Cross recessed pan head self-tapping screw and elastic flat gasket combined equipment

Abstract

The invention relates to the technical field of self-tapping screw and gasket combination, and provides cross recessed pan head self-tapping screw and elastic flat gasket combination equipment which comprises a mounting part, a cross recessed pan head self-tapping screw and an elastic flat gasket. The feeding part is arranged on the mounting part, and the feeding part is used for outputting screws and gaskets respectively; wherein the gasket is an elastic gasket or a flat gasket; the combining part is arranged on the mounting part and located on the side of the output end of the feeding part, and the combining part is used for receiving and combining the screws and the gaskets output by the feeding part and outputting the combined screws and the gaskets; and the output part is arranged on the mounting part and is positioned beside the output end of the combination part. According to the cross recess pan head self-tapping screw and elastic flat gasket combination equipment, the technical problem that when a combined long screw and a gasket with the large aperture are output, the screw and the gasket are possibly separated in the boxing process due to the large aperture of the gasket can be solved.

Description

Technical Field

[0001] The present application relates to the technical field of screw and washer combination, and in particular to a cross recessed pan head self-tapping screw and spring flat washer combination device. Background Art

[0002] The screw and washer assembly equipment is an automated mechanical device, which is mainly used to quickly assemble screws with flat washers, spring washers (spring washers) and other components into one, so as to replace manual operation and improve production efficiency.

[0003] However, when the existing screw and washer combination equipment outputs a combined long screw (for example, a self-tapping screw with a length of more than 10 cm) and a washer with a larger hole diameter (for example, when used to connect easily deformed or non-rigid structures (such as plastic parts, wood), the larger washer hole diameter can provide a larger adjustment space, allowing the screw to move within a certain range to avoid stress concentration or fracture caused by structural deformation), the screw and washer may separate during the boxing process due to the large washer hole diameter. Summary of the invention

[0004] The embodiment of the present application provides a cross recessed pan head tapping screw and spring flat washer combination device, which can improve the technical problem existing in the related art that when the long screws after output combination are combined with washers with larger apertures, the screws and washers may separate during the boxing process due to the larger aperture of the washers.

[0005] In a first aspect, an embodiment of the present application provides a cross recessed pan head tapping screw and a spring washer assembly device, comprising: Installation Department; A feeding part, arranged on the mounting part, and used to output screws and washers respectively; wherein the washers are spring washers or flat washers; a combining portion, which is disposed on the mounting portion and is located beside the output end of the feeding portion, and is used to receive and combine the screws and washers output by the feeding portion, and output the combined screws and washers; and The output part is arranged on the mounting part and is located beside the output end of the combination part. The output part includes a blanking plate, two blocking mechanisms and a blowing device. The blanking plate is used to receive and output the combined screws and washers output by the combination part. A plurality of blowing holes are provided on the blanking plate. The two blocking mechanisms are respectively and movably arranged on the blanking plate and arranged opposite to each other. A plurality of side blowing holes are provided on the blocking mechanism. The blowing device is arranged on the mounting part. The blowing device is used to adjust the posture of the combined screws and washers through the blowing holes and the side blowing holes in the process that the combined screws and washers slide down on the blanking plate.

[0006] The above technical solutions in the embodiments of the present application have at least the following technical effects: The cross recessed pan head tapping screw and spring flat washer combination device provided in the embodiment of the present application provides support through the mounting part. The screws and spring washers are then conveyed separately through the feeding part, or the screws and flat washers are conveyed separately to provide materials. The screws and washers outputted by the feeding part are then received by the combination part, and the screws and washers are combined in the process of outputting the screws and washers, thereby avoiding the process of manually installing the washers one by one and improving work efficiency. The combined screws and washers are then received and guided to be outputted through the cooperation between the blanking plate and the two blocking mechanisms, and the posture of the combined screws and washers is adjusted toward the blowing holes and / or the side blowing holes through the blowing device in the process of the screws and washers sliding on the blanking plate, thereby improving the technical problem that the screws and washers with larger apertures collide with the box body during the boxing process, resulting in the separation of the screws and washers.

[0007] In a second aspect, an embodiment of the present application provides a method for assembling a cross recessed pan head tapping screw and a spring flat washer, which is applied to any of the above-mentioned cross recessed pan head tapping screw and spring flat washer assembly devices, and the method comprises: Acquire an output image; wherein the output image is an image acquired in real time at a preset time interval reflecting the relative position of the combination nail on the blanking plate, the blanking plate and the blocking mechanism, wherein the combination nail is a screw and a washer combined by the combination unit; Obtaining posture detection information based on the output image; wherein the posture detection information includes posture information and a force application position, the posture information includes information reflecting whether the sliding posture of the combination nail during the sliding process is qualified and the inclination angle of the combination nail during the sliding process, and the force application position reflects a specific position on the combination nail; An output control scheme is obtained based on the posture detection information; wherein the output control scheme is used to control the blowing device.

[0008] The above technical solutions in the embodiments of the present application have at least the following technical effects: By obtaining an output image reflecting the relative position of the combination nail on the blanking plate, the blanking plate and the blocking mechanism, a basis is provided for analyzing the sliding posture of the combination nail and the position between the blowing hole and the side blowing hole. Then, by obtaining posture detection information including posture information and force application position based on the output image, the tilt angle of the combination nail when sliding, the blowing force required to adjust the tilt angle and the blowing force action position are analyzed to provide a basis for the force required to change the sliding posture of the combination nail. Finally, based on the posture detection information, an output control scheme for controlling the blowing device is obtained to adjust the sliding posture of the combination nail during the sliding process of the combination nail, so that the combination nail falls into the box with a suitable posture, reducing the possibility of the screw and the washer being separated due to the collision between the screw and the washer with a larger hole diameter and the box body during the boxing process. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0010] Figure 1 A schematic diagram of the structure of a cross recessed pan head tapping screw and a spring washer assembly device provided in an embodiment of the present application; Figure 2 for Figure 1 A schematic diagram of the side view of the cross recessed pan head tapping screw and spring washer assembly; Figure 3 for Figure 1 A schematic diagram of the partially enlarged structure at center A; Figure 4 A schematic diagram of the structure of the output unit provided in the embodiment of the present application; Figure 5 A schematic diagram of a process for assembling a cross recessed pan head tapping screw and a spring flat washer provided in an embodiment of the present application; Figure 6 A schematic flow chart of step S200 in the method for assembling a cross recessed pan head tapping screw and a spring washer provided in an embodiment of the present application.

