A control system for a screw tightening device

Abstract

The invention discloses a control system for a screw tightening device, which cooperatively controls the actions of a feeding system and a tightening system to improve the continuous stability of screw feeding, wherein the feeding system controls the continuous and individual feeding of nails to a gun head, and the tightening system controls the gun head to continuously screw the screws, the screws fall into a small hopper, a two-stage lifting device lifts the screws onto a screening and vibrating feeding mechanism, the screws enter a cutting mechanism through the screening and vibrating feeding mechanism, the cutting mechanism feeds the screws one by one to a nail feeding device, a pre-pressing cylinder drives a floating prevention meshing device to move along a pre-pressing track to align the screws with a pressure nozzle, a main pressure cylinder drives an engaging linkage device to move and press a tightening guide rod sleeve onto a screw nut, a servo motor drives the tightening guide rod sleeve to rotate, the main pressure cylinder keeps the tightening guide rod sleeve pressing the screw nut, a clamping cylinder drives a screw clamping jaw to open, the screw is disengaged from the screw clamping jaw and is completely screwed into place; the invention can be widely used in the field of automatic screw driving equipment.

Description

Technical Field

[0001] The invention relates to a control system for a screw tightening device, belonging to the technical field of automatic screw driving equipment. Background Art

[0002] Automatic screw driving equipment is mainly composed of a feeding system and a tightening system. The feeding system, also known as a screw arranging machine or a screw feeding machine, is a relatively simple device that arranges the screws in a row. The tightening system is an automated device that uses an automated mechanism to replace manual labor to complete the taking, placing, and tightening of screws. Both are small automated equipment aimed at improving work efficiency and are widely used in the electronics industry.

[0003] At present, a vibrating feeding mechanism, such as a vibrating hopper, is generally used to supply screws. The vibrating feeding mechanism is large in size and is prone to jamming during the feeding process, which affects the continuous feeding and damages the coating of the screws. In addition, the existing tightening system has the problem of excessive active torque. How to improve the continuous stability of screw feeding, effectively protect the coating, and how to coordinate the actions of the feeding system and the tightening system have always been the focus of research by technical personnel in this field. Summary of the invention

[0004] The present invention overcomes the shortcomings of the prior art and provides a control system for a screw tightening device, which coordinates the actions of a feeding system and a tightening system, improves the continuous stability of screw feeding, effectively protects the screw coating, shortens the active torque, has a more compact structure, and further improves the nailing efficiency.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: a control system for a screw tightening device, including a feeding system and a tightening system, the feeding system controls the nail feeding device to continuously feed nails to the gun head one by one, and the tightening system controls the gun head to continuously screw the screws, and the two work together to avoid nail accumulation on the gun head;

[0006] The feeding system controls the nail feeding device to perform the following actions: after the screws are poured into the large hopper, the screening vibration feeding mechanism is controlled to vibrate, and the screws enter the feeding port of the large hopper from the gap between the large hopper and the large hopper baffle plate, and then the discharge mechanism is controlled to open the feeding port, and the screws fall into the small hopper, and the two-stage lifting device is controlled to lift the screws onto the screening vibration feeding mechanism, and the screws enter the cutting mechanism through the screening vibration feeding mechanism, and then the cutting mechanism is controlled to send the screws one by one to the tightening system;

[0007] The tightening system controls the gun head to perform the following actions: the screws fall one by one from the nail feeding device into the nail feeding device. The nail feeding device is a tubular structure. The screws cannot turn over inside it and can only keep falling in one direction. The screws enter the anti-floating engagement device after passing through the bottom plate nail feeding tube, the inclined guide nail tube and the swing nail feeding tube. The pre-stressing cylinder is controlled to drive the anti-floating engagement device to move along the pre-stressing track so that the screw is aligned with the pressure nozzle. The main pressure cylinder is controlled to drive the engagement linkage device to move and press the tightening guide rod sleeve against the screw cap. The servo motor is started to drive the tightening guide rod sleeve to rotate, and the main pressure cylinder is controlled to keep the tightening guide rod sleeve pressing the screw cap. At the same time, the clamping cylinder is started to drive the screw clamping jaw to open, and the screw is disengaged from the screw clamping jaw and is completely screwed into place. Then each cylinder is reset to prepare for the screwing of the next screw.

[0008] Furthermore, the structure of the nail feeding device is as follows: it includes a base, a large hopper support seat and a large hopper, the large hopper is fixed on the base through the large hopper support seat, the large hopper support seat is a plate-shaped structure, a plurality of the large hopper support seats are arranged around the large hopper, the upper end of the large hopper support seat is fixedly connected to the outer side of the large hopper, and the lower end of the large hopper support seat is fixedly arranged on the upper side of the base; a large hopper baffle plate is arranged on the inner side of the large hopper, one side of the large hopper baffle plate is fixedly arranged on the inner side wall of the large hopper, and the large hopper baffle plate is arranged around the discharge port of the large hopper, and a certain distance is maintained between the discharge port of the large hopper. gap; a discharge mechanism is provided at the discharge port of the large hopper, and the discharge mechanism is used to open and close the discharge port of the large hopper; a small hopper is provided below the discharge mechanism, and the small hopper is fixedly arranged on the upper side of the base through a two-stage lifting device, the lower end of the two-stage lifting device is fixed on the base, and the lifting part located at the upper end of the two-stage lifting device penetrates the small hopper and extends above the small hopper, the lifting part of the two-stage lifting device is connected with the screening vibration feeding mechanism, the feeding port of the screening vibration feeding mechanism is aligned with the discharging end of the lifting part of the two-stage lifting device, and the discharging port of the screening vibration feeding mechanism is aligned with the feeding port of the cutting mechanism.

[0009] Furthermore, the structure of the discharge mechanism is as follows: it includes a discharge cylinder, a discharge plate, a support rib plate, a discharge support and a discharge port, the upper end of the discharge support is fixedly arranged on the outer side of the bottom of the large hopper, the lower end of the discharge support is fixedly arranged on the upper side of the base, the support rib plate is horizontally arranged below the discharge port of the large hopper, one end of the support rib plate is fixedly arranged on the discharge support, the other end of the support rib plate is fixedly arranged with a discharge cylinder, and the cylinder body of the discharge cylinder is fixed on the support rib plate. The upper end of the discharge port is movably arranged on the supporting rib plate, and the position of the discharge port is adjusted so that it can be aligned with the discharge port of the large hopper, and the upper end of the discharge port is in close contact with the discharge port of the large hopper, and the lower end of the discharge port is located below the supporting rib plate. A socket for the discharge plate to cross is arranged on the discharge port, and the discharge plate can match and pass through the discharge port to block or open the discharge port of the large hopper under the drive of the discharge cylinder.

[0010] Furthermore, the structure of the two-stage lifting device is as follows: it includes a lifting cylinder, a first lifting device bottom plate, a first lifting cutting plate, a second lifting device bottom plate, a second lifting cutting plate, a lifting device support and a cutting connecting plate, the lower end of the lifting device support is fixedly arranged on the upper side of the base, the first lifting device bottom plate and the second lifting device bottom plate are vertically spaced and fixedly arranged on the lifting device support, the first lifting cutting plate is movably matched and arranged between the first lifting device bottom plate and the second lifting device bottom plate, the second lifting cutting plate is movably arranged on the outer side of the second lifting device bottom plate, a lifting cylinder is fixedly arranged on the outer side of the first lifting device bottom plate, the lower ends of the first lifting cutting plate and the second lifting cutting plate are both fixedly arranged on the cutting connecting plate, one end of the cutting connecting plate is on the piston rod of the lifting cylinder, and the first lifting cutting plate and the second lifting cutting plate are driven to reciprocate up and down by the lifting cylinder; the upper ends of the first lifting device bottom plate, the first lifting cutting plate, the second lifting device bottom plate and the second lifting cutting plate are all provided with inclined surfaces in the same direction, and the inclined surfaces are inclined downward toward the screening vibration feeding mechanism.

