Automatic screw locking method and device, computer equipment and storage medium

Abstract

The invention provides an automatic screw locking method and device, computer equipment and a storage medium. The automatic screw locking method comprises the following steps: placing a digital product to be locked with a screw in a clamping and fixing area of a base of a positioning mechanism so as to position the digital product; establishing a coordinate system by taking the center of the base connected to the machine table of the screw locking device as an original point; determining electric screwdriver coordinate data of the screw locking device according to the coordinate system; performing image acquisition and processing on the positioned digital product with the screw to be locked so as to obtain actual image data; hole position coordinate data corresponding to screw holes of the digital product with the screws to be locked are calculated according to the actual image data; according to the hole position coordinate data, the screw locking device is controlled to lock the screw in the screw hole position of the digital product to be locked with the screw, so that the screw locking precision of the screw hole is improved, large deviation of automatic screw locking and even damage to the digital product are avoided, and the product yield is improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of new energy digital product manufacturing, and in particular to an automatic screw locking method, device, computer equipment and storage medium. Background Art

[0002] With the rapid development of the new energy field, the types and functions of digital products are constantly enriched, especially plastic shell digital products. Plastic shell digital products occupy an important share in the market, making the manufacturing quality of plastic shell digital products a focus of attention, especially in the PACK production process of plastic shell digital products. The PACK production process of digital products includes the screw locking process.

[0003] The screw locking process in the PACK production process of digital products in the related art causes a large deviation in automatic screw locking, and even causes damage to the digital products, resulting in a low product yield. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies in the prior art and to provide an automatic screw locking method, device, computer equipment and storage medium with a higher product yield.

[0005] The purpose of this disclosure is achieved through the following technical solutions:

[0006] An automatic screw locking method, comprising:

[0007] Place the digital product to be screwed on the clamping and fixing area of ​​the base of the positioning mechanism to position the digital product;

[0008] Establish a coordinate system with the center of the machine platform where the base is connected to the screw locking device as the origin;

[0009] Determine the electric screwdriver coordinate data of the screw locking device according to the coordinate system;

[0010] Capturing and processing the positioned digital product of the screw to be locked to obtain actual image data;

[0011] Calculate hole position coordinate data corresponding to the screw hole of the digital product to be screwed according to the actual image data;

[0012] The screw locking device is controlled according to the hole position coordinate data to lock the screw holes of the digital product to be screwed.

[0013] In one embodiment, the base is provided with a plurality of fixing holes, each of which is used to pass a fixing member so that the base is fixedly connected to the machine platform; the area surrounded by the line connecting the centers of the plurality of fixing holes is the fixing area;

[0014] The step of establishing a coordinate system with the center of the machine platform where the base is connected to the screw locking device as the origin is specifically as follows: establishing the coordinate system with the center point of the fixing area as the origin.

[0015] In one embodiment, the step of placing the digital product to be screwed in the clamping and fixing area of ​​the base of the positioning mechanism includes:

[0016] The digital product to be screwed is placed on the base, which is provided with a first fixing block and a second fixing block;

[0017] The connection position between the adjustable limit block of the positioning mechanism and the base is adjusted so that the adjustable limit block pushes the digital product to be screwed to move toward the first fixing block until the first side surface of the digital product to be screwed abuts against the first positioning surface of the first fixing block;

[0018] The positioning component of the positioning mechanism is controlled to move to push the digital product to be screwed toward the second fixing block until the second side surface of the digital product to be screwed abuts against the second positioning surface of the second fixing block; the first positioning surface, the second positioning surface and the plane where the clamping and fixing area are located are perpendicular to each other.

[0019] In one embodiment, the positioning assembly includes a positioning drive member and an abutment block, and the abutment block is connected to a power output shaft of the positioning drive member;

[0020] The steps of controlling the action of the positioning component of the positioning mechanism are specifically as follows: controlling the positioning drive member to drive the abutment block to move toward the second fixed block; the adjustable limit block is provided with a third positioning surface on the side facing the first fixed block, and the abutment block is provided with a fourth positioning surface, and the first positioning surface, the second positioning surface, the third positioning surface and the fourth positioning surface together form the clamping and fixing area.

[0021] In one embodiment, the step of controlling the positioning drive member to drive the abutment block to move toward the second fixed block is specifically: when the sensor identifies the digital product to be screwed, controlling the positioning drive member to drive the abutment block to move toward the second fixed block.

[0022] In one embodiment, a side of the first fixing block facing away from the base is a reference surface, and the reference surface is parallel to the plane where the clamping and fixing area is located; the distance between the center point of the screw hole of the digital product to be screwed and the first positioning surface is L1, the distance between the center point of the screw hole of the digital product to be screwed and the second positioning surface is L2, and the distance between the center point of the screw hole of the digital product to be screwed and the reference surface is L3; the step of calculating the hole position coordinate data corresponding to the screw hole of the digital product to be screwed according to the actual image data comprises:

[0023] According to the actual image data, the ratio of L1 to the length of the first fixed block is calculated as b, the ratio of L2 to the length of the first fixed block is calculated as d, and the ratio of L3 to the length of the first fixed block is calculated as h;

[0024] The hole position coordinate data corresponding to the screw hole of the digital product to be screwed is obtained by calculating according to b, d, h, the length of the first limit block, and the reference coordinates of the reference point of the reference surface; wherein the reference point of the reference surface is one of the vertices of the first limit block on the reference surface.

