Automatic screw locking device

Abstract

The invention belongs to the technical field of screw locking machines, and particularly relates to an automatic screw locking device which comprises a bottom plate, a conveying assembly and a lifting assembly are arranged on the bottom plate, a mounting cylinder is arranged on the lifting assembly, a gear transmission box is fixed to the top end of the mounting cylinder, and a driving motor is fixed to the top of the gear transmission box. An output shaft of the gear transmission box is fixedly connected with a connector, an inserting groove is formed in the bottom of the connector, a detachable electric telescopic rod is inserted into the inserting groove, a screwdriver blade is installed on an output shaft of the electric telescopic rod, the conveying assembly is located below the installation cylinder, and a pressure detection module is fixed to the inner wall of one side of the inserting groove. A deformation collecting module is further arranged at the side position of the bottom of the mounting cylinder, and a control module is further fixed to the top of the gear transmission box. Whether the screw is tightened or not can be accurately judged, the working state of the driving motor is controlled accordingly, and the situation that the product and the screw are damaged due to excessive tightening of the screw is effectively avoided.

Description

Technical Field

[0001] The invention relates to the technical field of screw locking machines, and in particular to an automatic screw locking device. Background Art

[0002] In industrial production, screw tightening is a common and critical process step, which is widely used in the assembly process of various products. However, traditional screw tightening operations often have some problems.

[0003] During the screw tightening process, due to the lack of accurate monitoring of the tightening degree, the screws are easily over-tightened. Over-tightening of the screws will not only damage the screws themselves, but may also damage the screw holes and related parts of the product, affecting the overall structural strength and stability of the product, and even reducing the service life and performance of the product, greatly increasing production costs and maintenance costs. Therefore, corresponding improvements are made to address this issue. Summary of the invention

[0004] Based on the technical problems existing in the prior art, the present invention proposes an automatic screw locking device.

[0005] An automatic screw locking device proposed by the present invention comprises a base plate, a conveying assembly and a lifting assembly are arranged on the base plate, a mounting cylinder is arranged on the lifting assembly, a gear transmission box is fixed on the top of the mounting cylinder, a driving motor is fixed on the top of the gear transmission box, an output shaft of the driving motor is fixedly connected to an input shaft of the gear transmission box, the output shaft of the gear transmission box is fixedly connected to a connecting head located inside the mounting cylinder, a slot is provided at the bottom of the connecting head, a detachable electric telescopic rod is inserted in the slot, a screwdriver head is installed on the output shaft of the electric telescopic rod, the conveying assembly is located below the mounting cylinder, and is used for conveying products for installing screws, a pressure detection module is fixed on an inner wall of one side of the slot, and the pressure detection module is used for real-time collection of pressure values ​​when the screws are locked, a deformation amount collection module is also arranged at a lateral position of the bottom of the mounting cylinder, and the deformation amount collection module is used for real-time collection of deformation degrees when the screws are locked, a control module is also fixed on the top of the gear transmission box, the pressure value and the deformation degree are comprehensively analyzed by the control module to generate an evaluation coefficient, and the evaluation coefficient is compared with a preset evaluation coefficient. The coefficient reference threshold is compared to determine whether the screw has been tightened, and the working state of the drive motor is controlled according to the comparison result; the products to be installed with screws are transported one by one to the bottom of the installation cylinder through the conveying component. When a product reaches the bottom of the installation cylinder, the conveying component stops conveying, and then the lifting component drives the installation cylinder to move downward to a predetermined position, and then the electric telescopic rod drives the screwdriver head to extend from the bottom end of the installation cylinder and move it into the screw hole of the product, and then the output shaft of the driving motor drives the connector and the electric telescopic rod to rotate through the gear transmission box, and at the same time, the electric telescopic rod slowly extends, so as to tighten the screw into the screw hole. During the screwing process, the pressure detection module collects the pressure value when the screw is locked in real time, and the deformation acquisition module collects the deformation degree when the screw is locked in real time. The pressure value and deformation degree are comprehensively analyzed by the control module to generate an evaluation coefficient, and the evaluation coefficient is compared with the preset evaluation coefficient reference threshold to determine whether the screw has been tightened, and the working state of the drive motor is controlled according to the comparison result, so as to avoid damage caused by excessive tightening of the screw.