[0011] Furthermore, the structure of the screening vibration feeding mechanism is as follows: it includes a vibrating machine, a vibration feeding mechanism base shockproof column, a vibration feeding mechanism base, a vibration feeding mechanism fixed plate, a profiling material channel, an air blowing fixed block, a material dividing and connecting nail plate pad, a material dividing and connecting nail plate, a screw height limiting plate pad, a screw height limiting plate support, a screw height limiting plate, a screw presence sensor bracket and a screw presence sensor, the vibration feeding mechanism base is fixedly arranged on the upper side of the base through the vibration feeding mechanism base shockproof column, the vibration machine is fixedly arranged on the upper side of the vibration feeding mechanism base, a vibration feeding mechanism fixed plate is fixedly arranged on the upper side of the vibration machine, a profiling material channel is fixedly arranged on one end of the upper side of the vibration feeding mechanism fixed plate, the profiling material channel is aligned with the discharging end of the lifting part of the two-stage lifting device, a discharging groove is arranged on the vibration feeding mechanism fixed plate on one side of the discharging port of the profiling material channel, and the discharging groove The groove is arranged in the same direction as the profiling material channel, and the vibration feeding mechanism fixing plates on both sides of the discharging groove are provided with dividing nail plate pads, and the dividing nail plate pads are provided on the dividing nail plate pads. A screw height limiting plate pad is also provided on the upper side of the vibration feeding mechanism fixing plate, and a screw height limiting plate support is provided on the screw height limiting plate pad, and the screw height limiting plate support is horizontally arranged above the dividing nail plate, and a screw height limiting plate is provided at the end of the screw height limiting plate support, and the screw height limiting plate is located directly above the discharging groove, and the screw height limiting plate is arranged along the direction of the discharging groove, the screw presence sensor is fixedly arranged on the vibration feeding mechanism fixing plate through a screw presence sensor bracket, and the detection end of the screw presence sensor extends into the space between the dividing nail plates above the discharging groove, and an air blowing fixing block is arranged between the dividing nail plate and the profiling material channel.

[0012] Furthermore, the cutting mechanism is fixedly arranged on the screening vibration feeding mechanism, and the structure of the cutting mechanism is: comprising a cutting cylinder, a cutting cylinder fixing seat, a cutting slider pressure plate, a lower nail guide plate, a lower nail opening and a connecting bottom plate, the connecting bottom plate is fixedly arranged on the screening vibration feeding mechanism, the cylinder body of the cutting cylinder is connected and fixed to the connecting bottom plate through the cutting slider pressure plate, and the piston rod of the cutting cylinder is connected to the cutting cylinder fixing seat; a groove with a screw profile is provided on the side of the cutting cylinder fixing seat facing the screening vibration feeding mechanism, a lower nail guide plate is provided on the bottom of the cutting cylinder fixing seat, the cutting cylinder fixing seat can be displaced relative to the lower nail guide plate under the drive of the cutting cylinder, and a lower nail opening is provided on the lower side of the lower nail guide plate; the cutting cylinder fixing seat The outer side of the slide is provided with a skateboard side connecting plate, a skateboard side supporting plate, a bottom plate sealing plate, an upper end bayonet plate, a skateboard bottom plate and a cutting plate, the skateboard side connecting plate, the skateboard side supporting plate, the bottom plate sealing plate, the upper end bayonet plate, the skateboard bottom plate and the cutting plate are connected and fixed together to form a cavity, the cutting cylinder fixing seat is slidably arranged in the cavity, the piston rod of the cutting cylinder is connected to the skateboard side connecting plate, and the cutting cylinder fixing seat can be relatively displaced in the cavity; the cutting cylinder fixing seat is provided with a guide structure for displacement guiding on the side of the skateboard bottom plate and the bottom plate sealing plate; the outer sides of the upper end bayonet plate and the cutting plate are provided with a material shielding plate rib, the material shielding plate rib is fixedly arranged on the connecting bottom plate, and the material shielding plate rib is provided with a notch for screws to pass through.

[0013] Furthermore, the structure of the gun head is as follows: it includes a frame, a nail supply device, a floating prevention meshing device, a main pressure track, a meshing linkage device, a tightening guide rod, a main pressure cylinder, a torque driving device, a pre-pressing cylinder and a pre-pressing track, the nail supply device is arranged on the frame, the feed port of the nail supply device is connected with the nail feeding device, the discharge port of the nail supply device is provided with a floating prevention meshing device, the floating prevention meshing device is arranged on the frame through the pre-pressing track, the power input end of the floating prevention meshing device is provided with a pre-pressing cylinder, and the pre-pressing cylinder drives the floating prevention meshing device to slide back and forth on the pre-pressing track;

[0014] The main pressure track is longitudinally fixed on the frame, and the meshing linkage device is slidably set on the main pressure track. The bottom end of the meshing linkage device is connected to the piston rod of the main pressure cylinder fixed to the frame. The meshing linkage device is driven by the main pressure cylinder to slide reciprocatingly along the main pressure track. The top end of the meshing linkage device is dynamically connected to the torque driving device. The other top end of the meshing linkage device is inserted into the anti-floating meshing device through the tightening guide rod and can be matched and engaged with the screw entering the anti-floating meshing device. The tightening guide rod is driven by the torque driving device to rotate to tighten the screw.

[0015] Furthermore, the structure of the anti-floating engagement device is as follows: it includes an engagement device fixing seat, an engagement device support plate, a tightening guide rod sleeve, an action arm, a guide rod slider, a screw clamp, a pressure nozzle, a clamp cylinder and a nail clamp control finger, the engagement device support plates are fixedly arranged on both sides of one end of the engagement device fixing seat, the tightening guide rod sleeve is arranged at the ends of the two engagement device support plates, the ends of the tightening guide rod sleeve are arranged with a pressure nozzle, the guide rod slider is slidably arranged on the tightening guide rod sleeve, the action arms are arranged on both sides of the guide rod slider, the front end of each of the action arms is arranged with a screw clamp, the clamp cylinder is arranged on the engagement device fixing seat, the piston rod of the clamp cylinder is connected with a nail clamp control finger, and the nail clamp control finger can push the guide rod slider to move under the operation of the clamp cylinder; The meshing device fixing seat is arranged on the meshing device bottom plate, and the meshing device bottom plate is slidably arranged on the pre-stressing track, and the meshing device bottom plate is connected to the piston rod of the pre-stressing cylinder through the meshing device bottom plate; a bottom plate nail delivery tube is arranged through the meshing device fixing seat, one end of the bottom plate nail delivery tube is communicated with the nail supply device, and the other end of the bottom plate nail delivery tube is connected with an inclined nail guide tube, and the end of the inclined nail guide tube is connected with a swinging nail delivery tube, and the end of the swinging nail delivery tube is communicated with the inner tube of the tightening guide rod sleeve; a displacement sensor bracket is arranged on the side of the meshing device fixing seat, and the displacement sensor bracket is arranged close to the side plate of the frame, and a displacement sensor is arranged on the displacement sensor bracket; a proximity switch mounting plate is arranged on the meshing device fixing seat, and a proximity switch is arranged on the proximity switch mounting plate.