[0025] In one of the embodiments, the actual screw hole position of the digital product to be screwed is also determined based on the actual image data;

[0026] Determine whether the actual screw hole position of the digital product to be screwed is equal to the target screw hole position;

[0027] If not, the screw locking device is controlled according to the target screw hole positions to respectively lock the screw holes of the digital product to be screwed.

[0028] An automatic screw locking device is provided, which uses the method described in any of the above embodiments to lock screws on a digital product, and the automatic screw locking device comprises:

[0029] The positioning module is used to place the digital product to be screwed in the clamping and fixing area of ​​the base of the positioning mechanism to position the digital product;

[0030] A coordinate construction module, used to establish a coordinate system with the center of the machine platform where the base is connected to the screw locking device as the origin;

[0031] An electric screwdriver coordinate module, used to determine the electric screwdriver coordinate data of the screw locking device according to the coordinate system;

[0032] An image acquisition module is used to acquire and process the image of the positioned digital product to be screwed to obtain actual image data;

[0033] A hole coordinate module, used to calculate hole coordinate data corresponding to the screw holes of the digital product to be screwed according to the actual image data;

[0034] The screw locking module is used to control the screw locking device to lock the screw holes of the digital product to be screwed according to the hole position coordinate data.

[0035] A computer device comprises a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method described in any one of the above embodiments when executing the computer program.

[0036] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the method described in any of the above embodiments.

[0037] Compared with the prior art, the present invention has at least the following advantages:

[0038] The above-mentioned automatic screw locking method first places the digital product to be screwed in the clamping and fixing area of ​​the base of the positioning mechanism to position the digital product, so that the hole coordinate data can be accurately calculated according to the actual image data; then, a coordinate system is established with the center of the machine platform connected to the screw locking device as the origin; then, the electric screw coordinate data of the screw locking device is determined according to the coordinate system; then, the image of the positioned digital product to be screwed is captured and processed to obtain the actual image data; then, the hole coordinate data corresponding to the screw hole of the digital product to be screwed is calculated according to the actual image data; then, the screw locking device is controlled according to the hole coordinate data to screw the screw hole of the digital product to be screwed, so that the screw locking device can accurately screw the screw hole of the digital product to be screwed, thereby improving the accuracy of screw locking of the screw hole, avoiding the problem of large deviation in automatic screw locking, and even damage to the digital product, thereby improving the product yield. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present disclosure and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0040] Figure 1 A flowchart of the steps of an automatic screw locking method according to an embodiment;

[0041] Figure 2 for Figure 1 The positioning mechanism of the automatic screw locking method and the installation diagram of the industrial camera are shown;

[0042] Figure 3 for Figure 2 A schematic diagram of establishing a coordinate system on a positioning mechanism is shown;

[0043] Figure 4 Product photos for digital products;

[0044] Figure 5 for Figure 1 The step flow chart of step S101 of the automatic screw locking method shown;

[0045] Figure 6 for Figure 3 A partial schematic diagram of the positioning mechanism is shown;

[0046] Figure 7 It is a structural schematic diagram of a screw locking device;

[0047] Figure 8 This is a photo of the screw locking device;

[0048] Fig. 9 for Figure 2 Another schematic diagram showing the installation of the positioning mechanism and the industrial camera;

[0049] Fig.10 1 is a diagram of the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0050] In order to facilitate the understanding of the present disclosure, the present disclosure will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present disclosure are given in the drawings. However, the present disclosure can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present disclosure more thoroughly and comprehensively understood.

[0051] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method.

[0052] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present disclosure. The terms used herein in the specification of the present disclosure are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0053] The present invention provides an automatic screw locking method, comprising: placing a digital product to be screwed in a clamping and fixing area of ​​a base of a positioning mechanism to position the digital product; establishing a coordinate system with the center of a machine platform where the base is connected to a screw locking device as the origin; determining the electric screwdriver coordinate data of the screw locking device according to the coordinate system; capturing and processing an image of the positioned digital product to be screwed to obtain actual image data; calculating hole position coordinate data corresponding to the screw hole of the digital product to be screwed according to the actual image data; and controlling the screw locking device to screw the screw holes of the digital product to be screwed according to the hole position coordinate data.

[0054] The above-mentioned automatic screw locking method first places the digital product to be screwed in the clamping and fixing area of ​​the base of the positioning mechanism to position the digital product, so that the hole coordinate data can be accurately calculated according to the actual image data; then, a coordinate system is established with the center of the machine platform connected to the screw locking device as the origin; then, the electric screw coordinate data of the screw locking device is determined according to the coordinate system; then, the image of the positioned digital product to be screwed is captured and processed to obtain the actual image data; then, the hole coordinate data corresponding to the screw hole of the digital product to be screwed is calculated according to the actual image data; then, the screw locking device is controlled according to the hole coordinate data to screw the screw hole of the digital product to be screwed, so that the screw locking device can accurately screw the screw hole of the digital product to be screwed, thereby improving the accuracy of screw locking of the screw hole, avoiding large deviations in automatic screw locking, and even damage to the digital product, thereby improving the product yield.

