Cover mounting and screw packaging automation equipment with torque control function and using method of cover mounting and screw packaging automation equipment

Abstract

The invention discloses automatic capping and screw automatic packaging equipment with torque control, and belongs to the technical field of mechanical automatic assembly. Through combined application of an infinite-angle rotating joint at the tail end of the mechanical arm and a fixed-torque screw, automatic screw tightening operation with 3% torque control precision is achieved, and the problem that a common torque control electric screw tool with a small torque range in the market is poor in torque control precision is solved; in addition, axial pretightening force and tightening torque borne by the screw in the tightening process are detected through a six-dimensional force sensor connected to the screw mounting mechanical arm, and the safety control measure that the axial pretightening force and the tightening torque of the screw do not exceed safety threshold values in the whole operation process is achieved. The defect that automatic screw tightening equipment or tools on the market usually only monitor the tightening torque but neglect the influence of the axial pre-tightening force is overcome.

Description

Technical Field

[0001] The invention relates to automatic capping and screw packaging equipment with torque control, belonging to the technical field of mechanical automatic assembly. Background Art

[0002] Automatic capping and automatic screw tightening technologies are common applications in the field of industrial automation. However, in the manufacturing of aerospace precision optoelectronic products, the current automatic screw tightening equipment and solutions cannot meet the requirements in terms of tightening force control accuracy, applicability of small-size screws, feasibility of compact structure packaging operations, screw installation and tightening pass rate. Therefore, in the manufacturing process of aerospace precision optoelectronic products, it is mainly achieved by pure manual methods or manual use of handheld power tools, which has low production efficiency and restricts product production capacity. Summary of the invention

[0003] The technical problem solved by the present invention is: to overcome the deficiencies of the prior art and provide an automatic cover installation and screw automatic packaging equipment with torque control, so as to accurately and efficiently complete the automatic assembly of the outer cover and the automatic tightening of the screws.

[0004] The technical solution of the present invention is: in the first aspect, an automatic capping and screw automatic packaging device with torque control, comprising:

[0005] Mounting bracket, used as a bracket for fixing equipment components;

[0006] The mounting bracket platform serves as the base of the equipment and is fixedly connected to the mounting bracket;

[0007] The loading area, which serves as a loading and storage area for workpieces to be assembled, is fixed on the mounting bracket platform;

[0008] The handling robot arm assembly, which is used as a robot arm and its end actuator for handling and installing the workpiece to be assembled, is hoisted on the top of the mounting bracket;

[0009] The screw installation robot arm assembly, which serves as the robot arm and its end actuator for screw picking, placing, pre-tightening and tightening, is hoisted on the top of the mounting bracket;

[0010] A transport visual recognition positioning device, which is used as a positioning device for positioning the transport object before transport and placing it after clamping. The transport visual recognition positioning device is fixed to the tool end of the transport robot arm assembly;

[0011] The screw tightening positioning vision device is used as a device to detect whether the screws on the workpiece are installed correctly. It is hoisted and fixed on the top of the mounting bracket;

[0012] The turntable, serving as a working station for automatically installing and tightening the workpieces to be assembled and the screws, is fixed on the mounting bracket platform.

[0013] Furthermore, the handling robot arm assembly comprises:

[0014] The handling robot arm, as a robot arm for handling workpieces, is hoisted on the top of the mounting bracket. The handling visual recognition positioning device is sleeved on the cylindrical side wall of the tool end of the handling robot arm through a half block and locked and fixed without blocking the threaded connection hole of the tool end of the handling robot arm;

[0015] The six-dimensional force sensor, as a force monitoring device during handling, is connected to the tool end of the handling robot arm through screw centering;

[0016] The front end of the quick-change device, which serves as the fixed end of the switching device of the workpiece handling tool, is connected to the tool end of the six-dimensional force sensor;

[0017] The rear end of the quick-change device is the active end of the switching device of the workpiece handling tool. According to the number of end tools used, the corresponding number of rear ends of the quick-change devices are placed on the quick-change rack. During the operation of the system, the handling robot arm is driven to move to the corresponding position of the quick-change rack according to the action type, and the front end of the quick-change device is connected with the corresponding rear end of the quick-change device;

[0018] A quick-change rack, used to store the rear end of a quick-change device with different end effectors installed; the end effectors include a two-jaw gripper, a three-jaw gripper and a suction cup;

[0019] The two-jaw clamp, as a gripping tool for left-right symmetrical parts, is fixedly connected to the rear tool end of the quick-change device corresponding to it;

[0020] The three-jaw gripper, as a gripping tool for cylindrical parts, is fixedly connected to the rear tool end of the quick-change device corresponding thereto;

[0021] The suction cup, as a suction tool for planar parts, is fixedly connected to the rear end tool end of the corresponding quick-change device.

