Intelligent screw locking device and screw locking method

Abstract

The invention relates to the technical field of intelligent screw locking, and discloses an intelligent screw locking device and a screw locking method.The intelligent screw locking device comprises a workbench, a Y shaft is fixedly installed on the upper side of the workbench, a to-be-locked product is arranged on the Y shaft, and a plane moving mechanism is fixedly installed on the outer side of the workbench; an electric screwdriver mechanism is fixedly mounted on the plane moving mechanism; the electric screwdriver mechanism comprises a fixing plate, an intelligent electric screwdriver, a following motor, a fixing head, an electric screwdriver rod and a first vacuum suction pipe, a first pressure sensor is arranged in a pipeline of the first vacuum suction pipe, and whether adsorption is in place or not is judged by detecting the pressure state in the adsorption part, so that intelligent regulation and control are conducted. According to the automatic screw sucking device, through the cooperation effect of the electric screwdriver mechanism, the second vacuum suction pipe, the integrated suction nozzle and the first pressure sensor, the purpose that whether screw sucking is normal or not can be calculated by detecting the pressure state in the vacuum pipe is achieved, and the screw sucking abnormity can be regulated and controlled, and alarm reminding is conducted.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent screw locking, and in particular to an intelligent screw locking device and a screw locking method. Background Art

[0002] Micro screws are usually made of titanium, stainless steel, non-magnetic materials, etc. Many companies in the market use manual or machine operations. Machine operations usually use a feeder to feed the material and then use air suction. The main reasons for the high rate of machine locking failure of micro screws between M1.0 and M2.0, such as crooked locking, not locking into the thread, floating height, and damage to the screw hole of the product, and the low efficiency are: When air suction is used, the suction nozzle cannot detect the suction state of the screw when sucking the screw to take the material, which causes the suction nozzle to lift up after sucking the screw, and it is unclear whether the suction is successful. As a result, it is easy for the screw to be skewed after being sucked and lifted. Therefore, when the skewed screw is locked in the product, the above situation is likely to occur. The existing screw locking device cannot ensure whether the rotation of the electric screwdriver is in place with the screw thread, and cannot ensure the verticality of the screw suction. Summary of the invention

[0003] The purpose of the present invention is to provide an intelligent screw locking device and a screw locking method to solve the problems raised in the background technology.

[0004] To achieve the above object, the present invention provides the following technical solution: an intelligent screw locking device, comprising a workbench, a Y-axis is fixedly installed on the upper side of the workbench, a product to be locked is arranged on the Y-axis, a plane moving mechanism is fixedly installed on the outer side of the workbench, and an electric screwdriver mechanism is fixedly installed on the plane moving mechanism; The electric screwdriver mechanism includes a fixed plate, an intelligent electric screwdriver, a follower motor, a fixed head, an electric screwdriver rod, and a vacuum suction pipe. The planar moving mechanism is fixedly connected with a fixed plate, and the side of the fixed plate away from the planar moving mechanism is slidably connected with the intelligent electric screwdriver through a slide rail. The lower side of the intelligent electric screwdriver is fixedly connected with a fixed head, and the top of the fixed plate is fixedly installed with a follower motor. The output end of the follower motor is fixedly connected to the fixed head, and the output end of the intelligent electric screwdriver is fixedly connected with the electric screwdriver rod. The lower side of the intelligent electric screwdriver is fixedly connected with an adsorption piece through a connecting plate, and the upper outer side of the adsorption piece is connected with a vacuum suction pipe, and the electric screwdriver rod rotates on the inner side of the adsorption piece. A pressure sensor is provided in the pipe of the vacuum suction tube, which detects the pressure state in the adsorption component to determine whether the adsorption is in place and perform intelligent regulation.

[0005] Furthermore, the planar moving mechanism includes a Z-axis and an X-axis. The outer side of the workbench is fixedly connected to the X-axis through a column. The outer side of the X-axis is slidably connected to the Z-axis. The Z-axis is fixedly connected to the electric screwdriver mechanism. A screw feeder is fixedly installed on the upper side of the workbench, and the screw feeder corresponds to the electric screwdriver mechanism.

[0006] The external control system controls the X-axis to drive the Z-axis to move to the position corresponding to the screw feeder, and then controls the Z-axis to drive the electric screwdriver mechanism to descend so that it reaches the suction position. At this time, the follower motor starts at the same time, and the follower motor drives the intelligent electric screwdriver to move downward through the fixed head, so that the integrated suction nozzle reaches about 1.0-2.0mm from the screw, and the integrated suction nozzle is aligned with the screw in place; Furthermore, the adsorption component includes an integrated suction nozzle, and the lower side of the fixed plate is fixedly connected with the integrated suction nozzle through a connecting plate. The integrated suction nozzle is provided with a cavity which is in communication with the vacuum suction tube and corresponds to the electric screwdriver rod and the screw.

[0007] The external control system starts and controls the external vacuum suction equipment to suck air into the vacuum suction pipe. Then, the cavity in the integrated suction nozzle sucks the screw under the action of suction force. The electric screwdriver rod and the "cross" of the screw cooperate to insert the screw. At this time, the pressure sensor detects the pressure in the vacuum suction pipe. If the pressure is abnormal, it proves that the screw and the integrated suction nozzle are skewed and there is a large gap for air leakage. At this time, when the external system detects that the suction is abnormal, it starts the intelligent electric screwdriver and drives the electric screwdriver rod to rotate to calibrate the screw. When the calibration is successful, the pressure in the vacuum suction pipe is normal. When the calibration fails twice, the external system alarms through the external alarm to remind the staff. Furthermore, the adsorption component includes a split suction nozzle, which includes a lower suction nozzle, a middle suction nozzle, and an upper suction nozzle. The lower side of the intelligent electric screwdriver is fixedly connected to the upper suction nozzle through a connecting plate, the lower side of the upper suction nozzle is fixedly connected to the middle suction nozzle, and the lower side of the middle suction nozzle is fixedly connected to the lower suction nozzle. An annular cavity is formed between the middle suction nozzle and the lower suction nozzle, and the lower suction nozzle is provided with evenly distributed annular through holes, which are divided into inner circle through holes and outer circle through holes. A sealing ring is arranged between the lower suction nozzle and the middle suction nozzle.

