Flexible intelligent tightening equipment applied to installation of steel wire thread inserts of various specifications

Abstract

The invention relates to the field of steel wire thread insert installation, in particular to flexible intelligent tightening equipment applied to installation of steel wire thread inserts of various specifications, and the flexible intelligent tightening equipment comprises a robot and a control system. According to the invention, the servo electric cylinder module is adopted for control, the swing pneumatic claw cylinder is combined for receiving materials at different positions, meanwhile, double cylinders are adopted for control, the feeding cylinder controls blanking, the material blocking cylinder controls materials to enter the hopper through a channel, signal transmission of the switch is detected, accurate control of the materials to enter the hopper is implemented, and in the mounting process, the material feeding efficiency is greatly improved. The installation torque can be monitored and recorded through the torque sensor, meanwhile, the accuracy of the installation torque can be improved, power transmission can be rapidly cut off through the coupler, and therefore overload protection is conducted on materials, full-process automatic feeding and discharging and installation are achieved, a PCL system is adopted for control, operation is easy and convenient, modular design is adopted, and cost is low. And flexible adjustment and use can be carried out according to different workpieces and process requirements, and the device is suitable for various scenes.

Description

Technical Field

[0001] The invention relates to the field of wire screw insert installation, and in particular to a flexible intelligent tightening device used for installing wire screw inserts of various specifications. Background Art

[0002] With the rapid development of my country's new energy vehicles, machinery manufacturing, aerospace and other fields, the requirements for the disassembly and safety of mechanical connections are also constantly increasing. As a key component in industrial manufacturing, the installation quality and efficiency of wire thread inserts directly affect the performance and safety of the entire product. At present, manual or semi-automatic tightening equipment cannot meet the production needs of modern manufacturing. Therefore, it is necessary to develop efficient and stable intelligent tightening equipment for wire thread inserts to improve production efficiency and quality.

[0003] The Chinese patent application with announcement number CN215091898U discloses an automatic tightening mechanism for a wire screw sleeve, comprising a mounting plate, a lifting drive module is provided at the upper end of the mounting plate, a tightening module is installed on the slide of the lifting drive module, the tightening module comprises a lifting component and a tightening component, the lifting component is installed on the slide, the tightening component is arranged on the lifting component, and a tightening head for positioning and tightening the wire screw sleeve is provided at the output end thereof, a feeding mechanism is provided on the mounting plate, the feeding mechanism comprises a feeding pipe, a material distribution cylinder, a translation slide plate and a material receiving key, the material distribution cylinder is arranged on the mounting plate, a translation slide plate is provided at the telescopic end thereof, a material receiving key is provided at the end of the translation slide plate, the feeding pipe is used for feeding the wire screw sleeve, which is connected with the material receiving key, and the material distribution cylinder drives the material receiving key to move to the bottom of the tightening head. The utility model solves the problems of slow efficiency of manual tightening of screw sleeves and instability of traditional screw sleeve tightening equipment, improves the tightening efficiency, improves the equipment stability, and thus improves the product quality.

[0004] The existing wire thread insert tightening equipment has poor adaptability during use and is usually only suitable for wire thread inserts of specific specifications and models. The accuracy during the tightening process is insufficient and the tightening efficiency is low. It is easy to be over-tightened or loose. The degree of automation is low, and the corresponding wire thread inserts cannot be automatically loaded and unloaded. Manual loading is required, which increases the difficulty of operating the equipment. The safety factor is low, there is no effective overload protection, emergency stop and other functions, and the operating status and tightening data of the equipment cannot be monitored in real time, thereby realizing the real-time monitoring and traceability of production data.

[0005] Therefore, it is necessary to invent a flexible intelligent tightening device for installing wire screw inserts of various specifications to solve the above problems. Summary of the invention

[0006] The purpose of the present invention is to provide a flexible intelligent tightening device for the installation of wire screw inserts of various specifications. Through the material blocking cylinder and the detection switch, precise control of the material can be achieved. During the installation process, the installation torque is monitored and recorded by the torque sensor and the power transmission can be cut off through the coupling, thereby realizing the functions of overload protection and traceability record. Moreover, due to the overall modular design, corresponding adjustments can be made according to different installation processes and sizes to solve the problems in the prior art that the installation standards of wire screw inserts are relatively single, there are no traceability records and overload protection functions, and automatic and precise loading and unloading cannot be achieved.