[0006] Preferably, a mounting seat is provided at the side of the bottom end of the mounting cylinder, and a deformation acquisition module is fixed at the bottom of the mounting seat; thus, during the process of tightening the screw, the deformation degree of the top end of the screw can be clearly monitored through the deformation acquisition module.

[0007] Preferably, a fixing plate is fixed to the circumferential outer wall of the mounting cylinder, a first motor is fixed to the top of the fixing plate, an output shaft of the first motor is fixedly connected to a screw disk located below the fixing plate, a plurality of holes for placing screws distributed in a circular array are provided on the screw disk, a notch for the electric telescopic rod of the screwdriver to pass through is provided between two adjacent holes, and a space for the screw disk to move is provided on the mounting cylinder; in this way, a plurality of screws can be pre-placed into the corresponding holes, and then the output shaft of the first motor drives the screw disk to rotate, so that a certain screw is located exactly below the screwdriver head, and then the electric telescopic rod is extended, so that the screw is adsorbed onto the screwdriver head, and then the electric telescopic rod is reset upward, and then the first motor drives the screw disk to rotate according to the set angle, so that the notch is located directly below the screwdriver head, so that there is no obstruction to the electric telescopic rod extending downward to screw the screw.

[0008] Preferably, the lifting assembly includes a longitudinal guide rail, which is fixed on the top of the base plate, a slider is slidably connected to the front of the longitudinal guide rail, the slider is fixedly sleeved on the mounting tube, a screw is rotatably connected inside the longitudinal guide rail, the screw is threadedly connected to the slider, a second motor is fixed to the top of the longitudinal guide rail, and the output shaft of the second motor is fixedly connected to the end of the screw; the output shaft of the second motor drives the screw to rotate, and the screw will drive the slider to move up and down along the length direction of the longitudinal guide rail, thereby controlling the lifting and lowering action of the mounting tube.

[0009] Preferably, the conveying assembly is a belt conveyor; thus, the product can be conveyed by the belt conveyor.

[0010] Preferably, a fixed seat is fixed to the front end face of the belt conveyor, an electric push rod is fixed to the rear end face of the fixed seat, the output shaft of the electric push rod is fixedly connected to the second positioning plate, and the rear end face of the belt conveyor is fixed to the first positioning plate, and the first positioning plate and the second positioning plate are relatively distributed; when the belt conveyor stops, the electric push rod is started, and the output shaft of the electric push rod drives the second positioning plate to move toward the first positioning plate, so that the product can be stabilized by the second positioning plate and the first positioning plate, so that when tightening the screws, the product will not be deflected due to the action of torque.

[0011] Preferably, the normalized calculation formula of the pressure value when the screw is tightened is: in, Real-time collected screw locking pressure value (unit: N or MPa), Minimum range of pressure sensor, The maximum measuring range of the pressure sensor.

[0012] Preferably, the normalized calculation formula for the degree of deformation when the screw is tightened is: in, The deformation of the screw tip calculated by the image processing module (such as pixel offset or shape difference), : The minimum deformation threshold allowed (such as pixels), : Maximum allowed deformation threshold (such as pixels); Based on edge algorithm, deformation The calculation formula is: in, The grayscale matrix of the current frame image, : Preset screw top template image, Total number of pixels.

[0013] Preferably, the calculation formula of the evaluation coefficient is: in, Weight coefficient ( evaluation_coefficients(range[,]).

[0014] Preferably, the preset evaluation coefficient reference threshold is set to , the evaluation coefficient calculated by the control module and the pre-set reference threshold of the evaluation coefficient Compare and determine whether the screw has been tightened, and control the working state of the drive motor according to the comparison result. The specific judgment is as follows: when When , it indicates that the screw is already in a tightening state, and an early warning signal is generated. After receiving the early warning signal, a stop signal is generated and transmitted to , and tightening stops after receiving the stop signal; when When , it indicates that the screw is not in the tightening state, and a normal signal is generated. After receiving the normal signal, a holding signal is generated and transmitted to , and after receiving the holding signal, tightening continues.

