result in stripping or damage. Furthermore, if the number of abnormal torque checks in a single process is greater than the first abnormal count threshold, it indicates that the torque check position has been abnormal multiple times. At this time, a stop command needs to be sent to shut down the equipment and carry out repairs to improve safety.

[0051] 3. When the number of abnormal torque events is less than the first abnormal event threshold, torque compensation is performed to repair the torque points, and torque checks are performed again to determine whether the torque points are abnormal or require maintenance. When the number of torque checks exceeds the first abnormal event threshold, a stop command is sent. Attached Figure Description

[0052] Figure 1 This is a structural diagram of an automatic locking and fastening machine based on related technologies.

[0053] Figure 2 This is a flowchart of the smart lock attachment detection method according to an embodiment of this application. Detailed Implementation

[0054] The present application will be further described in detail below with reference to the accompanying drawings.

[0055] This application discloses an intelligent locking detection method based on an automatic locking machine. (See attached document.) Figure 1 The screw fastening machine includes a main control unit, a three-axis motion mechanism, an electric screwdriver assembly, an electric screwdriver torque tester, and a waste collection box. The three-axis motion mechanism includes an X-axis motion mechanism, a Y-axis motion mechanism, and a Z-axis motion mechanism. The X-axis motion mechanism is located above the main control unit. The Y-axis motion mechanism includes two parallel and spaced lines embedded on the surface of the main control unit, on which a universal carrier plate and a fixture box are installed. The fixture box is used to position and clamp parts and has working holes that expose the screw fastening position. The Z-axis motion mechanism is connected to the X-axis motion mechanism. The electric screwdriver assembly is used for screw picking and fastening operations. The feeding assembly is used to provide screws for the electric screwdriver assembly to pick up. The electric screwdriver torque tester is used to test the torque before the electric screwdriver assembly drives screws. The waste collection box is used to receive waste screws transferred by the electric screwdriver assembly when the electric screwdriver assembly causes stripping or abnormal floating alarms during screw driving.

[0056] In practice, for the screw fastening machine to complete the fastening process, it first needs to perform a torque check on the electric screwdriver. After the check, a material handling operation is performed. The negative pressure status of the suction nozzle is monitored to determine if the screw can be picked up. If the suction is normal, the fastening operation is then performed, and the fastening result is obtained. Abnormal fastening results include stripped threads or abnormal floating height. If the fastening result is normal, the fastening is completed, and finally, the carrier is controlled to exit, allowing for manual unloading. Therefore, please refer to... Figure 2 The smart lock attachment detection method of this application specifically includes:

[0057] Acquire electric screwdriver torque data to perform torque point checks and determine whether the torque value exceeds the torque threshold.

[0058] The torque data of the electric screwdriver is acquired and torque is checked. Excessive torque of the electric screwdriver may cause the screw to slip, resulting in abnormal locking. Therefore, it is necessary to determine whether the torque value exceeds the torque threshold. In this embodiment, different screws may correspond to different torque thresholds, but generally the torque thresholds are similar in the range of standard values. This application preferably uses 5%, that is, if the torque value is greater than 5% of the standard value, it means that the torque value exceeds the torque threshold, while if the torque value is less than or equal to 5% of the standard value, it is considered normal.

[0059] If the torque data is less than or equal to the torque threshold, a material handling instruction is sent.

[0060] After obtaining the electric screwdriver torque data, if the electric screwdriver torque value is less than or equal to the torque threshold, it indicates that the electric screwdriver torque check is normal. At this time, subsequent operations can be performed, such as sending a material picking command to pick up the screws and perform the fastening operation.

[0061] Acquire the negative pressure status of the monitoring nozzle to determine whether the negative pressure of the monitoring nozzle is normal;

[0062] In the material handling step, the torque of the electric screwdriver has been confirmed to be normal. In the actual fastening process, if the negative pressure of the monitoring nozzle is relatively small, the force of adsorbing the screw will also be small, and the screw is prone to falling off. Therefore, by obtaining the negative pressure status of the monitoring nozzle, it is determined whether the negative pressure of the monitoring nozzle is normal. In specific implementation, a negative pressure range will also be set. If the negative pressure of the monitoring nozzle is within the normal negative pressure range, it means that the negative pressure of the monitoring nozzle is normal.

[0063] If the negative pressure of the suction nozzle is normal, a locking command will be issued;

[0064] After obtaining the negative pressure of the monitoring nozzle, if the negative pressure is normal, it means that the monitoring nozzle can normally pick up the screw. At this time, the subsequent tightening operation can be performed by sending a tightening command to execute the next tightening step.

[0065] Obtain the locking result and determine if the locking result is abnormal;

[0066] After receiving the lock attachment instruction, the lock attachment operation is performed, and the lock attachment result is obtained. The lock attachment result includes normal and abnormal cases. When the lock attachment result is normal, it means that the lock attachment is completed. If the lock attachment is abnormal, exception handling is required.

