Efficient automatic screw locking device and control method

Abstract

The invention discloses an efficient automatic screw locking device and a control method, and the device comprises a machine body which is provided with a conveying mechanism for conveying a workpiece to be machined; the fixing mechanism comprises an overturning table driven by a servo motor, a locking jig and a base, and is used for clamping a workpiece and realizing overturning; the locking mechanism comprises a first locking assembly and a second locking assembly which are respectively configured to execute locking operation of screws with different specifications; the visual positioning system is integrated above the locking jig and is used for acquiring the hole characteristics of the screw hole in the workpiece and tracking the overturning posture of the locking jig; and a control system. Through the cooperative arrangement of the fixing mechanism and the locking mechanism, the first locking assembly and the second locking assembly cooperatively work on two stations which are vertically downward and side surfaces or upward surfaces respectively, and screws of two different specifications are locked on a static contact and a wiring board on the molded case circuit breaker respectively. Compared with the prior art, replacement of screw bits and change of torque in the locking process are reduced, and the precision and efficiency of automatic locking are improved.

Description

Technical Field

[0001] The present invention relates to the field of automation technology, and in particular to a high-efficiency automatic screw locking device and a control method. Background Art

[0002] In the field of industrial power transmission and distribution, the conductive system of the residual current molded case circuit breaker is the core electrical connection component, and its assembly quality is directly related to the safety and reliability of the equipment. The conductive system is mainly composed of the incoming line terminal, the outgoing line terminal and the conductive plate, in which the static contact and the terminal plate need to be locked and fixed by two standard screws of different specifications.

[0003] During the locking process, the stationary contact and the terminal block need to be locked with two different standard screws, and each screw has a different torque value and needs to use a different screwdriver head. The existing automatic locking device first locks one screw, then needs to replace the screwdriver head and adjust the output torque, which is difficult to meet the efficiency and accuracy requirements.

[0004] Therefore, it is necessary to provide an efficient automatic screw locking device and a control method to solve the above technical problems. Summary of the invention

[0005] The present invention overcomes the deficiencies of the prior art and provides a high-efficiency automatic screw locking device and a control method.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is: a high-efficiency automatic screw locking device, comprising:

[0007] The machine body is provided with a conveying mechanism for conveying the workpiece to be processed;

[0008] The fixing mechanism includes a turning table driven by a servo motor, a locking fixture and a base, which is used to clamp the workpiece and realize the turning;

[0009] The locking mechanism includes a first locking component and a second locking component, each configured to perform locking operations on screws of different specifications;

[0010] A visual positioning system, integrated above the locking fixture, for acquiring hole features of screw holes on a workpiece and tracking the flipping posture of the locking fixture;

[0011] and control systems, including:

[0012] Main control module;

[0013] A locking path planning module, which divides the screw holes on the workpiece into first screw holes and second screw holes corresponding to the first and second locking components according to hole features of the screw holes, and plans a first locking path and a second locking path respectively;

[0014] A positioning compensation calculation module, which calculates the positioning compensation after flipping according to the flipping posture of the locking fixture;

[0015] The correction module corrects the second locking path according to the positioning compensation.

[0016] In a preferred embodiment of the present invention, the locking jig comprises: an upper jig, a lower jig, and a servo electric cylinder for controlling the upper jig to press downward;

[0017] The upper surface of the upper fixture is provided with a contoured positioning groove matching the workpiece locking position;

[0018] A plurality of elastic telescopic rods are arranged on opposite surfaces of the upper fixture and the lower fixture;

[0019] The lower jig and the servo electric cylinder are arranged on the upper surface of the turning table, the upper end of the servo electric cylinder is connected to the upper jig, and the upper jig is arranged just above the lower jig.

[0020] In a preferred embodiment of the present invention, the first locking component is arranged directly above the locking fixture, and the angle between the second locking component and the first locking component is consistent with the turning angle of the turning table.