[0015] Compared with the prior art, the present invention provides an automatic screw locking device, which has the following beneficial effects: 1. An automatic screw locking device. The present invention uses a pressure detection module to collect the pressure value when the screw is locked in real time, and a deformation acquisition module to collect the degree of deformation when the screw is locked in real time. The control module performs a comprehensive analysis on these two key parameters to generate an evaluation coefficient. By comparing the evaluation coefficient with a pre-set reference threshold, it is possible to accurately determine whether the screw has been tightened, and control the working state of the drive motor accordingly. This effectively avoids damage to the product and the screw itself due to excessive tightening of the screw, ensures the quality and stability of the screw locking, and reduces the product defective rate and maintenance costs caused by screw tightening problems.

[0016] 2. An automatic screw locking device, wherein a screw disk with multiple holes and gaps is provided on the mounting cylinder, and multiple screws can be pre-placed in the holes. The first motor drives the screw disk to rotate, so that the screws are accurately located directly below the screwdriver head, which facilitates the electric telescopic rod to absorb the screws; then the screw disk continues to rotate so that the gap is located below the screwdriver head, which does not affect the screw tightening operation of the electric telescopic rod. This structure realizes the rapid and accurate supply of screws, reduces the time and labor intensity of manual screw placement, and improves the work efficiency of screw locking.

[0017] 3. An automatic screw locking device, the conveying component uses a belt conveyor to convey the product, and a first positioning plate and a second positioning plate driven by an electric push rod are set on the belt conveyor. When the belt conveyor stops conveying the product, the electric push rod drives the second positioning plate to approach the first positioning plate to stabilize the product. In this way, during the screw tightening process, the product will not deflect due to the torque, ensuring the accuracy of the screw locking position and improving the quality of product assembly.

[0018] 4. An automatic screw locking device normalizes the pressure value and deformation degree when the screw is locked, and gives the corresponding calculation formula, eliminating the influence of different detection parameter dimensions and ranges, making each parameter comparable. On this basis, the evaluation coefficient is calculated by comprehensively considering the two factors of pressure and deformation. Compared with the judgment of a single parameter, it is more scientific and accurate, can more comprehensively reflect the tightening state of the screw, and further improves the accuracy and reliability of the screw tightening control. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the overall structure of an automatic screw locking device proposed by the present invention; Figure 2 A schematic diagram of the structure of a lifting component of an automatic screw locking device proposed by the present invention; Figure 3 A schematic diagram of the internal structure of a mounting cylinder of an automatic screw locking device proposed by the present invention; Figure 4A schematic diagram of the installation structure between a connector and a screwdriver of an automatic screw locking device proposed by the present invention; Figure 5 For the present invention Figure 3 A schematic diagram of the enlarged structure at point A; Figure 6 A schematic diagram of the structure of a belt conveyor of an automatic screw locking device proposed by the present invention; Figure 7 The present invention is a schematic diagram of an automatic screw locking device.

