Screw locking equipment and screw locking method

Abstract

The invention provides screw locking equipment and a screw locking method.The screw locking equipment comprises a driving assembly, a material supply part, a positioning tool, a locking assembly, a first visual detection device, a second visual detection device and a control device, and the driving assembly comprises a first direction driving part, a second direction driving part and a third direction driving part; the third direction driving piece is mounted on the second direction driving piece; the locking assembly is installed on the third direction driving piece and used for adsorbing the screw and installing the screw on the to-be-machined piece. The first visual inspection device is used for acquiring first image information of the locking assembly and the screw adsorbed on the locking assembly; the second visual inspection device is used for acquiring second image information of the to-be-processed workpiece mounted on the positioning tool; the control device is used for adjusting the relative position of the screw and the workpiece to be machined according to the first image information and the second image information. According to the screw locking equipment, locking is more accurate, and the product yield and the production efficiency are improved.

Description

Technical Field

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

[0002] In the process of manufacturing small products, the screws of small products are usually tightened by hand-held manual electric screwdrivers, which is slow and the product yield is uncontrollable. A small number of automatic screwing methods are used, but the screws and threaded holes are often misaligned and need to be adjusted manually, which not only reduces production efficiency but also causes a high defective rate of products.

[0003] In view of this, it is necessary to provide a new screw locking device and a screw locking method to solve or at least alleviate the above technical defects. Summary of the invention

[0004] In view of the above problems, the present invention provides a screw locking device and a screw locking method, aiming to solve the technical problems of low production efficiency and high defective rate of screw fastening of small products. According to some embodiments of the present invention, the present invention provides a screw locking device, which includes a driving component, a feeding component, a positioning tool, a locking component, a first visual inspection device, a second visual inspection device and a control device, wherein the driving component includes a first direction driving component, a second direction driving component and a third direction driving component, and the third direction driving component is installed on the second direction driving component; the feeding component is used to supply screws; the positioning tool is used to install the workpiece to be processed, and the first direction driving component is connected to the positioning tool; the locking component is installed on the third direction driving component, and the locking component is used to adsorb the screw and install the screw on the workpiece to be processed; the first visual inspection device is used to obtain first image information of the locking component and the screw adsorbed on the locking component; the second visual inspection device is used to obtain second image information of the workpiece to be processed installed on the positioning tool; the control device is used to adjust the relative position of the screw and the workpiece to be processed according to the first image information and the second image information.

[0005] In some embodiments, the locking assembly includes an electric screwdriver, the electric screwdriver includes a sleeve and a vacuum generator connected to the sleeve, the sleeve includes an adsorption surface, the adsorption surface is used to vacuum adsorb the screw, and the first image information includes contour information of the adsorption surface and the screw.

[0006] In some embodiments, the second image information includes position information of the threaded hole on the workpiece to be processed, and the control device is used to obtain a first deviation based on the contour information, and the control device is used to obtain a second deviation based on the position information and a preset standard position; the control device is also used to obtain an adjustment amount based on the first deviation and the second deviation, and control the movement of the drive assembly based on the adjustment amount to adjust the relative position of the screw and the threaded hole.

[0007] In some embodiments, the electric screwdriver further comprises a rotary drive unit, a screwdriver bit drivingly connected to the rotary drive unit, and a telescopic drive unit connected to the sleeve, wherein the sleeve is movably mounted on the outer periphery of the screwdriver bit; the sleeve comprises an extended state and a retracted state; When the sleeve is in an extended state, the screwdriver bit is completely disposed in the accommodation space formed by the sleeve, and the adsorption surface of the sleeve is used to adsorb the screw; When the sleeve is in a retracted state, the bit is at least partially extended out of the sleeve, and the rotary drive unit drives the bit to rotate to install the screw in the threaded hole.

[0008] In some embodiments, the locking assembly also includes a connecting seat and a buffer component, the buffer component includes a base and an elastic telescopic component, the base is fixedly installed on the connecting seat, a slide rail is provided on the connecting seat, the electric screwdriver also includes a sliding seat, the sliding seat is slidably installed on the slide rail, the rotating drive unit is installed on the sliding seat, and the two ends of the elastic telescopic component are respectively connected to the base and the sliding seat.

[0009] In some embodiments, the first visual inspection device includes a first mounting frame and a first light source, a first lens, and a first image acquisition component that are coaxial and sequentially arranged on the first mounting frame, and the first light source is arranged on a side close to the locking assembly.