[0067] If there are no abnormalities in the locking result, then determine whether all points have been locked.

[0068] If there are no abnormalities in the locking result, it means that the locking point has been successfully locked. Once all locking points have been successfully locked, the locking operation is complete. If there are any locking points that have not been successfully locked, exception handling is required, and subsequent operations can only be performed after all locking points have been successfully locked.

[0069] Once all points are locked, a command is sent to control the vehicle to exit.

[0070] After all locking points are secured, the locking machine completes the locking operation. At this point, a command can be sent to control the carrier to exit, and manual unloading can be performed to complete the carrier's locking.

[0071] See Figure 2 In some possible embodiments of this application, the intelligent locking detection method further includes, after the step of acquiring electric screwdriver torque data for torque point detection and determining whether the torque value exceeds the torque threshold:

[0072] If the torque value is greater than the threshold, then mark the torque check as abnormal;

[0073] Get the number of torque check anomalies within a single process;

[0074] If the number of abnormal torque checks exceeds the first abnormality threshold, a stop command is sent to control the equipment to stop and issue an alarm.

[0075] If the number of abnormal torque checks is less than or equal to the first abnormal number threshold, torque compensation is performed, and the electric screwdriver torque data is acquired again for torque checks.

[0076] See Figure 2In this embodiment, when acquiring electric screwdriver torque data for torque inspection, there may be normal and abnormal torque inspection situations. The aforementioned embodiment describes the normal situation. When the torque value is greater than the threshold, it indicates that the torque inspection is abnormal. At this time, it is necessary to determine whether to stop the machine for maintenance or to use torque compensation. Therefore, it is necessary to acquire the number of abnormal torque inspections within a single process. If there are multiple abnormal inspections, it may be necessary to stop the machine for maintenance. If the number of abnormal inspections does not exceed the first abnormal number threshold, it can be repaired by torque compensation, and the electric screwdriver torque data is acquired again for torque inspection. If the inspection is abnormal again, torque compensation is performed again. If it is normal, proceed to the next step. If it is abnormal, when the number of abnormal inspections exceeds the first abnormal number threshold, a stop command is sent to control the equipment to stop and an alarm is issued. The equipment can be reset and the carrier can be controlled to exit for manual unloading through manual verification, such as card verification.

[0077] See Figure 2 In some possible embodiments of this application, the intelligent locking detection method further includes, after the steps of acquiring the monitoring nozzle negative pressure status and determining whether the monitoring nozzle negative pressure is normal:

[0078] If the negative pressure of the suction nozzle is abnormal, a shutdown command will be sent to control the equipment to stop and issue an alarm.

[0079] See Figure 2 The foregoing embodiments of this application mention acquiring the negative pressure status of the monitoring nozzle. The negative pressure status of the monitoring nozzle can be normal or abnormal. When the negative pressure status of the monitoring nozzle is normal, the subsequent fastening operation is performed. When the negative pressure status of the monitoring nozzle is abnormal, it means that the screw cannot be properly adsorbed, and fastening cannot be completed. Therefore, a stop command is sent to control the equipment to stop and an alarm is triggered. The equipment can be reset and the carrier can be controlled to exit for manual unloading through manual verification, such as card verification.

[0080] See Figure 2 In some possible embodiments of this application, the intelligent lock attachment detection method further includes, after the steps of obtaining the lock attachment result and determining whether the lock attachment result is abnormal:

[0081] If the locking result is abnormal, mark the locking point as abnormal;

[0082] Get the number of abnormal lock attachment points;

[0083] Get the number of lockpoint anomalies. If the number of lockpoint anomalies is less than or equal to the second anomaly count threshold, get the corresponding anomaly handling method and perform anomaly handling.

[0084] If the number of abnormal occurrences at the locking point exceeds the second abnormal occurrence threshold, a shutdown command will be sent to control the equipment to stop and issue an alarm.

[0085] See Figure 2 In the aforementioned embodiments of this application, if the locking result is abnormal, it is determined whether there are any unlocked points to be locked. If the locking is abnormal, it needs to be handled. In specific implementation, generally, after one locking abnormality, an abnormality repair is performed. After repair, locking is performed again. If the locking is still abnormal, when the second abnormality threshold is exceeded, it indicates that the repair is abnormal and locking cannot be completed. At this time, a stop command is sent to control the equipment to stop and an alarm is issued. The equipment can be reset by manual verification, such as card verification, and the carrier can be controlled to exit for manual unloading.

[0086] See Figure 2 In some possible embodiments of this application, the smart lock attachment detection method includes an anomaly handling method that includes immediate handling, and the anomaly handling steps for immediate handling include:

[0087] Automatically handle any abnormalities at the locking point and re-evaluate whether the negative pressure of the monitoring nozzle is normal;

[0088] If the negative pressure of the suction nozzle is abnormal, a shutdown command will be sent to control the equipment to stop and issue an alarm.

[0089] If the negative pressure of the suction nozzle is normal, the abnormal locking point is handled and the next material removal can proceed.