[0022] Furthermore, the screw installation mechanical arm assembly comprises:

[0023] The screw installation robot arm, which is used for placing, pre-tightening and tightening screws, is hoisted on the top of the mounting bracket. The end joint of the screw installation robot arm has an infinite angle rotation function;

[0024] The slip ring is used as a power supply and data transmission tool for the six-dimensional force sensor and electric claw in the state of infinite angle rotation of the end joint of the screw-mounted robot arm, and is connected to the tool end of the screw-mounted robot arm through screw centering;

[0025] The six-dimensional force sensor is used as a detection device for the forces during screw placement, pre-tightening and tightening, and is centrally connected to the slip ring;

[0026] The electric gripper, which serves as the driving element for the screw gripping, pre-tightening and tightening actions, is connected to the tool end of the six-dimensional force sensor by connecting the workpiece;

[0027] The screw clamp is a component for directly clamping the screw to be assembled and the constant torque screwdriver assembly. The corresponding two clamps are respectively installed on the two relatively movable execution ends of the electric claw. The closing or opening action is achieved by the driving of the electric claw, and is used to take and place the screw to be assembled and the constant torque screwdriver assembly.

[0028] The fixed torque screwdriver assembly is used to insert into the corresponding screw nut slot, perform the screw tightening action and implement the tightening torque limit. When the fixed torque screwdriver assembly is not in use, the required torque is preset in advance and stored in the fixed torque screwdriver holder;

[0029] A constant torque screwdriver holder, which is used as a holder for storing constant torque screwdriver components and is fixed to the mounting bracket platform;

[0030] The screw conveying equipment, as an automatic screw feeding device, is fixed on the mounting bracket platform.

[0031] Furthermore, the screw tightening positioning visual device comprises:

[0032] The screw tightening positioning visual device lifting device, which serves as a focus adjustment device for the screw tightening positioning visual shooting device, is hoisted on the top of the mounting bracket;

[0033] The screw tightening positioning visual shooting device is used for visual image acquisition and is installed on a slider of the screw tightening positioning visual device lifting device.

[0034] Furthermore, the turntable comprises:

[0035] The hollow turntable, as the driving device of the turntable, is installed on the mounting bracket platform;

[0036] The turntable is used as a rotating platform for workpiece placement and screw tightening. The turntable is installed on the hollow turntable and can rotate with the hollow turntable shaft.

[0037] In a second aspect, a method for transporting and assembling outer cover parts according to the automatic cover installation and screw automatic packaging equipment with torque control comprises:

[0038] A first part and a second part are placed on the loading area, the equipment is started, the handling robot arm is raised and lowered to adjust the focal length of the handling visual recognition positioning device to locate and identify the part to be grasped, the grasping route is planned, and the first part is grasped by a two-claw clamp, a three-claw clamp or a suction cup. The handling robot arm moves to install the first part to a station on the turntable, and then the turntable rotates a certain angle so that the next station is turned to the loading position, and the grasping action is repeated to complete the handling action of all the first parts; the second part is grasped by a two-claw clamp, a three-claw clamp or a suction cup, and the handling robot arm moves to install the second part to the assembly and matching position of the first part in the turntable, completing the matching assembly of the second part on the first part to form a combination of the first part and the second part; in the whole process of handling and assembling the outer cover parts, the six-dimensional force sensor connected to the handling robot arm is used to detect the three-dimensional force and three-dimensional torque of the outer cover parts, and the upper limit values ​​of the force and torque set in advance are used as feedback for the motion execution control, so that the force on the outer cover parts does not exceed the safety threshold during the whole operation.

[0039] In the third aspect, a method for detecting and controlling the screw preload and torque is implemented according to the automatic capping and screw automatic packaging equipment with torque control, comprising: in the process of screw preload, screw fixed torque tightening and screw tightening confirmation, a six-dimensional force sensor connected to the screw installation robot arm is used to detect the axial preload and tightening torque of the screw during the tightening process, and the upper limit values ​​of the axial preload and tightening torque are pre-set and used as feedback for motion execution control, so that the axial preload and tightening torque of the screw do not exceed the safety threshold during the entire operation.

[0040] In a fourth aspect, a screw pre-tightening method implemented according to the automatic capping and screw automatic packaging equipment with torque control comprises: after the installation of the first part and the second part is completed, the lifting device of the screw tightening positioning vision device is lifted to the preset position of the corresponding workstation of the turntable, so that the screw tightening positioning vision device is in a suitable focal length range, the screw tightening positioning vision device locates and identifies the position of the screw to be installed, the hollow turntable is rotated to rotate a group of the first part and the second part combination to the screw tightening position, the screw conveying device provides the screw, the screw installation robot arm moves to the screw conveying device, the screw clamp clamps the screw, and then the screw installation robot arm moves to above the combination of the first part and the second part, and accurately positions the screw clamp and the screw hole to be assembled according to the positioning information obtained by the screw tightening positioning vision device, and uses the infinite rotation function of the end joint of the screw installation robot arm to drive the screw clamp to complete the set number of pre-tightening turns.