[0055] In order to better understand the technical solutions and beneficial effects of the present invention, the present invention is further described in detail below in conjunction with specific embodiments:

[0056] like Figure 1 As shown, an automatic screw locking method of an embodiment is used to lock screws in screw holes of digital products. Further, the automatic screw locking method includes some or all of the following steps:

[0057] S101, placing the digital product to be screwed on the clamping and fixing area of ​​the base of the positioning mechanism to position the digital product to be screwed.

[0058] See also Figure 2 and Figure 3 In this embodiment, the digital product to be screwed is placed in the clamping and fixing area 99 of the base 100 of the positioning mechanism 10 to position the digital product to be screwed. The clamping and fixing area 99 is located on the upper surface of the base 100. Figure 4The digital product shown in the figure has been screwed, and the number of screws is two. For digital products of different sizes, the size of the projection area of ​​the clamping and fixing area 99 on the base 100 is different. The digital product to be screwed is fixed and positioned by the positioning mechanism 10, so as to avoid the situation that the digital product to be screwed is not accurately aligned or moves during image acquisition, thereby improving the accuracy of image acquisition of the digital product to be screwed.

[0059] like Figure 5 As shown, in one embodiment, the step S101 of placing the digital product to be screwed in the clamping and fixing area of ​​the base of the positioning mechanism includes:

[0060] S1012, placing the digital product to be screwed on the base.

[0061] See also Figure 2 and Figure 3 In this embodiment, the base 100 is provided with a first fixed block 110 and a second fixed block 120. Both the first fixed block 110 and the second fixed block 120 can be detachably connected to the base 100, so as to perform regular maintenance on the first fixed block 110 and the second fixed block 120. For example, the first fixed block 110 and the second fixed block 120 are regularly replaced or cleaned or coated with wear-resistant materials, thereby improving the positioning accuracy of the first fixed block 110 and the second fixed block 120. Further, the first fixed block 110 and the second fixed block 120 are both fixed to the base 100 by fixing screws (not shown), so that the first fixed block 110 and the second fixed block 120 can be detachably connected to the base 100. Specifically, the first fixed block 110 and the second fixed block 120 are both provided with positioning holes 112, and the base 100 is provided with threaded holes 107, and the fixing screws are screwed into the threaded holes through the positioning holes. Of course, in other embodiments, the first fixing block 110 and the second fixing block 120 are not limited to being detachably connected to the base 100. For example, the first fixing block 110 and the second fixing block 120 are both welded to the base 100.

[0062] S1014, adjusting the connection position between the adjustable limit block of the positioning mechanism and the base.

[0063] See also Figure 2 and Figure 3 In this embodiment, the connection position between the adjustable limit block 130 of the positioning mechanism 10 and the base 100 is adjusted so that the adjustable limit block 130 pushes the digital product to be screwed toward the first fixed block 110 until the first side surface of the digital product to be screwed abuts against the first positioning surface 113 of the first fixed block 110.

[0064] It can be understood that the first side of the digital product to be screwed is in contact with the first positioning surface 113 of the first fixing block 110, so that the first side of the digital product to be screwed is in contact with the first positioning surface 113. In other embodiments, it is not limited to pushing the digital product to be screwed toward the first fixing block 110 by the adjustable limit block 130. For example, when placing the digital product on the base 100, the first side of the digital product is in contact with the first positioning surface 113, and then the connection position of the adjustable limit block 130 and the base 100 is adjusted so that the adjustable limit block 130 is in contact with the side of the digital product away from the first side. See also Figures 5 and 6 Furthermore, the adjustable limit block 130 is provided with a waist-shaped hole 132, the base 100 is provided with a locking hole 103, and the positioning mechanism 10 also includes a locking piece (not shown), which is screwed into the locking hole 103 through the waist-shaped hole 132, so that the locking piece fixes the adjustable limit block 130 to the base 100. In this embodiment, the locking piece is a screw or a stud. When the relative connection position between the adjustable limit block 130 and the base 100 needs to be adjusted, the locking piece is loosened to adjust the connection position between the adjustable limit block 130 and the base 100; after the connection position between the adjustable limit block 130 and the base 100 is adjusted, the locking piece is tightened. In this way, the connection position between the adjustable limit block 130 and the base 100 is adjusted.

[0065] S1016, controlling the movement of the positioning component of the positioning mechanism to push the digital product to be screwed toward the second fixing block until the second side surface of the digital product to be screwed abuts against the second positioning surface of the second fixing block.

[0066] See also Figure 2 and Figure 3 In this embodiment, the positioning component 140 of the positioning mechanism 10 is controlled to move to push the digital product to be screwed toward the second fixing block 120 until the second side surface of the digital product to be screwed abuts against the second positioning surface 122 of the second fixing block 120, and the first positioning surface 113, the second positioning surface 122 and the plane where the clamping and fixing area 99 are located are perpendicular to each other.