[0021] In a preferred embodiment of the present invention, the visual positioning system comprises: a 3D vision module and a multi-spectral light source;

[0022] The 3D vision module is configured as a group of industrial cameras and is vertically installed above the locking fixture;

[0023] The multi-spectrum light source is configured with infrared 850nm and blue light 450nm bands, and irradiates the workpiece surface at an angle of 30°.

[0024] In a preferred embodiment of the present invention, the visual positioning system obtains the screw hole features on the workpiece, specifically:

[0025] Perform multi-angle scanning on the workpiece fixed on the locking fixture to obtain surface point cloud data, divide the two specifications of screw holes on the workpiece into first screw holes and second screw holes, and extract the hole center coordinates, hole depths and inclination angles respectively;

[0026] For the second screw hole, based on the preset flipping trajectory of the locking fixture, the identified hole center coordinates, hole depth and inclination parameters of the second screw hole are converted into the hole center coordinates, hole depth and inclination parameters of the flipped second screw hole.

[0027] In a preferred embodiment of the present invention, the visual positioning system tracks the flipping posture of the locking fixture, specifically:

[0028] Collecting point cloud data of the locking fixture surface in real time;

[0029] The ICP algorithm is used to calculate the flipping posture [R, t] of the locking fixture. Specifically, the current frame point cloud is aligned with the initial frame point cloud, and the rotation matrix R and the translation vector t are calculated. The formula is: Among them, P i is the point cloud of the current frame, Q i is the initial frame point cloud.

[0030] In a preferred embodiment of the present invention, the calculation of positioning compensation is specifically as follows:

[0031] Extract the Euler angles (α, β, γ) from the rotation matrix R, where β is the angle around the flip axis;

[0032] Reading the translation vector

[0033] In a preferred embodiment of the present invention, the correction of the second locking path is specifically: according to the extracted angle β around the flip axis and the translation vector t, the second locking path point is corrected: P 修正 =R(β)·P 初始 +t.

[0034] A control method for an efficient automatic screw locking device comprises the following steps:

[0035] S1. Grab the workpiece from the conveying mechanism and place it on the locking fixture to fix the workpiece;

[0036] S2. Identify the features and positions of the screw holes on the workpiece through a visual positioning system, and divide the holes into first screw holes and second screw holes according to specifications;

[0037] S3, planning locking paths of the first and second locking components respectively according to the features and positions of the first and second screw holes, and controlling the first locking component to lock the first screw based on the first locking path;

[0038] S4, flipping the locking fixture, and calculating the positioning compensation after flipping according to the flipping posture of the locking fixture tracked by the visual positioning system, and correcting the second locking path;

[0039] S5. Control the second locking component to execute the corrected second locking path to complete the locking of the second screw.

[0040] In a preferred embodiment of the present invention, the flip angle of the locking fixture is 90° or 180°.

[0041] The present invention solves the defects existing in the background technology and has the following beneficial effects:

[0042] (1) The present invention provides a highly efficient automatic screw locking device. Through the coordinated arrangement of a fixing mechanism and a locking mechanism, a first locking component and a second locking component work together at two positions, vertically downward and sideways or upward, respectively, to lock two screws of different specifications to the stationary contact and the terminal block on the molded case circuit breaker. Compared with the prior art, the replacement of screwdriver bits and the change of torque during the locking process are reduced, and the setting of two different angle positions also avoids the movement interference of the two mechanical arms and the large displacement of the mechanical arms, thereby increasing the accuracy and efficiency of automatic locking.

[0043] (2) The present invention visually locates the locking fixture and the workpiece through the coordination of the visual positioning system and the control system, and provides locking paths for the first and second locking components at different workstation angles. The visual positioning system tracks the flipping posture of the locking fixture, calculates the positioning compensation in real time, corrects the locking path of the second locking component, and improves the locking accuracy. The problem of the deviation of the second locking path caused by the physical disturbance caused by the flipping of the locking fixture is solved, and the limitation of the two lockings relying on the same initial positioning is avoided. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work.