[0007] In order to achieve the above object, the present invention provides the following technical solutions: a flexible intelligent tightening device used for installing wire screw inserts of various specifications, including a robot and a control system, wherein the robot and the control system include a mechanical control arm, the mechanical control arm is linearly connected to a PLC control system, and four sets of vibration disks are arranged on one side of the mechanical control arm, and the four sets of vibration disks are used to transport materials;

[0008] The material receiving system is arranged on one side of the mechanical control arm and is used to receive the material from the vibrating plate;

[0009] Servo tightening system, set on one side of the material receiving system, is used for direct installation of materials;

[0010] The material control system is arranged on one side of the material receiving system and is used to move the materials in the material receiving system;

[0011] The vision system is arranged below the material receiving system and is used for mechanical communication and data interaction with the mechanical control arm.

[0012] As a preferred solution of the present invention, the material receiving system includes a connecting seat, which is rotatably connected to one side of the mechanical control arm, a servo electric cylinder module is installed above the connecting seat, four groups of swing claw cylinders are installed on one side of the servo electric cylinder module, and a fixing frame is symmetrically installed above the connecting seat.

[0013] As a preferred solution of the present invention, a group of the fixed frames are symmetrically installed with conveying pipes, a detection switch 1 is installed on the conveying pipes, a channel is connected to one side of the conveying pipes, a hopper is installed on one side of the channel, and the hopper is arranged on one side of the swing claw cylinder, and the structures in the two groups of fixed frames are exactly the same, and the servo electric cylinder module, detection switch 1 and swing claw cylinder are wirelessly connected to the PCL control system.

[0014] As a preferred solution of the present invention, the servo tightening system includes a guide rail frame, which is installed above the connecting seat. A telescopic cylinder is installed on one side of the connecting seat, and a sliding seat is slidably connected above the guide rail frame.

[0015] As a preferred solution of the present invention, a servo motor is installed above the sliding seat, a coupling 1 is installed at the output end of the servo motor, a torque sensor is installed on one side of the coupling 1, the torque sensor is fixedly connected to the top of the sliding seat, and the telescopic cylinder 1, the servo motor and the torque sensor are wirelessly connected to the PCL control system.

[0016] As a preferred solution of the present invention, a coupling 2 is installed on one side of the torque sensor, a quick-change bit is installed on one side of the coupling 2, a core shaft is installed on one side of the quick-change bit, a connecting plate is slidably connected above the guide frame, and the connecting plate is through-connected to the core shaft.

[0017] As a preferred solution of the present invention, a support rod is axially connected to one side of the core shaft, a telescopic cylinder 2 is installed between the sliding seat and the connecting plate, a compression spring is installed between the sliding seat and the connecting plate, a displacement sensor is installed on the side of the sliding seat away from the telescopic cylinder 2, and the telescopic cylinder 2 and the displacement sensor are wirelessly connected to the PCL control system.

[0018] As a preferred solution of the present invention, the material control system includes a support frame, which is installed above the connecting seat, and the support frame is installed with four groups, and the support frame is arranged on one side of the channel, a detection switch 2 is installed above the support frame, a detection switch 3 is arranged on one side of the detection switch 2, and the detection switch 3 is fixedly connected to the top of the support frame, and the detection switch 2 and the detection switch 3 are connected to the top of the channel, a material blocking cylinder 1 is installed above the connecting seat, and the material blocking cylinder 1 is connected to the bottom of the channel, and the material blocking cylinder 1 and the detection switch 2 are in the same vertical and horizontal position, a material blocking cylinder 2 is installed above the connecting seat, and the material blocking cylinder 2 is connected to the bottom of the channel, and the material blocking cylinder 2 and the detection switch 3 are in the same vertical and horizontal position, and the detection switch 2, the detection switch 3, the material blocking cylinder 1 and the material blocking cylinder 2 are wirelessly connected to the PCL control system.

[0019] As a preferred solution of the present invention, the visual system includes a fixed bracket, the fixed bracket is installed on one side of the connecting seat, a recognition camera is installed on one side of the fixed bracket, and the recognition camera is wirelessly connected to the PCL control system.