[0041] In the fifth aspect, a method for finding a screw nut groove and tightening a screw with a fixed torque is implemented according to the automatic capping and screw automatic packaging equipment with torque control, comprising: after the screw is pre-tightened, the screw installation robot arm moves to the fixed torque screwdriver holder, and the electric claw drives the screw clamp to clamp the fixed torque screwdriver assembly corresponding to the current screw to be assembled, and then the screw installation robot arm moves to the position above the screw to be tightened with a fixed torque of the combination of the first part and the second part on the turntable, and the screw installation robot arm drives the screw clamp to continue to move downward, and judges whether the end of the fixed torque screwdriver assembly contacts the screw nut through the real-time force data detected by the six-dimensional force sensor. When the real-time axial force data detected by the six-dimensional force sensor suddenly increases, it is judged that the fixed torque screw The end of the knife assembly has contacted the screw nut, and then the end of the screw installation robot arm rotates. The real-time force data detected by the six-dimensional force sensor is used to determine whether the end of the fixed torque screwdriver assembly has entered the screw nut nail groove. When the real-time axial force data detected by the six-dimensional force sensor suddenly decreases, it is determined that the end of the fixed torque screwdriver assembly has entered the screw nut nail groove. The rotation of the end of the screw installation robot arm drives the fixed torque screwdriver assembly to rotate to tighten the screw with a fixed torque. The real-time force data detected by the six-dimensional force sensor is used to determine whether the fixed torque tightening action of the screw has been completed. When the torque value fluctuation range of the real-time axial torque data detected by the six-dimensional force sensor is within 10% and maintained for at least 5s, it is determined that the fixed torque tightening action of the screw has been completed.

[0042] In the sixth aspect, a method for inspecting the integrity and quality of screw tightening implemented according to the automatic capping and screw automatic packaging equipment with torque control comprises: after completing the installation, pre-tightening and fixed torque tightening functions of all the screws to be assembled in this process on the combination of the first part and the second part, rotating the hollow turntable so that the combination of the first part and the second part that have completed the screw packaging is rotated one by one to the screw tightening detection position, the lifting device of the screw tightening positioning visual device is adjusted to a preset position, the screw tightening positioning visual device is in a suitable focal length range, visual image acquisition is performed, and the integrity of the screw installation, appearance quality and tightening quality are detected according to a preset detection algorithm.

[0043] The advantages of the present invention compared with the prior art are:

[0044] (1) The present invention realizes automatic screw tightening operation with 3% torque control accuracy by combining the infinite angle rotating joint at the end of the mechanical arm with the fixed torque screw, which makes up for the problem of poor torque control accuracy of torque control electric screw tools with a small torque range commonly found on the market;

[0045] (2) The present invention detects the axial pre-tightening force and tightening torque of the screw during the tightening process by means of a six-dimensional force sensor (203) connected to the screw installation mechanical arm (201), thereby achieving a safety control measure that the axial pre-tightening force and tightening torque of the screw do not exceed the safety threshold during the entire operation process, thereby making up for the deficiency that the automatic screw tightening equipment or tools on the market usually only monitor the tightening torque and ignore the influence of the axial pre-tightening force;

[0046] (3) The method of the present invention uses a six-dimensional force sensor (203) connected to a screw installation mechanical arm (201) to monitor the real-time axial force data changes of the six-dimensional force sensor (203) to perform screw locating nut grooves, thereby avoiding the problem that common automatic screw tightening tools easily scratch the nut or structural parts during the process of locating the nut grooves, and also avoiding the problem that the high requirements of visual acquisition hardware and acquisition and recognition software for small-size screw image recognition in visual detection of nut grooves are difficult to achieve, thereby meeting the high quality requirements of aerospace precision optoelectronic products for non-destructive appearance. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0048] Figure 1 It is a front view of the structure of the device of the present invention;

[0049] Figure 2 It is a top view of the structure of the device of the present invention;

[0050] Figure 3 This is a schematic diagram of the structure of the handling robot arm assembly of the present invention;

[0051] Figure 4 This is a schematic diagram of the structure of the screw installation mechanical arm assembly of the present invention;

[0052] Figure 5 This is a schematic diagram of the structure of the visual device for screw tightening and positioning of the present invention. DETAILED DESCRIPTION

[0053] In order to better understand the above technical scheme, the technical scheme of the present invention is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present invention and the specific features in the embodiments are detailed descriptions of the technical scheme of the present invention, rather than limitations on the technical scheme of the present invention. In the absence of conflict, the embodiments of the present invention and the technical features in the embodiments can be combined with each other.