[0008] When using a split suction nozzle, a shape-fitting suction group, and a second vacuum suction tube, the lower suction nozzle, the middle suction nozzle, and the upper suction nozzle are fixed and installed by screws, and a sealing ring is used for the lower suction nozzle and the middle suction nozzle to seal and prevent air leakage; Furthermore, the outer side of the middle suction nozzle is connected to a second vacuum suction pipe, and the inner side of the second vacuum suction pipe is provided with a second pressure sensor.

[0009] The pressure sensors 1 and 2 in the vacuum pipette 2 and the vacuum pipette 1 detect the pressure in their respective pipes. If the pressure is normal, the next step of locking is performed. If the pressure is abnormal, an adjustment operation is performed. Furthermore, a vacuum component 1 is provided on the middle suction nozzle, and the vacuum component 1 includes a partition, a vacuum tube 1, and a vacuum tube 2. A partition is fixedly connected to the inner side of the middle suction nozzle, and the partition separates the through holes in the inner circle and the through holes in the outer circle. A vacuum tube 1 and a vacuum tube 2 are provided on the outer side of the middle suction nozzle. The vacuum tube 1 passes through the middle suction nozzle and the partition and is connected with the cavity in the through holes in the inner circle. The vacuum tube 2 passes through the middle suction nozzle and is connected with the cavity in the through holes in the outer circle. Pressure sensors 3 are provided in the vacuum tubes 1 and 2.

[0010] When using vacuum component 1, split suction nozzle, and form-fitting adsorption group, when the lower suction nozzle reaches the suction position, the lower suction nozzle is controlled to move downward so that the moving cylinder inside the lower suction nozzle contacts the upper surface of the screw, and the vacuum suction pipe 1, vacuum tube 1, and vacuum tube 2 are controlled to start suction. Since the inner and outer circle through holes on the lower suction nozzle are divided by the partition, the suction force in the moving cylinders of the inner and outer circles can be controlled separately, thereby achieving the purpose of fine suction; pressure sensor 3 detects the pressure in the pipeline; Furthermore, a vacuum component 2 is arranged on the outer side of the middle suction nozzle, and the vacuum component 2 includes a vacuum tube 3, a vacuum tube 4, an inner circle air pipe module, and an outer circle air pipe module. A vacuum tube 3 and a vacuum tube 4 are arranged on the outer side of the middle suction nozzle. The vacuum tube 3 passes through the middle suction nozzle and is connected with the outer circle air pipe module. The vacuum tube 4 passes through the middle suction nozzle and is connected with the inner circle air pipe module. The inner circle air pipe module is connected with multiple through holes in the inner circle. The vacuum tube 3 is connected with multiple through holes in the outer circle. Pressure sensors 4 are arranged in the vacuum tubes 3 and 4.

[0011] When using vacuum component 2, split suction nozzle, and conformable adsorption group, when the lower suction nozzle reaches the suction position, the lower suction nozzle is controlled to move downward so that the moving cylinder inside the lower suction nozzle contacts the upper surface of the screw, and the vacuum suction tube 1, vacuum tube 3 at various locations, and vacuum tube 4 are controlled to start. Since the inner circle through holes are evenly grouped and connected to the inner circle air pipe module, and the outer circle through holes are evenly grouped and connected to the outer circle air pipe module, the suction force in the moving cylinders of the inner and outer circles is evenly and individually controlled at multiple points, thereby achieving the purpose of further refined suction. Pressure sensor 4 detects the pressure in the pipeline.

[0012] Furthermore, the lower side of the through hole of the lower suction nozzle is connected to the conformal adsorption group, and the conformal adsorption group includes a quick connector, an adsorption component, a displacement detection component, and a regulation component. The lower side of the through hole of the lower suction nozzle is connected to a quick connector, and the lower side of the quick connector is connected to the adsorption component. The inner side of the adsorption component is provided with a regulation component, and the outer side of the adsorption component is provided with a displacement detection component.

[0013] Further, the quick connector includes a quick connector male head, a quick connector female head, and a threaded tube, the lower side of the through hole of the lower suction nozzle is connected with a quick connector female head, the lower side of the quick connector female head is clamped with a quick connector male head, and the lower side of the quick connector male head is threadedly connected with a threaded tube; After the suction is successful and the pressure test is normal, the screw is lifted up, and the external system controls the Y-axis to drive the product to be locked to move close to the electric screwdriver mechanism, and at the same time controls the Z-axis and X-axis to move, so that the screw is aligned with the screw hole of the product to be locked.

[0014] The adsorption assembly includes a fixed cylinder, a spring, and a moving cylinder. The lower side of the threaded tube is connected to the fixed cylinder, the lower outer side of the fixed cylinder is slidably connected to the moving cylinder, and the outer side of the fixed cylinder is sleeved with a spring. When the lower suction nozzle reaches the suction position, the lower suction nozzle is controlled to move downward so that the moving cylinder inside the lower suction nozzle contacts the upper surface of the screw. Since the inner side of the lower suction nozzle is provided with inner and outer ring moving cylinders with uniform axial distribution and a spring, multiple moving cylinders can be used to achieve the purpose of automatic conformal contact with different screw surface shapes, thereby meeting different needs. The displacement detection assembly includes a micro infrared ranging sensor and a receiving plate. The upper outer side of the fixed cylinder is fixedly connected with the micro infrared ranging sensor. The upper outer side of the moving cylinder is fixedly connected with the receiving plate. The micro infrared ranging sensor corresponds to the receiving plate. When the moving cylinder contacts the surface of the screw, the moving cylinder moves up to compress the spring, and then the external system controls to start the vacuum suction tube 1 and the vacuum suction tube 2 to perform vacuum suction. The vacuum suction tube 1 adsorbs the screw through the cavity connected to the upper suction nozzle by the lower suction nozzle. At the same time, the vacuum suction tube 2 adsorbs the inside of the suction nozzle, and through the through holes of the inner and outer circles on the lower suction nozzle, through the quick-connect male head and the quick-connect female head, the inside of the fixed cylinder and the moving cylinder is adsorbed, and the corresponding part in contact with the screw is provided with adsorption force, thereby achieving the purpose of double adsorption. The second adsorption is multi-point shape-adsorption with high adsorption quality, which greatly improves the success rate of adsorption. The regulating component includes a coil and a magnetic ring. The coil is fixedly connected to the lower side of the fixed cylinder, and the magnetic ring is fixedly connected to the inner side of the lower part of the moving cylinder. The coil corresponds to the magnetic ring.