[0010] In some embodiments, the positioning tool includes a base, a cylinder mounted on the base, and a positioning plate connected to the output shaft of the cylinder. The base is provided with an opening for the positioning plate to pass through, and the positioning plate is used to place the workpiece to be processed. A photoelectric switch is also provided on the base, and the photoelectric switch is used to obtain the position of the positioning plate.

[0011] In some embodiments, a radio frequency identification device is further provided on the substrate, an information module is provided on the positioning plate, the information of the workpiece to be processed is stored in the information module, and the radio frequency identification device is used to obtain the information of the workpiece to be processed through the information module.

[0012] In some embodiments, the second visual inspection device includes a second mounting frame and a second image acquisition component, a second lens and a second light source that are coaxial and sequentially arranged on the second mounting frame, the second mounting frame is arranged on the third directional driving component, and the second light source is arranged on a side close to the positioning tooling.

[0013] According to some embodiments of the present invention, the present invention provides a screw locking method, which is applied to the above-mentioned screw locking device, and the steps of the screw locking method include: Control the locking assembly to adsorb screws; Controlling the first visual inspection device to obtain the contour information of the adsorption surface of the sleeve and the screw, and sending the contour information to the control device; Controlling the second visual device to obtain position information of the threaded hole of the workpiece to be processed located on the positioning tool, and sending the position information to the control device; The control device obtains a first deviation according to the contour information, obtains a second deviation according to the position information of the threaded hole and a preset standard position, obtains an adjustment according to the first deviation and the second deviation, and controls the movement of the driving component according to the adjustment to adjust the relative position of the screw and the workpiece to be processed; The vacuum generator connected to the sleeve is closed, the sleeve is driven to move through the telescopic driving part to expose the screwdriver bit, and the screwdriver bit is controlled to install the screw in the threaded hole.

[0014] In the above scheme, the screw locking device includes a driving component, a feeding part, a positioning fixture, a locking component, a first visual inspection device, a second visual inspection device and a control device. The driving component includes a first direction driving part, a second direction driving part and a third direction driving part, and the third direction driving part is installed on the second direction driving part; the locking component is installed on the third direction driving part, and the locking component is used to absorb the screw and install the screw on the workpiece to be processed; the first visual inspection device is used to obtain the first image information of the locking component and the screw absorbed on the locking component; the second visual inspection device is used to obtain the second image information of the workpiece to be processed installed on the positioning fixture; the control device is used to adjust the relative position of the screw and the workpiece to be processed according to the first image information and the second image information. The screw locking device is more accurate in locking, which improves product yield and production efficiency.

[0015] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] 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 numerals are used throughout the drawings to represent the same components. In the drawings: Figure 1 It is a schematic diagram of the structure of the screw locking device of some embodiments of the present invention; Figure 2 It is a schematic structural diagram of a second direction driving member, a locking assembly and a second mounting bracket according to some embodiments of the present invention; Figure 3 It is a schematic structural diagram of a second direction driving member and a second mounting frame in some embodiments of the present invention; Figure 4 It is a schematic diagram of the structure of the locking assembly of some embodiments of the present invention; Figure 5 is a schematic structural diagram of a first visual inspection device according to some embodiments of the present invention; Figure 6 It is a schematic diagram of the structure of the positioning tooling of some embodiments of the present invention; Figure 7 It is a schematic structural diagram of a first direction driving member and a positioning tooling according to some embodiments of the present invention; Figure 8 Schematic diagram of the process of screw fastening method according to some embodiments of the present invention.

[0017] The reference numerals in the specific implementation manner are as follows: 100. Screw locking equipment; 10. First direction driving member; 101. Rotating motor; 102. Conveyor belt; 11. Second direction driving member; 12. Third direction driving member; 2. Feeding member; 3. Positioning tooling; 31. Base; 32. Cylinder; 33. Positioning plate; 34. Opening; 35. Photoelectric switch; 36. Radio frequency identification device; 4. Locking assembly; 41. Sleeve; 42. Pressure sensor; 43. Rotating driving part; 44. Batch head; 45. Telescopic driving part; 46. Connecting seat; 461. Slide rail; 47. Base; 48. Elastic telescopic member; 49. Sliding seat; 401. Buffering force regulator; 5. First visual detection device; 51. First mounting bracket; 52. First light source; 53. First lens; 54. First image acquisition member; 6. Second visual detection device; 61. Second mounting bracket; 7. Recovery device; 8. Torque calibrator; 9. Solenoid valve. DETAILED DESCRIPTION

[0018] The following embodiments of the technical solution of the present invention are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and are therefore only used as examples, and cannot be used to limit the protection scope of the present invention.