[0054] The following is a further detailed description of an automatic capping and screw automatic packaging device with torque control provided by an embodiment of the present invention in conjunction with the accompanying drawings of the specification. The specific implementation method may include:

[0055] First, as Figure 1 , 2 , an automatic cover installation and screw automatic packaging equipment with torque control, which can realize the functions of handling, assembling and torque tightening of outer cover parts. The main device includes a handling robot arm assembly 100, a screw installation robot arm assembly 200, a screw tightening positioning visual device 300, a handling visual recognition positioning device 301, a turntable 400, a mounting bracket 501, a mounting bracket platform 502, and a loading area 601. The handling robot arm assembly 100 includes a handling robot arm 101, a six-dimensional force sensor 102, a quick-change device front end 103, a quick-change device rear end 109, a quick-change frame 107, a two-claw clamp 104, a three-claw clamp 105, and a suction cup 106; the screw installation robot arm assembly 200 includes a screw installation robot arm 201, a slip ring 202, a six-dimensional force sensor 203, an electric claw 204, a screw clamp 205, a constant torque screwdriver assembly 206, a constant torque screwdriver holder 207, and a screw conveying device 208; the screw tightening positioning visual device 300 includes a screw tightening positioning visual device lifting device 302 and a screw tightening positioning visual shooting device 303; the turntable and its accessories 400 include a turntable 401 and a hollow turntable 402.

[0056] Further, if Figure 3 , the handling robot arm assembly 100 includes:

[0057] The transport robot arm 101, as a robot arm for transporting workpieces, is hoisted on the top of the mounting bracket 501. The transport visual identification and positioning device 301 is sleeved on the cylindrical side wall of the tool end of the transport robot arm 101 through the half block 304 and locked and fixed without blocking the threaded connection hole of the tool end of the transport robot arm 101.

[0058] The six-dimensional force sensor 102, as a force monitoring device during handling, is centrally connected to the tool end of the handling robot arm 101 through screws;

[0059] The front end 103 of the quick-change device, serving as the fixed end of the switching device of the workpiece handling tool, is connected to the tool end of the six-dimensional force sensor 102;

[0060] The quick-change device rear end 109 is used as the active end of the switching device of the workpiece handling tool. According to the number of end tools used, the corresponding number of quick-change device rear ends 109 are placed on the quick-change rack 107. During the operation of the system, the handling robot arm 101 is driven to move to the corresponding position of the quick-change rack 107 according to the action type, and the quick-change device front end 103 is connected with the corresponding quick-change device rear end 109;

[0061] A quick-change rack 107 is used to store a rear end 109 of a quick-change device equipped with different end effectors; the end effectors include a two-claw clamp 104, a three-claw clamp 105 and a suction cup 106;

[0062] The two-jaw clamp 104, as a gripping tool for bilaterally symmetrical parts, is fixedly connected to the tool end of the rear end 109 of the quick-change device corresponding thereto;

[0063] The three-jaw clamp 105, as a clamping tool for cylindrical parts, is fixedly connected to the tool end of the rear end 109 of the quick-change device corresponding thereto;

[0064] The suction cup 106, as a suction tool for planar parts, is fixedly connected to the tool end of the rear end 109 of the quick-change device corresponding thereto.

[0065] In one possible implementation, Figure 4 , the screw installation mechanical arm assembly 200 comprises:

[0066] The screw installation mechanical arm 201, which is used as a mechanical arm for placing, pre-tightening and tightening screws, is hoisted on the top of the mounting bracket 501. The end joint of the screw installation mechanical arm 201 has an infinite angle rotation function;

[0067] The slip ring 202, as a power supply and data transmission tool for the six-dimensional force sensor 203 and the electric claw 204 in the state of infinite angle rotation of the end joint of the screw installation robot arm 201, is connected to the tool end of the screw installation robot arm 201 through screw centering;

[0068] The six-dimensional force sensor 203, as a detection device for the force during screw placement, pre-tightening and tightening, is centrally connected to the slip ring 202;

[0069] The electric claw 204, as a driving element for the screw gripping, pre-tightening and tightening actions, is connected to the tool end of the six-dimensional force sensor 203 through the connection workpiece 209;

[0070] The screw clamp 205 is a component for directly clamping the screw to be assembled and the constant torque screwdriver assembly 206. The corresponding two clamps are respectively installed on the two relatively movable execution ends of the electric claw 204. The closing or opening action is realized by the driving of the electric claw 204, and is used to take and place the screw to be assembled and the constant torque screwdriver assembly 206.

[0071] The fixed torque screwdriver assembly 206 is used to be inserted into the corresponding screw nut slot, perform the screw tightening action and implement the tightening torque limit. When the fixed torque screwdriver assembly 206 is not in use, the required torque is preset in advance and stored in the fixed torque screwdriver holder 207;

[0072] The constant torque screwdriver holder 207 is used as a holder for storing the constant torque screwdriver assembly 206 and is fixed to the mounting bracket platform 502;

[0073] The screw conveying device 208 , serving as an automatic screw feeding device, is fixed to the mounting bracket platform 502 .