[0015] When the moving cylinder contacts the surface of the screw, it pushes the moving cylinder. When the screw is skewed, the stroke of the moving cylinder at different locations is different. The movement stroke of the inner and outer moving cylinders can be detected by the micro infrared distance sensor. The skew state of the screw at this time can be inferred by the length of the stroke at each location. The external system controls the currents with different directions passing through the coils at various locations, so that the coils at the moving cylinders with long movement strokes generate magnetic field forces that repel the magnetic rings, thereby pushing the corresponding moving cylinders to move downward, and the coils at the moving cylinders with short movement strokes generate magnetic field forces that attract the magnetic rings, thereby driving the corresponding moving cylinders to move upwards, while also adsorbing them, until the screws are aligned and the pressure detection is normal, thus achieving the purpose of finely adjusting the screws; A screw locking method of an intelligent screw locking device comprises the following steps: S1, the machine starts, the X axis moves to the pickup position, and the Z axis descends to the suction position. At this time, the follower motor starts, driving the distance between the suction piece and the screw to 1.0-2.0mm; S2. The electric screwdriver rod and the screw "cross" cooperate to insert the thread, and vacuum suction at the same time; S3, test the pressure in the vacuum tube. If the pressure is normal, proceed to the next step. If the pressure is abnormal, start the intelligent electric screwdriver to drive the electric screwdriver rod to rotate, and adjust and calibrate the screws. Perform vacuum suction. After two unsuccessful attempts, an alarm will sound. After successful calibration, proceed to the next step. S4, lift the moving screw, the X-axis and Z-axis move, drive the screw to move toward the product to be locked, and the Y-axis drives the product to be locked to move toward the electric screwdriver mechanism; S5. Lock the screw to the locking position. Since the screw has good verticality when entering the thread, the locking quality is high.

[0016] Compared with the prior art, the present invention provides an intelligent screw locking device and a screw locking method, which have the following beneficial effects: 1. The intelligent screw locking device and the screw locking method achieve the purpose of detecting the pressure state in the vacuum tube and then calculating whether the screw absorption is normal through the cooperation between the electric screwdriver mechanism, the vacuum suction tube 2, the integrated suction nozzle and the pressure sensor 1. The abnormal screw absorption can be regulated and the alarm reminder can be issued to avoid the high rate of machine locking defects, crooked locking, failure to lock the thread, floating height, damage to the product screw hole and the like as much as possible, thereby ensuring the verticality of the screw absorption.

[0017] 2. The intelligent screw locking device and the screw locking method achieve the purpose of double adsorption of the screw through the cooperation of the split suction nozzle, the conformal adsorption group, the second vacuum suction tube and the second pressure sensor. The second adsorption is multi-point conformal adsorption with high adsorption quality, which greatly improves the success rate of adsorption. At the same time, the skew state of the screw can be inferred, so as to finely adjust the screw and achieve the effect of high-precision adsorption.

[0018] 3. The intelligent screw locking device and the screw locking method realize the separate control of the suction force in the moving cylinder of the inner and outer circles through the cooperation among the split suction nozzle, the conformable adsorption group, the vacuum component one, and the pressure sensor, thereby achieving the purpose of refined suction and meeting different needs.

[0019] 4. The intelligent screw locking device and the screw locking method realize the uniform multi-point individual control of the suction force in the moving cylinder of the inner and outer circles through the cooperation between the split suction nozzle, the conformable adsorption group, the second vacuum component, and the fourth pressure sensor, thereby achieving the purpose of further refined suction and further meeting different needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the three-dimensional structure of the first embodiment of the present invention; Figure 2 This is a schematic diagram of the three-dimensional structure of the first embodiment of the present invention from another angle; Figure 3 It is a three-dimensional structural schematic diagram of the screw feeder of the present invention; Figure 4 For the present invention Figure 3 The enlarged schematic diagram of point A in the middle; Figure 5 It is a three-dimensional structural schematic diagram of the electric batching mechanism of the present invention; Figure 6 For the present invention Figure 5 The enlarged schematic diagram of point B in the middle; Figure 7 It is a schematic diagram of the three-dimensional structure of the split type suction nozzle of the present invention; Figure 8 For the present invention Figure 7 The enlarged schematic diagram of the center C; Fig. 9 It is a schematic diagram of the three-dimensional structure of the second embodiment of the present invention; Fig.10 For the present invention Fig. 9 The enlarged schematic diagram of point D in the middle; Fig.11 This is a schematic diagram of the three-dimensional structure of the third embodiment of the present invention; Fig.12 For the present invention Fig.11 The enlarged schematic diagram of point E in the middle; Fig.13 It is a schematic diagram of the three-dimensional structure of the fourth embodiment of the present invention; Fig.14 For the present invention Fig.13 The enlarged schematic diagram of F in the middle; Fig.15 It is a schematic diagram of the three-dimensional structure of the shape-conforming adsorption group of the present invention; Fig.16It is a schematic diagram of the three-dimensional structure of the conformable adsorption group of the present invention from another angle; Fig.17 It is a schematic diagram of the decomposed three-dimensional structure of the shape-conforming adsorption group of the present invention; Fig.18 It is a schematic diagram of the partially cutaway three-dimensional structure of the conformal adsorption group of the present invention.