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which the present invention belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention; the terms "including" and "having" in the specification and claims of the present invention and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0020] In the description of the embodiments of the present invention, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present invention, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0021] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0022] In the description of the embodiments of the present invention, the term "and / or" is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0023] In the description of the embodiments of the present invention, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0024] In the description of the embodiments of the present invention, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the embodiments of the present invention.

[0025] In the description of the embodiments of the present invention, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0026] In the manufacturing process of consumer electronics industry products, small screws are usually tightened manually with a manual electric screwdriver, which is inefficient and the product yield is uncontrollable. Especially when the single machine usage is large, the comprehensive labor cost of manual tightening is high. It is difficult to automatically tighten screws in some smaller consumer products, and the efficiency and effect need to be further improved.

[0027] In the related art, there are a small number of automatic screw driving devices, but the screws are often driven off-center, that is, the screws cannot be aligned with the threaded holes of the workpiece to be processed, resulting in low product yield and seriously affecting production efficiency.

[0028] To this end, the applicant provides a screw locking device.

[0029] Reference Figure 1-Figure 3According to some embodiments of the present invention, the present invention provides a screw locking device 100, including a driving component, a feeding component 2, a positioning tool 3, a locking component 4, a first visual inspection device 5, a second visual inspection device 6 and a control device, the driving component includes a first direction driving component 10, a second direction driving component 11 and a third direction driving component 12, and the third direction driving component 12 is installed on the second direction driving component 11; the feeding component 2 is used to supply screws; the positioning tool 3 is used to install the workpiece to be processed, and the first direction driving component 10 is connected to the positioning tool 3; the locking component 4 is installed on the third direction driving component 12, and the locking component 4 is used to absorb the screws and install the screws on the workpiece to be processed; the first visual inspection device 5 is used to obtain first image information of the locking component 4 and the screws absorbed by the locking component 4; the second visual inspection device 6 is used to obtain second image information of the workpiece to be processed installed on the positioning tool 3; the control device is used to adjust the relative position of the screw and the workpiece to be processed according to the first image information and the second image information.

[0030] Specifically, the driving directions of the first direction driving member 10, the second direction driving member 11 and the third direction driving member 12 are perpendicular to each other, which can be considered as the X-axis, Y-axis and Z-axis directions in the three-dimensional coordinate system. For the convenience of explanation, the driving direction of the first direction driving member 10 is defined as along the X-axis direction, the driving direction of the second direction driving member 11 is along the Y-axis direction, and the driving direction of the third direction driving member 12 is along the Z-axis direction, and the Z-axis direction is the vertical direction. The feeding member 2 is used to supply screws. Specifically, multiple screws can be placed in the feeding member 2. The structural design in the feeding member 2 can make the screws arranged in order to the upper material position for the locking component 4 to take. The locking component 4 can include an electric screwdriver, which can absorb the screws by vacuum adsorption. The positioning tool 3 is set as a positioning part, which is used to place the workpiece to be processed and position the workpiece to be processed. The first direction driving member 10, the second direction driving member 11 and the third direction driving member 12 can be a drag chain or a linear motor.

[0031] The first visual inspection device 5 is used to obtain the first image information by taking photos or shooting. Specifically, when the locking component 4 adsorbs the screw and passes through the first visual inspection device 5, the first visual inspection device 5 is aligned with the adsorption surface of the locking component 4 and the screw to take photos, thereby obtaining the first image information of the screw and the adsorption surface of the locking component 4, and the position of the screw on the adsorption surface of the locking component 4 can be obtained from the first image information. Similarly, the second visual inspection device 6 can obtain the second image information of the positioning tool 3 and the threaded hole on the positioning tool 3 by taking photos or shooting, so as to obtain the position information of the threaded hole and / or the workpiece to be processed. In order to facilitate the adsorption of the screw, the screw includes a screw head and a screw rod. The adsorption surface is generally the part of the screw head. Normal adsorption also adsorbs the screw head, which can be more convenient for adsorption. In an ideal state, the center of the adsorption surface and the center of the screw head are set to coincide, and the automatic screw driving equipment is also based on this to program and adjust the position through the drive of the driving component. However, in actual use, the screw and the adsorption surface may be eccentric, that is, the centers of the two do not overlap, and there is a certain amount of deviation. The movement of the programmed electric screwdriver is set according to the overlap, which is an important reason for the misalignment of the screw and the threaded hole. The second reason for the misalignment of the screw and the threaded hole is that there are certain tolerances in the manufacturing process of the product, which means that the position of the threaded hole on the workpiece is not exactly the same as the preset ideal position, and the movement position of the positioning tool 3 may also deviate from the preset position, which will also cause the position of the threaded hole to be inconsistent with the preset ideal position.