[0011] Among them, the reference numerals in the figure are: 100. Cross recessed pan head tapping screw and spring flat washer combination device; 10. Installation part; 20. Feeding part; 30. Combination part; 31. Screw clamping and conveying device; 311. Fixing frame; 312. Conveying drive device; 313. Screw clamping mechanism; 3131. Rotation drive mechanism; 3132. Screw clamping jaw; 32. Washer clamping device; 321. Washer feeding pipe; 322. Washer clamping jaw; 323. Induction device; 40. Output part; 41. Blanking plate; 411. Blowing hole; 42. Blocking mechanism; 421. Side blowing hole; 422. Upper sliding member; 423. Upper blocking member; 424. Lower blocking member; 425. Lower sliding member; 43. Blowing device; 44. Image acquisition device; 45. Blowing pipe; 46. Output space. DETAILED DESCRIPTION

[0012] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0013] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application. The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned figure descriptions are intended to cover non-exclusive inclusions.

[0014] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0015] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0016] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0017] In this application, "and / or" is only a description of the association relationship of associated objects, indicating that there can be three relationships; for example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0018] It should be noted that, in the present application, words such as "in some embodiments", "exemplarily", "for example", etc. are used to indicate examples, illustrations or descriptions. Any embodiment or design described in the present application as "in some embodiments", "exemplarily", "for example" should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "in some embodiments", "exemplarily", "for example", etc. is intended to present related concepts in a concrete way, meaning that specific features, structures or characteristics described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the above words in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0019] The screw and washer assembly equipment is an automated mechanical device, which is mainly used to quickly assemble screws with flat washers, spring washers (spring washers) and other components into one, so as to replace manual operation and improve production efficiency.

[0020] However, when the existing screw and washer combination equipment outputs a combined long screw (for example, a self-tapping screw with a length of more than 10 cm) and a washer with a larger hole diameter (for example, when used to connect easily deformed or non-rigid structures (such as plastic parts, wood), the larger washer hole diameter can provide a larger adjustment space, allowing the screw to move within a certain range to avoid stress concentration or fracture caused by structural deformation), the screw and washer may separate during the boxing process due to the large washer hole diameter.

[0021] Based on this, in order to improve the technical problem in the related art that when a long screw and a washer with a larger hole diameter are output and combined, the screw and the washer may be separated during the boxing process due to the larger hole diameter of the washer, the embodiment of the present application provides the following solution.

[0022] See also Figure 1 The embodiment of the present application provides a cross recessed pan head self-tapping screw and spring flat washer assembly device 100, the cross recessed pan head self-tapping screw and spring flat washer assembly device 100 comprises a mounting portion 10, a feeding portion 20, a combination portion 30 and an output portion 40, wherein: The feeding part 20 is arranged on the mounting part 10, and the feeding part 20 is used to output screws and washers respectively; wherein the washers are spring washers or flat washers.

[0023] The combining portion 30 is disposed on the mounting portion 10 and is located beside the output end of the feeding portion 20 . The combining portion 30 is used to receive and combine the screws and washers outputted from the feeding portion 20 , and output the combined screws and washers.

[0024] The output part 40 is arranged on the mounting part 10 and is located beside the output end of the combination part 30. The output part 40 includes a blanking plate 41, two blocking mechanisms 42 and a blowing device 43. The blanking plate 41 is used to receive and output the combined screws and washers output by the combination part 30. A plurality of blowing holes 411 are provided on the blanking plate 41. The two blocking mechanisms 42 are respectively and movably arranged on the blanking plate 41 and arranged opposite to each other. A plurality of side blowing holes 421 are provided on the blocking mechanism 42. The blowing device 43 is arranged on the mounting part 10. The blowing device 43 is used to adjust the posture of the combined screws and washers through the blowing holes 411 and the side blowing holes 421 when the combined screws and washers slide on the blanking plate 41.