[0021] In the figure: 1. Workbench; 2. Y1 axis; 3. Screw feeder; 4. Z axis; 5. X axis; 6. Electric screwdriver mechanism; 61. Fixed plate; 62. Intelligent electric screwdriver; 63. Follow-up motor; 64. Fixed head; 65. Electric screwdriver rod; 66. Vacuum suction tube 1; 7. Integrated suction nozzle; 8. Split suction nozzle; 81. Lower suction nozzle; 82. Middle suction nozzle; 83. Upper suction nozzle; 9. Conformal adsorption group; 91. Quick connector; 911. Quick male connector; 912. Quick female connector; 913. Threaded pipe; 92. Adsorption assembly; 921. Solid Fixed cylinder; 922, spring; 923, moving cylinder; 93, displacement detection component; 931, micro infrared ranging sensor; 932, receiving board; 94, control component; 941, coil; 942, magnetic ring; 10, sealing ring; 11, vacuum part one; 1101, partition; 1102, vacuum tube one; 1103, vacuum tube two; 12, vacuum part two; 1201, vacuum tube three; 1202, vacuum tube four; 1203, inner circle air pipe module; 1204, outer circle air pipe module; 13, vacuum suction tube two. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Example

[0023] See also Figure 1-Figure 6 , an intelligent screw locking device, comprising a workbench 1, a Y1 axis 2 is fixedly installed on the upper side of the workbench 1, a product to be locked is arranged on the Y1 axis 2, a plane moving mechanism is fixedly installed on the outer side of the workbench 1, and an electric screwdriver mechanism 6 is fixedly installed on the plane moving mechanism; The electric screwdriver mechanism 6 includes a fixed plate 61, an intelligent electric screwdriver 62, a follower motor 63, a fixed head 64, an electric screwdriver rod 65, and a vacuum suction pipe 66. The fixed plate 61 is fixedly connected to the plane moving mechanism. The side of the fixed plate 61 away from the plane moving mechanism is slidably connected to the intelligent electric screwdriver 62 through a slide rail. The lower side of the intelligent electric screwdriver 62 is fixedly connected to the fixed head 64. The top of the fixed plate 61 is fixedly installed with a follower motor 63. The output end of the follower motor 63 is fixedly connected to the fixed head 64. The output end of the intelligent electric screwdriver 62 is fixedly connected to the electric screwdriver rod 65. The lower side of the intelligent electric screwdriver 62 is fixedly connected to an adsorption piece through a connecting plate. The upper outer side of the adsorption piece is connected to a vacuum suction pipe 66, and the electric screwdriver rod 65 rotates on the inner side of the adsorption piece. A pressure sensor is provided in the pipeline of the vacuum suction tube 66, which detects the pressure state in the adsorption part, and then determines whether the adsorption is in place, and performs intelligent regulation.

[0024] Furthermore, the planar moving mechanism includes a Z-axis 4 and an X-axis 5. The outer side of the workbench 1 is fixedly connected to the X-axis 5 through a column. The outer side of the X-axis 5 is slidably connected to the Z-axis 4. The Z-axis 4 is fixedly connected to the electric screwdriver mechanism 6. A screw feeder 3 is fixedly installed on the upper side of the workbench 1, and the screw feeder 3 corresponds to the electric screwdriver mechanism 6.

[0025] The external control system controls the X-axis 5 to drive the Z-axis 4 to move to the position corresponding to the screw feeder 3, and then controls the Z-axis 4 to drive the electric screwdriver mechanism 6 to descend so that it reaches the suction position. At this time, the follower motor 63 is started at the same time, and the follower motor 63 drives the intelligent electric screwdriver 62 to move downward through the fixed head 64, so that the integrated suction nozzle 7 reaches about 1.0-2.0mm from the screw, and the integrated suction nozzle 7 is aligned with the screw in place; Furthermore, the adsorption component includes an integrated suction nozzle 7, and the lower side of the fixed plate 61 is fixedly connected with the integrated suction nozzle 7 through a connecting plate. The integrated suction nozzle 7 is provided with a cavity connected with a vacuum suction pipe 66 and corresponding to the electric screwdriver rod 65 and the screw.

[0026] The external control system starts and controls the external vacuum suction device to suck air into the vacuum suction pipe 66, and then the cavity in the integrated suction nozzle 7 sucks the screw under the action of suction force, and the electric screwdriver rod 65 cooperates with the "cross" of the screw to insert the screw. At this time, the pressure sensor detects the pressure in the vacuum suction pipe 66. If the pressure is abnormal, it proves that the screw and the integrated suction nozzle 7 are skewed, and there is a large gap for air leakage. At this time, when the external system detects that the suction is abnormal, it starts the intelligent electric screwdriver 62 and drives the electric screwdriver rod 65 to rotate to calibrate the screw. When the calibration is successful, the pressure in the vacuum suction pipe 66 is normal. When the calibration fails twice, the external system alarms through the external alarm to remind the staff; A screw locking method of an intelligent screw locking device comprises the following steps: S1, the machine starts, the X-axis 5 moves to the pickup position, and the Z-axis 4 descends to the suction position. At this time, the follower motor 63 starts, driving the distance between the suction piece and the screw to 1.0-2.0mm; S2, the electric screwdriver rod 65 cooperates with the "cross" screw to insert the thread, and vacuum is sucked at the same time; S3, test the pressure in the vacuum tube. If the pressure is normal, proceed to the next step. If the pressure is abnormal, start the intelligent electric screwdriver 62 to drive the electric screwdriver rod 65 to rotate, and adjust and calibrate the screw; and vacuum suction. After two unsuccessful attempts, an alarm will sound. After the calibration is successful, proceed to the next step. S4, lift the moving screw, X-axis 5 and Z-axis 4 move, drive the screw to move toward the product to be locked, and Y1-axis 2 drives the product to be locked to move toward the electric screwdriver mechanism 6; S5. Lock the screw to the locking position. Since the screw has good verticality when entering the thread, the locking quality is high. Example

[0027] See also Figure 7-10 , Figure 15-18 The difference between the second embodiment and the first embodiment is that the adsorption component includes a split suction nozzle 8, the split suction nozzle 8 includes a lower suction nozzle 81, a middle suction nozzle 82, and an upper suction nozzle 83, the lower side of the intelligent electric screwdriver 62 is fixedly connected with the upper suction nozzle 83 through a connecting plate, the lower side of the upper suction nozzle 83 is fixedly connected with the middle suction nozzle 82, the lower side of the middle suction nozzle 82 is fixedly connected with the lower suction nozzle 81, an annular cavity is formed between the middle suction nozzle 82 and the lower suction nozzle 81, and the lower suction nozzle 81 is provided with evenly distributed annular through holes, the through holes are divided into inner circle through holes and outer circle through holes, and a sealing ring 10 is arranged between the lower suction nozzle 81 and the middle suction nozzle 82.