[0032] Therefore, the present application obtains the first image information of the screw and the adsorption surface through the first visual inspection device 5, and the control device can obtain the center of the screw and the adsorption surface respectively through the first image information, and obtain the deviation of the two centers, where the deviation includes the direction of the deviation and the numerical value of the deviation, that is, the deviation of the screw relative to the ideal state. At the same time, the second image information of the workpiece to be processed and the threaded hole is obtained through the second visual inspection device 6, and the control device can obtain the position information of the threaded hole according to the second image information, such as the position information can be the coordinate information of the center point of the threaded hole, and compare the position information with the standard position information, which is the coordinate information of the center point of the threaded hole in the ideal state, thereby obtaining the second deviation, and then according to the first deviation and the second deviation, by controlling the first direction drive member 10, the second direction drive member 11, and the third direction drive member 12 to adjust the position of the positioning tool 3 or the electric screwdriver, finally realizing the adjustment of the position of the screw and the threaded hole, that is, the screw can be aligned with the threaded hole and driven into the workpiece to be processed, so that the screw locking is more accurate, the misalignment of the screw and the threaded hole is reduced, and the product yield and production efficiency are improved.

[0033] Reference Figure 1In some embodiments, the screw locking device 100 further includes a recovery device 7. When the first deviation of the screw obtained by the first visual inspection device 5 exceeds a preset amount, or the sleeve 41 adsorbs the screw rod of the screw instead of the screw head, a signal is sent to the control device, and the control device controls the locking assembly 4 to move above the recovery device 7, and then disconnects the vacuum generator, so that the screw falls into the recovery device 7. In other embodiments, the screw locking device 100 further includes a torque calibrator 8 for calibrating the torque of the electric screwdriver. Of course, the screw locking device may also include a solenoid valve 9 for controlling the opening or closing of the vacuum generator.

[0034] Reference Figure 4 In some embodiments, the locking assembly 4 includes an electric screwdriver, the electric screwdriver includes a sleeve 41 and a vacuum generator connected to the sleeve 41, the sleeve 41 includes an adsorption surface, the adsorption surface is used for vacuum adsorption of the screw, and the first image information includes contour information of the adsorption surface and the screw.

[0035] The locking assembly 4 can be an electric screwdriver, and the sleeve 41 is connected to the vacuum generator. By evacuating air from the sleeve 41 to generate negative pressure, the air will be adsorbed on the sleeve 41. Specifically, the screw head of the screw is adsorbed on the adsorption surface of the sleeve 41. To facilitate the adsorption of the screw, the size of the adsorption surface is generally larger than the size of the screw head. The first visual inspection device 5 is aligned with the adsorption surface and the screw to take pictures and obtain the contour information of the adsorption surface and the screw. The contour information here at least includes the outer contour information of the adsorption surface and the outer contour information of the screw. The control device can obtain the center point of the adsorption surface and the center point of the screw head according to the outer contour information. If the two center points coincide, it is an ideal state, and the first deviation is 0. If the two center points do not coincide, the control device needs to make corresponding compensation adjustments through the drive assembly later. It is more convenient to use a vacuum generator and sleeve 41 to adsorb screws, and it is easy to obtain contour information.

[0036] In some embodiments, the second image information includes position information of a threaded hole on the workpiece to be processed, and the control device is used to obtain a first deviation according to the contour information, and the control device is used to obtain a second deviation according to the position information and a preset standard position; the control device is also used to obtain an adjustment amount according to the first deviation and the second deviation, and control the movement of the driving component according to the adjustment amount to adjust the relative position of the screw and the threaded hole. The threaded hole position information here can be the coordinate value of the threaded hole, or the relative position of the threaded hole on the product.