[0090] See Figure 2 In this application embodiment, when an abnormality occurs at the locking point, it is necessary to perform abnormal repair. In this application, the abnormality handling method includes immediate handling, immediate repair of the abnormal locking situation, removal of the faulty screw, and determination of whether the negative pressure of the monitoring nozzle is normal. If it is abnormal, it means that the abnormality has caused damage to the monitoring nozzle, and the machine needs to be stopped for maintenance. If the monitoring nozzle is normal, the screw is discarded to the recycling box, and the material is taken again for testing.

[0091] See Figure 2 In some possible embodiments of this application, the smart lock attachment detection method includes an anomaly handling method that includes delayed processing, wherein the anomaly handling steps of the delayed processing include:

[0092] Record any abnormal locking points and skip them before proceeding to the next point for material handling.

[0093] See Figure 2In this embodiment of the application, the abnormality handling also includes delayed processing. The delayed processing will record the location of the abnormality and skip it without performing immediate repair processing. Instead, it will directly proceed to the material retrieval at the next location. After the locking of a locking point is completed, it will be determined whether all locking is completed. At this time, the abnormal locations will be counted. If they exist, they will be automatically processed and the corresponding processing steps will be performed.

[0094] See Figure 2 In some possible embodiments of this application, the smart lock attachment detection method further includes:

[0095] The system acquires a feeder signal. When the feeder signal is a material shortage signal, it sends a stop command to control the equipment to stop and issue an alarm.

[0096] See Figure 2 In this embodiment of the application, when there is a shortage of materials, manual replenishment is required. Therefore, a stop command is sent to control the equipment to stop and an alarm is triggered. The equipment can be reset by manual verification, such as card verification, and the carrier can be controlled to exit for manual unloading.

[0097] The embodiments described in this specific implementation are preferred embodiments of this application and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A smart lock attachment detection method, characterized in that, include: Acquire electric screwdriver torque data to perform torque point checks and determine whether the torque value exceeds the torque threshold. When the torque value is greater than the torque threshold, a torque inspection abnormality is marked, and the number of torque inspection abnormalities within a single process is obtained. If the number of torque inspection abnormalities is greater than the first abnormality threshold, a stop command is sent to control the equipment to stop and issue an alarm prompt. If the number of torque inspection abnormalities is less than or equal to the first abnormality threshold, torque compensation is performed, and the electric screwdriver torque data is obtained again for torque inspection. If the torque data is less than or equal to the torque threshold, a material handling instruction is sent. Acquire the negative pressure status of the monitoring nozzle to determine whether the negative pressure of the monitoring nozzle is normal; If the negative pressure of the suction nozzle is normal, a locking command will be issued; Obtain the locking result and determine if the locking result is abnormal; If there are no abnormalities in the locking result, then determine whether all points have been locked. Once all points are locked, a command is sent to control the vehicle to exit.

2. The method of claim 1, wherein, After obtaining the negative pressure status of the monitoring nozzle and determining whether the negative pressure of the monitoring nozzle is normal, the process also includes: if the negative pressure of the monitoring nozzle is abnormal, sending a shutdown command to control the equipment to stop and issue an alarm.

3. The method of claim 1, wherein the method further comprises: After obtaining the locking result and determining whether the locking result is abnormal, the process also includes: if the locking result is abnormal, marking the locking point as abnormal; obtaining the number of abnormal locking points; if the number of abnormal locking points is greater than the second abnormal number threshold, sending a shutdown command to control the equipment to stop and issue an alarm.

4. The intelligent lock attachment detection method according to claim 3, characterized in that, The step of obtaining the number of lock attachment point anomalies also includes: obtaining the number of lock attachment point anomalies; if the number of lock attachment point anomalies is less than or equal to the second anomaly count threshold, then obtaining the corresponding anomaly handling method and performing anomaly handling.

5. The method of claim 4, wherein the smart lock attachment detection method is characterized by, The abnormal handling method includes immediate handling. The steps for immediate handling include: automatically handling the abnormality of the locking point and re-checking whether the negative pressure of the monitoring nozzle is normal; if the negative pressure of the monitoring nozzle is abnormal, a stop command is sent to control the equipment to stop and issue an alarm prompt; if the negative pressure of the monitoring nozzle is normal, the abnormal locking point is handled and the next material picking is carried out.

6. The method of claim 4, wherein the method further comprises: The abnormality handling method includes delayed processing. The abnormality handling steps of delayed processing include: recording the abnormal locking point and skipping the abnormal locking point, and then proceeding to the next point for material retrieval.

7. The method of claim 1, wherein, If there are no abnormalities in the locking result, the step of determining whether all points have been locked also includes: if not all locking points have been locked, then proceed with the material removal of the next point.

8. The intelligent lock attachment detection method of claim 1, wherein, The method further includes: acquiring a feeder signal; when the feeder signal is a material shortage signal, sending a stop command to control the equipment to stop and issue an alarm prompt.

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