[0028] When the split suction nozzle 8, the shape-adapting suction group 9, and the vacuum suction pipe 13 are used, the lower suction nozzle 81, the middle suction nozzle 82, and the upper suction nozzle 83 are fixed and installed by screws, and the sealing ring 10 is used for the lower suction nozzle 81 and the middle suction nozzle 82 to seal and prevent air leakage; Furthermore, the outer side of the middle suction nozzle 82 is connected to a second vacuum suction pipe 13, and a second pressure sensor is arranged inside the second vacuum suction pipe 13.

[0029] The pressure sensor 1 and the pressure sensor 2 in the vacuum pipette 2 13 and the vacuum pipette 1 66 detect the pressure in their respective pipes. If the pressure is normal, the next step of locking is performed. If the pressure is abnormal, an adjustment operation is performed. Furthermore, the lower side of the through hole of the lower suction nozzle 81 is connected to the conformal adsorption group 9, which includes a quick connector 91, an adsorption component 92, a displacement detection component 93, and a regulating component 94. The lower side of the through hole of the lower suction nozzle 81 is connected to the quick connector 91, the lower side of the quick connector 91 is connected to the adsorption component 92, the inner side of the adsorption component 92 is provided with a regulating component 94, and the outer side of the adsorption component 92 is provided with a displacement detection component 93.

[0030] Further, the quick connector 91 includes a quick connector male head 911, a quick connector female head 912, and a threaded tube 913. The lower side of the through hole of the lower suction nozzle 81 is connected to the quick connector female head 912, the lower side of the quick connector female head 912 is clamped with the quick connector male head 911, and the lower side of the quick connector male head 911 is threadedly connected to the threaded tube 913. The adsorption assembly 92 includes a fixed cylinder 921, a spring 922, and a moving cylinder 923. The lower side of the threaded tube 913 is connected to the fixed cylinder 921, the lower outer side of the fixed cylinder 921 is slidably connected to the moving cylinder 923, and the outer side of the fixed cylinder 921 is sleeved with a spring 922; When the lower suction nozzle 81 reaches the suction position, the lower suction nozzle 81 is controlled to move downward so that the moving cylinder 923 inside the lower suction nozzle 81 contacts the upper surface of the screw. Since the inner side of the lower suction nozzle 81 is provided with inner and outer ring moving cylinders 923 evenly distributed in the axial direction and a spring 922, the multiple moving cylinders 923 can achieve the purpose of automatic conformal contact with different screw surface shapes, thereby meeting different needs. The displacement detection component 93 includes a micro infrared ranging sensor 931 and a receiving plate 932. The micro infrared ranging sensor 931 is fixedly connected to the outer side of the upper part of the fixed cylinder 921, and the receiving plate 932 is fixedly connected to the outer side of the upper part of the moving cylinder 923. The micro infrared ranging sensor 931 corresponds to the receiving plate 932. When the moving cylinder 923 contacts the surface of the screw, the moving cylinder 923 moves upward to compress the spring 922. Then, the external system controls to start the vacuum pipette 1 66 and the vacuum pipette 2 13 to perform vacuum suction. The vacuum pipette 1 66 adsorbs the screw through the cavity connected to the lower suction nozzle 81 and the upper suction nozzle 83. At the same time, the vacuum pipette 2 13 suctions the inside of the suction nozzle 82, and through the through holes of the inner and outer circles on the lower suction nozzle 81, through the quick-connect male head 911 and the quick-connect female head 912, and then suctions the inside of the fixed cylinder 921 and the moving cylinder 923, thereby providing suction force to the corresponding part in contact with the screw, thereby achieving the purpose of double suction, and the second suction is multi-point shape-adsorption, with high suction quality, which greatly improves the suction success rate; The regulating component 94 includes a coil 941 and a magnetic ring 942. The lower side of the fixed cylinder 921 is fixedly connected with the coil 941, and the lower inner side of the moving cylinder 923 is fixedly connected with the magnetic ring 942. The coil 941 corresponds to the magnetic ring 942. After the suction is successful and the pressure test is normal, the screw is lifted up, and the external system controls the Y1 axis 2 to drive the product to be locked to move close to the electric screwdriver mechanism 6, and at the same time controls the Z axis 4 and X axis 5 to move, so as to align the screw with the screw hole of the product to be locked.

[0031] When the moving cylinder 923 contacts the surface of the screw, it pushes the moving cylinder 923. When the screw is skewed, the strokes of the moving cylinder 923 at different locations are different. The movement strokes of the inner and outer moving cylinders 923 can be detected by the micro infrared distance measuring sensor 931. The skewed state of the screw at this time can be inferred by the length of the stroke at each location. The external system controls the current with different directions passing through the coils 941 at various locations, so that the coils 941 at the moving cylinder 923 with a long moving stroke generate a magnetic field force that repels the magnetic ring 942, thereby pushing the corresponding moving cylinder 923 to move downward, and the coils 941 at the moving cylinder 923 with a short moving stroke generate a magnetic field force that attracts the magnetic ring 942, thereby driving the corresponding moving cylinder 923 to move upward, and also adsorbing it until the screw is straightened and the pressure detection is normal, thereby achieving the purpose of fine adjustment of the screw. Example

[0032] See also Fig.11 , Fig.12 , Figure 15-18 The difference between the third embodiment and the second embodiment is that: a vacuum part 11 is arranged on the middle suction nozzle 82, and the vacuum part 11 includes a partition 1101, a vacuum tube 1 1102, and a vacuum tube 2 1103. The inner side of the middle suction nozzle 82 is fixedly connected with the partition 1101, and the partition 1101 separates the inner circle through hole and the outer circle through hole. The outer side of the middle suction nozzle 82 is provided with a vacuum tube 1102 and a vacuum tube 2 1103. The vacuum tube 1 1102 passes through the middle suction nozzle 82 and the partition 1101 and is connected with the cavity in the inner circle through hole. The vacuum tube 2 1103 passes through the middle suction nozzle 82 and is connected with the cavity in the outer circle through hole. Pressure sensors 3 are arranged in the vacuum tube 1 102 and the vacuum tube 2 1103 pipelines.