[0020] In the above technical solution, compared with the prior art, the technical effects and advantages provided by the present invention are as follows:

[0021] The present invention adopts servo electric cylinder module control, combined with swing claw cylinder to receive materials at different positions, and uses dual cylinder control at the same time. The feed cylinder controls the material drop, and the blocking cylinder controls the material to enter the hopper through the channel. The signal transmission of the detection switch is implemented to implement precise material control entering the hopper. During the installation process, the torque sensor can be used to monitor and record the installation torque while improving the accuracy of the installation torque. The coupling can quickly cut off the power transmission, thereby protecting the material from overload. The whole process of loading and unloading and installation is automated, and the PCL system is used for control. The operation is relatively simple, and the modular design is adopted. It can be flexibly adjusted and used according to different workpieces and process requirements, and is suitable for various scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0023] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0024] Figure 2 It is a schematic diagram of the connection structure between the connection seat and the guide rail frame of the present invention;

[0025] Figure 3 It is a schematic diagram of the upper structure of the connecting socket of the present invention;

[0026] Figure 4 It is a schematic diagram of the connection structure of the servo motor and the coupling of the present invention;

[0027] Figure 5 It is a schematic diagram of the layout structure of the telescopic cylinder of the present invention;

[0028] Figure 6 It is a schematic diagram of the structure of the connecting seat of the present invention;

[0029] Figure 7 It is a schematic diagram of the layout structure of the channel of the present invention;

[0030] Figure 8 A schematic diagram of the connection structure between the recognition camera and the connection socket of the present invention;

[0031] Fig. 9 It is a schematic diagram of the matching structure of the detection switch 2 and the material blocking cylinder 1 of the present invention;

[0032] Fig.10 It is a schematic diagram of the overall process flow of the present invention;

[0033] Fig.11 It is a schematic diagram of the tightening process flow of the present invention;

[0034] Fig.12 It is a schematic diagram of the control flow of the servo system of the present invention;

[0035] Fig.13 It is a schematic diagram of the material conveying control process of the present invention;

[0036] Fig.14 It is a schematic diagram of the overall control flow of material transportation of the present invention;

[0037] Fig.15 Schematic diagram of the visual system workflow of the present invention.

[0038] Description of reference numerals:

[0039] 100, servo tightening system; 101, servo motor; 102, coupling 1; 103, torque sensor; 104, coupling 2; 105, quick-change bit; 106, spindle; 107, displacement sensor; 108, telescopic cylinder 1; 109, telescopic cylinder 2; 110, compression spring; 111, guide rail frame; 112, support rod; 113, connecting plate; 114, sliding seat; 200, material receiving system; 201, connecting seat; 202, servo electric cylinder module; 2 03. Swinging air claw cylinder; 204. Conveying pipe; 205. Detection switch 1; 206. Channel; 207. Hopper; 208. Fixed frame; 300. Material control system; 301. Detection switch 2; 302. Detection switch 3; 303. Material blocking cylinder 1; 304. Material blocking cylinder 2; 305. Support frame; 400. Visual system; 401. Fixed bracket; 402. Recognition camera; 500. Robot and control system; 501. Mechanical control arm; 502. Vibrating plate. DETAILED DESCRIPTION

[0040] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0041] The present invention provides Figure 1-15 A flexible intelligent tightening device for installing wire screw inserts of various specifications is shown, including a robot and a control system 500, the robot and the control system 500 including a mechanical control arm 501, the mechanical control arm 501 is linearly connected to the PLC control system, and four sets of vibration disks 502 are arranged on one side of the mechanical control arm 501, and the four sets of vibration disks 502 are used to transport materials;

[0042] The material docking system 200, the servo tightening system 100, the material control system 300, the visual system 400 and the robot and control system 500 can be interactively controlled through the PLC automatic control system, and the power supply of the vibration plate 502 is connected to the branch circuit breaker in the MCP cabinet, and the power supply of the mechanical control arm 501 is connected to the branch circuit breaker in the MCP cabinet, and the bus is connected to the switch in the cabinet to interact with the PLC system.

[0043] The material receiving system 200 is arranged on one side of the mechanical control arm 501 and is used to receive the material from the vibration plate 502;

[0044] The servo tightening system 100 is arranged on one side of the material receiving system 200 and is used for direct installation of materials. The power supply of the servo tightening system 100 is connected to the branch circuit breaker in the MCP cabinet;

[0045] The material control system 300 is arranged on one side of the material receiving system 200 and is used for moving the materials in the material receiving system 200. The material blocking cylinder 1 303 and the material blocking cylinder 2 304, the detection switch 2 301 and the detection switch 3 302 are all connected to the IOLINK module under the PLC, and the cylinder signal and the sensor are all connected to the valve island module under the PLC, and the gas circuit control is controlled by the valve plate on the valve island;

[0046] The vision system 400 is disposed below the material receiving system 200 and is used for mechanical communication and data exchange with the mechanical control arm 501 .