[0016] Furthermore, the structure of the torque driving device is as follows: it includes a servo motor, a rotating support shaft, a force-bearing base plate, a spline, a main pulley, a synchronous belt and a small pulley. The body of the servo motor is fixed to the cylinder body of the main pressure cylinder through the force-bearing base plate. The power output end of the servo motor is provided with a main pulley. The rotating support shaft is movably arranged on the force-bearing base plate. A small pulley is arranged on the rotating support shaft. The main pulley and the small pulley are connected by a synchronous belt power connection. The end of the rotating support shaft is provided with a spline and is dynamically connected to the meshing linkage device through the spline.

[0017] Compared with the prior art, the present invention has the following beneficial effects: the present invention coordinates the actions of the feeding system and the tightening system, improves the continuous stability of screw feeding, effectively protects the screw coating, shortens the active torque, has a more compact structure, and further improves the nailing efficiency. By arranging a large hopper baffle plate in the large hopper, the feeding speed of the screws is slowed down, and the screws are prevented from being clogged by the feeding port of the large hopper. After the screws are lifted onto the screening vibration feeding mechanism, the profiled material channel and the air blowing fixed block are used to make the screw heads face upward into the discharge groove on the fixed plate of the vibration feeding mechanism, and then The rear vibration enters the cutting cylinder fixing seat of the cutting mechanism in turn, and under the action of the cutting cylinder, the side connecting plate of the slide board, the side supporting plate of the slide board, the bottom plate sealing plate, the upper end bayonet plate, the slide board bottom plate and the cutting plate are pushed to form a shell, and the movement of the shell drives the internal cutting cylinder fixing seat to move. During the movement, the screws in the cutting cylinder fixing seat fall into the lower nail guide plate on the lower side, and then enter the nail feeding channel from the lower nail opening. The nail feeding process of the present invention is smooth and not prone to nail jamming, which greatly improves the stability of the delivery, improves the nail feeding efficiency, and effectively protects the coating. By integrating the anti-floating meshing device and the meshing linkage device, and passing the nail feeding device through it, the smoothness of the screw delivery is not affected, and the pre-pressure cylinder is used for pre-pressure and tightening to ensure that the screw is upright and pressed, and the accuracy of the later screwing is ensured. The servo motor and the main pressure cylinder ensure that there is continuous pressure while screwing to ensure that the screw is tightened smoothly, which greatly shortens the active torque and makes the overall structure more compact. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention will be further described below in conjunction with the accompanying drawings.

[0019] Figure 1 It is a structural schematic diagram of the nail feeding device in the present invention.

[0020] Figure 2 A schematic diagram of the top view of the nail feeding device in the present invention

[0021] Figure 3 The three-dimensional structure of the nail feeding device in the present invention is shown in FIG. Figure 1 .

[0022] Figure 4 The three-dimensional structure of the nail feeding device in the present invention is shown in FIG. Figure 2 .

[0023] Figure 5 The three-dimensional structure of the nail feeding device in the present invention is shown in FIG. Figure 3 .

[0024] Figure 6 A schematic structural diagram of the material discharging mechanism in the present invention.

[0025] Figure 7It is a three-dimensional schematic diagram of the cutting mechanism in the present invention.

[0026] Figure 8 It is a partial three-dimensional view of the cutting mechanism in the present invention. Figure 1 .

[0027] Fig. 9 It is a partial three-dimensional view of the cutting mechanism in the present invention. Figure 2 .

[0028] Fig.10 The three-dimensional structure diagram of the screening vibration feeding mechanism in the present invention is shown in FIG. Figure 1 .

[0029] Fig.11 The three-dimensional structure diagram of the screening vibration feeding mechanism in the present invention is shown in FIG. Figure 2 .

[0030] Fig.12 The three-dimensional structure of the two-stage lifting device in the present invention is shown in FIG. Figure 1 .

[0031] Fig.13 The three-dimensional structure of the two-stage lifting device in the present invention is shown in FIG. Figure 2 .

[0032] Fig.14 It is a structural schematic diagram of the gun head in the present invention.

[0033] Fig.15 The local three-dimensional structure of the gun head in the present invention is shown in FIG. Figure 1 .

[0034] Fig.16 The local three-dimensional structure of the gun head in the present invention is shown in FIG. Figure 2 .

[0035] Fig.17 The local three-dimensional structure of the gun head in the present invention is shown in FIG. Figure 3 .

[0036] Fig.18 The partial three-dimensional structure of the floating engagement prevention device in the present invention is shown in FIG. Figure 1 .

[0037] Fig.19 The partial three-dimensional structure of the floating engagement prevention device in the present invention is shown in FIG. Figure 2 .

[0038] Fig. 20 The partial three-dimensional structure of the floating engagement prevention device in the present invention is shown in FIG. Figure 3 .

[0039] In the figure: 1 is a nail feeding device, 11 is a base, 12 is a large hopper support seat, 13 is a large hopper, 14 is a large hopper baffle plate, 15 is a discharge mechanism, 151 is a discharge cylinder, 152 is a discharge plate, 153 is a support rib plate, 154 is a discharge support, 155 is a discharge port, 16 is a cutting mechanism, 160 is a connecting bottom plate, 161 is a cutting cylinder, 162 is a cutting cylinder fixing seat, 163 is a cutting slider pressure plate, 164 is a lower nail guide plate, 165 is a lower nail port, 166 is a slide plate side connection plate, 167 is a slide plate side support plate, 168 is a bottom plate air sealing plate, 169 is an upper end bayonet plate, 1610 is a slide The bottom plate, 1611 is the cutting plate, 1612 is the cover plate rib, 17 is the screening vibration feeding mechanism, 171 is the vibration machine, 172 is the vibration feeding mechanism base shockproof column, 173 is the vibration feeding mechanism base, 174 is the vibration feeding mechanism fixed plate, 175 is the contour material channel, 176 is the blowing fixed block, 177 is the material dividing and nailing plate pad, 178 is the material dividing and nailing plate, 179 is the screw height limiting plate pad, 1710 is the screw height limiting plate support, 1711 is the screw height limiting plate, 1712 is the screw with or without sensor bracket, 1713 is the screw with or without sensor, 18 is the two-stage lifting device, 181 is the lifting cylinder, 1 82 is the first lifting device bottom plate, 183 is the first lifting cutting plate, 184 is the second lifting device bottom plate, 185 is the second lifting cutting plate, 186 is the lifting device support, 187 is the cutting connecting plate, 19 is the small hopper, 110 is the sensor, 2 is the gun head, 21 is the frame, 22 is the nail supply device, 23 is the anti-floating engagement device, 231 is the engagement device fixing seat, 232 is the engagement device support plate, 233 is the tightening guide rod sleeve, 234 is the action arm, 235 is the guide rod slider, 236 is the screw clamp, 237 is the pressure nozzle, 238 is the clamp cylinder, 239 is the nail clamp control finger, 2310 is the engagement Device bottom plate, 2311 is the bottom plate nail delivery tube, 2312 is the inclined nail guide tube, 2313 is the swing nail delivery tube, 2314 is the displacement sensor bracket, 2315 is the displacement sensor, 2316 is the proximity switch mounting plate, 2317 is the proximity switch, 24 is the main pressure track, 25 is the meshing linkage device, 26 is the tightening guide rod, 27 is the main pressure cylinder, 28 is the torque drive device, 281 is the servo motor, 282 is the rotating support shaft, 283 is the force bottom plate, 284 is the spline, 285 is the main pulley, 286 is the synchronous belt, 287 is the small pulley, 29 is the pre-pressure cylinder, 210 is the pre-pressure track, and 211 is the valve island. DETAILED DESCRIPTION

[0040] The present invention will be further described below in conjunction with specific embodiments.