[0067] See also Figure 2 and Figure 3 In one embodiment, the positioning assembly 140 includes a positioning drive member 142 and an abutment block 144, and the abutment block 144 is connected to the power output shaft of the positioning drive member 142, so that the positioning drive member 142 drives the abutment block 144 to move relative to the second fixed block 120, and then the abutment block 144 pushes the digital product to be screwed toward the second fixed block 120 until the second side surface of the digital product to be screwed abuts against the second positioning surface 122 of the second fixed block 120.

[0068] Further, the steps of controlling the movement of the positioning assembly 140 of the positioning mechanism 10 are specifically as follows: controlling the positioning driving member 142 to drive the abutting block 144 to move toward the second fixed block 120; the adjustable limit block 130 is provided with a third positioning surface on the side facing the first fixed block 110, and the abutting block 144 is provided with a fourth positioning surface, and the first positioning surface 113, the second positioning surface 122, the third positioning surface and the fourth positioning surface together enclose the clamping and fixing area 99. In this embodiment, the third positioning surface is parallel to the first positioning surface 113, and the fourth positioning surface is arranged opposite to the second positioning surface 122.

[0069] S103, establishing a coordinate system with the center of the platform where the base is connected to the screw locking device as the origin.

[0070] like Figure 3 , Figure 7 and Figure 8 As shown, in this embodiment, a coordinate system is established with the center of the machine table 32 of the screw locking device 30 connected to the base 100 as the origin O. The base 100 is provided with a plurality of fixing holes 103, each of which is used to pass a fixing member (not shown), that is, the fixing member fixes the base 100 to the machine table 32 through the fixing hole 103, so that the base 100 is fixedly connected to the machine table 32; further, the base 100 is detachably connected to the machine table 32 of the screw locking device, for example, the fixing member is a bolt or a screw. Specifically, there are a plurality of fixing members, and the machine table 32 is provided with a plurality of threaded holes, and the plurality of threaded holes are connected to the plurality of fixing holes 103 in a one-to-one correspondence, and each fixing member is screwed into the corresponding threaded hole through the corresponding fixing hole 103. The area surrounded by the connecting line of the centers of the plurality of fixing holes 103 is the fixing area 103a.

[0071] like Figure 3 As shown, further, the step of establishing a coordinate system with the center of the machine platform 32 of the screw locking device connected to the base 100 as the origin is specifically as follows: the coordinate system is established with the center point of the fixed area as the origin. In this embodiment, the center of the fixed area surrounded by the center of the machine platform 32 of the screw locking device connected to the base 100 is the center of the fixed area. Specifically, the number of fixing parts is four, and the base 100 is provided with four fixing holes 103. Four fixing parts are correspondingly arranged in the four fixing holes 103, and the centers of the four fixing holes 103 are connected in sequence to form a rectangular fixed area. The coordinate system is established with the center point of the fixed area as the origin, that is, with the intersection of the two diagonals of the fixed area as the origin.

[0072] like Figure 3As shown, further, the method of establishing the coordinate system is specifically as follows: the length direction parallel to the base 100 is the X axis, the width direction parallel to the base 100 is the Y axis, and the height direction perpendicular to the surface of the base 100 is the Z axis. It can be understood that according to the distances and relative positions of each position point of the base 100 relative to the origin in the X axis, Y axis, and Z axis, that is, in the X\Y\Z axis directions, the coordinates of any position point of the base 100 relative to the origin can be determined. Similarly, according to the distances and relative positions of each vertex of the first fixed block 110 relative to the origin in the X axis, Y axis, and Z axis directions, the coordinates of each vertex of the first fixed block 110 relative to the origin can be determined.

[0073] In other embodiments, the fixed area is not limited to a rectangular area, and may also be a triangular area or a hexagonal area.

[0074] S105, determining the electric screwdriver coordinate data of the screw locking device according to the coordinate system;

[0075] like Figure 3 , Figure 7 and Figure 8 As shown, in this embodiment, according to the distance and relative position of the electric screwdriver action point of the electric screwdriver 34 of the screw locking device 30 at the initial position relative to the origin in the X\Y\Z axis directions, the electric screwdriver coordinate data of the initial position of the electric screwdriver action point of the screw locking device is determined, so that the relative movement displacement of the electric screwdriver of the screw locking device can be determined after the screw hole position coordinate data is determined.

[0076] S107, collecting and processing images of the positioned digital product of the screws to be tightened to obtain actual image data.

