Screw Locking Device and Screw Locking Method

Abstract

The present invention provides a screw locking device and a screw locking method. The screw locking device includes a driving assembly, a feeding member, a positioning tooling, a locking assembly, a first vision detection device, a second vision detection device, and a control device. The driving assembly includes a first-direction driving member, a second-direction driving member, and a third-direction driving member, and the third-direction driving member is installed on the second-direction driving member; the locking assembly is installed on the third-direction driving member, and the locking assembly is used for adsorbing screws and installing the screws on a workpiece to be processed; the first vision detection device is used for obtaining first image information of the locking assembly and the screws adsorbed on the locking assembly; the second vision detection device is used for obtaining second image information of the workpiece to be processed installed on the positioning tooling; the control device is used for adjusting the relative positions of the screws and the workpiece to be processed according to the first image information and the second image information. This screw locking device has more precise locking, improving the product yield and production efficiency.

Description

Technical Field

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

[0002] During the production process of small products, for the screw fastening of small products, generally manual hand-held electric screwdrivers are used for fastening, with slow efficiency and uncontrollable product yield. There are a small number of cases where automatic screw driving is used, but there are often situations where the screw and the threaded hole are misaligned and need to be manually adjusted, which not only reduces the production efficiency but also results in a high defective rate of the 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 in the screw fastening of small products.

[0005] According to some embodiments of the present invention, a screw locking device is provided. The screw locking device includes a driving assembly, a feeding member, a positioning tooling, a locking assembly, a first vision detection device, a second vision detection device, and a control device. The driving assembly includes a first-direction driving member, a second-direction driving member, and a third-direction driving member, and the third-direction driving member is installed on the second-direction driving member; the feeding member is used for supplying screws; the positioning tooling is used for installing the workpiece to be processed, and the first-direction driving member is connected to the positioning tooling; the locking assembly is installed on the third-direction driving member, and the locking assembly is used for adsorbing the screw and installing the screw on the workpiece to be processed; the first vision detection device is used for obtaining first image information of the locking assembly and the screw adsorbed on the locking assembly; the second vision detection device is used for obtaining second image information of the workpiece to be processed installed on the positioning tooling; the control device is used for adjusting the relative positions of the screw and the workpiece to be processed according to the first image information and the second image information.

[0006] 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 for vacuum-adsorbing the screw, and the first image information includes the contour information of the adsorption surface and the screw.

[0007] In some embodiments, the second image information includes the position information of the threaded holes on the workpiece to be processed, the control device is configured to obtain a first deviation amount according to the contour information, and the control device is configured to obtain a second deviation amount according to the position information and a preset standard position; the control device is further configured to obtain an adjustment amount according to the first deviation amount and the second deviation amount, and control the driving assembly to move according to the adjustment amount to adjust the relative position between the screw and the threaded hole.

[0008] In some embodiments, the electric screwdriver further includes a rotary drive part, a bit connected to the rotary drive part in a transmission manner, and a telescopic drive part connected to the sleeve, the sleeve is movably sleeved on the outer periphery of the bit; the sleeve includes an extended state and a retracted state;

[0009] When the sleeve is in the extended state, the bit is completely disposed in the accommodation space formed by the sleeve, and the adsorption surface of the sleeve is used for adsorbing the screw;

[0010] When the sleeve is in the retracted state, at least a part of the bit extends out of the sleeve, and the rotary drive part drives the bit to rotate to install the screw into the threaded hole.

[0011] In some embodiments, the locking assembly further includes a connecting seat and a buffer member, the buffer member includes a base and an elastic telescopic member, the base is fixedly installed on the connecting seat, a slide rail is provided on the connecting seat, the electric screwdriver further includes a sliding seat, the sliding seat is slidably installed on the slide rail, the rotary drive part is installed on the sliding seat, and two ends of the elastic telescopic member are respectively connected to the base and the sliding seat.