[0020] In the figure: 1. bottom plate; 2. longitudinal guide rail; 3. mounting cylinder; 4. gear transmission box; 5. drive motor; 6. connector; 7. electric telescopic rod; 8. slot; 9. pressure detection module; 10. mounting seat; 11. deformation acquisition module; 12. fixing plate; 13. first motor; 14. screw plate; 15. notch; 16. belt conveyor; 17. first positioning plate; 18. fixing seat; 19. electric push rod; 20. second positioning plate; 21. control module; 22. slider; 23. screw; 24. second motor. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0022] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0023] Reference Figure 1-Figure 7An automatic screw locking device includes a base plate 1, a conveying assembly and a lifting assembly are arranged on the base plate 1, a mounting cylinder 3 is arranged on the lifting assembly, a gear transmission box 4 is fixed to the top of the mounting cylinder 3, a driving motor 5 is fixed to the top of the gear transmission box 4, an output shaft of the driving motor 5 is fixedly connected to an input shaft of the gear transmission box 4, and the output shaft of the gear transmission box 4 is fixedly connected to a connector 6 located inside the mounting cylinder 3, a slot 8 is provided at the bottom of the connector 6, a detachable electric telescopic rod 7 is inserted in the slot 8, a screwdriver head is installed on the output shaft of the electric telescopic rod 7, and the conveying assembly is located below the mounting cylinder 3 for mounting screws The product is conveyed, a pressure detection module 9 is fixed on the inner wall of one side of the slot 8, and the pressure detection module 9 is used to collect the pressure value when the screw is locked in real time. A deformation amount acquisition module 11 is also provided at the lateral position of the bottom of the installation cylinder 3, and the deformation amount acquisition module 11 is used to collect the deformation degree when the screw is locked in real time. A control module 21 is also fixed on the top of the gear transmission box 4. The control module 21 performs a comprehensive analysis on the pressure value and the deformation degree to generate an evaluation coefficient. The evaluation coefficient is compared with a preset evaluation coefficient reference threshold to determine whether the screw has been tightened, and the working state of the drive motor 5 is controlled according to the comparison result; It should be noted that the pressure detection module 9 may be a pressure sensor or other equipment capable of collecting the pressure value when the screw is tightened in real time, and the deformation acquisition module 11 may be an industrial camera or other equipment capable of collecting the degree of deformation when the screw is tightened in real time. Therefore, the pressure detection module 9 and the deformation acquisition module 11 are not specifically limited here and can be selected according to actual needs. It should be noted that the gear transmission box 4 mainly transmits the rotational kinetic energy transmitted by the drive motor 5 to the connector 6 through the cooperation of its internal gears. The specific cooperation mode of the internal gears of the gear transmission box 4 is not specifically limited here and can be selected according to actual needs; During operation, the products to be installed with screws are transported one by one to the bottom of the installation cylinder 3 through the conveying assembly. When a product reaches the bottom of the installation cylinder 3, the conveying assembly stops conveying, and then the lifting assembly drives the installation cylinder 3 to move downward to a predetermined position, and then the electric telescopic rod 7 drives the screwdriver head to extend from the bottom end of the installation cylinder 3 and move into the screw hole of the product, and then the output shaft of the driving motor 5 drives the connecting head 6 and the electric telescopic rod 7 to rotate through the gear transmission box 4, and at the same time, the electric telescopic rod 7 slowly extends, so as to tighten the screw into the screw hole. During the screwing process, the pressure detection module 9 collects the pressure value when the screw is locked in real time, and the deformation amount collection module 11 collects the deformation degree when the screw is locked in real time. The pressure value and the deformation degree are comprehensively analyzed by the control module 21 to generate an evaluation coefficient. The evaluation coefficient is compared with a preset evaluation coefficient reference threshold to determine whether the screw has been tightened, and the working state of the driving motor 5 is controlled according to the comparison result, so as to avoid damage caused by excessive tightening of the screw.

[0024] Among them, a mounting seat 10 is provided at the side of the bottom end of the mounting cylinder 3, and a deformation amount acquisition module 11 is fixed at the bottom of the mounting seat 10; During operation, the deformation degree of the top of the screw can be clearly monitored through the deformation amount acquisition module 11 during the process of tightening the screw.

[0025] Furthermore, a fixing plate 12 is fixed to the circumferential outer wall of the mounting tube 3, a first motor 13 is fixed to the top of the fixing plate 12, an output shaft of the first motor 13 is fixedly connected to a screw disk 14 located below the fixing plate 12, a plurality of holes for placing screws distributed in a circular array are provided on the screw disk 14, a notch 15 for the electric telescopic rod 7 of the screwdriver to pass through is provided between two adjacent holes, and a space for the screw disk 14 to move is provided on the mounting tube 3; During operation, multiple screws can be pre-placed into corresponding holes, and then the output shaft of the first motor 13 drives the screw disk 14 to rotate, so that a certain screw is located just below the screwdriver head, and then the electric telescopic rod 7 is extended, so that the screw is adsorbed onto the screwdriver head, and then the electric telescopic rod 7 is reset upward, and then the first motor 13 drives the screw disk 14 to rotate according to the set angle, so that the notch 15 is located just below the screwdriver head, so that there is no obstruction to the electric telescopic rod 7 extending downward to tighten the screw.

[0026] The lifting assembly includes a longitudinal guide rail 2, which is fixed on the top of the bottom plate 1. A slider 22 is slidably connected to the front of the longitudinal guide rail 2. The slider 22 is fixedly sleeved on the mounting tube 3. A screw rod 23 is rotatably connected inside the longitudinal guide rail 2. The screw rod 23 is threadedly connected to the slider 22. A second motor 24 is fixed to the top of the longitudinal guide rail 2. The output shaft of the second motor 24 is fixedly connected to the end of the screw rod 23. During operation, the output shaft of the second motor 24 drives the screw rod 23 to rotate, and the screw rod 23 drives the slider 22 to move up and down along the length direction of the longitudinal guide rail 2, thereby controlling the lifting action of the installation cylinder 3.