[0045] Figure 1 It is a front view structural diagram of the fixing mechanism of a preferred embodiment of the present invention;

[0046] Figure 2 is a top view of an upper fixture according to a preferred embodiment of the present invention;

[0047] Figure 3 2 is a control method diagram of a high-efficiency automatic screw locking device according to a preferred embodiment of the present invention;

[0048] In the figure: 100, servo motor; 200, turning table; 300, locking fixture; 400, base; 500, upper fixture; 600, lower fixture; 700, servo electric cylinder; 800, contour positioning groove; 900, elastic telescopic rod. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0050] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0051] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the scope of protection of the present application. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the invention, unless otherwise specified, "multiple" means two or more.

[0052] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood by specific circumstances.

[0053] The present invention provides a high-efficiency automatic screw locking device, comprising: a machine body, a fixing mechanism, a locking mechanism, a visual positioning system and a control system (not shown in the figure) arranged on the machine body.

[0054] The machine body is provided with a conveying mechanism for conveying the workpiece to be processed; the machine body has a mounting surface, and the conveying mechanism is arranged on the mounting surface. The conveying mechanism includes a conveying mechanism formed by a conveyor belt, a transmission roller or other structures capable of transporting the workpiece to be processed. It can be understood that the workpiece is transported to the grasping area through the conveying mechanism, and the grasping device is used to move the workpiece to a specified position on the fixing mechanism, wherein the grasping device can be a mechanical gripper, a vacuum suction cup or other device capable of grasping the workpiece, which is not limited here.

[0055] It is worth mentioning that the workpiece is a molded case circuit breaker, on which the static contacts and terminal blocks are locked with screws of different specifications (for example, M3 and M8), and the two types of screws are adapted to different torques, that is, the corresponding screwdriver parameters are: torque: 8N·m (M3) and 20N·m (M8), speed: 800rpm (M3) and 300rpm (M8).

[0056] like Figure 1 As shown, the fixing mechanism includes a flip table 200 driven by a servo motor 100, a locking fixture 300 and a base 400, which are used to clamp the workpiece and realize flipping. The servo motor 100 is installed on the base 400, and the flip table 200 is directly connected to the output end of the servo motor 100 through a harmonic reducer. The end of the flip shaft is integrated with an encoder, and the repeat positioning accuracy is ≤0.01°. The flip angle of the flip table 200 is 90° or 180°, and the locking fixture 300 is installed on the flip table 200. By adjusting the angle of the flip table 200, the screw locking surface of the workpiece faces different directions, realizing multi-station locking of different screws on the same workpiece.

[0057] The first locking component is disposed directly above the locking fixture 300 , and the angle between the second locking component and the first locking component is consistent with the turning angle of the turning platform 200 .

[0058] like Figure 2 As shown, the locking jig 300 includes: an upper jig 500, a lower jig 600, and a servo electric cylinder 700 for controlling the upper jig 500 to press downward; the upper surface of the upper jig 500 is provided with a contoured positioning groove 800 matching the locking position of the workpiece, and the shape of the lower surface of the upper jig 500 matches the contour of the upper surface of the workpiece, wherein the presence of the contoured positioning groove 800 allows the locking position on the workpiece, i.e., the screw hole, to be exposed outside the locking jig 300, ensuring that the locking position is accurately aligned, facilitating the automatic locking of the screws at a later stage.

[0059] A plurality of elastic telescopic rods 900 are arranged on opposite surfaces of the upper fixture 500 and the lower fixture 600. The diameter of the elastic telescopic rods 900 is preferably 8 mm, the telescopic stroke is 10 mm, and the preload spring force is 50 N. The elastic telescopic rods 900 are used to uniformly apply pressure to the workpiece to avoid deformation of the workpiece caused by local stress concentration.