[0077] like Figure 2 and Fig. 9As shown, in this embodiment, the industrial camera 200 takes a photo of the positioned digital product to be screwed, so as to collect and process the image of the positioned digital product to be screwed, and obtain actual image data; the actual image data includes the image data of the screw hole of the digital product and the positioning mechanism 10. Further, a fixing frame 160 is provided on the base 100, and the industrial camera 200 is installed on the fixing frame 160. The industrial camera 200 is located above the base 100, so that the industrial camera 200 can reliably take a photo of the positioned digital product to be screwed. Furthermore, the fixing frame 160 includes a support rod 161, a fixed adjustment block 162, a fixed rod 163 and a mounting block 164, one end of the support rod 161 is fixedly connected to the base 100, the fixed adjustment block 162 is provided with a first through hole 1622 and a second through hole 1624, the support rod 161 is passed through the first through hole 1622 and connected to the fixed adjustment block 162, the fixed rod 163 is passed through the second through hole 1624 and connected to the fixed adjustment block 162, and an angle exists between the fixed rod 163 and the support rod 161; the mounting block 164 is provided with a third through hole 1642, the fixed rod 163 is also passed through the third through hole 1642 and connected to the mounting block 164, and the industrial camera 200 is mounted and fixed on the mounting block 164, so that the industrial camera 200 is mounted on the fixing frame 160. In this embodiment, the connection position between the fixed adjustment block 162 and the support rod 161 is adjustable. Specifically, the fixed adjustment block 162 is provided with a first tightening slit 1623 connected with the first through hole 1622, and the fixed adjustment block 162 is provided with a first through hole 1625 and a first threaded adjustment hole 1626, both of which are connected with the first tightening slit 1623, and a fixing nail (not shown) is screwed to the first threaded adjustment hole 1626 through the first through hole 1625; when adjusting the connection position of the fixed adjustment block 162 and the support rod 161, the fixing nail is loosened to increase the first tightening slit 1623; after the connection position of the fixed adjustment block 162 and the support rod 161 is adjusted, the fixing nail is tightened to reduce the first tightening slit 1623, thereby making the fixed adjustment block 162 relatively connected and fixed to the support rod 161. Further, the connection position of the fixed adjustment block 162 and the fixed rod 163 is adjustable, and the connection position of the mounting block 164 and the fixed rod 163 is adjustable. In this embodiment, the connection mode between the fixed adjustment block 162 and the fixed rod 163 and the connection mode between the mounting block 164 and the fixed rod 163 are the same as the connection mode between the fixed adjustment block 162 and the support rod 161 .

[0078] S109, calculating hole position coordinate data corresponding to the screw holes of the digital product to be screwed according to the actual image data.

[0079] like Figures 2 to 3As shown, in this embodiment, a side of the first fixing block 110 facing away from the base 100 is a reference surface, and the reference surface is parallel to the plane where the clamping and fixing area 99 is located; the distance between the center point of the screw hole of the digital product to be screwed and the first positioning surface 113 is L1, the distance between the center point of the screw hole of the digital product to be screwed and the second positioning surface 122 is L2, and the distance between the center point of the screw hole of the digital product to be screwed and the reference surface is L3; the step of calculating the hole position coordinate data corresponding to the screw hole of the digital product to be screwed according to the actual image data includes:

[0080] S1091, calculate the ratio of L1 to the length of the first fixed block 110 as b according to the actual image data, calculate the ratio of L2 to the length of the first fixed block 110 as d, and calculate the ratio of L3 to the length of the first fixed block 110 as h, and thus calculate the ratios b, d, and h according to the values ​​of L1, L2, and L3, respectively.

[0081] S1093, calculate according to b, d, h, the length of the first limit block, and the reference coordinates of the reference point of the reference surface, and obtain the hole coordinate data corresponding to the screw hole of the digital product to be screwed, that is, obtain the hole coordinate data of the center point of the screw hole of the digital product to be screwed relative to the origin. In this embodiment, the length of the first limit block is Lc; the reference point of the reference surface is one of the vertices of the first limit block on the reference surface; the reference coordinates of the reference point are the coordinates of one of the vertices of the first limit block on the reference surface, that is Figure 3 The coordinates of vertex A are shown; after the coordinate system is established, the coordinates of vertex A are determined based on the distance of vertex A relative to the origin in the X\Y\Z axis direction.

[0082] S111, controlling the screw locking device to lock the screw holes of the digital product to be screwed according to the hole position coordinate data.

[0083] In this embodiment, the step of controlling the screw locking device to lock the screw holes of the digital product to be screwed according to the hole position coordinate data includes: first calculating the target movement displacement according to the hole position coordinate data and the electric screwdriver coordinate data; then controlling the electric screwdriver action point of the screw locking device to move to the screw hole of the digital product according to the target movement displacement; and locking the screw in the screw hole of the digital product at the electric screwdriver action point of the screw locking device, thereby improving the accuracy of screw locking of the screw holes and avoiding the problem of large deviation in automatic screw locking and even damage to the digital product.

[0084] The above-mentioned automatic screw locking method first places the digital product to be screwed in the clamping and fixing area 99 of the base 100 of the positioning mechanism 10 to position the digital product so that the hole coordinate data can be accurately calculated based on the actual image data; then, a coordinate system is established with the base 100 connected to the center of the machine table 32 of the screw locking device as the origin; then, the electric screw coordinate data of the screw locking device is determined according to the coordinate system; then, the image of the positioned digital product to be screwed is captured and processed to obtain the actual image data; then, the hole coordinate data corresponding to the screw hole of the digital product to be screwed is calculated based on the actual image data; then, the screw locking device is controlled according to the hole coordinate data to screw the screw hole of the digital product to be screwed, so that the screw locking device can accurately screw the screw hole of the digital product to be screwed, thereby improving the accuracy of screw locking of the screw hole, avoiding the problem of large deviation in automatic screw locking, and even damage to the digital product, thereby improving the product yield.