[0025] It can be understood that the mounting portion 10 is a supporting structure that can play a supporting role. For example, the supporting portion can be an aluminum plate, an iron plate, etc., but not limited to this. The feeding portion 20 is a device that can output screws and washers respectively. For example, the feeding portion 20 can include two vibration feeding devices (step-type vibration feeding device, push-type vibration feeding device, etc., but not limited to this). The two vibration feeding devices are respectively arranged on the mounting portion 10, one of which is used to convey washers and the other is used to convey screws. The height of the vibration feeding device for conveying washers can be higher than that of the vibration feeding device for conveying screws, so that the height of the output washers is higher than that of the screws, which is convenient for the subsequent combination of washers and screws. The combining part 30 is a device that can receive and combine the screws and washers output by the feeding part 20. For example, the combining part 30 may include two mechanical clamps (parallel pneumatic clamps, flexible adaptive clamps, etc.) respectively arranged on the mounting part 10, but not limited to this. One of the mechanical clamps is used to clamp the screw, and the other mechanical clamp is used to clamp the washer (spring washer or flat washer) and combine the clamped washer with the screw clamped by the other mechanical clamp. The mechanical clamp that clamps the screw outputs the combined screw and washer after the screw and the washer are combined. The output part 40 is a device that can receive and output the combined screws and washers output by the combination part 30, and adjust the posture of the screws during the output of the screws and washers. For example, the output part 40 may include a slide plate (rubber plate, aluminum plate, etc.) and a guide plate (rubber plate, aluminum plate, etc.), but is not limited to this. The slide plate can be set on the mounting part 10 and located on the side of the output end of the combination part 30. The angle formed by the contact surface of the slide plate, the screw and the mounting part 10 can be adjusted between 15 degrees and 30 degrees to control the sliding speed of the screw when it slides. The guide plate can be set on both sides of the screw output direction so that the screw collides with the guide plate when it slides to change and adjust the sliding posture of the screw. The blanking plate 41 is a plate-like structure. For example, the blanking plate 41 can be a rubber plate, an aluminum plate, etc., but is not limited to this. The angle formed by the contact surface of the blanking plate 41 and the screw and the mounting portion 10 can be adjusted between 15 degrees and 30 degrees to control the sliding speed of the screw when sliding. The penetration direction of the blowing hole 411 opened on the blanking plate 41 (the straight line connecting the midpoints of the cross-sections at both ends of the blowing hole 411) can form an angle between 15 degrees and 30 degrees with the contact surface of the blanking plate 41 and the screw.The blocking mechanism 42 is a plate-like structure movably arranged on the blanking plate 41. For example, the blocking mechanism 42 may include a magnetic member (multi-stage magnet, magnetic gasket, etc.) and a rotating plate (aluminum plate, plastic plate, etc.), but is not limited thereto. The magnetic member is adsorbed on the side of the blanking plate 41 close to the output end of the combination part 30 by magnetic force, and the rotating plate is rotatably arranged on the magnetic member. By rotating the rotating plate, the distance between the two ends of the two rotating plates close to the output end of the combination part 30 is made greater than the distance between the two ends of the two rotating plates away from the output end of the combination part 30, so as to form a funnel-shaped space, so that when the screw collides with the rotating plate during the output along the blanking plate 41, the rotating plate can guide and change the sliding posture of the screw. The blowing device 43 is an air source mechanism that can blow air through the blowing hole 411 alone, blow air through the side blowing hole 421 alone, or blow air through the blowing hole 411 and the side blowing hole 421 at the same time. For example, the blowing device 43 may include an air source component (piston air compressor, screw air compressor, etc.), multiple ventilation pipes (rubber tubes, plastic tubes, etc.) and multiple solenoid valves (direct-acting solenoid valves, pilot solenoid valves), etc., but not limited to this. The multiple ventilation pipes are respectively connected to each blowing hole 411 and the air source component or are respectively connected to each side blowing hole 421 and the air source component. The air source component is used to blow air to the blowing hole 411 or the side blowing hole 421 through the ventilation pipe. The multiple solenoid valves are respectively arranged in each ventilation pipe, and the solenoid valve is used to control the on and off of the ventilation pipe.

[0026] As can be seen from the above, the cross recessed pan head tapping screw and spring flat washer combination device 100 provided in the embodiment of the present application is supported by the mounting portion 10. The screws and washers are then respectively conveyed through the feeding portion 20 to provide materials. The screws and washers output by the feeding portion 20 are then received by the combination unit 30, and the screws and washers are combined in the process of outputting the screws and washers, thereby avoiding the process of manually installing the washers one by one and improving work efficiency. The combined screws and washers are then received and guided to be output through the mutual cooperation of the blanking plate 41 and the two blocking mechanisms 42, and the posture of the combined screws and washers is adjusted to the blowing hole 411 and / or the side blowing hole 421 through the blowing device 43 during the process of the screws and washers sliding on the blanking plate 41, thereby improving the technical problem that the screws and washers with larger apertures collide with the box body during the boxing process, resulting in the separation of the screws and washers.

[0027] In some embodiments, please refer to Figures 1 to 3 The assembly part 30 includes a screw clamping and conveying device 31 and a washer clamping device 32 .

[0028] The screw clamping and conveying device 31 is arranged on the mounting portion 10 and is located next to the screw output end of the loading portion 20. The screw clamping and conveying device 31 is used to clamp the screws output by the loading portion 20 according to a preset screw clamping force and move the screws to the input end of the output portion 40 according to a preset path.

[0029] The washer clamping device 32 is arranged on the screw clamping and conveying device 31 and is located next to the washer output end of the loading part 20. The washer clamping device 32 is used to output at a preset angle and clamp the washer output from the loading part 20 according to a preset washer clamping force, and make the washer located directly above the preset path.

[0030] Among them, the preset screw clamping force is greater than the preset washer clamping force. When the screw clamping and conveying device 31 moves the screw along the preset path, the height of one end of the screw close to the washer clamping device 32 can be equal to the height of the center of the hole of the washer clamped by the washer clamping device 32, and the screw can be combined with the washer clamped by the washer clamping device 32.