[0060] The lower jig 600 and the servo electric cylinder 700 are fixed on the upper surface of the turning table 200, the upper end of the servo electric cylinder 700 is fixedly connected to one side of the upper jig 500, the upper jig 500 is arranged directly above the lower jig 600, the servo electric cylinder 700 is vertically arranged upward, and the upper end of the cylinder body is slightly higher than the upper surface of the lower jig 600. When the servo electric cylinder 700 is in the extended state, the upper jig 500 is away from the lower jig 600, and when the servo electric cylinder 700 is in the retracted state, the upper jig 500 and the lower jig 600 are locked to fix the workpiece.

[0061] The locking mechanism includes a first locking component and a second locking component, which are respectively configured to perform locking operations on screws of different specifications; the first locking component and the second locking component have the same structure, and both include: a six-axis vertical multi-joint robotic arm, and an electric screwdriver mounted on the end of the robotic arm, the electric screwdriver is connected to the robotic arm through a quick-change interface, and a force sensor is integrated at the end to monitor the locking pressure and torque in real time.

[0062] Specifically, it also includes a main frame, which is in the shape of a rectangular box frame, with an electric screwdriver drive unit and a sensor integrated inside. A standardized flange interface (ISO 9409-1-50-4-M6) is arranged on the top of the main frame, which is connected to the quick-change device at the end of the robot arm. An electric screwdriver installation slot and a screw feeding channel are reserved at the bottom of the main frame.

[0063] The first locking component is equipped with a straight-handled micro electric screwdriver, such as DEPRAG DGD-5N, with a torque of 2-8N·m and a speed of 0-1500rpm; the second locking component is equipped with a straight-handled heavy-duty electric screwdriver, such as Atlas Copco QSB6, with a torque of 5-20N·m and a speed of 0-800rpm. The electric screwdriver is fixed by a stainless steel floating bracket, and the bracket has a built-in rubber damping pad (hardness Shore A 70) to reduce vibration transmission. The axis of the electric screwdriver coincides with the axis of the flange at the end of the robot arm to ensure accurate locking direction.

[0064] The screw feeding channel is specifically as follows: the first locking component is adapted to the flexible vibration plate feeder of M3-M5 screws, and the inner diameter of the nail feeding tube is 3.5mm, while the second locking component is adapted to the straight vibration feeder of M6-M8 screws, and the inner diameter of the nail feeding tube is 7mm. Furthermore, the nail feeding tube is connected to the electric screwdriver through a magnetic quick-change connector, and the changeover time is ≤30 seconds.

[0065] It is worth mentioning that the first locking component locks the front screw vertically downward, the posture of the robot arm is fixed, and the path spacing is compact; the second locking component dynamically adjusts the locking angle according to the posture of the workpiece after flipping, including lateral or elevation locking.

[0066] In the present invention, the fixing mechanism and the locking mechanism are arranged in coordination, and the first locking component and the second locking component work together at two stations, vertically downward and sideways or upward, respectively, to respectively lock two screws of different specifications on the static contact and the terminal block on the molded case circuit breaker. Compared with the prior art, the replacement of the screwdriver bit and the change of the torque during the locking process are reduced, and the setting of the two stations at different angles also avoids the movement interference of the two mechanical arms and the large displacement of the mechanical arms, thereby increasing the accuracy and efficiency of automatic locking.

[0067] The visual positioning system in this embodiment is integrated above the locking fixture 300, and is used to obtain the three-dimensional coordinates of the screw holes on the workpiece and track the flipping posture of the locking fixture 300 in real time; the visual positioning system includes: a 3D vision module and a multi-spectral light source; the 3D vision module is configured as a group of industrial cameras and is vertically installed above the locking fixture 300; the multi-spectral light source is configured with infrared 850nm and blue light 450nm bands, and irradiates the workpiece surface at an angle of 30°.

[0068] The screw hole features on the workpiece are obtained through the visual positioning system, specifically:

[0069] 1) The workpiece fixed on the locking fixture 300 is scanned at multiple angles by a 3D vision system to obtain surface point cloud data, and the two specifications of screw holes on the workpiece are divided into first screw holes and second screw holes, and the hole center coordinates, hole depths and inclination angles are extracted respectively; Hole center coordinates: The Hough circle detection algorithm is used to identify the screw hole contour, and the hole center coordinates are calibrated in combination with the sub-pixel edge fitting technology; Hole depth and inclination angle: Phase-encoded fringes are generated based on structured light projection, and the three-dimensional morphology of the hole is reconstructed by phase solution, and the hole axis direction vector (unit vector ) and hole depth.