[0085] like Figure 2 As shown, further, the abutment block 144 is a special-shaped block, so that the positioning drive member 142 drives the abutment block 144 to abut against the digital product better. In the present embodiment, the positioning drive member 142 is a hydraulic cylinder. Further, the abutment block 144 is detachably connected to the positioning drive member 142, so as to replace the corresponding abutment block 144 for digital products of different specifications, thereby improving the versatility and adaptability of the automatic screw locking method. In the present embodiment, the abutment block 144 is fixedly connected to the drive shaft of the positioning drive member 142 by connecting screws. Specifically, the abutment block 144 is provided with a connecting hole, and the end of the drive shaft of the positioning drive member 142 is provided with a connecting screw hole, and the connecting screw is screwed to the screw connection screw hole through the connecting hole, so that the abutment block 144 is fixedly connected to the drive shaft of the positioning drive member 142 by connecting screws. Of course, in other embodiments, the end of the drive shaft of the positioning drive member 142 and the abutment block 144 are not limited to the method of fixing by connecting screws, but can also be fixed by snap-fitting.

[0086] In one embodiment, the step of controlling the positioning drive member 142 to drive the abutment block 144 to move toward the second fixed block 120 is specifically: when the sensor recognizes the digital product to be screwed, the positioning drive member 142 is controlled to drive the abutment block 144 to move toward the second fixed block 120, so that the positioning drive member 142 can automatically drive the abutment block 144 to move toward the second fixed block 120. In this embodiment, the sensor is a photoelectric sensor.

[0087] In one of the embodiments, the actual screw hole positions of the digital product to be screwed are also determined based on the actual image data, that is, the number of screw holes of the digital product to be screwed is determined, so that the automatic screw locking method can screw the screw holes of the digital product in sequence; then, it is determined whether the actual screw hole positions of the digital product to be screwed are equal to the target screw hole positions; if not, the screw locking device is controlled according to the target screw hole positions to screw the screw holes of the digital product to be screwed, thereby improving the intelligence and accuracy of screw locking in the automatic screw locking method.

[0088] Furthermore, the step of determining the actual screw hole position of the digital product to be screwed according to the actual image data includes: outputting the actual image data as screw hole position data of the digital product to be screwed.

[0089] Furthermore, the steps of judging whether the actual screw hole position of the digital product to be screwed is equal to the target screw hole position; if not, controlling the screw locking device to screw the screw holes of the digital product to be screwed according to the target screw hole position include: first, judging whether the actual screw hole position of the digital product to be screwed is equal to the target screw hole position; if not, displaying the actual screw hole position of the digital product to be screwed; then, replacing the actual screw hole position of the digital product to be screwed with the target screw hole position; then, controlling the screw locking device to screw the screw holes of the digital product to be screwed according to the target screw hole position. In this embodiment, the actual image data is output and the screw hole position data of the digital product to be screwed is displayed, so as to manually assist in checking whether the actual screw hole position of the digital product to be screwed is equal to the target screw hole position, so as to facilitate manual confirmation of whether it is correct.

[0090] Furthermore, the step of replacing the actual screw hole position of the digital product to be screwed with the target screw hole position is specifically: modifying and adding the actual screw hole position of the digital product to be screwed and updating the database, so that the modified actual screw hole position of the digital product to be screwed is equal to the target screw hole position, thereby improving the accuracy of screw locking. In this embodiment, the step of modifying and adding the actual screw hole position of the digital product to be screwed and updating the database can be performed manually or automatically by the system.

[0091] Of course, in other embodiments, if the actual screw hole position of the digital product to be screwed is not equal to the target screw hole position, the actual screw hole position of the digital product to be screwed is not displayed. After the system intelligently determines that the actual screw hole position of the digital product to be screwed is incorrect, the actual screw hole of the digital product to be screwed is directly replaced with the target screw hole position without manual confirmation in between, thereby improving the intelligence of the automatic screw locking method.

[0092] Furthermore, before the step of determining whether the actual screw hole position of the digital product to be screwed is equal to the target screw hole position, the automatic screw locking method also includes: establishing a hole position database in which multiple digital products correspond one to one with multiple target screw hole positions, so as to enable the automatic screw locking method to intelligently determine and compare whether the actual screw hole position of the digital product to be screwed is incorrect, thereby improving the intelligence and applicability of the automatic screw locking method.

[0093] Furthermore, before the step of controlling the screw locking device to screw the screw holes of the digital product to be screwed according to the hole coordinate data, the automatic screw locking method also includes: establishing a parameter database that corresponds one-to-one between multiple digital products and multiple screw locking parameters, so that the corresponding screw locking parameters can be retrieved for different models of digital products during the screw locking operation, thereby improving the intelligence and applicability of the automatic screw locking method. In this embodiment, the screw locking parameters are the number of screw locking turns, rotation speed and torque of the electric screwdriver to ensure that the screws can be locked in place and avoid the problem of thread slippage.