[0041] like Figures 1 to 20As shown, the present invention is a control system for a screw tightening device, comprising a feeding system and a tightening system. The feeding system controls the nail feeding device 1 to continuously feed nails to the gun head 2 one by one, and the tightening system controls the gun head 2 to continuously screw the screws. The two work together to avoid nail accumulation on the gun head 2.

[0042] The feeding system controls the nail feeding device 1 to perform the following actions: after the screws are poured into the large hopper 13, the screening vibration feeding mechanism 17 is controlled to vibrate, and the screws enter the discharge port of the large hopper 13 from the gap between the large hopper 13 and the large hopper baffle plate 14, and then the discharge mechanism 15 is controlled to open the discharge port, and the screws fall into the small hopper 19, and the two-stage lifting device 18 is controlled to lift the screws onto the screening vibration feeding mechanism 17, and the screws enter the cutting mechanism 16 through the screening vibration feeding mechanism 17, and then the cutting mechanism 16 is controlled to send the screws one by one to the tightening system;

[0043] The tightening system controls the gun head 2 to perform the following actions: the screws fall one by one from the nail feeding device 1 into the nail feeding device 22. The nail feeding device 22 is a tubular structure, and the screws cannot turn over in it and can only keep falling in one direction. The screws enter the floating prevention meshing device 23 after passing through the bottom plate nail delivery tube 2311, the inclined nail guide tube 2312 and the swing nail delivery tube 2313. The pre-pressing cylinder 29 is controlled to drive the floating prevention meshing device 23 to move along the pre-pressing track 210 so that the screws are aligned with the pressing nozzle. 237, and then control the main pressure cylinder 27 to drive the meshing linkage device 25 to move the tightening guide rod sleeve 233 to press on the screw nut, start the servo motor 281 to drive the tightening guide rod sleeve 233 to rotate, and control the main pressure cylinder 27 to keep the tightening guide rod sleeve 233 pressing the screw nut, and at the same time start the clamp cylinder 238 to drive the screw clamp 236 to open, the screw is disengaged from the screw clamp 236 and is completely screwed into place, and then each cylinder is reset to prepare for the screwing of the next screw.

[0044] The structure of the nail feeding device 1 in the present invention includes a base 11, a large hopper support seat 12 and a large hopper 13, the large hopper 13 is fixed on the base 11 through the large hopper support seat 12, the large hopper support seat 12 is a plate-shaped structure, and a plurality of large hopper support seats 12 are arranged around the large hopper 13, the upper end of the large hopper support seat 12 is fixedly connected to the outer side of the large hopper 13, and the lower end of the large hopper support seat 12 is fixedly arranged on the upper side of the base 11; a large hopper baffle plate 14 is arranged on the inner side of the large hopper 13, one side of the large hopper baffle plate 14 is fixedly arranged on the inner side wall of the large hopper 13, and the large hopper baffle plate 14 is arranged around the discharge port of the large hopper 13, and a certain gap is maintained between the discharge port of the large hopper 13, and the screws enter the discharge port from the gap one by one during discharge, and the discharge port will not be blocked by piled materials.

[0045] A discharge mechanism 15 is provided at the discharge port of the large hopper 13, and the discharge mechanism 15 is used to open and close the discharge port of the large hopper 13; a small hopper 19 is provided below the discharge mechanism 15, and the small hopper 19 is fixedly provided on the upper side of the base 11 through a two-stage lifting device 18, the lower end of the two-stage lifting device 18 is fixed on the base 11, and the lifting part located at the upper end of the two-stage lifting device 18 penetrates the small hopper 19 and extends above the small hopper 19, the lifting part of the two-stage lifting device 18 is connected to the screening vibration feeding mechanism 17, the feeding port of the screening vibration feeding mechanism 17 is aligned with the discharging end of the lifting part of the two-stage lifting device 18, and the discharging port of the screening vibration feeding mechanism 17 is aligned with the feeding port of the cutting mechanism 16; sensors 110 are provided in both the large hopper 13 and the small hopper 19.

[0046] The structure of the discharge mechanism 15 is as follows: it includes a discharge cylinder 151, a discharge plate 152, a support rib 153, a discharge support 154 and a discharge port 155. The upper end of the discharge support 154 is fixedly arranged on the bottom outer side of the large hopper 13, and the lower end of the discharge support 154 is fixedly arranged on the upper side of the base 11. The support rib 153 is horizontally arranged below the discharge port of the large hopper 13. One end of the support rib 153 is fixedly arranged on the discharge support 154, and the other end of the support rib 153 is fixedly arranged with the discharge cylinder 151. The cylinder body of the discharge cylinder 151 is fixed on the support rib 15 3, a discharge plate 152 is fixedly arranged on the piston rod of the discharge cylinder 151; the upper end of the discharge port 155 is movably arranged on the supporting rib 153, and the position of the discharge port 155 is adjusted so that it can be aligned with the discharge port of the large hopper 13, and the upper end of the discharge port 155 is in close contact with the discharge port of the large hopper 13, and the lower end of the discharge port 155 is located below the supporting rib 153, and the discharge port 155 is provided with a socket for the discharge plate 152 to cross, and the discharge plate 152 can match and pass through the discharge port 155 to block or open the discharge port of the large hopper 13 under the drive of the discharge cylinder 151.

[0047] The structure of the two-stage lifting device 18 is as follows: it includes a lifting cylinder 181, a first lifting device bottom plate 182, a first lifting cutting plate 183, a second lifting device bottom plate 184, a second lifting cutting plate 185, a lifting device support 186 and a cutting connecting plate 187, the lower end of the lifting device support 186 is fixedly arranged on the upper side of the base 11, the first lifting device bottom plate 182 and the second lifting device bottom plate 184 are vertically spaced and fixedly arranged on the lifting device support 186, and the first lifting cutting plate 183 is movably matched and arranged on the first lifting device bottom plate 182 and the second lifting device bottom plate 184, the second lifting cutting plate 185 is movably arranged on the outside of the second lifting device bottom plate 184, the lifting cylinder 181 is fixedly arranged on the outside of the first lifting device bottom plate 182, the lower ends of the first lifting cutting plate 183 and the second lifting cutting plate 185 are fixedly arranged on the cutting connecting plate 187, one end of the cutting connecting plate 187 is connected to the piston rod of the lifting cylinder 181, and the first lifting cutting plate 183 and the second lifting cutting plate 185 are driven to move up and down by the lifting cylinder 181. The structure of the two-stage lifting device 18 is as follows: the upper ends of the first lifting device bottom plate 182, the first lifting cutting plate 183, the second lifting device bottom plate 184 and the second lifting cutting plate 185 are all provided with inclined surfaces in the same direction, and the inclined surfaces are inclined downward toward the screening vibration feeding mechanism 17.