[0031] It can be understood that the screw clamping and conveying device 31 is a device that can clamp the screw output from the feeding part 20 according to a preset screw clamping force, and move the screw to the input end of the output part 40 according to a preset path. For example, the screw clamping and conveying device 31 may include a conveying device (flat belt conveyor, plastic chain plate conveyor, etc.) and a mechanical clamp (parallel pneumatic clamp, flexible adaptive clamp, etc.), but is not limited to this. The mechanical clamp is used to clamp and rotate the screw according to a preset screw clamping force (1N, 1.5N, etc., but not limited to this), so that the length direction of the screw is parallel to the direction of gravity, or the length direction of the screw and the diameter direction parallel to the output direction of the clamped washer form an angle less than or equal to 90 degrees, and the tail of the screw (the end of the screw that contacts the fixed surface when in use) is close to the washer clamping device 32, and the height of one end of the screw close to the washer clamping device 32 is equal to the height of the center of the hole of the washer clamped by the washer clamping device 32. The conveying device is used to drive the mechanical clamp to approach or move away from the feeding part 20 so that the screw moves according to a preset path. The washer clamping device 32 is a clamping device that can output the washer output from the feeding part 20 at a preset angle (the angle formed between the washer output direction and the preset path can be 45 degrees, 35 degrees, etc., but not limited thereto) and clamp the washer output from the feeding part 20 at a preset washer clamping force (0.5N, 0.8N, etc., but not limited thereto). For example, the washer clamping device 32 can be a parallel pneumatic clamping jaw, a flexible adaptive clamping jaw, etc., but not limited thereto. The position of the screw when clamped is closer to the feeding part 20 than the position of the washer when clamped.

[0032] In this way, the screw output from the feeding part 20 is clamped by the screw clamping and conveying device 31 according to the preset screw clamping force, and the posture of the screw is adjusted so that the length direction of the screw is parallel to the gravity direction, or the length direction of the screw and the diameter direction parallel to the output direction of the clamped washer form an angle less than or equal to 90 degrees, and the tail of the screw (the end of the screw that first contacts the object to be fixed when in use) is close to the washer clamping device 32, and the height of one end of the screw close to the washer clamping device 32 is equal to the height of the hole center of the washer clamped by the washer clamping device 32, and then the screw is close to the washer clamping device 32 along the preset path at a preset angle. The washer is clamped according to the preset washer clamping force. When the screw contacts the inner wall of the washer hole, the screw clamping and conveying device 31 continues to drive the screw along the preset path to approach the output part 40. Because the preset screw clamping force is greater than the preset washer clamping force, during the process of the screw clamping and conveying device 31 driving the screw along the preset path to approach the output part 40, the washer in contact with the screw is separated from the washer clamping device 32 under the action of tension, and falls to the bottom of the screw under the action of gravity during the process of the screw approaching the output part 40. The screw clamping and conveying device 31 drives the screw to move along the preset path to above the input end of the output part 40, and then loosens the screw to output the screw.

[0033] In some embodiments, please refer to Figures 1 to 3 The screw clamping and conveying device 31 includes a fixing frame 311 , a conveying driving device 312 and a screw clamping mechanism 313 .

[0034] The fixing frame 311 is disposed on the mounting portion 10 .

[0035] The conveying driving device 312 is disposed on the fixing frame 311 .

[0036] The screw clamping mechanism 313 is arranged on the power output end of the conveying drive device 312 and is located next to the screw output end of the feeding part 20. The screw clamping mechanism 313 is used to clamp and rotate the screw according to the preset screw clamping force, so that the length direction of the screw is parallel to the direction of gravity, and the tail of the screw is close to the washer clamping device 32, and the height of one end of the screw close to the washer clamping device 32 is equal to the height of the center of the hole of the washer clamped by the washer clamping device 32.

[0037] The conveying driving device 312 is used to drive the screw clamping mechanism 313 to drive the screw to move along a preset path.

[0038] It can be understood that the fixing frame 311 is a frame that plays a supporting role. For example, the fixing frame 311 can be an aluminum frame, a plastic frame, etc., but not limited to this. The conveying drive device 312 is a device that can drive the screw clamping mechanism 313 to drive the screw to move along a preset path. For example, the conveying drive device 312 can be a flat belt conveyor, a plastic chain plate conveyor, etc., but not limited to this. The screw clamping mechanism 313 is a device that can clamp the screw and adjust the screw posture. For example, the screw clamping mechanism 313 can be a parallel pneumatic clamp, a flexible adaptive clamp, etc., but not limited to this.

[0039] In this configuration, the fixed frame 311 provides support for the conveying drive device 312, and the conveying drive device 312 drives the screw clamping mechanism 313 so that the screw clamping mechanism 313 is located beside the screw output end of the feeding part 20 to clamp the screw. When the screw clamping mechanism 313 clamps the screw, the conveying drive device 312 drives the screw clamping mechanism 313 to drive the screw along a preset path close to the input end of the output part 40. Before the screw contacts the washer clamped by the washer clamping device 32, the screw clamping mechanism 313 adjusts the posture of the screw so that the length direction of the screw is parallel to the gravity direction, or the length direction of the screw forms an angle less than or equal to 90 degrees with the diameter direction parallel to the output direction of the clamped washer, and the tail of the screw is close to the washer clamping device 32, and the height of one end of the screw close to the washer clamping device 32 is equal to the height of the hole center of the washer clamped by the washer clamping device 32. When the screw moves to above the input end of the output part 40, the screw clamping mechanism 313 loosens the screw to make the screw fall into the input end of the output part 40, and then the conveying drive device 312 drives the screw clamping mechanism 313 to move along a preset path to the side of the screw output end of the loading part 20.

[0040] In some embodiments, please refer to Figures 1 to 3 The screw clamping and conveying device 31 includes a rotation driving mechanism 3131 and a screw clamping claw 3132 .

[0041] The rotation driving mechanism 3131 is disposed on the power output end of the conveying driving device 312 .

[0042] The screw clamp 3132 is arranged on the rotating shaft of the rotating drive mechanism 3131. The screw clamp 3132 is used to clamp the screw according to the preset screw clamping force, and make the height of one end of the screw close to the washer clamping device 32 equal to the height of the center of the hole of the washer clamped by the washer clamping device 32.