[0012] In some embodiments, the first vision detection device includes a first mounting bracket, a first light source, a first lens and a first image acquisition member that are coaxially arranged and sequentially disposed on the first mounting bracket, and the first light source is disposed on a side close to the locking assembly.

[0013] In some embodiments, the positioning tooling includes a base body, a cylinder installed on the base body, and a positioning plate connected to the output shaft of the cylinder, an opening for the positioning plate to pass through is provided on the base body, the positioning plate is used for placing the workpiece to be processed, and a photoelectric switch is further provided on the base body, and the photoelectric switch is used for obtaining the position of the positioning plate.

[0014] In some embodiments, a radio frequency identification device is further provided on the base body, an information module is provided on the positioning plate, 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.

[0015] In some embodiments, the second vision detection device includes a second mounting bracket, a second image acquisition component, a second lens, and a second light source that are coaxially arranged and sequentially disposed on the second mounting bracket. The second mounting bracket is disposed on the third-direction driving member, and the second light source is disposed on a side close to the positioning tooling.

[0016] 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. The steps of the screw locking method include:

[0017] Controlling the locking assembly to adsorb the screw;

[0018] Controlling the first vision detection device to obtain the adsorption surface of the sleeve and the contour information of the screw, and sending the contour information to the control device;

[0019] Controlling the second vision device to obtain the position information of the threaded hole of the workpiece to be processed located on the positioning tooling, and sending the position information to the control device;

[0020] The control device obtains a first deviation amount according to the contour information, obtains a second deviation amount according to the 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 driving assembly to move according to the adjustment amount to adjust the relative position between the screw and the workpiece to be processed;

[0021] Closing the vacuum generator communicated with the sleeve, driving the sleeve to move through the telescopic driving part to expose the bit, and controlling the bit to work to install the screw into the threaded hole.

[0022] In the above solution, the screw locking device includes a driving assembly, a feeding member, a positioning tooling, a locking assembly, a first vision detection device, a second vision detection device, and a control device. The driving assembly includes a first-direction driving member, a second-direction driving member, and a third-direction driving member. The third-direction driving member is installed on the second-direction driving member; the locking assembly is installed on the third-direction driving member, and the locking assembly is used for adsorbing the screw and installing the screw on the workpiece to be processed; the first vision detection device is used for obtaining the first image information of the locking assembly and the screw adsorbed on the locking assembly; the second vision detection device is used for obtaining the second image information of the workpiece to be processed installed on the positioning tooling; the control device is used for adjusting the relative position between the screw and the workpiece to be processed according to the first image information and the second image information. This screw locking device locks more precisely, improving the product yield and production efficiency.

[0023] The above description is only an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention, it can be implemented according to the content of the specification. And in order to make the above and other objects, features and advantages of the present invention more obvious and understandable, the specific embodiments of the present invention are hereinafter specifically exemplified. Description of the Drawings

[0024] By reading the following detailed description of the preferred embodiments, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present invention. Moreover, in all the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0025] Figure 1 is a schematic structural diagram of a screw locking device according to some embodiments of the present invention;

[0026] Figure 2 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;

[0027] Figure 3 is a schematic structural diagram of a second-direction driving member and a second mounting bracket according to some embodiments of the present invention;

[0028] Figure 4 is a schematic structural diagram of a locking assembly according to some embodiments of the present invention;

[0029] Figure 5 is a schematic structural diagram of a first vision detection device according to some embodiments of the present invention;

[0030] Figure 6 is a schematic structural diagram of a positioning tooling according to some embodiments of the present invention;

[0031] Figure 7 is a schematic structural diagram of a first-direction driving member and a positioning tooling according to some embodiments of the present invention;

[0032] Figure 8 is a schematic flow chart of a screw locking method according to some embodiments of the present invention.