[0074] In one possible implementation, Figure 5 , the screw tightening positioning visual device 300 comprises:

[0075] The screw tightening positioning vision device lifting device 302, which serves as a focus adjustment device for the screw tightening positioning vision shooting device 303, is hoisted on the top of the mounting bracket 501;

[0076] The screw tightening positioning visual shooting device 303 is used for visual image acquisition and is installed on the slider of the screw tightening positioning visual device lifting device 302.

[0077] In a possible implementation, the turntable 400 includes:

[0078] The hollow turntable 402, serving as a driving device for the turntable 401, is mounted on the mounting bracket platform 502;

[0079] The turntable 401 is used as a rotating platform for placing workpieces and tightening screws. The turntable is installed on the hollow turntable 402 and can rotate along with the rotating shaft of the hollow turntable 402.

[0080] In a second aspect, the present invention also provides a screw pre-tightening method, a screw fixed torque tightening method and a screw tightening confirmation method implemented by an automatic capping and screw automatic packaging device with torque control, comprising:

[0081] The automatic screw packaging equipment with torque control can realize the function of handling parts. When the device is working, the first part 602 and the second part 603 are manually placed in the loading area 601, and the device is started using the touch screen. The handling robot arm 101 is raised and lowered to adjust the focal length of the handling visual recognition positioning device 301 to locate and identify the parts to be grasped, and the control system plans the grasping route. The first part 602 is grasped and sucked by the two-claw clamp 104, the three-claw clamp 105 or the suction cup 106, and the handling robot arm 101 moves to install the first part 602 to the turntable 401 station, and the grasping action is repeated to complete the handling action of all the first parts 602; the second part 603 is grasped and sucked by the two-claw clamp 104, the three-claw clamp 105 or the suction cup 106, and the handling robot arm 101 moves to install the second part 603 in the turntable 401 to be assembled above the first part 602.

[0082] The automatic screw packaging equipment with torque control can realize the screw fixed torque tightening function, which is specifically divided into screw pre-tightening, screw fixed torque tightening function and screw tightening confirmation function. The rotation action of the screw tightening process is realized by the angle rotation of the rotating mechanical module installed on the end joint of the mechanical arm or the end joint, and the rotating mechanical module installed on the end joint of the mechanical arm or the end joint needs to have an infinite angle rotation function. In the process of screw pre-tightening, screw fixed torque tightening and screw tightening confirmation, a six-dimensional force sensor (203) connected to the screw installation mechanical arm (201) is used to detect the axial force and tightening torque of the screw during the tightening process, and this is used as feedback for motion execution control.

[0083] The screw pre-tightening function is characterized in that: after the first part 602 and the second part 603 are placed, the screw tightening positioning visual device lifting device 302 is lifted to the turntable 401 station to realize the screw tightening positioning visual device 303 to locate and identify the position where the screw needs to be installed, and the hollow turntable 402 is rotated to rotate a group of first parts 602 and second parts 603 to the screw tightening position, the screw conveying device 208 provides screws, and the screw installation robot arm 201 drives the screw clamp 205 to clamp the screw and move it above the first part 602 and the second part 603, and finds the screw hole according to the positioning information of the screw tightening positioning visual device 303 and uses the infinite rotation function of the screw installation robot arm 201 to drive the screw clamp 205 to complete the pre-tightening of the set number of turns.

[0084] The fixed torque tightening function of the screw is characterized in that: after the screw is pre-tightened, the screw installation robot arm 201 drives the electric claw 204 to drive the screw clamping claw 205 to clamp the fixed torque screwdriver assembly 206, and the end of the screw installation robot arm 201 rotates to drive the fixed torque screwdriver assembly 206 to rotate to complete the fixed torque tightening of the screw, and the installation is confirmed to be completed through the screw tightening positioning visual device.

[0085] The screw tightening confirmation function is characterized in that: after completing the screw fixed torque tightening function, the hollow turntable 402 is rotated to rotate the screw connection part to the screw tightening detection position, and the screw tightening positioning visual device lifting device 302 detects the screw tightening condition.

[0086] The solution provided in the embodiment of the present invention specifically includes the following steps:

[0087] Step 1: Manual loading

[0088] This step requires that the first part 602 and the second part 603 are correctly placed in the loading area 601 .

[0089] Step 2: Touchscreen Setup

[0090] The operator needs to confirm on the touch screen that each step is executed correctly. The following steps need to be confirmed:

[0091] 1. The first part 602 and the second part 603 are placed correctly;

[0092] 2. The first part 602 and the second part 603 types have been selected;

[0093] 3. The quantity of the first part 602 and the second part 603 has been selected;

[0094] 4. The previous batch of parts has been removed from the turntable.

[0095] Long press start to switch to automatic mode.