[0043] Among them, the rotating drive mechanism 3131 is used to drive the screw clamp 3132 to rotate, so as to drive the screw clamped by the screw clamp 3132 to rotate, so that the length direction of the screw is parallel to the direction of gravity, and the tail of the screw is close to the washer clamping device 32, and the conveying drive device 312 is used to drive the rotating drive mechanism 3131 to move so as to drive the screw clamped by the screw clamp 3132 to move along a preset path.

[0044] It can be understood that the rotation drive mechanism 3131 is a device capable of driving the screw clamp 3132 to rotate, for example, the rotation drive mechanism 3131 can be a stepping motor, a servo motor, etc., but not limited thereto. The screw clamp 3132 is a device capable of clamping a screw, for example, the screw clamp 3132 can be a parallel pneumatic clamp, a flexible adaptive clamp, etc., but not limited thereto.

[0045] In this way, the screw is clamped by the screw clamping jaw 3132 with a preset screw clamping force, and then the screw clamping jaw 3132 is driven to rotate by the rotation drive mechanism 3131 to drive the screw to rotate, thereby adjusting the posture of the screw, so that the screw is more convenient and accurate in the process of combining with the clamped washer. Clamping the screw by the screw clamping jaw 3132 to combine the screw with the washer allows the screw clamping jaw 3132 to flexibly adjust the height of the screw according to the length of the screw, so that screws of different lengths can be combined with the clamped washer.

[0046] In some embodiments, please refer to Figures 1 to 3 The washer clamping device 32 includes a washer feeding tube 321 , a washer clamping claw 322 and two sensing devices 323 .

[0047] The gasket feeding tube 321 is arranged on the screw clamping and conveying device 31, and the gasket feeding tube 321 has a gasket feeding channel. One end of the gasket feeding tube 321 is connected with the gasket output end of the loading part 20. The gasket can enter from one end of the gasket feeding tube 321 through the gasket feeding channel and be output from the other end at a preset angle, and is located directly above the preset path.

[0048] The washer clamping jaw 322 is disposed on the washer delivery tube 321 and is located at one side of the output end of the washer delivery tube 321 . The washer clamping jaw 322 is used to clamp the washer output from the washer delivery tube 321 according to a preset washer clamping force.

[0049] The two sensing devices 323 are respectively arranged on the pad delivery tube 321, and are located in the pad delivery channel and on the side close to the output end of the pad delivery tube 321. The gasket can pass between the two sensing devices 323. The sensing devices 323 are used to control the gasket clamps 322 to close to clamp the gasket when the gasket passes between the two sensing devices 323.

[0050] It can be understood that the gasket delivery tube 321 is a tubular structure, the distance between the left and right sides of the gasket delivery tube 321 can be slightly larger than (1 mm, 2 mm, etc., but not limited to) the diameter of the gasket, the distance between the upper and lower sides of the gasket delivery tube 321 can be slightly higher than (1 mm, 2 mm, etc., but not limited to) the thickness of the gasket, and the height of the end of the gasket delivery tube 321 close to the feeding part 20 and the end away from the feeding part 20 can be adjusted, so as to change the angle (preset angle) formed by the gasket output direction of the gasket delivery tube 321 and the preset route. For example, the gasket delivery tube 321 can be a rectangular tube, a round tube, etc., but not limited to this. The gasket clamp 322 is a device that can clamp the gasket on the side close to the gasket delivery tube 321 without blocking the center hole of the gasket when the gasket delivery tube 321 outputs the gasket. For example, the gasket clamp 322 can be a parallel pneumatic clamp, a flexible adaptive clamp, etc., but not limited to this. The sensing device 323 is a device that can sense the movement of the gasket. For example, the sensing device 323 can be a photoelectric sensor, a magnetic sensor, etc., but is not limited thereto.

[0051] In this way, by changing the height of both ends of the gasket delivery tube 321 to change the preset angle, the preset angle can be adjusted according to different washers, thereby enhancing the flexibility of the combination of the gasket and the screw. When the gasket passes between the two sensing devices 323, the sensing device 323 sends a command to the gasket clamping jaw 322, so that the gasket clamping jaw 322 clamps the gasket close to the gasket delivery tube 321 with a preset gasket clamping force and does not block the center hole of the gasket, and keeps the gasket at a preset angle to facilitate the combination process of the gasket and the screw. The clamping force and clamping speed of the flat gasket clamping jaw can be adjusted according to the output speed of the gasket.

[0052] In some embodiments, please refer to Figure 1 to Figure 2 and Figure 4 The blanking plate 41 is arranged on the mounting portion 10 and is located beside the output end of the combination portion 30; the two blocking mechanisms 42 are respectively movably arranged on the blanking plate 41 and are symmetrically arranged on both sides of the output end of the combination portion 30, and the distance between the two blocking mechanisms 42 on the side close to the output end of the combination portion 30 is greater than the distance between the two blocking mechanisms 42 on the side away from the output end of the combination portion 30. An output space 46 is formed between the blanking plate 41 and the two blocking mechanisms 42, and the combined screws and washers can be output through the output space 46. The output portion 40 also includes an image acquisition device 44 and a plurality of air blowing tubes 45.

[0053] The image acquisition device 44 is disposed on the blanking plate 41 and is located on a side of the blanking plate 41 away from the mounting portion 10 . The image acquisition device 44 is used to capture an image of the blanking plate 41 along a direction perpendicular to a contact surface between the blanking plate 41 and the screw.

[0054] A plurality of air blowing pipes 45 are disposed on the blanking plate 41 and are located on one side of the blanking plate 41 close to the mounting portion 10 . One end of each air blowing pipe 45 is respectively connected to each air blowing hole 411 or the side air blowing hole 421 . The air blowing pipe 45 has an air blowing channel.