[0033] The reference numerals in the specific embodiments are as follows:

[0034] 100, screw locking device;

[0035] 10. First-direction drive; 101. Rotating motor; 102. Conveyor belt; 11. Second-direction drive; 12. Third-direction drive; 2. Feeding component; 3. Positioning tooling; 31. Substrate; 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 drive part; 44. Bit; 45. Telescopic drive part; 46. Connecting seat; 461. Slide rail; 47. Base; 48. Elastic telescopic part; 49. Sliding seat; 401. Buffer force regulator; 5. First vision detection device; 51. First mounting bracket; 52. First light source; 53. First lens; 54. First image acquisition component; 6. Second vision detection device; 61. Second mounting bracket; 7. Recycling device; 8. Torque calibrator; 9. Solenoid valve. Detailed implementation manners

[0036] The embodiments of the technical solutions of the present invention will be described in detail below with reference to the accompanying drawings. The following embodiments are only used to illustrate the technical solutions of the present invention more clearly, so they are only examples and cannot be used to limit the protection scope of the present invention.

[0037] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which this 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" and any variations thereof in the specification and claims of the present invention and the above drawings are intended to cover non-exclusive inclusion.

[0038] In the description of the embodiments of the present invention, technical terms such as "first" and "second" are only used to distinguish different objects and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity, specific order or primary-secondary relationship of the indicated technical features. In the description of the embodiments of the present invention, "a plurality" means more than two unless otherwise specifically defined.

[0039] Referring to "embodiments" herein means that a specific feature, structure or characteristic described in connection with the embodiments can be included in at least one embodiment of the present invention. The phrase appears in various places in the specification and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0040] In the description of the embodiments of the present invention, the term "and / or" is merely an association relationship describing associated objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone. Additionally, in this text, the character " / " generally represents an "or" relationship between the associated objects before and after.

[0041] In the description of the embodiments of the present invention, the term "plurality" refers to two or more (including two). Similarly, "multiple groups" refers to two or more groups (including two groups), and "multiple pieces" refers to two or more pieces (including two pieces).

[0042] In the description of the embodiments of the present invention, the orientation or positional relationship indicated by technical terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the embodiments of 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. Therefore, it should not be construed as a limitation on the embodiments of the present invention.

[0043] In the description of the embodiments of the present invention, unless otherwise clearly specified and limited, technical terms such as "installation", "connection", "attachment", "fixation", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can also be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0044] In the manufacturing process of products in the consumer electronics industry, small screws are generally tightened manually by holding a manual electric screwdriver. The efficiency is slow, and the product yield is uncontrollable. Especially in the case of a large quantity used per unit, the comprehensive labor cost of manual tightening is high. For some small consumer products, it is difficult to automatically drive screws, and the efficiency and effect need to be further improved.

[0045] In the related art, there are a small number of devices that use automatic screw driving, but the phenomenon of the screw being driven off often occurs, that is, the screw cannot be aligned with the threaded hole of the workpiece to be processed, resulting in a low product yield and seriously affecting the production efficiency.

[0046] Therefore, the applicant provides a screw locking device.

[0047] Refer to Figures 1-3, according to some embodiments of the present invention, the present invention provides a screw locking device 100, including a driving assembly, a feeding member 2, a positioning tooling 3, a locking assembly 4, a first vision detection device 5, a second vision detection device 6 and a control device. The driving assembly includes a first-direction driving member 10, a second-direction driving member 11 and a third-direction driving member 12. The third-direction driving member 12 is installed on the second-direction driving member 11; the feeding member 2 is used for supplying screws; the positioning tooling 3 is used for installing the workpiece to be processed, and the first-direction driving member 10 is connected to the positioning tooling 3; the locking assembly 4 is installed on the third-direction driving member 12, and the locking assembly 4 is used for adsorbing screws and installing the screws on the workpiece to be processed; the first vision detection device 5 is used for obtaining the first image information of the locking assembly 4 and the screws adsorbed on the locking assembly 4; the second vision detection device 6 is used for obtaining the second image information of the workpiece to be processed installed on the positioning tooling 3; the control device is used for adjusting the relative positions of the screws and the workpiece to be processed according to the first image information and the second image information.