[0096] Step 2.1: The robot grabs the first part

[0097] Before the handling robot arm and its accessories 100 grab the first part 602, it is first necessary to switch the end clamp to a two-claw clamp 104, a three-claw clamp 105, or a suction cup 106 (one of the three) according to the part type. The handling robot arm and its accessories 100 move to the top of the loading area 601. First, the handling visual recognition and positioning device 301 takes a photo to determine whether the quantity and part specifications of the first part 602 are consistent with the input information. Then, the handling visual recognition and positioning device 301 recognizes and calculates the exact position of the first part 602 in the loading area 601, thereby calculating the grabbing position of each part. After the handling robot arm assembly 100 moves to the top of the grabbing position, the handling visual recognition and positioning device 301 performs another camera recognition, and grabs or absorbs the part after obtaining the precise position. Then the handling robot arm assembly 100 moves to install the first part 602 to the turntable 401 station. Repeat the handling action to complete the handling and placement of all first parts 602.

[0098] Step 2.2: The robot grabs the second part

[0099] Before the handling robot arm assembly 100 grabs the second part 603, it is first necessary to switch the end clamp to a two-claw clamp 104, a three-claw clamp 105, or a suction cup 106 (one of the three) according to the part type. The handling visual recognition and positioning device 301 takes a photo to determine whether the number of the second part 603 and the part specifications are consistent with the input information. Then the handling visual recognition and positioning device 301 recognizes and calculates the exact position of the second part 603 in the loading area 601, thereby calculating the grabbing position of each part. After the handling robot arm assembly 100 moves above the grabbing position, the handling visual recognition and positioning device 301 performs another camera recognition, and grabs or absorbs the second part 603 after obtaining the precise position. Subsequently, the handling robot arm assembly 100 moves to install the second part 603 above the first part 602 at the turntable 401 station to complete the assembly. Repeat the handling action to complete the handling and assembly actions of all second parts 603.

[0100] Step 2.3: Pre-tighten

[0101] Before pre-tightening, the screw installation robot arm assembly 200 needs to switch the end tool to the screw clamp 205, and move to the appropriate screw conveying device 208 according to the selected part type. The screw clamp 205 clamps the screw and moves to the threaded hole of the part. Then the end of the screw installation robot arm 201 rotates while moving downward according to the pitch until it rotates a specified number of times, the screw clamp 205 opens, and the screw installation robot arm 201 leaves the part to complete one pre-tightening action. The screw installation robot arm assembly 200 clamps the remaining screws until the screws in all positions are pre-tightened.

[0102] Step 2.4: Tighten the screws

[0103] Before performing the formal tightening operation, the screw installation mechanical arm assembly 200 needs to move to the fixed torque screwdriver holder 207 to connect the fixed torque screwdriver assembly 206. According to the set part type, a specific fixed torque screwdriver assembly 206 is clamped. Then the screw installation mechanical arm 201 moves to the top of each screw and rotates while moving downward, and judges whether the screwdriver has started to tighten the screw through the value of the six-dimensional force sensor 203. The rotation movement is until the maximum torque of the torque screwdriver is reached.

[0104] Step 2.5: Take a photo to verify the screw

[0105] After all the screws have been tightened to the set torque, the system controls the screw tightening positioning vision device lifting device 302 to move the screw tightening positioning vision device 303 to the photo taking position to check whether the screws have been tightened at each position. After checking that there are no problems, the system controls the screw tightening positioning vision device lifting device 302 to rise to the highest position, and the rotating platform rotates at a constant angle to rotate out to the next idle assembly position.

[0106] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0107] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

[0108] The contents not described in detail in the specification of the present invention belong to the common knowledge of those skilled in the art.

Claims

1. An automatic capping and screw packaging equipment with torque control, characterized in that: include: A mounting bracket (501) is used as a bracket for mounting and fixing the equipment components; The mounting bracket platform (502), serving as a base for the device, is fixedly connected to the mounting bracket (501); A loading area (601), serving as a loading and storage area for workpieces to be assembled, is fixed on the mounting bracket platform (502); A handling robot arm assembly (100), serving as a robot arm and its end actuator for handling and installing workpieces to be assembled, is hoisted on top of the mounting bracket (501); A screw installation mechanical arm assembly (200), which serves as a mechanical arm for picking up, placing, pre-tightening and tightening screws and its end actuator, is hoisted on the top of the installation bracket (501); A transport visual recognition positioning device (301), which is used as a positioning device for positioning the transport object before transport and for placing it after clamping. The transport visual recognition positioning device (301) is fixed to the tool end of the transport mechanical arm assembly (100); A screw tightening positioning vision device (300), as a device for detecting whether the screws on the workpiece are correctly installed, is hoisted and fixed on the top of the installation bracket (501); The turntable (400) is fixed on the mounting bracket platform (502) as a working station for automatically mounting and tightening the workpieces to be assembled and the screws.