[0033] When using vacuum parts 11, split suction nozzle 8, and conformable adsorption group 9, when the lower suction nozzle 81 reaches the suction position, the lower suction nozzle 81 is controlled to move downward so that the moving cylinder 923 inside the lower suction nozzle 81 contacts the upper surface of the screw, and the vacuum suction tube 1 66, vacuum tube 1 1102, and vacuum tube 2 1103 are controlled to start suction. Since the inner and outer circle through holes on the lower suction nozzle 81 are divided by the partition 1101, the suction force inside the inner and outer circle moving cylinder 923 is controlled separately, thereby achieving the purpose of fine suction; pressure sensor three detects the pressure in the pipeline. Example

[0034] See also Fig.13 , Fig.14 , Figure 15-18 The difference between the fourth embodiment and the third embodiment is that a vacuum part 2 12 is arranged on the outer side of the middle suction nozzle 82, and the vacuum part 2 12 includes a vacuum tube 3 1201, a vacuum tube 4 1202, an inner circle air pipe module 1203, and an outer circle air pipe module 1204. The vacuum tube 3 1201 and the vacuum tube 4 1202 are arranged on the outer side of the middle suction nozzle 82. The vacuum tube 3 1201 passes through the middle suction nozzle 82 and is connected to the outer circle air pipe module 1204. The vacuum tube 4 1202 passes through the middle suction nozzle 82 and is connected to the inner circle air pipe module 1203. The inner circle air pipe module 1203 is connected to multiple through holes in the inner circle. The vacuum tube 3 1201 is connected to multiple through holes in the outer circle. Pressure sensors 4 are arranged in the vacuum tube 3 1201 and the vacuum tube 4 1202.

[0035] When using vacuum component 2 12, split suction nozzle 8, and conformable adsorption group 9, when the lower suction nozzle 81 reaches the suction position, the lower suction nozzle 81 is controlled to move downward so that the moving cylinder 923 inside the lower suction nozzle 81 contacts the upper surface of the screw, and the vacuum suction tube 1 66, vacuum tube 3 1201, and vacuum tube 4 1202 are controlled to start. Since the inner circle through holes are evenly grouped and connected to the inner circle air pipe module 1203, and the outer circle through holes are evenly grouped and connected to the outer circle air pipe module 1204, the suction force in the moving cylinder 923 of the inner and outer circles is evenly multi-point controlled separately, thereby achieving the purpose of further refined suction. Pressure sensor 4 detects the pressure in the pipeline.

[0036] The specific usage and function of this embodiment are as follows: When in use, first fix the product to be screwed on the upper surface of the Y1 axis 2, start the machine, and the external control system controls the X axis 5 to drive the Z axis 4 to move to the position corresponding to the screw feeder 3, and then controls the Z axis 4 to drive the electric screwdriver mechanism 6 to descend so that it reaches the suction position. At this time, the follower motor 63 is started at the same time, and the follower motor 63 drives the intelligent electric screwdriver 62 to move downward through the fixed head 64, so that the integrated suction nozzle 7 reaches about 1.0-2.0mm from the screw, and the integrated suction nozzle 7 is aligned with the screw in place; The external control system starts and controls the external vacuum suction device to suck air into the vacuum suction pipe 66, and then the cavity in the integrated suction nozzle 7 sucks the screw under the action of suction force, and the electric screwdriver rod 65 cooperates with the "cross" of the screw to insert the screw. At this time, the pressure sensor detects the pressure in the vacuum suction pipe 66. If the pressure is abnormal, it proves that the screw and the integrated suction nozzle 7 are skewed, and there is a large gap for air leakage. At this time, when the external system detects that the suction is abnormal, it starts the intelligent electric screwdriver 62 and drives the electric screwdriver rod 65 to rotate to calibrate the screw. When the calibration is successful, the pressure in the vacuum suction pipe 66 is normal. When the calibration fails twice, the external system alarms through the external alarm to remind the staff; After the suction is successful and the pressure test is normal, the screw is lifted up, and the external system controls the Y1 axis 2 to drive the product to be locked to move close to the electric screwdriver mechanism 6, and at the same time controls the Z axis 4 and X axis 5 to move, so that the screw is aligned with the screw hole of the product to be locked; Start the smart electric screwdriver 62, which drives the electric screwdriver rod 65 to rotate. At the same time, the follower motor 63 drives the integrated suction nozzle 7 and the electric screwdriver rod 65 to move downward, so that the screw is tightened after being threaded, and this cycle repeats.