[0048] 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 pairwise, and can be considered as the X-axis, Y-axis and Z-axis directions in a three-dimensional coordinate system. For the convenience of description, here it is defined that the driving direction of the first-direction driving member 10 is 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 for supplying screws. Specifically, multiple screws can be placed in the feeding member 2, and the internal structure design of the feeding member 2 can enable the screws to be arranged in an orderly manner to the loading position for the locking assembly 4 to pick up. The locking assembly 4 can include an electric screwdriver and can adsorb screws by means of vacuum adsorption. The positioning tooling 3 is provided with a positioning portion for placing the workpiece to be processed and positioning 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 drag chains or linear motors.

[0049] The first vision detection device 5 is used to obtain the first image information by taking pictures or shooting. Specifically, when the locking component 4 adsorbs the screw and passes by the first vision detection device 5, the first vision detection device 5 aligns with the adsorption surface of the locking component 4 and the screw to take pictures, thereby obtaining the first image information of the screw and the adsorption surface of the locking component 4. 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 vision detection device 6 can obtain the second image information of the positioning tooling 3 and the threaded holes on the positioning tooling 3 by taking pictures or shooting, so as to obtain the position information of the threaded holes and / or the workpiece to be processed. For the convenience of adsorbing the screw, the screw includes a screw head and a screw rod. The adsorption surface generally adsorbs the screw head part, and normally the screw head is adsorbed, which is more convenient for sucking. In an ideal state, the center of the adsorption surface coincides with the center of the screw head of the screw, and the automatic screw driving device is also programmed and adjusted based on this by the driving of the driving component. However, in actual use, the situation of eccentricity between the screw and the adsorption surface may occur, that is, the centers of the two do not coincide and there is a certain deviation amount. The displacement setting of the electric screwdriver controlled by programming is set according to the coincidence, which is an important reason for the misalignment between the screw and the threaded hole. The second reason for the misalignment between the screw and the threaded hole is that there are certain tolerances in the manufacturing process of the product, which results in the position of the threaded hole on the workpiece to be processed not being exactly the same as the preset ideal position, and the moving position of the positioning tooling 3 may also deviate from the preset position, which will also cause the position of the threaded hole not to be consistent with the preset ideal position.

[0050] Therefore, in this application, the first vision detection device 5 obtains the first image information of the screw and the adsorption surface. The control device can respectively obtain the centers of the screw and the adsorption surface through the first image information, and obtain the deviation amount between the two centers. Here, the deviation amount includes the direction of deviation and the numerical value of deviation, that is, the deviation amount of the screw relative to the ideal state. At the same time, the second vision detection device 6 obtains the second image information of the workpiece to be processed and the threaded holes. The control device can obtain the position information of the threaded holes according to the second image information. For example, the position information can be the coordinate information of the center point of the threaded hole. Compare this position information with the standard position information, and the standard position information is the coordinate information of the center point of the threaded hole in the ideal state, thereby obtaining the second deviation amount. Then, according to the first deviation amount and the second deviation amount, adjust the position of the positioning tooling 3 or the electric screwdriver by controlling the first direction driving part 10, the second direction driving part 11, and the third direction driving part 12, and finally realize the adjustment of the positions 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, making the screwing more accurate, reducing the misalignment phenomenon between the screw and the threaded hole, and improving the product yield and production efficiency.

[0051] Refer to Figure 1, in some embodiments, the screw locking device 100 further includes a recycling device 7. When the first deviation amount of the screw obtained by the first vision detection device 5 exceeds a preset amount, or when the sleeve 41 adsorbs the screw rod instead of the screw head, a signal will be sent to the control device. The control device controls the locking assembly 4 to move above the recycling device 7, and then disconnects the vacuum generator, causing the screw to fall into the recycling 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 further include a solenoid valve 9 for controlling the opening or closing of the vacuum generator.

[0052] Referring to 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 for vacuum-adsorbing the screw. The first image information includes the contour information of the adsorption surface and the screw.