[0048] The structure of the screening vibration feeding mechanism 17 is as follows: it includes a vibrator 171, a vibration feeding mechanism base shockproof column 172, a vibration feeding mechanism base 173, a vibration feeding mechanism fixing plate 174, a contoured material channel 175, an air blowing fixing block 176, a material dividing and connecting nail plate pad 177, a material dividing and connecting nail plate 178, a screw height limiting plate pad 179, a screw height limiting plate support 1710, a screw height limiting plate 1711, a screw presence sensor bracket 1712 and a screw presence sensor 1713. The vibration feeding mechanism base 173 is vibrated by The anti-vibration column 172 of the feeding mechanism base is fixedly arranged on the upper side of the base 11, and the vibrator 171 is fixedly arranged on the upper side of the vibrating feeding mechanism base 173. A vibrating feeding mechanism fixing plate 174 is fixedly arranged on the upper side of the vibrating feeding mechanism fixing plate 171. A profiling channel 175 is fixedly arranged at one end of the upper side of the vibrating feeding mechanism fixing plate 174. The profiling channel 175 is aligned with the discharge end of the lifting part of the two-stage lifting device 18. A discharge groove is arranged on the vibrating feeding mechanism fixing plate 174 on the discharge port side of the profiling channel 175. The groove is arranged in the same direction as the contoured material channel 175. The vibrating feeding mechanism fixing plates 174 on both sides of the discharge groove are provided with material dividing and connecting nail plate pads 177. The material dividing and connecting nail plate pads 177 are provided with material dividing and connecting nail plates 178. The upper side of the vibrating feeding mechanism fixing plate 174 is also provided with a screw height limiting plate pad 179. The screw height limiting plate pad 179 is provided with a screw height limiting plate support 1710. The screw height limiting plate support 1710 is horizontally arranged above the material dividing and connecting nail plate 178. A screw height limiting plate 1711 is provided at the end, and the screw height limiting plate 1711 is located directly above the discharge groove, and the screw height limiting plate 1711 is arranged along the direction of the discharge groove. The screw presence sensor 1713 is fixed on the vibration feeding mechanism fixing plate 174 through the screw presence sensor bracket 1712. The detection end of the screw presence sensor 1713 extends into the space between the material dividing and connecting nail plates 178 above the discharge groove, and an air blowing fixing block 176 is arranged between the material dividing and connecting nail plates 178 and the contoured material channel 175.

[0049] The cutting mechanism 16 is fixedly arranged on the screening vibration feeding mechanism 17. The structure of the cutting mechanism 16 is as follows: it includes a cutting cylinder 161, a cutting cylinder fixing seat 162, a cutting slider pressing plate 163, a lower nail guide plate 164, a lower nail opening 165 and a connecting bottom plate 160. The connecting bottom plate 160 is fixedly arranged on the screening vibration feeding mechanism 17. The cylinder body of the cutting cylinder 161 is connected and fixed to the connecting bottom plate 160 through the cutting slider pressing plate 163. The piston rod of the cutting cylinder 161 is connected to the cutting cylinder fixing seat 162; a groove with a screw profile is provided on the side of the cutting cylinder fixing seat 162 facing the screening vibration feeding mechanism 17, and a lower nail guide plate 164 is provided at the bottom of the cutting cylinder fixing seat 162. The cutting cylinder fixing seat 162 can be displaced relative to the lower nail guide plate 164 under the drive of the cutting cylinder 161, and a lower nail opening 165 is provided on the lower side of the lower nail guide plate 164. The outside of the cutting cylinder fixed seat 162 is provided with a slide plate side connection plate 166, a slide plate side support plate 167, a bottom plate air sealing plate 168, an upper end bayonet plate 169, a slide plate bottom plate 1610 and a cutting plate 1611. The slide plate side connection plate 166, the slide plate side support plate 167, the bottom plate air sealing plate 168, the upper end bayonet plate 169, the slide plate bottom plate 1610 and the cutting plate 1611 are connected and fixed to form a cavity. The cutting cylinder fixed seat 162 is slidably arranged in the cavity. The piston rod of the cutting cylinder 161 is connected to the slide plate side connection plate 166. The cutting cylinder fixed seat 162 can be relatively displaced in the cavity. The cutting cylinder fixed seat 162 is provided with a guide structure for displacement guidance on the side facing the slide plate bottom plate 1610 and the bottom plate air sealing plate 168. The outer sides of the upper end bayonet plate 169 and the cutting plate 1611 are both provided with material shielding plate ribs 1612 , and the material shielding plate ribs 1612 are fixedly arranged on the connecting bottom plate 160 , and the material shielding plate ribs 1612 are provided with notches for screws to pass through.

[0050] The working process of the nail feeding device 1 in the present invention is as follows: screws are poured into the large hopper 13, and under the vibration action of the screening and vibrating feeding mechanism 17, the screws enter the discharge port of the large hopper 13 from the gap between the large hopper 13 and the large hopper baffle plate 14, the discharge mechanism 15 is actuated to open the discharge port, the screws fall into the small hopper 19, and are lifted onto the screening and vibrating feeding mechanism 17 by the action of the two-stage lifting device 18, enter the cutting mechanism 16 through the screening and vibrating feeding mechanism 17, and then the screws are sent one by one to the gun head of the screw driving equipment through the cutting mechanism 16.

[0051] The nail feeding device 1 of the present invention slows down the feeding speed of the screws by setting a large hopper baffle plate 14 in the large hopper 13, avoiding the screws from being clogged by entering the feeding port of the large hopper 13. After the screws are lifted onto the screening vibration feeding mechanism 17, the profiling material channel 175 and the blowing fixed block 176 are used to make the screw heads face upward into the discharge groove on the fixed plate 174 of the vibration feeding mechanism, and then the screws vibrate and enter the cutting cylinder fixed seat 162 of the cutting mechanism 16 in turn, and the side connecting plate 1 of the slide plate is pushed under the action of the cutting cylinder 161. 66. The side support plate 167 of the skateboard, the bottom plate air sealing plate 168, the upper end bayonet plate 169, the skateboard bottom plate 1610 and the cutting plate 1611 are connected to form a shell, and the movement of the shell drives the internal cutting cylinder fixing seat 162 to move. During the movement, the screws in the cutting cylinder fixing seat 162 fall toward the lower nail guide plate 164 on the lower side, and then enter the nail feeding channel from the lower nail opening 165. The nail feeding process of the present invention is smooth and is not prone to nail jamming, which greatly improves the stability of nail feeding and the efficiency of nail feeding.

[0052] The structure of the gun head 2 in the present invention includes a frame 21, a nail supply device 22, a floating prevention meshing device 23, a main pressure track 24, a meshing linkage device 25, a tightening guide rod 26, a main pressure cylinder 27, a torque driving device 28, a pre-pressing cylinder 29 and a pre-pressing track 210. The nail supply device 22 is arranged on the frame 21, and the feed port of the nail supply device 22 is connected with the nail feeding device. The discharge port of the nail supply device 22 is provided with a floating prevention meshing device 23. The floating prevention meshing device 23 is arranged on the frame 21 through the pre-pressing track 210. The power input end of the floating prevention meshing device 23 is provided with a pre-pressing cylinder 29. The pre-pressing cylinder 29 drives the floating prevention meshing device 23 to slide back and forth on the pre-pressing track 210.