[0094] Furthermore, before placing the digital product to be screwed in the clamping and fixing area of ​​the base of the positioning mechanism, the automatic screw locking method also includes: establishing a drive database in which multiple digital products correspond to multiple positioning drive parameters one by one, so as to avoid the abutment block 144 abutting against the digital product to be screwed with insufficient force, resulting in product shaking when screwing, or the abutment block 144 abutting against the digital product to be screwed with excessive force, resulting in product tilting when screwing, so that the positioning drive member 142 drives the abutment block 144 to reliably abut against the digital product to be screwed, and at the same time improves the applicability of the positioning drive member 142. In this embodiment, the positioning drive parameter is a parameter of the positioning drive member. Specifically, the positioning drive parameter is the pressure and stroke of the oil cylinder.

[0095] Furthermore, before the step of placing the digital product to be screwed in the clamping and fixing area of ​​the base of the positioning mechanism, the automatic screw locking method also includes: obtaining the model of the digital product to be screwed, outputting and displaying the model of the corresponding abutment block 144, so as to facilitate manual reference and quick replacement of the corresponding abutment block 144, thereby improving ease of use.

[0096] Furthermore, before placing the digital product to be screwed in the clamping and fixing area of ​​the base of the positioning mechanism, the automatic screw locking method further includes: establishing a one-to-one correspondence between multiple digital products and multiple abutment blocks 144 models, so that after manually inputting the model of the digital product to be screwed, the system can intelligently output and display the corresponding abutment block 144, thereby improving the convenience and applicability of use. In this embodiment, different models of digital products are selected with corresponding models of abutment blocks 144, so that different models of digital products can be reliably abutted and positioned.

[0097] Furthermore, before the step of controlling the screw locking device to lock the screw holes of the digital product to be screwed according to the hole position coordinate data, the automatic screw locking method further includes: establishing a hole position coordinate database that corresponds one-to-one between multiple digital products and target screw hole coordinate data of multiple screw holes, so as to check whether the hole position coordinate data of the screw holes of the current digital product to be screwed has a large deviation after step S109, so as to ensure the accuracy of coordinate acquisition. Furthermore, after step S109, the automatic screw locking method further includes: comparing the actual hole position coordinate data with the target screw hole coordinate data, and if the difference between the coordinate data of any dimension of the actual hole position coordinate data in the XYZ axis and the coordinate data of the dimension corresponding to the target screw hole coordinate data is greater than a preset threshold, then updating the actual hole position coordinate data to the hole position coordinate database. In this embodiment, the step of updating the actual hole position coordinate data to the hole position coordinate database is specifically: checking whether the product is warped or not accurately positioned; if not, updating the actual hole position coordinate data to the hole position coordinate database, thereby improving the accuracy of subsequent screw locking.

[0098] Furthermore, the step of controlling the screw locking device to lock the screw holes of the digital product to be screwed according to the hole coordinate data includes: controlling the screw locking device to lock the screw holes of the digital product to be screwed according to the hole coordinate data, and collecting images of the entire screw locking process, and implementing feedback of scene image data; if the screw falls off the electric screwdriver or the screw hole is missing, the alarm will sound an alarm to remind the worker to solve the problem in time, thereby improving the convenience of use. Furthermore, if the actual parameters of the electric screwdriver for locking the screw deviate greatly from the screw locking parameters, the alarm will sound an alarm to remind the worker to solve the fault point in time, thereby improving the convenience of use.

[0099] The present application also provides an automatic screw locking device, which uses the method described in any of the above embodiments to lock screws on digital products. The automatic screw locking device includes a positioning module, a coordinate construction module, an electric screw coordinate module, an image acquisition module, a hole coordinate module and a screw locking module; the positioning module is used to place the digital product to be screwed in the clamping and fixing area of ​​the base of the positioning mechanism to position the digital product; the coordinate construction module is used to establish a coordinate system with the center of the machine platform where the base is connected to the screw locking device as the origin; the electric screw coordinate module is used to determine the electric screw coordinate data of the screw locking device according to the coordinate system; the image acquisition module is used to capture and process the image of the positioned digital product to be screwed to obtain actual image data; the hole coordinate module is used to calculate the hole coordinate data corresponding to the screw hole of the digital product to be screwed according to the actual image data; the screw locking module is used to control the screw locking device to lock the screw holes of the digital product to be screwed according to the hole coordinate data.

[0100] In this embodiment, the digital product to be screwed is first placed in the clamping and fixing area of ​​the base of the positioning mechanism to position the digital product, so that the hole coordinate data can be accurately calculated according to the actual image data; then, a coordinate system is established with the center of the machine platform connected to the screw locking device as the origin; then, the electric screw coordinate data of the screw locking device is determined according to the coordinate system; then, the image of the positioned digital product to be screwed is captured and processed to obtain the actual image data; then, the hole coordinate data corresponding to the screw hole of the digital product to be screwed is calculated according to the actual image data; then, the screw locking device is controlled according to the hole coordinate data to screw the screw hole of the digital product to be screwed, so that the screw locking device can accurately screw the screw hole of the digital product to be screwed, thereby improving the accuracy of screwing the screw hole, avoiding the problem of large deviation in automatic screw locking, and even damage to the digital product, thereby improving the product yield.

[0101] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Fig.10 As shown. The computer device includes a processor, a memory and a network interface connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data such as electric batch coordinate data, positioning drive parameters and screw locking parameters. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a battery batch production configuration monitoring method is implemented.