[0053] The locking assembly 4 can be an electric screwdriver. The sleeve 41 is in communication with the vacuum generator. By evacuating the air in the sleeve 41, a negative pressure is generated to adsorb 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 vision detection device 5 takes pictures of the adsorption surface and the screw to 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 amount is 0. If the two center points do not coincide, the control device needs to perform corresponding compensation adjustments through the driving assembly subsequently. Using the vacuum generator and the sleeve 41 to adsorb the screw is more convenient in manufacturing and can conveniently obtain the contour information.

[0054] In some embodiments, the second image information includes the position information of the threaded hole on the workpiece to be processed. The control device is used to obtain the first deviation amount according to the contour information, and the control device is used to obtain the second deviation amount according to the position information and the preset standard position; the control device is further used to obtain the adjustment amount according to the first deviation amount and the second deviation amount, and control the driving assembly to move according to the adjustment amount to adjust the relative position of the screw and the threaded hole. The position information of the threaded hole here can be the coordinate value of the threaded hole or the relative position of the threaded hole on the product.

[0055] 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.

[0056] 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.

[0057] 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.

[0058] Referring to Figure 4 Figure 4 , in some embodiments, the locking assembly 4 further includes a connecting seat 46 and a buffer member. The buffer member includes a base 47 and an elastic telescopic member 48. The base 47 is fixedly installed on the connecting seat 46. A slide rail 461 is provided on the connecting seat 46. The electric screwdriver further includes a sliding seat 49 which is slidably installed on the slide rail 461. The rotary driving part 43 is installed on the sliding seat 49. Two ends of the elastic telescopic member 48 are respectively connected to the base 47 and the sliding seat 49. Generally speaking, the rotary driving part 43 and the bit 44 are vertically arranged. Under the action of gravity, there is a risk that the sliding seat 49 moves downward along the slide rail 461. For this reason, the buffer member is provided with the base 47 and the elastic telescopic member 48. The base 47 is fixedly installed on the connecting seat 46. The base 47 cannot move, but one end of the elastic telescopic member 48 is fixedly installed on the base 47 and the other end has a certain range of movement. Connecting the elastic telescopic member 48 to the sliding seat 49 can generate an upward pulling force on the sliding seat 49. Since the rotary driving part 43 and the bit 44 are installed on the sliding seat 49, a part of the gravity of the rotary driving part 43 and the bit 44 can be offset, thereby reducing the risk that the rotary driving part 43 and the bit 44 move downward due to gravity. Of course, the buffer member may further include a pressure sensor 42 and a buffer force regulator 401. The pressure sensor 42 is used to detect the force received by the elastic telescopic member 48, and the buffer force regulator 401 is used to adjust the telescopic force of the elastic telescopic member 48.

[0059] Referring to Figure 5 Figure 5 , in some embodiments, the first vision detection device 5 includes a first mounting bracket 51, and a first light source 52, a first lens 53 and a first image acquisition member 54 which are coaxially arranged and sequentially arranged on the first mounting bracket 51. The first light source 52 is arranged on the side close to the locking assembly 4. The first light source 52 is used to irradiate the locking assembly 4 and the screw to increase the brightness, so that the first image acquisition member 54 can obtain a clear image. The first image acquisition member 54 may be a camera or a video camera. Specifically, the first vision detection device 5 is located below the locking assembly 4.

[0060] Similarly, in some embodiments, the second vision detection device 6 includes a second mounting bracket 61, and a second image acquisition member (not shown), a second lens (not shown) and a second light source (not shown) which are coaxially arranged and sequentially arranged on the second mounting bracket 61. The second mounting bracket 61 is arranged on the third direction driving member 12. The second light source is arranged on the side close to the positioning tooling 3. The second light source is used to irradiate the locking assembly 4 and the screw, so that the second image acquisition member can obtain a clear image. The first image acquisition member 54 may be a camera or a video camera. Specifically, the first vision detection device 5 is located above the positioning tooling 3.