[0070] 2) For the second screw hole, based on the preset flipping trajectory of the locking fixture 300, the identified hole center coordinates, hole depth and inclination parameters of the second screw hole are converted into the hole center coordinates, hole depth and inclination parameters of the flipped second screw hole.

[0071] The flipping posture of the locking fixture 300 is tracked by the visual positioning system, specifically:

[0072] 1) Use a 3D vision system to collect point cloud data of the surface of the locking fixture 300 in real time.

[0073] 2) Using the ICP (Iterative Closest Point) algorithm, calculate the flipping posture [R, t] of the locking fixture 300, specifically: align the current frame point cloud with the initial frame point cloud, calculate the rotation matrix R and the translation vector t, formula: Among them, P i is the point cloud of the current frame, Qi is the initial frame point cloud.

[0074] The control system includes: a main control module, a locking path planning module, a positioning compensation calculation module and a correction module.

[0075] The main control module coordinates the conveying, locking, flipping and locking actions synchronously through the EtherCAT bus.

[0076] The locking path planning module divides the screw holes on the workpiece into first screw holes and second screw holes corresponding to the first and second locking components according to the hole characteristics of the screw holes, and plans the first locking path and the second locking path respectively; the planning of the first and second locking paths includes the following steps:

[0077] 1) The screw hole center coordinates (x, y, z) and direction vector Convert to the robot base coordinate system, the transformation matrix is ​​P base =T cam→base ·P cam , where T cam→base Obtained through hand-eye calibration.

[0078] Based on the robot model, solve the joint angle combination θ=[θ1, θ1, ..., θ n ],satisfy

[0079] 2) The RRT* (rapidly expanding random tree) algorithm is used to plan the motion path of the robot arm. The constraints include: the distance between the path points is ≤0.5mm; the deviation between the axis of the electric screwdriver and the axis of the hole is ≤0.05°; the minimum safety distance from the fixture and workpiece is ≥10mm.

[0080] 3) According to the screw hole specifications, call the corresponding electric screwdriver parameters from the preset data control.

[0081] The positioning compensation calculation module calculates the positioning compensation after flipping according to the flipping posture [R, t] of the locking fixture 300, specifically:

[0082] 1) Extract the Euler angles (α, β, γ) from the rotation matrix R, where β is the angle around the flip axis.

[0083] 2) Read the translation vector t = [t x , t y , t z ].

[0084] The correction module corrects the second locking path according to the positioning compensation, specifically: according to the extracted angle β around the flip axis and the translation vector t, correct the locking path point of the second locking component: P 修正 =R(β)·P 初始+t.

[0085] The present invention performs a visual positioning of the locking fixture 300 and the workpiece through the coordination of the visual positioning system and the control system, and provides locking paths for the first and second locking components at different workstation angles. The visual positioning system tracks the flipping posture of the locking fixture 300, calculates the positioning compensation in real time, corrects the second locking path, and improves the locking accuracy. The problem of the deviation of the second locking path caused by the physical disturbance caused by the flipping of the locking fixture 300 is solved, and the limitation of the two lockings relying on the same initial positioning is avoided.

[0086] like Figure 3 As shown, the present invention also provides a control method for a high-efficiency automatic screw locking device, comprising the following steps:

[0087] S1, grab the workpiece from the conveying mechanism and place it on the locking fixture 300 to fix the workpiece;

[0088] S2. Identify the features and positions of the screw holes on the workpiece through a visual positioning system, and divide the holes into first screw holes and second screw holes according to specifications;

[0089] S3, planning locking paths of the first and second locking components respectively according to the features and positions of the first and second screw holes, and controlling the first locking component to lock the first screw based on the first locking path;

[0090] S4, flipping the locking fixture 300, and calculating the positioning compensation after flipping according to the flipping posture of the locking fixture 300 tracked by the visual positioning system, and correcting the second locking path;

[0091] S5. Control the second locking component to execute the corrected second locking path to complete the locking of the second screw.