[0037] When the split suction nozzle 8, the shape-adapting suction group 9, and the vacuum suction pipe 13 are used, the lower suction nozzle 81, the middle suction nozzle 82, and the upper suction nozzle 83 are fixed and installed by screws, and the sealing ring 10 is used for the lower suction nozzle 81 and the middle suction nozzle 82 to seal and prevent air leakage; When the lower suction nozzle 81 reaches the suction position, the lower suction nozzle 81 is controlled to move downward so that the moving cylinder 923 inside the lower suction nozzle 81 contacts the upper surface of the screw. Since the inner side of the lower suction nozzle 81 is provided with inner and outer ring moving cylinders 923 evenly distributed in the axial direction and a spring 922, the multiple moving cylinders 923 can achieve the purpose of automatic conformal contact with different screw surface shapes, thereby meeting different needs. When the moving cylinder 923 contacts the surface of the screw, the moving cylinder 923 moves upward to compress the spring 922. Then, the external system controls to start the vacuum pipette 1 66 and the vacuum pipette 2 13 to perform vacuum suction. The vacuum pipette 1 66 adsorbs the screw through the cavity connected to the lower suction nozzle 81 and the upper suction nozzle 83. At the same time, the vacuum pipette 2 13 suctions the inside of the suction nozzle 82, and through the through holes of the inner and outer circles on the lower suction nozzle 81, through the quick-connect male head 911 and the quick-connect female head 912, and then suctions the inside of the fixed cylinder 921 and the moving cylinder 923, thereby providing suction force to the corresponding part in contact with the screw, thereby achieving the purpose of double suction, and the second suction is multi-point shape-adsorption, with high suction quality, which greatly improves the suction success rate; At the same time, the pressure sensor 1 and the pressure sensor 2 in the vacuum pipe 2 13 and the vacuum pipe 1 66 detect the pressure in their respective pipes. If the pressure is normal, the next step of locking is performed. If the pressure is abnormal, the adjustment operation is performed. When the moving cylinder 923 contacts the surface of the screw, the moving cylinder 923 is pushed. When the screw is skewed, the travel of the moving cylinder 923 at different locations is different. The micro infrared distance measuring sensor 931 can detect the travel of the inner and outer moving cylinders 923. The travel of each location is longer or shorter, and then; The external system controls the internal conduction of the coils 941 at various locations and can infer that the skewed state of the screw at this time generates currents with different directions of overcurrent, so that the coils 941 at the moving cylinder 923 with a long movement stroke generate a magnetic field force that repels the magnetic ring 942, thereby pushing the corresponding moving cylinder 923 to move downward, and the coils 941 at the moving cylinder 923 with a short movement stroke generate a magnetic field force that attracts the magnetic ring 942, thereby driving the corresponding moving cylinder 923 to move upward, and also adsorbing it, until the screw is straightened and the pressure detection is normal, thereby achieving the purpose of fine adjustment of the screw; When the vacuum part 11, the split suction nozzle 8, and the form-fitting adsorption group 9 are used, when the lower suction nozzle 81 reaches the suction position, the lower suction nozzle 81 is controlled to move downward so that the moving cylinder 923 inside the lower suction nozzle 81 contacts the upper surface of the screw, and the vacuum suction pipe 1 66, the vacuum tube 1 1102, and the vacuum tube 2 1103 are controlled to start suction. Since the inner and outer circle through holes on the lower suction nozzle 81 are divided by the partition 1101, the suction force inside the moving cylinder 923 of the inner and outer circles is controlled separately, thereby achieving the purpose of fine suction; the pressure sensor 3 detects the pressure in the pipeline; When using vacuum component 2 12, split suction nozzle 8, and conformable adsorption group 9, when the lower suction nozzle 81 reaches the suction position, the lower suction nozzle 81 is controlled to move downward so that the moving cylinder 923 inside the lower suction nozzle 81 contacts the upper surface of the screw, and the vacuum suction tube 1 66, vacuum tube 3 1201, and vacuum tube 4 1202 are controlled to start. Since the inner circle through holes are evenly grouped and connected to the inner circle air pipe module 1203, and the outer circle through holes are evenly grouped and connected to the outer circle air pipe module 1204, the suction force in the moving cylinder 923 of the inner and outer circles is evenly multi-point controlled separately, thereby achieving the purpose of further refined suction. Pressure sensor 4 detects the pressure in the pipeline.

[0038] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent screw locking device, comprising a workbench (1), a Y1 axis (2) being fixedly mounted on the upper side of the workbench (1), a product to be locked being arranged on the Y1 axis (2), and a plane moving mechanism being fixedly mounted on the outer side of the workbench (1), characterized in that: An electric screwdriver mechanism (6) is fixedly mounted on the plane moving mechanism; The electric screwdriver mechanism (6) comprises a fixed plate (61), an intelligent electric screwdriver (62), a follower motor (63), a fixed head (64), an electric screwdriver rod (65), and a vacuum suction pipe (66); the fixed plate (61) is fixedly connected to the plane moving mechanism; the side of the fixed plate (61) away from the plane moving mechanism is slidably connected to the intelligent electric screwdriver (62) via a slide rail; the lower side of the intelligent electric screwdriver (62) is fixedly connected to the fixed head (64); the top of the fixed plate (61) is fixedly installed with a follower motor (63); the output end of the follower motor (63) is fixedly connected to the fixed head (64); the output end of the intelligent electric screwdriver (62) is fixedly connected to the electric screwdriver rod (65); the lower side of the intelligent electric screwdriver (62) is fixedly connected to an adsorption member via a connecting plate; the upper outer side of the adsorption member is connected to a vacuum suction pipe (66); and the electric screwdriver rod (65) rotates inside the adsorption member; A pressure sensor is provided in the pipe of the vacuum suction tube (66) to detect the pressure state in the adsorption component and determine whether the adsorption is in place, thereby performing intelligent regulation.

2. The intelligent screw locking device according to claim 1, characterized in that: The planar moving mechanism comprises a Z axis (4) and an X axis (5); the outer side of the workbench (1) is fixedly connected to the X axis (5) via a column; the outer side of the X axis (5) is slidably connected to the Z axis (4); the Z axis (4) is fixedly connected to an electric screwdriver mechanism (6); a screw feeder (3) is fixedly mounted on the upper side of the workbench (1); the screw feeder (3) corresponds to the electric screwdriver mechanism (6).

3. The intelligent screw locking device according to claim 2, characterized in that: The adsorption component comprises an integrated suction nozzle (7), the lower side of the fixed plate (61) is fixedly connected to the integrated suction nozzle (7) via a connecting plate, and the integrated suction nozzle (7) is provided with a cavity which is connected to a vacuum suction pipe (66) and corresponds to an electric screwdriver rod (65) and a screw.