[0047] Furthermore, in the above structure, the material receiving system 200 includes a connecting base 201, which is rotatably connected to one side of the mechanical control arm 501, a servo electric cylinder module 202 is installed above the connecting base 201, four groups of swing claw cylinders 203 are installed on one side of the servo electric cylinder module 202, and a fixing frame 208 is symmetrically installed above the connecting base 201.

[0048] The servo electric cylinder module 202 can control the swing claw cylinder 203 to move to the side of the hopper 207, thereby completing the operation of receiving the material.

[0049] Furthermore, in the above structure, a group of fixed frames 208 are symmetrically installed with conveying pipes 204, a detection switch 205 is installed on the conveying pipes 204, a channel 206 is connected to one side of the conveying pipes 204, a hopper 207 is installed on one side of the channel 206, and the hopper 207 is arranged on one side of the swing claw cylinder 203, and the structures in the two groups of fixed frames 208 are exactly the same, and the servo electric cylinder module 202, the detection switch 205 and the swing claw cylinder 203 are wirelessly connected to the PCL control system.

[0050] The material conveying work can be completed through the conveying pipe 204, and the detection switch 205 can detect the position of the material inside the conveying pipe 204.

[0051] Furthermore, in the above structure, the servo tightening system 100 includes a guide rail frame 111, which is installed above the connecting seat 201, a telescopic cylinder 108 is installed on one side of the connecting seat 201, and a sliding seat 114 is slidably connected above the guide rail frame 111.

[0052] The operation of the telescopic cylinder 108 can make the sliding seat 114 slide on the guide rail frame 111, so that the connecting seat 201 moves as a whole.

[0053] Furthermore, in the above structure, a servo motor 101 is installed above the sliding seat 114, a coupling 102 is installed at the output end of the servo motor 101, a torque sensor 103 is installed on one side of the coupling 102, the torque sensor 103 is fixedly connected to the top of the sliding seat 114, and the telescopic cylinder 108, the servo motor 101 and the torque sensor 103 are wirelessly connected to the PCL control system.

[0054] The power of the servo motor 101 can be transmitted through the coupling 102 , and the torque sensor 103 can monitor and record the torque data generated by the servo motor 101 in real time.

[0055] Furthermore, in the above structure, a coupling 104 is installed on one side of the torque sensor 103, a quick-change bit 105 is installed on one side of the coupling 104, a spindle 106 is installed on one side of the quick-change bit 105, a connecting plate 113 is slidably connected above the guide frame 111, and the connecting plate 113 is connected to the spindle 106 through it.

[0056] The power of the servo motor 101 can be transmitted to the quick-change bit 105 through the second coupling 104, and finally transmitted to the spindle 106.

[0057] Furthermore, in the above structure, a support rod 112 is axially connected to one side of the core shaft 106, a telescopic cylinder 109 is installed between the sliding seat 114 and the connecting plate 113, a compression spring 110 is installed between the sliding seat 114 and the connecting plate 113, and a displacement sensor 107 is installed on the side of the sliding seat 114 away from the telescopic cylinder 109. The telescopic cylinder 109 and the displacement sensor 107 are wirelessly connected to the PCL control system.

[0058] The connecting plate 113 can be slid independently by the telescopic cylinder 109 2 , so that the coupling 104 2 is separated, thereby cutting off the power of the servo motor 101 , and the displacement sensor 107 can monitor and record the position of the connecting plate 113 in real time.