[0092] Each step is described in detail below.

[0093] In step S1, the conveying mechanism transports the molded case circuit breaker to be processed to the designated location. Here, a gripping device such as a mechanical gripper or a vacuum suction cup can be used to achieve accurate handling and positioning of the workpiece. Then, the workpiece is placed on a flip table 200 driven by a servo motor 100 and is firmly fixed by a locking fixture 300. The design of the locking fixture 300 allows it to apply uniform pressure to the workpiece to prevent the workpiece from deforming.

[0094] In step S2, the workpiece is fixed, and the next step is to use the visual positioning system integrated on the locking fixture 300 to identify the screw hole features. The system includes a 3D vision module and a multi-spectral light source, which can obtain point cloud data on the workpiece surface and use the Hough circle detection algorithm combined with sub-pixel edge fitting technology to calibrate the hole center coordinates. In addition, structured light projection is used to measure hole depth and inclination. According to the size of the screw holes (such as M3 and M8), these holes are classified as first screw holes and second screw holes.

[0095] In step S3, the locking path planning module in the control system generates a locking path based on the position and direction vector of the screw hole. For the first screw hole, since they are usually located on the front of the workpiece, the first locking component can be directly locked from the vertical downward direction. This step requires accurate calculation of the alignment of the end position of the electric screwdriver with the axis of the hole, and the use of the RRT* algorithm to plan the optimal motion path, ensuring that the distance between the path points does not exceed 0.5mm, and the deviation between the axis of the electric screwdriver and the axis of the hole is less than 0.05°.

[0096] In step S4, the flip angle of the locking fixture 300 is 90° or 180°. When the flip angle is 90°, the second locking component is on the side, and when the flip angle is 180°, the second locking component is at the bottom and locked on its back.

[0097] During the flipping process, the visual positioning system continuously monitors and records the posture changes of the locking fixture 300. Through the ICP algorithm, the system can update the rotation matrix and translation vector in real time, and then calculate new positioning compensation values. These compensation values ​​will be used to adjust the working path of the second locking component to adapt to the new position after flipping.

[0098] In summary, this efficient automatic screw locking device and its control method greatly improve production efficiency and product quality, and are especially suitable for complex products that require high-precision locking operations, such as molded case circuit breakers. The first locking component (vertically downward) works in conjunction with the second locking component (lateral / elevation angle) to lock the static contacts (M3-M5) and terminal blocks (M6-M8) of the molded case circuit breakers, respectively. There is no need to replace the screwdriver bit or adjust the torque. The single-piece cycle time is shortened to 8-10 seconds, and the efficiency is increased by more than 40%. The two robotic arms are arranged at 90° or 180°, with no overlapping workspaces, completely avoiding motion interference and reducing the risk of collision.

[0099] The above is based on the ideal embodiment of the present invention. Through the above description, relevant personnel can make various changes and modifications without departing from the technical concept of the present invention. The technical scope of the present invention is not limited to the content in the specification, and the technical scope must be determined according to the scope of the claims.

Claims

1. A high-efficiency automatic screw locking device, characterized in that: include: The machine body is provided with a conveying mechanism for conveying the workpiece to be processed; The fixing mechanism includes a turning table driven by a servo motor, a locking fixture and a base, which is used to clamp the workpiece and realize the turning; The locking mechanism includes a first locking component and a second locking component, each configured to perform locking operations on screws of different specifications; A visual positioning system, integrated above the locking fixture, for acquiring hole features of screw holes on a workpiece and tracking the flipping posture of the locking fixture; and control systems, including: Main control module; A locking path planning module, which divides the screw holes on the workpiece into first screw holes and second screw holes corresponding to the first and second locking components according to hole features of the screw holes, and plans a first locking path and a second locking path respectively; A positioning compensation calculation module, which calculates the positioning compensation after flipping according to the flipping posture of the locking fixture; The correction module corrects the second locking path according to the positioning compensation.