[0037] The control device can make a comprehensive calculation based on the two deviations and finally determine the required adjustment amount. This adjustment amount can be a three-dimensional adjustment coordinate (x, y, z). If the first deviation is 0.1mm in the X-axis direction and 0.2mm in the Y-axis direction, and the second deviation is 0, the adjustment coordinate of the adjustment amount to be compensated is (0.1, 0.2, 0). The control device controls the first direction driving member 10 to move 0.1mm along the X-axis to adjust the position of the workpiece to be processed, and controls the second direction driving member 11 to drive the electric screwdriver to move 0.2mm along the Y-axis to adjust the position of the electric screwdriver, so as to compensate for the position deviation of the screw on the electric screwdriver and ensure that the screw and the threaded hole can be aligned. It should be noted that there is no limitation on whether to move along the positive or negative direction of the X-axis. Those skilled in the art can make corresponding adjustments according to the positive and negative directions of the deviations defined by themselves. In short, the adjustment amount of the control device is to compensate for the first deviation and the second deviation to ensure that the screw and the threaded hole can be aligned so as to accurately lock the bolt in the threaded hole.

[0038] Reference Figure 4 In some embodiments, the electric screwdriver further includes a rotary drive unit 43, a screwdriver bit 44 drivingly connected to the rotary drive unit 43, and a telescopic drive unit 45 connected to the sleeve 41, and the sleeve 41 is movably mounted on the outer periphery of the screwdriver bit 44; the sleeve 41 includes an extended state and a retracted state; when the sleeve 41 is in the extended state, the screwdriver bit 44 is completely disposed in the accommodating space formed by the sleeve 41, and the adsorption surface of the sleeve 41 is used to adsorb the screw; when the sleeve 41 is in the retracted state, the screwdriver bit 44 is at least partially extended out of the sleeve 41, and the rotary drive unit 43 drives the screwdriver bit 44 to rotate to install the screw in the threaded hole.

[0039] When the sleeve 41 is in the extended state, the screwdriver bit 44 is completely accommodated in the accommodating space of the sleeve 41. At this time, the vacuum generator is open, and the sleeve 41 can move to the feeding part 2 to absorb the screw, and move the screw to the top of the workpiece to be processed, and the third-direction driving part 12 drives the electric screwdriver to move downward to align the screw into the threaded hole. Then, the vacuum generator is turned off, the sleeve 41 no longer generates an adsorption force on the screw, and the sleeve 41 is driven to move upward and retracted by the telescopic driving part 45, so that the screwdriver bit 44 is exposed, and then the screwdriver bit 44 is driven to rotate by the rotating driving part 43 to firmly install the screw in the threaded hole. It should be noted that in this process, if the screw is not in contact with the screwdriver bit 44, the screwdriver bit 44 can be driven to continue to move downward to contact with the screw by the second-direction driving part 11 or the rotating driving part 43, so that the screwdriver bit 44 can drive the screw to rotate and screw into the threaded hole. This embodiment can not only vacuum adsorb the screw through the sleeve 41, but also remove the sleeve 41 when screwing, reducing the risk of interference between the sleeve 41 and the screwdriver bit 44. Specifically, the telescopic drive part 45 can be a telescopic cylinder, and the rotation drive part 43 can be a rotation motor.

[0040] Reference Figure 4 In some embodiments, the locking assembly 4 further includes a connection seat 46 and a buffer, the buffer includes a base 47 and an elastic telescopic member 48, the base 47 is fixedly mounted on the connection seat 46, and a slide rail 461 is provided on the connection seat 46, the electric screwdriver further includes a sliding seat 49, the sliding seat 49 is slidably mounted on the slide rail 461, the rotation drive unit 43 is mounted on the sliding seat 49, and the two ends of the elastic telescopic member 48 are respectively connected to the base 47 and the sliding seat 49. Generally speaking, the rotation drive unit 43 and the screwdriver bit 44 are vertically arranged, and under the action of gravity, there is a risk that the sliding seat 49 moves down along the slide rail 461. For this reason, the buffer includes a base 47 and an elastic telescopic member 48, and the base 47 is fixedly mounted on the connection seat 46. The base 47 cannot move, but one end of the elastic telescopic member 48 is fixedly mounted on the base 47, and the other end has a certain range of motion. Connecting the elastic telescopic member 48 to the sliding seat 49 can generate an upward pulling force on the sliding seat 49, and the rotating drive unit 43 and the screwdriver bit 44 are installed on the sliding seat 49, so that a part of the gravity of the rotating drive unit 43 and the screwdriver bit 44 can be offset, thereby reducing the risk of the rotating drive unit 43 and the screwdriver bit 44 moving downward due to gravity. Of course, the buffer member can also include a pressure sensor 42 and a buffer force regulator 401, the pressure sensor 42 is used to detect the force exerted on the elastic telescopic member 48, and the buffer force regulator 401 is used to adjust the telescopic force of the elastic telescopic member 48.