[0027] Wherein, the conveying component is a belt conveyor 16; During operation, the product can be transported by the belt conveyor 16 .

[0028] The front end face of the belt conveyor 16 is fixed with a fixing seat 18, the rear end face of the fixing seat 18 is fixed with an electric push rod 19, the output shaft of the electric push rod 19 is fixedly connected with a second positioning plate 20, and the rear end face of the belt conveyor 16 is fixed with a first positioning plate 17, and the first positioning plate 17 and the second positioning plate 20 are relatively distributed; During operation, when the belt conveyor 16 stops, the electric push rod 19 is started, and the output shaft of the electric push rod 19 drives the second positioning plate 20 to move toward the first positioning plate 17, so that the product can be stabilized by the second positioning plate 20 and the first positioning plate 17. In this way, when tightening the screws, the product will not be deflected due to the torque.

[0029] In the process of tightening screws, the existing equipment is prone to over-tightening of screws due to the lack of accurate monitoring of the tightening degree. Over-tightening of screws will not only damage the screws themselves, but may also damage the screw holes and related parts of the product, affecting the overall structural strength and stability of the product, and even reducing the service life and performance of the product, greatly increasing production costs and maintenance costs. The pressure detection module collects the pressure value when the screw is locked in real time, and the deformation acquisition module collects the deformation degree when the screw is locked in real time. The control module conducts a comprehensive analysis of these two key parameters to generate an evaluation coefficient. By comparing the evaluation coefficient with the pre-set reference threshold, it can accurately determine whether the screw has been tightened, and control the working state of the drive motor accordingly. This effectively avoids damage to the product and the screw itself due to over-tightening of the screw, ensures the quality and stability of the screw locking, and reduces the product defective rate and maintenance costs caused by screw tightening problems.

[0030] In this embodiment, the calculation formula of the normalized pressure value when the screw is tightened is: Furthermore, Real-time collected screw locking pressure value (unit: N or MPa), Minimum range of pressure sensor, The maximum measuring range of the pressure sensor.

[0031] Among them, the calculation formula for the normalized deformation degree when the screw is tightened is: in, The deformation of the screw tip calculated by the image processing module (such as pixel offset or shape difference), : The minimum deformation threshold allowed (such as 0 pixels), : The maximum deformation threshold allowed (such as 50 pixels); Based on edge algorithm, deformation The calculation formula is: in, The grayscale matrix of the current frame image, : Preset screw top template image, Total number of pixels.

[0032] Furthermore, the calculation formula of the evaluation coefficient is: in, Weight coefficient ( Evaluation coefficient (range [0,1]).

[0033] Among them, the preset evaluation coefficient reference threshold is set as , the evaluation coefficient calculated by the control module 21 and the pre-set reference threshold of the evaluation coefficient A comparison is performed to determine whether the screw has been tightened, and the working state of the drive motor 5 is controlled according to the comparison result. The specific determination is as follows: when When , it indicates that the screw is already in the tightening state, and an early warning signal is generated. After 21 receives the early warning signal, a stop signal is generated and transmitted to 05. After 05 receives the stop signal, tightening stops; when When , it indicates that the screw is not in the tightening state, and a normal signal is generated. After 21 receives the normal signal, it generates a hold signal and transmits the hold signal to 05. After 05 receives the hold signal, it continues to tighten.

[0034] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An automatic screw locking device, comprising a base plate (1), characterized in that: The bottom plate (1) is provided with a conveying assembly and a lifting assembly, and the lifting assembly is provided with a mounting cylinder (3). A gear transmission box (4) is fixed to the top of the mounting cylinder (3), and a driving motor (5) is fixed to the top of the gear transmission box (4). The output shaft of the driving motor (5) is fixedly connected to the input shaft of the gear transmission box (4), and the output shaft of the gear transmission box (4) is fixedly connected to a connecting head (6) located inside the mounting cylinder (3). A slot (8) is provided at the bottom of the connecting head (6), and a detachable electric telescopic rod (7) is inserted into the slot (8). A screwdriver head is installed on the output shaft of the electric telescopic rod (7). The conveying assembly is located below the mounting cylinder (3) and is used to produce the mounting screws. The slot (8) is provided with a pressure detection module (9) fixed to an inner wall of one side of the slot (8), and the pressure detection module (9) is used to collect the pressure value when the screw is tightened in real time. A deformation amount acquisition module (11) is also provided at a side position of the bottom of the mounting cylinder (3), and the deformation amount acquisition module (11) is used to collect the degree of deformation when the screw is tightened in real time. A control module (21) is also fixed to the top of the gear transmission box (4), and the pressure value and the degree of deformation are comprehensively analyzed by the control module (21) to generate an evaluation coefficient. The evaluation coefficient is compared with a preset evaluation coefficient reference threshold value to determine whether the screw has been tightened, and the working state of the drive motor (5) is controlled according to the comparison result.