2. According to claim 1, a high-efficiency automatic screw locking device is characterized in that: The locking fixture comprises: an upper fixture, a lower fixture, and a servo electric cylinder for controlling the upper fixture to press downward; The upper surface of the upper fixture is provided with a contoured positioning groove matching the workpiece locking position; A plurality of elastic telescopic rods are arranged on opposite surfaces of the upper fixture and the lower fixture; The lower jig and the servo electric cylinder are arranged on the upper surface of the turning table, the upper end of the servo electric cylinder is connected to the upper jig, and the upper jig is arranged just above the lower jig.

3. The high-efficiency automatic screw fastening device according to claim 1 is characterized in that: The first locking component is arranged directly above the locking fixture, and the angle between the second locking component and the first locking component is consistent with the turning angle of the turning platform.

4. The high-efficiency automatic screw fastening device according to claim 1 is characterized in that: The visual positioning system includes: a 3D vision module and a multi-spectral light source; The 3D vision module is configured as a group of industrial cameras and is vertically installed above the locking fixture; The multi-spectrum light source is configured with infrared 850nm and blue light 450nm bands, and irradiates the workpiece surface at an angle of 30°.

5. The high-efficiency automatic screw fastening device according to claim 1 is characterized in that: The visual positioning system obtains the screw hole features on the workpiece, specifically: Perform multi-angle scanning on the workpiece fixed on the locking fixture to obtain surface point cloud data, divide the two specifications of screw holes on the workpiece into first screw holes and second screw holes, and extract the hole center coordinates, hole depths and inclination angles respectively; For the second screw hole, based on the preset flipping trajectory of the locking fixture, the identified hole center coordinates, hole depth and inclination parameters of the second screw hole are converted into the hole center coordinates, hole depth and inclination parameters of the flipped second screw hole.

6. The high-efficiency automatic screw fastening device according to claim 1 is characterized in that: The visual positioning system tracks the flipping posture of the locking fixture, specifically: Collecting point cloud data of the locking fixture surface in real time; The ICP algorithm is used to calculate the flipping posture [R, t] of the locking fixture. Specifically, the current frame point cloud is aligned with the initial frame point cloud, and the rotation matrix R and the translation vector t are calculated. The formula is: Among them, P i is the point cloud of the current frame, Q i is the initial frame point cloud.

7. The high-efficiency automatic screw fastening device according to claim 6, characterized in that: The calculation of positioning compensation is as follows: Extract the Euler angles (α, β, γ) from the rotation matrix R, where β is the angle around the flip axis; Read the translation vector t = [t x , t y , t z ].

8. The high-efficiency automatic screw fastening device according to claim 7, characterized in that: The correction of the second locking path is specifically as follows: according to the extracted angle β around the flip axis and the translation vector t, the second locking path point is corrected: P 修正 =R(β)·P 初始 +t.

9. A control method for a high-efficiency automatic screw locking device, based on the high-efficiency automatic screw locking device according to any one of claims 1 to 8, characterized in that: The following steps are involved: S1. Grab the workpiece from the conveying mechanism and place it on the locking fixture to fix the workpiece; S2. Identify the features and positions of the screw holes on the workpiece through a visual positioning system, and divide the holes into first screw holes and second screw holes according to specifications; S3, planning locking paths of the first and second locking components respectively according to the features and positions of the first and second screw holes, and controlling the first locking component to lock the first screw based on the first locking path; S4, flipping the locking fixture, and calculating the positioning compensation after flipping according to the flipping posture of the locking fixture tracked by the visual positioning system, and correcting the second locking path; S5. Control the second locking component to execute the corrected second locking path to complete the locking of the second screw.

10. The control method of a high-efficiency automatic screw fastening device according to claim 9, characterized in that: The flip angle of the locking fixture is 90° or 180°.

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