[0041] Reference Figure 5 In some embodiments, the first visual inspection device 5 includes a first mounting frame 51 and a first light source 52, a first lens 53 and a first image acquisition component 54 which are coaxial and sequentially arranged on the first mounting frame 51. The first light source 52 is arranged on a side close to the locking component 4. The first light source 52 is used to illuminate the locking component 4 and the screw to increase the brightness, so that the first image acquisition component 54 can obtain a clear image. The first image acquisition component 54 can be a camera or a video camera. Specifically, the first visual inspection device 5 is located below the locking component 4.

[0042] Similarly, in some embodiments, the second visual inspection device 6 includes a second mounting frame 61 and a second image acquisition component (not shown), a second lens (not shown) and a second light source (not shown) which are coaxial and sequentially arranged on the second mounting frame 61. The second mounting frame 61 is arranged on the third directional driving member 12, and the second light source is arranged on a side close to the positioning fixture 3. The second light source is used to illuminate the locking assembly 4 and the screw, so that the second image acquisition component can obtain a clear image. The first image acquisition component 54 can be a camera or a video camera. Specifically, the first visual inspection device 5 is located above the positioning fixture 3.

[0043] Reference Figure 6 and Figure 7 , the first driving member 10 includes a rotating motor 101 and a conveyor belt 102 which is transmission-connected to the rotating motor 101, and the positioning fixture 3 is installed on the conveyor belt 102 and can move under the drive of the conveyor belt 102. Further, one or more positioning fixtures 3 can be arranged on the conveyor belt 102. In some embodiments, the positioning fixture 3 includes a base 31, a cylinder 32 installed on the base 31, and a positioning plate 33 connected to the output shaft of the cylinder 32. The base 31 is provided with an opening 34 for the positioning plate 33 to pass through, and the positioning plate 33 is used to place the workpiece to be processed. The base 31 is also provided with a photoelectric switch 35, and the photoelectric switch 35 is used to obtain the position of the positioning plate 33. The cylinder 32 is used to drive the positioning plate 33 to move, so that the positioning plate 33 can move through the opening 34 to the position where the screw is to be driven. Because the positioning plates 33 are moving one by one on the assembly line, a photoelectric switch 35 is also required to be set up. In this way, when a positioning plate 33 moves into place, a signal can be sent to enable the controller to control the cylinder 32 to drive the positioning plate 33 to move up, or a signal can be sent to enable the controller to control the assembly line to pause, so that the electric screwdriver can be used to tighten the screws.

[0044] Reference Figure 6 In some embodiments, a radio frequency identification device 36 is further provided on the base 31, and an information module is provided on the positioning plate 33. The information module stores information of the workpiece to be processed, and the radio frequency identification device 36 is used to obtain the information of the workpiece to be processed through the information module. The information module here can be a label or a QR code. Of course, this information module can also be provided on the workpiece to be processed. The information module includes product information of the workpiece to be processed. The radio frequency identification module can obtain product information and play a role in tracing.

[0045] Reference Figure 8 According to some embodiments of the present invention, the present invention provides a screw locking method, which is applied to the above-mentioned screw locking device 100. The steps of the screw locking method include: S100, controlling the locking component 4 to absorb the screw; Specifically, the locking assembly 4 is driven to move above the feeding member 2 by the second direction driving member 11, and then driven downward by the third direction driving member 12. At the same time, the vacuum generator of the electric screwdriver is turned on, and the screw is adsorbed by the sleeve 41. The side of the sleeve 41 that adsorbs the screw is defined as the adsorption surface. The screw includes a screw head and a screw rod. The sleeve 41 generally adsorbs the screw head. The area of ​​the adsorption surface is larger than the area of ​​the screw head, which is convenient for adsorption.