[0061] Referring to Figure 6 andFigure 7 , the first driving member 10 includes a rotating motor 101 and a conveyor belt 102 that is drivingly connected to the rotating motor 101. The positioning tooling 3 is installed on the conveyor belt 102 and can move under the drive of the conveyor belt 102. Further, one or more than two positioning toolings 3 can be provided on the conveyor belt 102. In some embodiments, the positioning tooling 3 includes a base body 31, a cylinder 32 installed on the base body 31, and a positioning plate 33 connected to the output shaft of the cylinder 32. An opening 34 for the positioning plate 33 to pass through is provided on the base body 31. The positioning plate 33 is used to place the workpiece to be processed. A photoelectric switch 35 is also provided on the base body 31, 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 pass through the opening 34 and move to the position where the screw is to be locked. Since it is the positioning plates 33 that are moving on the production line, a photoelectric switch 35 needs to be provided. In this way, when a positioning plate 33 moves into place, a signal can be sent to cause the controller to control the cylinder 32 to drive the positioning plate 33 to move upward, or a signal can be sent to cause the controller to control the production line to pause, facilitating the electric screwdriver to lock the screw.

[0062] Refer to Figure 6 , in some embodiments, a radio frequency identification device 36 is further provided on the base body 31, and an information module is provided on the positioning plate 33. Information of the workpiece to be processed is stored in the information module, 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 two-dimensional code. Of course, this information module can also be provided on the workpiece to be processed. The information module includes the product information of the workpiece to be processed, and the radio frequency identification module can obtain the product information, playing a role in traceability.

[0063] Refer to Figure 8 , according to some embodiments of the present invention, the present invention provides a screw locking method. The screw locking method is applied to the above-mentioned screw locking device 100. The steps of the screw locking method include:

[0064] S100, controlling the locking assembly 4 to adsorb the screw;

[0065] Specifically, the second direction driving member 11 is used to drive the locking assembly 4 to move above the feeding member 2, and then the third direction driving member 12 is used to drive the locking assembly 4 to move downward. At the same time, the vacuum generator of the electric screwdriver is turned on, and the screw is adsorbed by the sleeve 41. The surface of the sleeve 41 that adsorbs the screw is defined as the adsorption surface. The screw includes a screw head and a screw rod. Generally, the sleeve 41 adsorbs the screw head, and the area of the adsorption surface is larger than the area of the screw head, which is convenient for adsorption.

[0066] S200, controlling the first vision detection 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;

[0067] The first vision detection device 5 takes pictures of the adsorption surface and the screw, obtains the outer contour information of the adsorption surface and the screw, and sends the outer contour information to the control device for processing.

[0068] S300, control the second vision device to obtain the position information of the threaded hole of the workpiece to be processed located on the positioning tooling 3, and send the position information to the control device.

[0069] The second vision detection device 6 can take pictures of the workpiece to be processed, thereby obtaining the image information of the workpiece to be processed and the position information of the threaded hole on the workpiece to be processed, and sending them to the control device for processing. It should be noted that the above steps S200 and S300 can be carried out synchronously, or step S200 can be after step S300, or step S200 can be before step S300.

[0070] S400, the control device obtains the first deviation amount according to the contour information, obtains the second deviation amount according to the position information of the threaded hole and the preset standard position, obtains the adjustment amount according to the first deviation amount and the second deviation amount, and controls the driving component to move according to the adjustment amount to adjust the relative position of the screw and the workpiece to be processed.