[0055] Among them, the other end of the blowing pipe 45 is connected to the blowing device 43, the blowing channel is connected to the blowing device 43, the blowing device 43 is used to blow air to the output space 46 through the blowing channel and the blowing hole 411 or through the blowing channel and the side blowing hole 421, and the blowing direction of the blowing device 43 when blowing air to the output space 46 through the blowing channel and the blowing hole 411 forms an acute angle less than sixty degrees between the contact surface between the blanking plate 41 and the screw.

[0056] It can be understood that the image acquisition device 44 is a device that can acquire an image reflecting the relative position of the screw and the blowing hole 411 and the side blowing hole 421 on the blanking plate 41. For example, the image acquisition device 44 can be a linear array camera, a motion camera, etc., but is not limited thereto. The blowing pipe 45 is a tubular structure. For example, the blowing pipe 45 can be a rubber tube, a braided tube, etc., but is not limited thereto. The blowing device 43 can blow air into the output space 46 through the blowing hole 411 or the side blowing hole 421 through one blowing pipe 45 alone, or blow air into the output space 46 through the blowing hole 411 and the side blowing hole 421 through at least two blowing pipes 45 at the same time.

[0057] In this way, the image acquisition device 44 acquires an image of the relative position of the screw and the blowing hole 411 and the side blowing hole 421 on the blanking plate 41, which provides a basis for judging the sliding posture of the screw and whether the posture needs to be adjusted. By forming an acute angle of less than 30 degrees (which can be 15 degrees, 20 degrees, etc., but not limited to) between the blowing direction of the blowing device 43 when blowing air to the output space 46 through the blowing channel and the blowing hole 411 and the contact surface between the blanking plate 41 and the screw, the sliding speed of one end of the screw where the blowing acts on the screw can be smaller than the sliding speed of the other end, thereby changing the sliding posture of the screw and reducing the possibility of the screw flying out due to excessive blowing force.

[0058] In some embodiments, please refer to Figure 1 to Figure 2 and Figure 4 The blocking mechanism 42 includes an upper sliding member 422 , an upper blocking member 423 , a lower blocking member 424 and a lower sliding member 425 .

[0059] The upper sliding member 422 is movably disposed on the blanking plate 41 and is located at a side of the blanking plate 41 close to the output end of the assembly portion 30 .

[0060] The upper blocking member 423 is rotatably disposed on the upper sliding member 422 . A sliding groove is formed on the upper blocking member 423 . At least one side blowing hole 421 is formed on the upper blocking member 423 .

[0061] The lower blocking member 424 is movably disposed on the upper blocking member 423 along the sliding groove, and at least one side blowing hole 421 is formed on the lower blocking member 424 .

[0062] The lower sliding member 425 is movably disposed on the blanking plate 41 and is located at a side of the blanking plate 41 away from the output end of the assembly part 30 , and the lower blocking member 424 is rotatably disposed on the lower sliding member 425 ; The distance between the upper sliding members 422 of the two blocking mechanisms 42 is greater than the distance between the lower sliding members 425 of the two blocking mechanisms 42 .

[0063] It can be understood that the upper sliding member 422 is a device that can move on the blanking plate 41. For example, the upper sliding member 422 can be a multi-stage magnet, a magnetic gasket, etc., but it is not limited to this. The upper blocking member 423 is a plate-like structure. For example, the upper blocking member 423 can be an aluminum plate, a plastic plate, etc., but it is not limited to this. The lower blocking member 424 is a plate-like structure. For example, the lower blocking member 424 can be an aluminum plate, a plastic plate, etc., but it is not limited to this. The lower sliding member 425 is a device that can move on the blanking plate 41. For example, the lower sliding member 425 can be a multi-stage magnet, a magnetic gasket, etc., but it is not limited to this.

[0064] With such arrangement, by adjusting the positions of the upper sliding member 422 and the lower sliding member 425, and correspondingly adjusting the depth of the lower blocking member 424 in the sliding groove of the upper blocking member 423, the inclination degree of the entire blocking mechanism 42 can be adjusted according to the specific sliding situation of the screw, and by making the distance between the upper sliding members 422 of the two blocking mechanisms 42 respectively greater than the distance between the lower sliding members 425 of the two blocking mechanisms 42 respectively, the output space 46 formed by the blanking plate 41 and the two blocking mechanisms 42 is funnel-shaped, thereby better guiding the screw to slide.

[0065] See also Figure 5 The embodiment of the present application further provides a method for assembling a cross recessed pan head self-tapping screw and a spring flat washer, which is applied to a cross recessed pan head self-tapping screw and a spring flat washer assembly device 100 of any of the above embodiments. The method for assembling a cross recessed pan head self-tapping screw and a spring flat washer comprises: Obtain an output image; wherein the output image is an image reflecting the relative position of the combination nail on the blanking plate 41 and the blanking plate 41 and the blocking mechanism 42, which is obtained in real time at a preset time interval. The combination nail is a combined screw and washer output by the combination part 30.

[0066] Posture detection information is obtained based on the output image; wherein the posture detection information includes posture information and a force application position, the posture information includes information reflecting whether the sliding posture of the combination nail during the sliding process is qualified and the inclination angle of the combination nail during the sliding process, and the force application position reflects a specific position on the combination nail.

[0067] An output control scheme is obtained based on the posture detection information; wherein the output control scheme is used to control the blowing device 43 .