[0053] The main pressure rail 24 is longitudinally fixed on the frame 21, and the meshing linkage device 25 is slidably set on the main pressure rail 24. The bottom end of the meshing linkage device 25 is connected to the piston rod of the main pressure cylinder 27 fixed to the frame 21, and the meshing linkage device 25 is driven by the main pressure cylinder 27 to slide back and forth along the main pressure rail 24. The top end of the meshing linkage device 25 is dynamically connected to the torsion drive device 28. The other top end of the meshing linkage device 25 is inserted into the anti-floating meshing device 23 by tightening the guide rod 26 and can match and snap with the screw entering the anti-floating meshing device 23. The structure of the torsion drive device 28 is as follows: it includes a servo motor 281, a rotating support shaft 282, and a force bearing The base plate 283, the spline 284, the main pulley 285, the synchronous belt 286 and the small pulley 287, the body of the servo motor 281 is fixed together with the cylinder body of the main pressure cylinder 27 through the force-bearing base plate 283, the power output end of the servo motor 281 is provided with a main pulley 285, the rotating support shaft 282 is movably arranged on the force-bearing base plate 283, and the rotating support shaft 282 is provided with a small pulley 287. The main pulley 285 and the small pulley 287 are connected to each other by a synchronous belt 286. The end of the rotating support shaft 282 is provided with a spline 284, and is connected to the meshing linkage device 25 by the spline 284. The spline 284 can be used to maintain rotation while also allowing for transverse movement. The tightening guide rod 26 is driven to rotate by the torque driving device 28 to tighten the screw; a valve island 211 is arranged on the side panel of the frame 21 below the servo motor 281, and a variety of valves are arranged on the valve island 211 for controlling the actions of various cylinders in the device. The frame 21 is a shell-like structure, which can cover the anti-floating meshing device 23 and the meshing linkage device 25.

[0054] The structure of the anti-floating meshing device 23 is as follows: it includes a meshing device fixing seat 231, a meshing device support plate 232, a tightening guide rod sleeve 233, an action arm 234, a guide rod slider 235, a screw clamp 236, a pressure nozzle 237, a clamp cylinder 238 and a nail clamp control finger 239, wherein the meshing device fixing seat 231 is fixedly provided with a meshing device support plate 232 on both sides of one end, the tightening guide rod sleeve 233 is provided at the ends of the two meshing device support plates 232, a pressure nozzle 237 is provided at the end of the tightening guide rod sleeve 233, the guide rod slider 235 is slidably provided on the tightening guide rod sleeve 233, the action arm 234 is provided on both sides of the guide rod slider 235, the front end of each of the action arms 234 is provided with a screw clamp 236, the clamp cylinder 238 is provided on the meshing device fixing seat 231, the clamp A nail clamp control finger 239 is connected to the piston rod of the claw cylinder 238, and the nail clamp control finger 239 can push the guide rod slider 235 to move under the operation of the claw cylinder 238; the meshing device fixed seat 231 is set on the meshing device bottom plate 2310, and the meshing device bottom plate 2310 is slidably set on the pre-pressing track 210, and the meshing device bottom plate 2310 is connected to the piston rod of the pre-pressing cylinder 29 through the meshing device bottom plate 2310; a bottom plate nail delivery tube 2311 is penetrated by the meshing device fixed seat 231, one end of the bottom plate nail delivery tube 2311 is connected to the nail supply device 22, and the other end of the bottom plate nail delivery tube 2311 is connected to an oblique guide nail tube 2312, and the end of the oblique guide nail tube 2312 is connected to a swing nail delivery tube 2313, and the end of the swing nail delivery tube 2313 is connected to the inner tube of the tightening guide rod sleeve 233.

[0055] A displacement sensor bracket 2314 is arranged on the side of the meshing device fixing seat 231, and the displacement sensor bracket 2314 is arranged close to the side plate of the frame 21, and a displacement sensor 2315 is arranged on the displacement sensor bracket 2314; a proximity switch mounting plate 2316 is arranged on the meshing device fixing seat 231, and a proximity switch 2317 is arranged on the proximity switch mounting plate 2316. The displacement sensor 2315 and the proximity switch 2317 are used to limit the displacement and control the cylinder reset.

[0056] In the present invention, after the screws of the gun head 2 fall into the nail feeding device 22 one by one from the nail feeding device, the nail feeding device 22 is a tubular structure, and the screws cannot turn over in it and can only keep falling in one direction. After passing through the bottom plate nail feeding tube 2311, the inclined nail guide tube 2312 and the swing nail feeding tube 2313, they enter the anti-floating meshing device 23. Under the drive of the pre-pressing cylinder 29, the anti-floating meshing device 23 moves along the pre-pressing track 210 to align the screw with the pressure nozzle 237, and the main pressure cylinder 27 is controlled to drive the meshing linkage device 25 to move and press the tightening guide rod sleeve 233 against the screw cap. While starting the servo motor 281 to drive the tightening guide rod sleeve 233 to rotate, the main pressure cylinder 27 is controlled to keep the tightening guide rod sleeve 233 pressing the screw cap, and at the same time, the clamping cylinder 238 is started to drive the screw clamping jaw 236 to open, and the screw is detached from the screw clamping jaw 236 and is completely screwed into place, and then each cylinder is reset to prepare for the screwing of the next screw.

[0057] The gun head 2 of the present invention integrates the anti-floating meshing device 23 and the meshing linkage device 25, and runs the nail feeding device 22 therethrough, which does not affect the smoothness of screw delivery. The pre-compression cylinder 29 is used for pre-compression and tightening to ensure that the screws are upright and tightened, thereby ensuring the accuracy of subsequent screwing. The servo motor 281 and the main pressure cylinder 27 ensure that continuous pressure is maintained while screwing, ensuring that the screws are tightened smoothly, greatly shortening the active torque, and making the overall structure more compact.

[0058] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in this field without departing from the purpose of the present invention.

Claims

1. A control system for a screw tightening device, characterized in that: It comprises a feeding system and a tightening system, wherein the feeding system controls the nail feeding device (1) to continuously feed nails to the gun head (2) one by one, and the tightening system controls the gun head (2) to continuously tighten the screws, and the two work together to avoid nail accumulation on the gun head (2); The feeding system controls the nail feeding device (1) to perform the following actions: after the screws are poured into the large hopper (13), the screening vibration feeding mechanism (17) is controlled to vibrate, and the screws enter the discharge port of the large hopper (13) from the gap between the large hopper (13) and the large hopper baffle plate (14), and then the discharge mechanism (15) is controlled to open the discharge port, and the screws fall into the small hopper (19), and the two-stage lifting device (18) is controlled to lift the screws onto the screening vibration feeding mechanism (17), and then the screws enter the cutting mechanism (16) through the screening vibration feeding mechanism (17), and then the cutting mechanism (16) is controlled to send the screws one by one to the tightening system; The tightening system controls the gun head (2) to perform the following actions: screws fall one by one from the nail feeding device (1) into the nail feeding device (22). The nail feeding device (22) is a tubular structure, and the screws cannot turn over inside it and can only keep falling in one direction. The screws enter the anti-floating meshing device (23) after passing through the bottom plate nail feeding tube (2311), the oblique nail guide tube (2312) and the swing nail feeding tube (2313). The pre-pressing cylinder (29) is controlled to drive the anti-floating meshing device (23) to move along the pre-pressing track (210) so that the screws are aligned with the pressing nozzle. (237), and then control the main pressure cylinder (27) to drive the meshing linkage device (25) to move the tightening guide rod sleeve (233) to move and press against the screw cap, start the servo motor (281) to drive the tightening guide rod sleeve (233) to rotate, control the main pressure cylinder (27) to keep the tightening guide rod sleeve (233) pressing the screw cap, and start the clamping jaw cylinder (238) to drive the screw clamping jaw (236) to open, the screw is disengaged from the screw clamping jaw (236) and is completely screwed into place, and then the cylinders are reset to prepare for the screwing of the next screw.