4. The intelligent screw locking device according to claim 2, characterized in that: The adsorption component includes a split suction nozzle (8), and the split suction nozzle (8) includes a lower suction nozzle (81), a middle suction nozzle (82), and an upper suction nozzle (83). The lower side of the intelligent electric screwdriver (62) is fixedly connected to the upper suction nozzle (83) through a connecting plate, the lower side of the upper suction nozzle (83) is fixedly connected to the middle suction nozzle (82), and the lower side of the middle suction nozzle (82) is fixedly connected to the lower suction nozzle (81). An annular cavity is formed between the middle suction nozzle (82) and the lower suction nozzle (81). The lower suction nozzle (81) is provided with evenly distributed annular through holes, and the through holes are divided into inner circle through holes and outer circle through holes. A sealing ring (10) is provided between the lower suction nozzle (81) and the middle suction nozzle (82).

5. The intelligent screw locking device according to claim 4, characterized in that: The outer side of the middle suction nozzle (82) is connected to a second vacuum suction pipe (13), and a second pressure sensor is arranged inside the second vacuum suction pipe (13).

6. The intelligent screw locking device according to claim 4, characterized in that: The middle suction nozzle (82) is provided with a vacuum component 1 (11), and the vacuum component 1 (11) includes a partition (1101), a vacuum tube 1 (1102), and a vacuum tube 2 (1103). The inner side of the middle suction nozzle (82) is fixedly connected with a partition (1101), and the partition (1101) separates the inner circle through hole and the outer circle through hole. The outer side of the middle suction nozzle (82) is provided with a vacuum tube 1 (1102) and a vacuum tube 2 (1103). The vacuum tube 1 (1102) passes through the middle suction nozzle (82) and the partition (1101) and is connected to the cavity in the inner circle through hole. The vacuum tube 2 (1103) passes through the middle suction nozzle (82) and is connected to the cavity in the outer circle through hole. Pressure sensors 3 are provided in the vacuum tube 1 (1102) and the vacuum tube 2 (1103).

7. The intelligent screw locking device according to claim 4, characterized in that: A vacuum component 2 (12) is arranged on the outer side of the middle suction nozzle (82), and the vacuum component 2 (12) includes a vacuum tube 3 (1201), a vacuum tube 4 (1202), an inner circle air pipe module (1203), and an outer circle air pipe module (1204). A vacuum tube 3 (1201) and a vacuum tube 4 (1202) are arranged on the outer side of the middle suction nozzle (82). The vacuum tube 3 (1201) passes through the middle suction nozzle (82) and is connected to the outer circle air pipe module (1204). The vacuum tube 4 (1202) passes through the middle suction nozzle (82) and is connected to the inner circle air pipe module (1203). The inner circle air pipe module (1203) is connected to the plurality of through holes in the inner circle. The vacuum tube 3 (1201) is connected to the plurality of through holes in the outer circle. Pressure sensors 4 are arranged in the vacuum tube 3 (1201) and the vacuum tube 4 (1202).

8. An intelligent screw locking device according to claim 5, 6 or 7, characterized in that: The lower side of the through hole of the lower suction nozzle (81) is connected to the conformable adsorption group (9), and the conformable adsorption group (9) comprises a quick connector (91), an adsorption component (92), a displacement detection component (93), and a regulating component (94). The lower side of the through hole of the lower suction nozzle (81) is connected to the quick connector (91), and the lower side of the quick connector (91) is connected to the adsorption component (92). The regulating component (94) is arranged on the inner side of the adsorption component (92), and the displacement detection component (93) is arranged on the outer side of the adsorption component (92).

9. The intelligent screw locking device according to claim 8, characterized in that: The quick connector (91) comprises a quick connector male head (911), a quick connector female head (912), and a threaded tube (913); the lower side of the through hole of the lower suction nozzle (81) is connected to the quick connector female head (912); the lower side of the quick connector female head (912) is clamped with the quick connector male head (911); the lower side of the quick connector male head (911) is threadedly connected to the threaded tube (913); The adsorption assembly (92) comprises a fixed cylinder (921), a spring (922), and a moving cylinder (923); the lower side of the threaded tube (913) is connected to the fixed cylinder (921); the lower outer side of the fixed cylinder (921) is slidably connected to the moving cylinder (923); and the outer side of the fixed cylinder (921) is sleeved with a spring (922); The displacement detection component (93) comprises a micro infrared distance measuring sensor (931) and a receiving plate (932); the micro infrared distance measuring sensor (931) is fixedly connected to the outer side of the upper portion of the fixed cylinder (921); the receiving plate (932) is fixedly connected to the outer side of the upper portion of the moving cylinder (923); the micro infrared distance measuring sensor (931) corresponds to the receiving plate (932); The regulating component (94) comprises a coil (941) and a magnetic ring (942); the lower side of the fixed cylinder (921) is fixedly connected with the coil (941); the lower inner side of the moving cylinder (923) is fixedly connected with the magnetic ring (942); the coil (941) corresponds to the magnetic ring (942).

10. A screw locking method of an intelligent screw locking device, applied to an intelligent screw locking device according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1, the machine starts, the X-axis (5) moves to the pickup position, and the Z-axis (4) descends to the suction position. At this time, the follower motor (63) starts, driving the suction piece to a distance of 1.0-2.0 mm from the screw; S2, the electric screwdriver rod (65) cooperates with the "cross" of the screw to insert the screw, and vacuum is sucked at the same time; S3, testing the pressure in the vacuum tube. If the pressure is normal, proceed to the next step. If the pressure is abnormal, start the intelligent electric screwdriver (62) to drive the electric screwdriver rod (65) to rotate, and adjust and calibrate the screw. And vacuum suction, after two unsuccessful attempts, an alarm will sound, and after successful calibration, the next step will be entered; S4, lift the moving screw, the X-axis (5) and the Z-axis (4) move, drive the screw to move toward the product to be locked, and the Y1-axis (2) drives the product to be locked to move toward the electric screwdriver mechanism (6); S5. Lock the screw to the locking position. Since the screw has good verticality when entering the thread, the locking quality is high.

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