2. The automatic capping and screw packaging equipment with torque control according to claim 1 is characterized in that: The handling robot arm assembly (100) comprises: The transport robot arm (101), as a robot arm for transporting workpieces, is hoisted on the top of the mounting bracket (501), and the transport visual identification positioning device (301) is sleeved on the cylindrical side wall of the tool end of the transport robot arm (101) through the half block (304) and locked and fixed, without blocking the threaded connection hole of the tool end of the transport robot arm (101); A six-dimensional force sensor (102), serving as a force monitoring device during transport, is centrally connected to the tool end of the transport robot arm (101) via screws; The front end (103) of the quick-change device serves as a fixed end of the switching device of the workpiece handling tool and is connected to the tool end of the six-dimensional force sensor (102); The quick-change device rear end (109) is used as the active end of the switching device of the workpiece handling tool. According to the number of end tools used, a corresponding number of quick-change device rear ends (109) are placed on the quick-change rack (107). During system operation, the handling robot arm (101) is driven to move to the corresponding position of the quick-change rack (107) according to the action type, and the quick-change device front end (103) is connected with the corresponding quick-change device rear end (109). A quick-change rack (107) is used to store the rear end (109) of a quick-change device equipped with different end effectors; the end effectors include a two-claw clamp (104), a three-claw clamp (105) and a suction cup (106); The two-claw clamp (104) is used as a gripping tool for left-right symmetrical parts and is fixedly connected to the tool end of the rear end (109) of the quick-change device corresponding thereto; A three-jaw clamp (105), serving as a clamping tool for cylindrical parts, is fixedly connected to a tool end of a corresponding quick-change device rear end (109); The suction cup (106), as a suction tool for planar parts, is fixedly connected to the tool end of the rear end (109) of the quick-change device corresponding thereto.

3. The automatic capping and screw packaging equipment with torque control according to claim 1, characterized in that: The screw installation mechanical arm assembly (200) comprises: The screw installation mechanical arm (201), which is used as a mechanical arm for placing, pre-tightening and tightening screws, is hoisted on the top of the installation bracket (501), and the end joint of the screw installation mechanical arm (201) has an infinite angle rotation function; The slip ring (202) is used as a power supply and data transmission tool for the six-dimensional force sensor (203) and the electric claw (204) in the state of infinite angle rotation of the end joint of the screw-mounting mechanical arm (201), and is connected to the tool end of the screw-mounting mechanical arm (201) through screw centering; A six-dimensional force sensor (203), serving as a detection device for the force applied during screw placement, pre-tightening and tightening, is centrally connected to the slip ring (202); The electric claw (204), as a driving element for the screw clamping, pre-tightening and tightening actions, is connected to the tool end of the six-dimensional force sensor (203) through the connecting workpiece (209); The screw clamp (205) is a component for directly clamping the screw to be assembled and the constant torque screwdriver assembly (206). The corresponding two clamps are respectively installed on the two relatively movable execution ends of the electric clamp (204). The closing or opening action is achieved by the driving of the electric clamp (204) and is used for taking and placing the screw to be assembled and the constant torque screwdriver assembly (206); A constant torque screwdriver assembly (206) is used to be inserted into a corresponding screw nut slot, perform a screw tightening action and implement a tightening torque limit. When not in use, the constant torque screwdriver assembly (206) is preset with a required torque in advance and stored in a constant torque screwdriver holder (207); A constant torque screwdriver holder (207), which serves as a holder for storing the constant torque screwdriver assembly (206) and is fixed to the mounting bracket platform (502); The screw conveying device (208), serving as an automatic screw feeding device, is fixed to the mounting bracket platform (502).

4. The automatic capping and screw packaging equipment with torque control according to claim 1, characterized in that: The screw tightening positioning visual device (300) comprises: The screw tightening positioning visual device lifting device (302) serves as a focus adjustment device for the screw tightening positioning visual shooting device (303) and is hoisted on the top of the mounting bracket (501); The screw tightening positioning visual shooting device (303) is used for collecting visual images and is installed on a slider of the screw tightening positioning visual device lifting device (302).

5. The automatic capping and screw packaging equipment with torque control according to claim 1, characterized in that: The turntable (400) comprises: The hollow turntable (402), serving as a driving device for the turntable (401), is mounted on the mounting bracket platform (502); The turntable (401) is used as a rotating platform for placing workpieces and tightening screws. The turntable is installed on the hollow turntable (402) and can rotate along with the rotating shaft of the hollow turntable (402).

6. A method for transporting and assembling outer cover parts according to the automatic cover installation and screw automatic packaging equipment with torque control according to claim 1, characterized in that: include: A first part (602) and a second part (603) are placed on the loading area (601), the equipment is started, the handling robot arm (101) is raised and lowered to adjust the focal length of the handling visual recognition positioning device (301) to locate and identify the parts to be grasped, a grasping route is planned, and the first part (602) is grasped by a two-claw clamp (104), a three-claw clamp (105) or a suction cup (106), the handling robot arm (101) moves to install the first part (602) to a station on the turntable (401), and then the turntable (401) is rotated to a certain angle so that the next station is transferred to the loading position, and the grasping action is repeated to complete the handling action of all the first parts (602); the first part (602) is grasped by a two-claw clamp (104), a three-claw clamp (105) or a suction cup (106). The disk (106) completes the grabbing (sucking) of the second part (603), and the handling robot arm (101) moves to install the second part (603) to the assembly matching position of the first part (602) in the turntable (401), completing the matching assembly of the second part (603) on the first part (602), and forming a combination of the first part (602) and the second part (603); during the whole process of handling and assembling the outer cover part, the six-dimensional force sensor (102) connected to the handling robot arm (101) is used to detect the three-dimensional force and three-dimensional torque exerted on the outer cover part, and the upper limit values ​​of the force and torque set in advance are used as feedback for motion execution control, so that the force exerted on the outer cover part during the whole operation does not exceed the safety threshold.