[0102] Those skilled in the art will understand that Fig.10 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0103] In one of the embodiments, the present application further provides a computer device, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0104] In one of the embodiments, the present application further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0105] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0106] The above-described embodiments only express several implementation methods of the present disclosure, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present disclosure. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present disclosure, and these all belong to the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be subject to the attached claims.

Claims

1. An automatic screw locking method, characterized in that: include: Place the digital product to be screwed on the clamping and fixing area of ​​the base of the positioning mechanism to position the digital product; Establish a coordinate system with the center of the machine platform where the base is connected to the screw locking device as the origin; Determine the electric screwdriver coordinate data of the screw locking device according to the coordinate system; Capturing and processing the positioned digital product of the screw to be locked to obtain actual image data; Calculate hole position coordinate data corresponding to the screw hole of the digital product to be screwed according to the actual image data; The screw locking device is controlled according to the hole position coordinate data to lock the screw holes of the digital product to be screwed.

2. The automatic screw locking method according to claim 1, characterized in that: The base is provided with a plurality of fixing holes, each of which is used to pass a fixing member so that the base is fixedly connected to the machine platform; the area surrounded by the line connecting the centers of the plurality of fixing holes is the fixing area; The step of establishing a coordinate system with the center of the machine platform where the base is connected to the screw locking device as the origin is specifically as follows: establishing the coordinate system with the center point of the fixing area as the origin.

3. The automatic screw locking method according to claim 1, characterized in that: The steps of placing the digital product to be screwed on the clamping and fixing area of ​​the base of the positioning mechanism include: The digital product to be screwed is placed on the base, which is provided with a first fixing block and a second fixing block; The connection position between the adjustable limit block of the positioning mechanism and the base is adjusted so that the adjustable limit block pushes the digital product to be screwed to move toward the first fixing block until the first side surface of the digital product to be screwed abuts against the first positioning surface of the first fixing block; Control the movement of the positioning component of the positioning mechanism to push the digital product to be screwed toward the second fixing block until the second side surface of the digital product to be screwed abuts against the second positioning surface of the second fixing block; the first positioning surface, the second positioning surface and the plane where the clamping and fixing area are located are perpendicular to each other.

4. The automatic screw locking method according to claim 3, characterized in that: The positioning assembly includes a positioning drive member and an abutment block, wherein the abutment block is connected to a power output shaft of the positioning drive member; The steps of controlling the action of the positioning component of the positioning mechanism are specifically as follows: controlling the positioning drive member to drive the abutment block to move toward the second fixed block; the adjustable limit block is provided with a third positioning surface on the side facing the first fixed block, and the abutment block is provided with a fourth positioning surface, and the first positioning surface, the second positioning surface, the third positioning surface and the fourth positioning surface together form the clamping and fixing area.

5. The automatic screw locking method according to claim 4, characterized in that: The step of controlling the positioning drive member to drive the abutment block to move toward the second fixed block is specifically: when the sensor identifies the digital product to be screwed, controlling the positioning drive member to drive the abutment block to move toward the second fixed block.

6. The automatic screw locking method according to claim 3, characterized in that: The side of the first fixing block facing away from the base is a reference surface, and the reference surface is parallel to the plane where the clamping and fixing area is located; the distance between the center point of the screw hole of the digital product to be screwed and the first positioning surface is L1, the distance between the center point of the screw hole of the digital product to be screwed and the second positioning surface is L2, and the distance between the center point of the screw hole of the digital product to be screwed and the reference surface is L3; The step of calculating hole position coordinate data corresponding to the screw hole of the digital product to be screwed according to the actual image data comprises: According to the actual image data, the ratio of L1 to the length of the first fixed block is calculated as b, the ratio of L2 to the length of the first fixed block is calculated as d, and the ratio of L3 to the length of the first fixed block is calculated as h; The hole position coordinate data corresponding to the screw hole of the digital product to be screwed is obtained by calculating according to b, d, h, the length of the first limit block, and the reference coordinates of the reference point of the reference surface; wherein the reference point of the reference surface is one of the vertices of the first limit block on the reference surface.

7. The automatic screw locking method according to claim 6, characterized in that: The actual screw hole position of the digital product to be screwed is also determined according to the actual image data; Determine whether the actual screw hole position of the digital product to be screwed is equal to the target screw hole position; If not, the screw locking device is controlled according to the target screw hole positions to respectively lock the screw holes of the digital product to be screwed.

8. An automatic screw locking device, characterized in that: The method according to any one of claims 1 to 7 is used to screw a digital product, wherein the automatic screw locking device comprises: The positioning module is used to place the digital product to be screwed in the clamping and fixing area of ​​the base of the positioning mechanism to position the digital product; A coordinate construction module, used to establish a coordinate system with the center of the machine platform where the base is connected to the screw locking device as the origin; An electric screwdriver coordinate module, used to determine the electric screwdriver coordinate data of the screw locking device according to the coordinate system; An image acquisition module is used to acquire and process the image of the positioned digital product to be screwed to obtain actual image data; A hole coordinate module, used to calculate hole coordinate data corresponding to the screw holes of the digital product to be screwed according to the actual image data; The screw locking module is used to control the screw locking device to lock the screw holes of the digital product to be screwed according to the hole position coordinate data.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

Images