2. The automatic screw locking device according to claim 1, characterized in that: A mounting seat (10) is provided at a lateral position of the bottom end of the mounting cylinder (3), and a deformation amount acquisition module (11) is fixed at the bottom of the mounting seat (10).

3. The automatic screw locking device according to claim 1, characterized in that: A fixing plate (12) is fixed to the circumferential outer wall of the mounting tube (3); a first motor (13) is fixed to the top of the fixing plate (12); an output shaft of the first motor (13) is fixedly connected to a screw disk (14) located below the fixing plate (12); a plurality of holes for placing screws are arranged in a circular array on the screw disk (14); a notch (15) for the electric telescopic rod (7) of a screwdriver to pass through is provided between two adjacent holes; and a space for the screw disk (14) to move is provided on the mounting tube (3).

4. The automatic screw locking device according to claim 1, characterized in that: The lifting assembly comprises a longitudinal guide rail (2), the longitudinal guide rail (2) being fixed to the top of the base plate (1), a slider (22) being slidably connected to the front of the longitudinal guide rail (2), the slider (22) being fixedly sleeved on the mounting tube (3), a screw rod (23) being rotatably connected inside the longitudinal guide rail (2), the screw rod (23) being threadedly connected to the slider (22), a second motor (24) being fixed to the top of the longitudinal guide rail (2), and an output shaft of the second motor (24) being fixedly connected to the end of the screw rod (23).

5. The automatic screw locking device according to claim 1, characterized in that: The conveying component is a belt conveyor (16).

6. The automatic screw locking device according to claim 5, characterized in that: A fixing seat (18) is fixed to the front end face of the belt conveyor (16), an electric push rod (19) is fixed to the rear end face of the fixing seat (18), an output shaft of the electric push rod (19) is fixedly connected to a second positioning plate (20), and a first positioning plate (17) is fixed to the rear end face of the belt conveyor (16), the first positioning plate (17) and the second positioning plate (20) being arranged relative to each other.

7. The automatic screw locking device according to claim 1, characterized in that: The calculation formula of the normalized pressure value when the screw is tightened is: in, Real-time acquisition of screw locking pressure values, Minimum range of pressure sensor, The maximum measuring range of the pressure sensor.

8. The automatic screw locking device according to claim 7, characterized in that: The calculation formula for the normalized deformation degree when the screw is tightened is: in, The deformation of the screw tip calculated by the image processing module (such as pixel offset or shape difference), : The minimum deformation threshold allowed, : Maximum allowed deformation threshold; Based on edge algorithm, deformation The calculation formula is: in, The grayscale matrix of the current frame image, : Preset screw top template image, Total number of pixels.

9. The automatic screw locking device according to claim 8, characterized in that: The calculation formula of the evaluation coefficient is: in, Weight coefficient Evaluation coefficient.

10. The automatic screw locking device according to claim 9, characterized in that: The pre-set evaluation coefficient reference threshold is set to , the calculated evaluation coefficient is converted into and the pre-set reference threshold of the evaluation coefficient A comparison is performed to determine whether the screw has been tightened, and the working state of the drive motor (5) is controlled according to the comparison result. The specific determination is as follows: when When the screw is tightened, it indicates that the screw is already in a tightening state, and a warning signal is generated. After receiving the warning signal, the control module (21) generates a stop signal and transmits the stop signal to the drive motor (5). After receiving the stop signal, the drive motor (5) stops tightening; when When the screw is not in a tightened state, a normal signal is generated. After receiving the normal signal, the control module (21) generates a hold signal and transmits the hold signal to the drive motor (5). After receiving the hold signal, the drive motor (5) continues to tighten.

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