7. A method for detecting and controlling screw preload force and torque by an automatic capping and screw automatic packaging device with torque control according to claim 1, characterized in that: include: During the process of screw pre-tightening, screw torque tightening and screw tightening confirmation, a six-dimensional force sensor (203) connected to the screw installation mechanical arm (201) is used to detect the axial pre-tightening force and tightening torque of the screw during the tightening process. The upper limit values ​​of the axial pre-tightening force and tightening torque are preset and used as feedback for motion execution control, so that the axial pre-tightening force and tightening torque of the screw do not exceed the safety threshold during the entire operation.

8. A method for pre-tightening screws by using an automatic capping and screw packaging device with torque control according to claim 1, characterized in that: include: After the first part (602) and the second part (603) are installed, the screw tightening positioning visual device lifting device (302) is lifted to the preset position of the corresponding station of the turntable (401), so that the screw tightening positioning visual device (303) is in a suitable focal length range, the screw tightening positioning visual device (303) locates and identifies the position of the screw to be installed, and the hollow turntable (402) is rotated to rotate a group of the first part (602) and the second part (603) to the screw tightening position, and the screw conveying device (208) provides the screws, and the screws are screwed. The nail installation robot arm (201) moves to the screw conveying device (208), and the screw clamp (205) clamps the screw. Then, the screw installation robot arm (201) moves to the top of the assembly of the first part (602) and the second part (603), and accurately positions the screw clamp (205) and the screw hole to be assembled according to the positioning information obtained by the screw tightening positioning visual device (303), and uses the infinite rotation function of the end joint of the screw installation robot arm (201) to drive the screw clamp (205) to complete the pre-tightening of the set number of turns.

9. A method for finding a screw nut groove and tightening it with a fixed torque by an automatic capping and screw automatic packaging device with torque control according to claim 1, characterized in that: include: After the screw is pre-tightened, the screw installation mechanical arm (201) moves to the fixed torque screwdriver holder (207), and the electric claw (204) drives the screw clamp (205) to clamp the fixed torque screwdriver assembly (206) corresponding to the screw to be assembled. Then, the screw installation mechanical arm (201) moves to the position above the screw to be tightened with fixed torque of the assembly of the first part (602) and the second part (603) on the rotating disk (401), and the screw installation mechanical arm (201) drives the screw clamp (205) to continue to move downward, and judges whether the end of the fixed torque screwdriver assembly (206) contacts the screw nut through the real-time force data detected by the six-dimensional force sensor (203). When the real-time axial force data detected by the six-dimensional force sensor (203) suddenly increases, it is judged that the end of the fixed torque screwdriver assembly (206) has contacted the screw nut. , then the end of the screw installation mechanical arm (201) rotates, and the real-time force data detected by the six-dimensional force sensor (203) is used to determine whether the end of the fixed torque screwdriver assembly (206) enters the screw nut nail groove. When the real-time axial force data detected by the six-dimensional force sensor (203) suddenly decreases, it is determined that the end of the fixed torque screwdriver assembly (206) has entered the screw nut nail groove. The end of the screw installation mechanical arm (201) rotates to drive the fixed torque screwdriver assembly (206) to rotate to tighten the screw with a fixed torque. The real-time force data detected by the six-dimensional force sensor (203) is used to determine whether the fixed torque tightening action of the screw has been completed. When the torque value fluctuation range of the real-time axial torque data detected by the six-dimensional force sensor (203) is within 10% and maintained for at least 5 seconds, it is determined that the fixed torque tightening action of the screw has been completed.

10. A method for inspecting the integrity and quality of screw tightening implemented by the automatic capping and screw automatic packaging equipment with torque control according to claim 1, characterized in that: include: After completing the installation, pre-tightening, and fixed torque tightening functions of all the screws to be assembled on the assembly of the first part (602) and the second part (603) in this process, the hollow turntable (402) is rotated to rotate the assembly of the first part (602) and the second part (603) that have completed the screw packaging one by one to the screw tightening detection position, the screw tightening positioning visual device lifting device (302) is adjusted to a preset position, the screw tightening positioning visual device (303) is within a suitable focal length range, visual image acquisition is performed, and the integrity of the screw installation, the appearance quality and the tightening quality are detected according to the preset detection algorithm.

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