[0068] As can be seen from the above, the cross recessed pan head self-tapping screw and spring flat washer combination method provided in the embodiment of the present application provides a basis for analyzing the sliding posture of the combination nail and the position between the blowing hole 411 and the side blowing hole 421 by obtaining an output image reflecting the relative position of the combination nail on the blanking plate 41 and the blanking plate 41 and the blocking mechanism 42. Then, by obtaining the posture detection information including the posture information and the force application position based on the output image, the tilt angle of the combination nail when sliding, the blowing force required to adjust the tilt angle and the blowing force action position are analyzed to provide a basis for changing the sliding posture of the combination nail. Finally, based on the posture detection information, an output control scheme for controlling the blowing device 43 is obtained, so that the blowing device 43 adjusts the sliding posture of the combination nail during the sliding process of the combination nail, so that the combination nail falls into the box with a suitable posture, reducing the possibility of the screw and the washer being separated due to the collision between the screw and the washer with a larger aperture and the box body during the boxing process.

[0069] In order to better understand the cross recessed pan head self-tapping screw and spring flat washer combination method provided in the embodiment of the present application, the specific implementation process of the cross recessed pan head self-tapping screw and spring flat washer combination method provided in the embodiment of the present application is exemplarily introduced below.

[0070] Figure 5 A schematic flow chart of a method for assembling a cross recessed pan head self-tapping screw and a spring flat washer provided in an embodiment of the present application is shown. The method for assembling a cross recessed pan head self-tapping screw and a spring flat washer comprises: S100, obtaining an output image; wherein the output image is an image obtained in real time at a preset time interval reflecting the relative position of the combination nail on the blanking plate 41 and the blanking plate 41 and the blocking mechanism 42, and the combination nail is a combined screw and washer output by the combination part 30.

[0071] It is understandable that the preset time interval may be 0.5 seconds, 1 second, etc., but is not limited thereto. The method of obtaining the output image may be receiving data transmitted by the user, or may be receiving an image reflecting the relative position of the screw and the blowing hole 411 and the side blowing hole 421 on the blanking plate 41 transmitted by the image acquisition device 44, but is not limited thereto. Obtaining the output image reflecting the relative position of the screw and the blowing hole 411 and the side blowing hole 421 on the blanking plate 41 can provide a basis for analyzing the sliding posture of the combination nail and the position between the blowing hole 411 and the side blowing hole 421.

[0072] S200, obtaining posture detection information based on the output image; wherein the posture detection information includes posture information and a force application position, the posture information includes information reflecting whether the sliding posture of the combination nail during the sliding process is qualified and the inclination angle of the combination nail during the sliding process, and the force application position reflects a specific position on the combination nail.

[0073] It can be understood that the method of obtaining the posture detection information based on the output image can be to send the output image to the user and then receive the information transmitted by the user, or to analyze the angle formed by the line between the head and the tail of the combination nail on the output image and the bottom of the blanking plate 41 to determine whether the sliding posture of the combination nail is qualified and the inclination angle of the combination nail, and then determine the center of gravity of the combination nail based on the head of the screw and the washer on the rod of the screw, and confirm the center of gravity as the force application position, etc., but not limited to this. Obtaining the posture detection information based on the output image can determine whether the sliding posture of the combination nail is qualified, and provide a basis for changing the force required for the combination nail and the force position on the combination nail when the sliding posture of the combination nail is unqualified.

[0074] In one possible implementation, see Figure 6 , S200, obtaining posture detection information based on the output image, including: S210, input the output image into the posture recognition model to obtain posture detection image information; wherein the posture detection image information includes the output image, the center line marked on the output image and the combination nail information corresponding to the combination nail in the output image, the center line is a line segment parallel to the output direction of the combination nail and capable of dividing the blanking plate 41 in the output image into equal parts, the combination nail information includes the head line, the long line and the pad line marked on the output image, the head line is a line segment parallel to the diameter direction of the pan head of the screw in the combination nail, the long line is a line segment parallel to the length direction of the screw rod of the screw in the combination nail, the long line is perpendicular to the head line, and the pad line is a line segment parallel to the diameter direction of the washer in the combination nail.

[0075] It can be understood that the posture recognition model is obtained through machine learning training with multiple sets of data, and the multiple sets of data include first-class data and second-class data. Each set of data in the first class includes: at least one output image including a combination nail, and the head line, long line and cushion line manually marked on the combination nail; each set of data in the second class includes: an output image not including the combination nail, and a label manually marked that the image does not include the combination nail. By inputting the output image into the posture recognition model to obtain posture detection image information, data that can reflect the sliding posture of the combination nail can be quickly and accurately obtained, providing a basis for subsequent steps.

[0076] S220, obtaining posture information based on the combination nail information and the center line.

[0077] It is understood that the manner of obtaining the posture information based on the combination nail information and the center line may be to send the combination nail information and the center line to the user and then receive the data transmitted by the user, or to determine the angle formed by the long line in the combination nail information and the center line, etc., but is not limited thereto. Obtaining the posture information based on the combination nail information and the center line can provide a basis for determining whether the sliding posture of the combination nail needs to be adjusted.

[0078] In one possible implementation, see Figure 6 , S220, obtaining posture information based on the combination nail information and the center line, including: S221, determining whether the inclination angle is greater than a preset angle; wherein the inclination angle is the angle formed by the extension line of the center line and the long line.

[0079] It is understandable that the preset angle may be 15 degrees, 20 degrees, etc., but is not limited thereto. Determining whether the tilt angle is greater than the preset angle is to determine whether the combination nail is offset during the sliding process.

[0080] S222: If the tilt angle is greater than a preset angle, the tilt angle and information reflecting that the sliding posture of the combination nail is unqualified are confirmed as posture information.

[0081] It can be understood that if the tilt angle is greater than the preset angle, it means that the combination nail is more serious in the process of sliding down, and the screw and the washer may be separated when colliding with the box body. Confirming the tilt angle and the information reflecting the unqualified sliding posture of the combination nail as posture information can provide a basis for subsequent steps.