[0059] Furthermore, in the above structure, the material control system 300 includes a support frame 305, the support frame 305 is installed above the connecting seat 201, and the support frame 305 is installed with four groups, and the support frame 305 is arranged on one side of the channel 206, a detection switch 2 301 is installed above the support frame 305, a detection switch 3 302 is arranged on one side of the detection switch 2 301, and the detection switch 3 302 is fixedly connected to the top of the support frame 305, and the detection switch 2 301 and the detection switch 3 302 are connected to the top of the channel 206, and the connection seat 201 is installed above A material blocking cylinder 303 is installed, and the material blocking cylinder 303 is connected with the bottom of the channel 206, and the material blocking cylinder 303 and the detection switch 301 are in the same vertical and horizontal position, a material blocking cylinder 304 is installed above the connecting seat 201, and the material blocking cylinder 304 is connected with the bottom of the channel 206, and the material blocking cylinder 304 and the detection switch 302 are in the same vertical and horizontal position, the detection switch 2 301, the detection switch 302, the material blocking cylinder 303 and the material blocking cylinder 304 are wirelessly connected to the PCL control system.

[0060] The position of the material in the channel 206 can be detected in real time by the detection switch 2 301 and the detection switch 3 302 , and the discharge of the material in the channel 206 can be controlled by the extension and retraction of the material blocking cylinder 1 303 and the material blocking cylinder 2 304 .

[0061] Furthermore, in the above structure, the visual system 400 includes a fixed bracket 401, which is installed on one side of the connecting base 201. A recognition camera 402 is installed on one side of the fixed bracket 401, and the recognition camera 402 is wirelessly connected to the PCL control system.

[0062] By cooperating with the camera, lens, fill light, controller and other components inside the recognition camera 402, accurate positioning and guidance of workpiece material installation can be achieved, and the recognition camera 402 can meet different recognition object requirements through 2D recognition and 3D recognition.

[0063] like Figure 1-15As shown, first, four sets of vibration plates 502 are fed to the entrance of channel 206. With the help of detection switch 1 205, it is determined whether the material enters channel 206. At the same time, the material blocking cylinder 1 303 and the material blocking cylinder 2 304 are used to control the amount of feeding. The material enters the conveying pipe 204 through channel 206 and is transported to the equipment end. After entering the equipment end, through electrical control, the material enters channel 206 through the conveying pipe 204 to the material blocking cylinder 1 303 and the material blocking cylinder 2 304. If the swing claw cylinder 203 moves When the material is at the material dropping position, and each group of detection switch 2 301 and detection switch 3 302 has a signal, the blocking cylinder 1 303 and blocking cylinder 2 304 at the same position are extended; if the swing claw cylinder 203 is not at the material dropping position, and each group of detection switch 2 301 and detection switch 3 302 has a signal, the blocking cylinder 1 303 and blocking cylinder 2 304 at the same position are retracted, and the other blocking cylinders 1 303 and blocking cylinders 2 304 at the same position are extended to ensure that there is always only one The material enters the hopper 207; the servo tightening system 100 installs the material on the mandrel 106 according to the data signal. At this time, the telescopic cylinder 108 is extended by electrical control, and the servo motor 101 is started, and the material is transmitted to the mandrel 106 through the coupling 1 102 and the coupling 2 104, and then through the quick-change bit 105. The material is installed by floating transmission through the compression spring 110, and the displacement sensor 107 and the torque sensor 103 are used to control and detect the material installation process of the mandrel 106, and the positioning is carried out through the visual system 400, and the material is accurately moved to the material installation hole. Then, the servo tightening system 100 drives the mandrel 106 to install the material into the workpiece hole, and the combined data and signal feedback of the torque sensor 103 and the displacement sensor 107 are fed back until the installation is completed; finally, the system PLC drives the servo motor 101 to reverse and unscrew the mandrel 106, and the robot leaves with the servo tightening equipment, and at the same time, each execution module returns to its position; enter the hole installation of the next workpiece.

[0064] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A flexible intelligent tightening device for installing wire screw inserts of various specifications, comprising a robot and a control system (500), characterized in that: The robot and control system (500) comprises a mechanical control arm (501), the mechanical control arm (501) is linearly connected to a PLC control system, and one side of the mechanical control arm (501) is provided with four groups of vibration disks (502), and the four groups of vibration disks (502) are used to transport materials; The material receiving system (200) is arranged on one side of the mechanical control arm (501) and is used to receive the material from the vibration plate (502): A servo tightening system (100) is arranged on one side of the material receiving system (200) and is used for direct installation of materials; A material control system (300) is arranged on one side of the material receiving system (200) and is used for moving materials in the material receiving system (200); The visual system (400) is arranged below the material receiving system (200) and is used for mechanical communication and data exchange with the mechanical control arm (501).