2. A control system for a screw tightening device according to claim 1, characterized in that: The structure of the nail feeding device (1) is as follows: it comprises a base (11), a large hopper support seat (12) and a large hopper (13); the large hopper (13) is fixed on the base (11) through the large hopper support seat (12); the upper end of the large hopper support seat (12) is fixedly connected to the outer side of the large hopper (13); the lower end of the large hopper support seat (12) is fixedly arranged on the upper side of the base (11); a large hopper baffle plate (14) is arranged on the inner side of the large hopper (13); one side of the large hopper baffle plate (14) is fixedly arranged on the inner side wall of the large hopper (13); the large hopper baffle plate (14) is arranged around the discharge port of the large hopper (13) and maintains a certain gap with the discharge port of the large hopper (13); a discharge mechanism is arranged at the discharge port of the large hopper (13). (15), the discharge mechanism (15) is used to open and close the discharge port of the large hopper (13); a small hopper (19) is arranged below the discharge mechanism (15), the small hopper (19) is fixedly arranged on the upper side of the base (11) through a two-stage lifting device (18), the lower end of the two-stage lifting device (18) is fixed on the base (11), the lifting part located at the upper end of the two-stage lifting device (18) passes through the small hopper (19) and then extends above the small hopper (19), the lifting part of the two-stage lifting device (18) is connected to the screening vibration feeding mechanism (17), the feeding port of the screening vibration feeding mechanism (17) is aligned with the discharge end of the lifting part of the two-stage lifting device (18), and the discharge port of the screening vibration feeding mechanism (17) is aligned with the feeding port of the cutting mechanism (16).

3. A control system for a screw tightening device according to claim 2, characterized in that: The structure of the discharge mechanism (15) is as follows: it comprises a discharge cylinder (151), a discharge plate (152), a support rib (153), a discharge support (154) and a discharge port (155); the upper end of the discharge support (154) is fixedly arranged on the outer side of the bottom of the large hopper (13); the lower end of the discharge support (154) is fixedly arranged on the upper side of the base (11); the support rib (153) is horizontally arranged below the discharge port of the large hopper (13); one end of the support rib (153) is fixedly arranged on the discharge support (154); the other end of the support rib (153) is fixedly arranged with the discharge cylinder (151); the cylinder body of the discharge cylinder (151) is fixedly arranged on the support rib (154); 53), a discharge plate (152) is fixedly arranged on the piston rod of the discharge cylinder (151); the upper end of the discharge port (155) is movably arranged on the supporting rib plate (153), the position of the discharge port (155) is adjusted so that it can be aligned with the discharge port of the large hopper (13), and the upper end of the discharge port (155) is tightly attached to the discharge port of the large hopper (13), the lower end of the discharge port (155) is located below the supporting rib plate (153), and the discharge port (155) is provided with a socket for the discharge plate (152) to cross, and the discharge plate (152) can match and pass through the discharge port (155) to block or open the discharge port of the large hopper (13) under the drive of the discharge cylinder (151).

4. A control system for a screw tightening device according to claim 2, characterized in that: The structure of the two-stage lifting device (18) is as follows: it includes a lifting cylinder (181), a first lifting device bottom plate (182), a first lifting cutting plate (183), a second lifting device bottom plate (184), a second lifting cutting plate (185), a lifting device support (186) and a cutting connecting plate (187), wherein the lower end of the lifting device support (186) is fixedly arranged on the upper side of the base (11), the first lifting device bottom plate (182) and the second lifting device bottom plate (184) are vertically spaced and fixedly arranged on the lifting device support (186), the first lifting cutting plate (183) is movably matched and arranged between the first lifting device bottom plate (182) and the second lifting device bottom plate (184), and the second lifting cutting plate (185) is movably arranged on the second lifting device The first lifting device bottom plate (182) is fixedly provided with a lifting cylinder (181) on the outer side of the first lifting device bottom plate (184); the lower ends of the first lifting cutting plate (183) and the second lifting cutting plate (185) are fixedly provided on the cutting connecting plate (187); one end of the cutting connecting plate (187) is connected to the piston rod of the lifting cylinder (181); the first lifting cutting plate (183) and the second lifting cutting plate (185) are driven to move reciprocatingly up and down by the lifting cylinder (181); the upper ends of the first lifting device bottom plate (182), the first lifting cutting plate (183), the second lifting device bottom plate (184) and the second lifting cutting plate (185) are all provided with inclined surfaces in the same direction, and the inclined surfaces are inclined downward toward the screening vibration feeding mechanism (17).

5. A control system for a screw tightening device according to claim 2, characterized in that: The structure of the screening vibration feeding mechanism (17) is as follows: it comprises a vibrator (171), a vibration feeding mechanism base shockproof column (172), a vibration feeding mechanism base (173), a vibration feeding mechanism fixing plate (174), a contoured material channel (175), an air blowing fixing block (176), a material dividing and nail connecting plate pad (177), a material dividing and nail connecting plate (178), a screw height limiting plate pad (179), a screw height limiting plate support (1710), a screw height limiting plate (1711), a screw presence sensor bracket (1712) and a screw presence sensor (1713), wherein the vibration feeding mechanism base (173 ) is fixedly arranged on the upper side of the base (11) through a vibration feeding mechanism base anti-vibration column (172), the vibration machine (171) is fixedly arranged on the upper side of the vibration feeding mechanism base (173), a vibration feeding mechanism fixing plate (174) is fixedly arranged on the upper side of the vibration machine (171), a contoured material channel (175) is fixedly arranged on one end of the upper side of the vibration feeding mechanism fixing plate (174), the contoured material channel (175) is aligned with the discharge end of the lifting part of the two-stage lifting device (18), and a discharge groove is arranged on the vibration feeding mechanism fixing plate (174) on the discharge port side of the contoured material channel (175), The discharge groove and the contoured material channel (175) are arranged in the same direction, and the vibration feeding mechanism fixing plates (174) on both sides of the discharge groove are provided with material dividing and connecting nail plate pads (177), and the material dividing and connecting nail plate pads (177) are provided with material dividing and connecting nail plates (178), and the upper side of the vibration feeding mechanism fixing plate (174) is also provided with a screw height limiting plate pad (179), and the screw height limiting plate pad (179) is provided with a screw height limiting plate support (1710), and the screw height limiting plate support (1710) is transversely arranged above the material dividing and connecting nail plate (178), and the screw height limiting plate support (1710) is provided. 0) is provided with a screw height limiting plate (1711) at the end thereof, the screw height limiting plate (1711) being located just above the material discharging groove and being arranged along the direction of the material discharging groove, the screw presence sensor (1713) being fixedly arranged on the vibration feeding mechanism fixing plate (174) via a screw presence sensor bracket (1712), the detection end of the screw presence sensor (1713) extending into the space between the material dividing and connecting nail plates (178) above the material discharging groove, and an air blowing fixing block (176) being arranged between the material dividing and connecting nail plates (178) and the contoured material channel (175).