[0071] In an ideal state, the center of the adsorption surface coincides with the center of the screw head, and the automatic screw driving device is programmed and adjusted based on this through the driving of the driving component. However, during actual use, the situation of eccentricity between the screw and the adsorption surface may occur, that is, the centers of the two do not coincide, and there is a certain deviation. The movement of the electric screwdriver controlled by programming is set according to the coincidence of the centers of the two, which is an important reason for the misalignment between the screw and the threaded hole. The second reason for the misalignment between the screw and the threaded hole is that there are certain tolerances in the manufacturing process of the product, which results in the position of the threaded hole on the workpiece to be processed not being exactly the same as the preset ideal position, and the movement position of the positioning tooling 3 may also deviate from the preset position, which will also cause the position of the threaded hole not to be consistent with the preset ideal position. The control device can respectively obtain the centers of the screw and the adsorption surface through the contour information, and obtain the deviation amount between the two centers, that is, the deviation amount of the screw relative to the ideal state. At the same time, through the second vision detection device 6, the position information of the workpiece to be processed and the threaded hole is obtained. The control device can obtain the position information of the threaded hole according to the position information. For example, the position information can be the coordinate information of the center point of the threaded hole. By comparing this position information with the standard position information, the second deviation amount is obtained. Then, according to the first deviation amount and the second deviation amount, the positions of the positioning tooling 3 or the electric screwdriver are adjusted by controlling the first-direction driving member 10, the second-direction driving member 11, and the third-direction driving member 12. Finally, the positions of the screw and the threaded hole are adjusted, that is, the screw can be aligned with the threaded hole and driven into the workpiece to be processed, making the screw locking more accurate, reducing the occurrence of misalignment between the screw and the threaded hole, and improving the product yield and production efficiency.

[0072] S500, turn off the vacuum generator connected to the sleeve 41, drive the sleeve 41 to move through the telescopic driving part 45 to expose the bit 44, and control the bit 44 to work to install the screw into the threaded hole.

[0073] After moving the screw into the threaded hole, disconnect the vacuum generator, the sleeve 41 no longer adsorbs the screw, drive the sleeve 41 to move upward through the telescopic driving part 45 to expose the bit 44, and then drive the bit 44 to rotate through the rotary driving part 43 to lock the screw in the threaded hole of the workpiece to be processed.

[0074] In the above embodiments of the present invention, the control device obtains the first deviation amount according to the contour information, obtains the second deviation amount according to the position information of the threaded hole and the preset standard position, obtains the 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 positions of the screw and the workpiece to be processed, so that the screw and the threaded hole can be aligned, improving the product yield and production efficiency.

[0075] 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 it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the various embodiments of the present invention, and they should all be covered within the scope of the claims and the 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 in the text, but includes all technical solutions falling 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, used for mounting the workpiece to be processed, wherein the first direction driving member is connected to the positioning tool; A locking assembly is mounted on the third directional driving member, wherein the locking assembly comprises an electric screwdriver, the electric screwdriver comprises a sleeve and a vacuum generator connected to the sleeve, the sleeve comprises an adsorption surface, and the adsorption surface is used to vacuum adsorb the screw and install the screw on the workpiece to be processed; A first visual inspection device is used to obtain first image information of the locking assembly and the screw adsorbed on the locking assembly, wherein the first image information includes contour information of the adsorption surface and the screw, and the contour information includes outer contour information of the adsorption surface and outer contour information of the screw; A second visual inspection device is used to obtain second image information of the workpiece to be processed installed on the positioning fixture; the second image information includes position information of the threaded hole on the workpiece to be processed; A control device, used for obtaining the center point of the adsorption surface and the center point of the screw head of the screw according to the outer contour information of the adsorption surface and the outer contour information of the screw, so as to obtain a first deviation; and the control device is used for obtaining 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 amount and the second deviation amount, 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.

2. The screw fastening device according to claim 1, 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.

3. The screw fastening device according to claim 2, 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.

4. The screw fastening device according to any one of claims 1 to 3, 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.

5. The screw fastening device according to any one of claims 1 to 3, 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.

6. The screw fastening device according to claim 5, 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.

7. The screw fastening device according to any one of claims 1 to 3, 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.

8. 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 7, 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 the center point of the adsorption surface and the center point of the screw head of the screw according to the contour information to obtain a first deviation, 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; 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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