2. According to claim 1, a flexible intelligent tightening device for installing wire screw inserts of various specifications is characterized by: The material receiving system (200) comprises a connecting seat (201), wherein the connecting seat (201) is rotatably connected to one side of a mechanical control arm (501), a servo electric cylinder module (202) is installed above the connecting seat (201), four groups of swinging air claw cylinders (203) are installed on one side of the servo electric cylinder module (202), and a fixing frame (208) is symmetrically installed above the connecting seat (201).

3. According to claim 2, a flexible intelligent tightening device for installing wire screw inserts of various specifications is characterized in that: A delivery pipe (204) is symmetrically installed in one group of the fixed frames (208), a detection switch (205) is installed on the delivery pipe (204), a channel (206) is connected to one side of the delivery pipe (204), a hopper (207) is installed on one side of the channel (206), and the hopper (207) is arranged on one side of the swing claw cylinder (203), and the structures in the two groups of fixed frames (208) are exactly the same, and the servo electric cylinder module (202), the detection switch (205) and the swing claw cylinder (203) are wirelessly connected to the PCL control system.

4. According to claim 1, a flexible intelligent tightening device for installing wire screw inserts of various specifications is characterized in that: The servo tightening system (100) comprises a guide rail frame (111), wherein the guide rail frame (111) is installed above a connecting seat (201), a telescopic cylinder (108) is installed on one side of the connecting seat (201), and a sliding seat (114) is slidably connected above the guide rail frame (111).

5. According to claim 4, a flexible intelligent tightening device for installing wire screw inserts of various specifications is characterized in that: A servo motor (101) is installed above the sliding seat (114); a coupling (102) is installed at the output end of the servo motor (101); a torque sensor (103) is installed on one side of the coupling (102); the torque sensor (103) is fixedly connected to the top of the sliding seat (114); and the telescopic cylinder (108), the servo motor (101) and the torque sensor (103) are wirelessly connected to the PCL control system.

6. According to claim 5, a flexible intelligent tightening device for installing wire screw inserts of various specifications is characterized in that: A second coupling (104) is installed on one side of the torque sensor (103), a quick-change bit (105) is installed on one side of the second coupling (104), a spindle (106) is installed on one side of the quick-change bit (105), a connecting plate (113) is slidably connected above the guide rail frame (111), and the connecting plate (113) is connected to the spindle (106) through and through.

7. The flexible intelligent tightening device for installing wire screw inserts of various specifications according to claim 6 is characterized in that: A support rod (112) is axially connected to one side of the core shaft (106); a second telescopic cylinder (109) is installed between the sliding seat (114) and the connecting plate (113); a compression spring (110) is installed between the sliding seat (114) and the connecting plate (113); a displacement sensor (107) is installed on the side of the sliding seat (114) away from the second telescopic cylinder (109); and the second telescopic cylinder (109) and the displacement sensor (107) are wirelessly connected to the PCL control system.

8. According to claim 1, a flexible intelligent tightening device for installing wire screw inserts of various specifications is characterized in that: The material control system (300) includes a support frame (305), the support frame (305) is installed above the connecting seat (201), and the support frame (305) is installed with four groups, and the support frame (305) is arranged on one side of the channel (206), a detection switch 2 (301) is installed above the support frame (305), a detection switch 3 (302) is arranged on one side of the detection switch 2 (301), and the detection switch 3 (302) is fixedly connected to the top of the support frame (305), and the detection switch 2 (301) and the detection switch 3 (302) are connected to the top of the channel (206), and the connection seat (201) is installed above There is a material blocking cylinder (303), and the material blocking cylinder (303) is connected to the bottom of the channel (206), and the material blocking cylinder (303) and the detection switch (301) are in the same vertical and horizontal position. A material blocking cylinder (304) is installed above the connecting seat (201), and the material blocking cylinder (304) is connected to the bottom of the channel (206), and the material blocking cylinder (304) and the detection switch (302) are in the same vertical and horizontal position. The detection switch (301), the detection switch (302), the material blocking cylinder (303) and the material blocking cylinder (304) are wirelessly connected to the PCL control system.

9. The flexible intelligent tightening device for installing wire screw inserts of various specifications according to claim 1 is characterized in that: The visual system (400) comprises a fixed bracket (401), wherein the fixed bracket (401) is mounted on one side of the connecting base (201), and an identification camera (402) is mounted on one side of the fixed bracket (401), wherein the identification camera (402) is wirelessly connected to the PCL control system.

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