6. A control system for a screw tightening device according to claim 2, characterized in that: The cutting mechanism (16) is fixedly mounted on the screening vibration feeding mechanism (17). The structure of the cutting mechanism (16) is as follows: it comprises a cutting cylinder (161), a cutting cylinder fixing seat (162), a cutting slider pressing plate (163), a lower nail guide plate (164), a lower nail opening (165) and a connecting bottom plate (160). The connecting bottom plate (160) is fixedly mounted on the screening vibration feeding mechanism (17). The cylinder body of the cutting cylinder (161) is connected and fixed to the connecting bottom plate (160) via the cutting slider pressing plate (163). The piston rod of the cutting cylinder (161) is connected to the cutting cylinder fixing seat (162); a groove with a screw profile is provided on the side of the cutting cylinder fixing seat (162) facing the screening vibration feeding mechanism (17); a lower nail guide plate (164) is provided at the bottom of the cutting cylinder fixing seat (162); the cutting cylinder fixing seat (162) can be displaced relative to the lower nail guide plate (164) under the drive of the cutting cylinder (161); a lower nail opening (165) is provided on the lower side of the lower nail guide plate (164); a sliding groove (166) is provided on the outer side of the cutting cylinder fixing seat (162); The side connecting plate (166) of the board, the side supporting plate (167) of the skateboard, the bottom plate sealing plate (168), the upper end bayonet plate (169), the skateboard bottom plate (1610) and the cutting plate (1611) are connected and fixed together to form a cavity, and the cutting cylinder fixing seat (162) is slidably arranged in the cavity, and the piston rod of the cutting cylinder (161) The cutting cylinder fixing seat (162) is connected to the side connecting plate (166) of the connecting slide, and can be relatively displaced in the cavity; the cutting cylinder fixing seat (162) is provided with a guide structure for displacement guidance on the side facing the slide base plate (1610) and the base plate sealing plate (168); the outer sides of the upper end bayonet plate (169) and the cutting plate (1611) are provided with a material shielding plate rib (1612), and the material shielding plate rib (1612) is fixedly arranged on the connecting base plate (160), and the material shielding plate rib (1612) is provided with a notch for screws to pass through.

7. A control system for a screw tightening device according to claim 2, characterized in that: The structure of the gun head (2) is as follows: it includes a frame (21), a nail supply device (22), a floating prevention meshing device (23), a main pressure track (24), a meshing linkage device (25), a tightening guide rod (26), a main pressure cylinder (27), a torque driving device (28), a pre-pressing cylinder (29) and a pre-pressing track (210), wherein the nail supply device (22) is arranged on the frame (21), the feed port of the nail supply device (22) is connected to the nail feeding device, the discharge port of the nail supply device (22) is provided with a floating prevention meshing device (23), the floating prevention meshing device (23) is arranged on the frame (21) through the pre-pressing track (210), the power input end of the floating prevention meshing device (23) is provided with a pre-pressing cylinder (29), and the pre-pressing cylinder (29) drives the floating prevention meshing device (23) to slide back and forth on the pre-pressing track (210); The main pressure rail (24) is longitudinally fixedly arranged on the frame (21), and the meshing linkage device (25) is slidably arranged on the main pressure rail (24). The bottom end of the meshing linkage device (25) is connected to the piston rod of the main pressure cylinder (27) fixed to the frame (21), and the meshing linkage device (25) is driven by the main pressure cylinder (27) to slide back and forth along the main pressure rail (24). The top end of the meshing linkage device (25) is dynamically connected to the torque driving device (28), and the other top end of the meshing linkage device (25) is inserted into the anti-floating meshing device (23) through the tightening guide rod (26) and can be matched and clamped with the screw entering the anti-floating meshing device (23), and the tightening guide rod (26) is driven by the torque driving device (28) to rotate to tighten the screw.

8. A control system for a screw tightening device according to claim 2, characterized in that: The structure of the anti-floating meshing device (23) is as follows: it includes a meshing device fixing seat (231), a meshing device support plate (232), a tightening guide rod sleeve (233), an action arm (234), a guide rod slider (235), a screw clamp (236), a pressure nozzle (237), a clamp cylinder (238) and a nail clamp control finger (239), wherein the meshing device fixing seat (231) is fixedly provided with a meshing device support plate (232) on both sides at one end, the tightening guide rod sleeve (233) is provided at the ends of the two meshing device support plates (232), and the tightening guide rod sleeve (233) is provided at the ends of the two meshing device support plates (232). A pressure nozzle (237) is provided at the end, the guide rod slider (235) is slidably provided on the tightening guide rod sleeve (233), the guide rod slider (235) is provided with an action arm (234) on both sides, and a screw clamp (236) is provided at the front end of each action arm (234), the clamp cylinder (238) is provided on the meshing device fixing seat (231), and a nail clamp control finger (239) is connected to the piston rod of the clamp cylinder (238), and the nail clamp control finger (239) can push the guide rod slider (235) to move under the operation of the clamp cylinder (238); the meshing device The fixing seat (231) is arranged on a meshing device bottom plate (2310), the meshing device bottom plate (2310) is slidably arranged on the pre-pressing track (210), and the meshing device bottom plate (2310) is connected to the piston rod of the pre-pressing cylinder (29) through the meshing device bottom plate (2310); a bottom plate nail delivery tube (2311) is arranged through the meshing device fixing seat (231), one end of the bottom plate nail delivery tube (2311) is communicated with the nail supply device (22), and the other end of the bottom plate nail delivery tube (2311) is connected to an oblique nail guide tube (2312), and the end of the oblique nail guide tube (2312) is connected to the nail supply device (22). The meshing device fixing seat (231) is connected to a swing nail delivery tube (2313), and the end of the swing nail delivery tube (2313) is in communication with the inner tube of the tightening guide rod sleeve (233); a displacement sensor bracket (2314) is arranged on the side of the meshing device fixing seat (231), and the displacement sensor bracket (2314) is arranged close to the side plate of the frame (21), and a displacement sensor (2315) is arranged on the displacement sensor bracket (2314); a proximity switch mounting plate (2316) is arranged on the meshing device fixing seat (231), and a proximity switch (2317) is arranged on the proximity switch mounting plate (2316).

9. A control system for a screw tightening device according to claim 7, characterized in that: The torque driving device (28) has a structure comprising a servo motor (281), a rotating support shaft (282), a force-bearing base plate (283), a spline (284), a main pulley (285), a synchronous belt (286) and a small pulley (287); the body of the servo motor (281) is fixed to the cylinder body of the main pressure cylinder (27) through the force-bearing base plate (283); a main pulley (285) is provided at the power output end of the servo motor (281); the rotating support shaft (282) is movably arranged on the force-bearing base plate (283); a small pulley (287) is provided on the rotating support shaft (282); the main pulley (285) and the small pulley (287) are connected to each other by power through a synchronous belt (286); a spline (284) is provided at the end of the rotating support shaft (282) and is connected to the meshing linkage device (25) by power through the spline (284).

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