[0046] S200, controlling the first visual inspection device 5 to obtain the contour information of the adsorption surface of the sleeve 41 and the screw, and sending the contour information to the control device; The first visual inspection device 5 takes photos of the adsorption surface and the screw to obtain the outer contour information of the adsorption surface and the screw, and sends the outer contour information to the control device for processing.

[0047] S300, controlling the second visual device to obtain the position information of the threaded hole of the workpiece to be processed located on the positioning tool 3, and sending the position information to the control device.

[0048] The second visual inspection device 6 can be aimed at the workpiece to take a picture, thereby obtaining image information of the workpiece to be processed and position information of the threaded hole on the workpiece to be processed, and sending it to the control device for processing. It should be noted that the above-mentioned step S200 and step S300 can be performed simultaneously, or step S200 can be performed after step S300, or step S200 can be performed before step S300.

[0049] S400, the control device obtains a first deviation according to the contour information, obtains a second deviation according to the position information of the threaded hole and a preset standard position, obtains an adjustment amount according to the first deviation and the second deviation, and controls the movement of the driving component according to the adjustment amount to adjust the relative position of the screw and the workpiece to be processed.

[0050] Under ideal conditions, the center of the adsorption surface and the center of the screw head are set to coincide, and the automatic screw driving equipment is also based on this to perform programming adjustment of the position through the drive of the driving component. However, in actual use, the screw and the adsorption surface may be eccentric, that is, the centers of the two are not coincident, and there is a certain amount of deviation, and the movement of the programmed electric screwdriver is set according to the coincidence of the centers of the two. This is an important reason for the misalignment of the screw and the threaded hole. The second reason for the misalignment of the screw and the threaded hole is that there are certain tolerances in the manufacturing process of the product, which causes the position of the threaded hole on the workpiece to be processed to be not exactly the same as the preset ideal position, and the movement position of the positioning tool 3 may also deviate from the preset position, which will also cause the position of the threaded hole to be inconsistent with the preset ideal position. The control device can obtain the center of the screw and the adsorption surface respectively through the contour information, and obtain the deviation of the two centers, that is, the deviation of the screw relative to the ideal state. At the same time, the position information of the workpiece to be processed and the threaded hole is obtained through the second visual inspection device 6, and the control device can obtain the position information of the threaded hole based on the position information. For example, the position information can be the coordinate information of the center point of the threaded hole. The position information is compared with the standard position information to obtain the second deviation. Then, according to the first deviation and the second deviation, the position of the positioning tool 3 or the electric screwdriver is adjusted by controlling the first direction driving member 10, the second direction driving member 11, and the third direction driving member 12, and finally the position of the screw and the threaded hole is adjusted, that is, the screw can be aligned with the threaded hole and driven into the workpiece to be processed, so that the screw locking is more precise, the occurrence of misalignment between the screw and the threaded hole is reduced, and the product yield and production efficiency are improved.

[0051] S500, close the vacuum generator connected to the sleeve 41, drive the sleeve 41 to move through the telescopic drive part 45 to expose the screwdriver bit 44, and control the screwdriver bit 44 to work and install the screw in the threaded hole.

[0052] After the screw is moved into the threaded hole, the vacuum generator is disconnected, the sleeve 41 no longer absorbs the screw, the telescopic drive unit 45 drives the sleeve 41 to move upward to expose the screw bit 44, and then the screw bit 44 is driven to rotate by the rotary drive unit 43 to lock the screw in the threaded hole of the workpiece to be processed.

[0053] In the above-mentioned embodiment of the present invention, the control device obtains a first deviation amount according to contour information, obtains a second deviation amount according to position information of the threaded hole and a preset standard position, obtains an adjustment amount according to the first deviation amount and the second deviation amount, and controls the movement of the driving component according to the adjustment amount to adjust the relative position of the screw and the workpiece to be processed, so that the screw and the threaded hole can be aligned, thereby improving product yield and production efficiency.

[0054] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and specification of the present invention. In particular, as long as there is no structural conflict, the various technical features mentioned in each embodiment can be combined in any way. The present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.

Claims

1. A screw locking device, characterized in that: include: A driving assembly, comprising a first directional driving member, a second directional driving member and a third directional driving member, wherein the third directional driving member is mounted on the second directional driving member; A feeding member, used for supplying screws; A positioning tool is used to install the workpiece to be processed, and the first direction driving member is connected to the positioning tool; A locking assembly, mounted on the third directional driving member, the locking assembly being used to absorb the screw and mount the screw on the workpiece to be processed; A first visual inspection device, used to obtain first image information of the locking assembly and the screw adsorbed on the locking assembly; A second visual inspection device, used to obtain second image information of the workpiece to be processed mounted on the positioning fixture; A control device is used to adjust the relative position of the screw and the workpiece to be processed according to the first image information and the second image information.

2. The screw fastening device according to claim 1, characterized in that: The locking assembly includes an electric screwdriver, the electric screwdriver includes a sleeve and a vacuum generator connected to the sleeve, the sleeve includes an adsorption surface, the adsorption surface is used for vacuum adsorption of the screw, and the first image information includes contour information of the adsorption surface and the screw.

3. The screw fastening device according to claim 2, characterized in that: The second image information includes position information of the threaded hole on the workpiece to be processed, and the control device is used to obtain a first deviation based on the contour information, and the control device is used to obtain a second deviation based on the position information and a preset standard position; the control device is also used to obtain an adjustment amount based on the first deviation and the second deviation, and control the movement of the drive assembly based on the adjustment amount to adjust the relative position of the screw and the threaded hole.

4. The screw fastening device according to claim 3, characterized in that: The electric screwdriver also includes a rotary drive unit, a screwdriver bit drivingly connected to the rotary drive unit, and a telescopic drive unit connected to the sleeve, wherein the sleeve is movably sleeved on the outer periphery of the screwdriver bit; the sleeve includes an extended state and a retracted state; When the sleeve is in an extended state, the screwdriver bit is completely disposed in the accommodation space formed by the sleeve, and the adsorption surface of the sleeve is used to adsorb the screw; When the sleeve is in a retracted state, the bit is at least partially extended out of the sleeve, and the rotary drive unit drives the bit to rotate to install the screw in the threaded hole.

5. The screw fastening device according to claim 4, characterized in that: The locking assembly also includes a connecting seat and a buffer component, the buffer component includes a base and an elastic telescopic component, the base is fixedly installed on the connecting seat, a slide rail is provided on the connecting seat, the electric screwdriver also includes a sliding seat, the sliding seat is slidably installed on the slide rail, the rotating drive unit is installed on the sliding seat, and the two ends of the elastic telescopic component are respectively connected to the base and the sliding seat.

6. The screw fastening device according to any one of claims 1 to 5, characterized in that: The first visual inspection device includes a first mounting frame and a first light source, a first lens, and a first image acquisition component which are coaxial and sequentially arranged on the first mounting frame. The first light source is arranged on a side close to the locking assembly.

7. The screw fastening device according to any one of claims 1 to 5, characterized in that: The positioning tooling includes a base, a cylinder mounted on the base and a positioning plate connected to the output shaft of the cylinder. The base is provided with an opening for the positioning plate to pass through. The positioning plate is used to place the workpiece to be processed. A photoelectric switch is also provided on the base, and the photoelectric switch is used to obtain the position of the positioning plate.

8. The screw fastening device according to claim 7, characterized in that: The base is also provided with a radio frequency identification device, the positioning plate is provided with an information module, the information of the workpiece to be processed is stored in the information module, and the radio frequency identification device is used to obtain the information of the workpiece to be processed through the information module.

9. The screw fastening device according to any one of claims 1 to 5, characterized in that: The second visual inspection device includes a second mounting frame and a second image acquisition component, a second lens and a second light source which are coaxially arranged on the second mounting frame in sequence; the second mounting frame is arranged on the third directional driving component; and the second light source is arranged on a side close to the positioning tooling.

10. A screw locking method, characterized in that: The screw locking method is applied to the screw locking device according to any one of claims 1 to 9, and the steps of the screw locking method include: Control the locking assembly to adsorb screws; Controlling the first visual inspection device to obtain the contour information of the adsorption surface of the sleeve and the screw, and sending the contour information to the control device; Controlling the second visual device to obtain position information of the threaded hole of the workpiece to be processed located on the positioning tool, and sending the position information to the control device; The control device obtains a first deviation according to the contour information, obtains a second deviation according to the position information of the threaded hole and a preset standard position, obtains an adjustment according to the first deviation and the second deviation, and controls the movement of the driving component according to the adjustment to adjust the relative position of the screw and the workpiece to be processed; The vacuum generator connected to the sleeve is closed, the sleeve is driven to move through the telescopic driving part to expose the screwdriver bit, and the screwdriver bit is controlled to install the screw in the threaded hole.

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