[0082] S223, if the inclination angle is less than or equal to the preset angle and the head line is closer to the output end of the combination nail than the pad line, the inclination angle and the information reflecting the qualified sliding posture of the combination nail are confirmed as the posture information.

[0083] It can be understood that the output end of the combination nail is the output end of the blanking plate 41 in the output image. The output end of the combination nail can be confirmed by image analysis through a posture recognition model, or the bottom end of the output image can be confirmed as the output end of the combination nail, etc., but it is not limited to this. If the inclination angle is less than or equal to the preset angle and the head line is closer to the output end of the combination nail than the pad line, it means that the combination nail has not been seriously offset during the sliding process, and the head of the screw is output before the tail when the combination nail is output, and the possibility of the screw and the washer being separated when the combination nail collides with the box body is small. Confirming the inclination angle and the information reflecting the qualified sliding posture of the combination nail as posture information can provide a basis for subsequent steps.

[0084] S230: Obtain a force application position based on the combination nail information and the posture information.

[0085] It can be understood that the force application position can be obtained based on the combination nail information and the posture information by sending the combination nail information and the posture information to the user and then receiving the data transmitted by the user, or by analyzing the long line, the head line and the cushion line in the combination nail information when the posture information reflects that the nail slip posture is unqualified, obtaining the center of gravity of the combination nail and confirming the center of gravity as the force application position, etc., but is not limited thereto. Obtaining the force application position based on the combination nail information and the posture information can ensure the reliability of the force application position and provide a basis for subsequent steps.

[0086] In one possible implementation, see Figure 6 , S230, obtaining a force application position based on the combination nail information and the posture information, including: S231, obtaining the screw length and the head-pad distance; wherein the screw length is the length of the long line, and the head-pad distance is the distance from the intersection of the head line and the long line along the long line to the intersection of the long line and the pad line.

[0087] It is understood that the method of obtaining the screw length and the head pad distance may be receiving data transmitted by the user, or analyzing the output image through a posture recognition model, etc., but is not limited thereto. Obtaining the screw length and the head pad distance can provide a basis for subsequent steps.

[0088] S232, divide the head pad distance by the screw length to obtain a distance ratio.

[0089] It can be understood that the distance ratio obtained by dividing the head pad distance by the screw length can provide a basis for subsequent steps.

[0090] For example, assuming that the head pad distance is 5 cm and the screw length is 10 cm, the distance ratio = 5 / 10 = 0.5.

[0091] S233, determine whether the distance ratio is less than or equal to the preset ratio. If the distance ratio is less than or equal to the preset ratio and the posture information reflects that the sliding posture of the combination nail is unqualified, the intersection of the head line and the long line is confirmed as the force application position. If the distance ratio is greater than the preset ratio and the posture information reflects that the sliding posture of the combination nail is unqualified, the end of the long line away from the head line is confirmed as the force application position.

[0092] It can be understood that the preset ratio can be 0.7, 0.8, etc., but is not limited to this. If the distance ratio is less than or equal to the preset ratio, it means that the washer may be closer to the head of the screw. Since the mass of the screw head is greater than the mass of other parts of the screw, when the washer is closer to the screw head, the center of gravity of the combination nail will also be closer to the head of the screw. Then the intersection of the head line and the long line is confirmed as the force application position, which can bring the force application position closer to the center of gravity and avoid overcorrection when adjusting the posture of the combination nail. If the distance ratio is greater than the preset ratio, it means that the washer may be closer to the tail of the screw, and the center of gravity of the combination nail will also be closer to the tail of the screw. Confirming the end of the long line away from the head line as the force application position can bring the force application position closer to the center of gravity and avoid overcorrection when adjusting the posture of the combination nail.

[0093] S240: Confirm the posture information and the force application position as posture detection information.

[0094] It can be understood that confirming the posture information and the force application position as posture detection information can provide a basis for subsequent steps.

[0095] S300 , obtaining an output control scheme based on the posture detection information; wherein the output control scheme is used to control the blowing device 43 .

[0096] It can be understood that the output control scheme based on the posture detection information can be obtained by analyzing the distance between the force application position on the output image and each of the air blowing holes 411 and the side air blowing holes 421, confirming the air blowing hole 411 or the side air blowing hole 421 with the shortest distance as the output hole, and obtaining the output control scheme instructing the air blowing device 43 to blow air through the output hole, or by sending the posture detection information to the user and then receiving the data transmitted by the user, etc., but not limited thereto. The output control scheme for controlling the air blowing device 43 based on the posture detection information can enable the air blowing device 43 to adjust the sliding posture of the combination nail during the sliding process of the combination nail, so that the combination nail falls into the box with a suitable posture, reducing the possibility of the screw and the washer being separated due to the collision between the screw and the washer with a larger hole diameter and the box body during the boxing process.

[0097] In one possible implementation, see Figure 6 , S300, obtaining an output control scheme based on the posture detection information, including: S310, obtaining blowing force based on the tilt angle.

[0098] It can be understood that the blowing force based on the tilt angle can be obtained by searching the preset database with the combination nail specification and the tilt angle to obtain the blowing force corresponding to the combination nail specification and the tilt angle, wherein the preset database is a pre-established database, and the preset database includes at least one combination nail specification and at least one tilt angle corresponding to the combination nail specification, and the blowing force corresponding to the tilt angle, or according to the formula Calculation is performed to obtain, but not limited to, the following, wherein F is the blowing force, I is the moment of inertia of the combination nail, a is the sliding acceleration of the combination nail, is the tilt angle, is the length of the long line, is the angle formed by the contact surface of the blanking plate 41, the screw and the mounting portion 10, and L is the length of the blanking plate 41 in the output image. The blowing force obtained based on the inclination angle can provide a basis for subsequent steps.

[0099] S320, on the output image, calculate the straight-line distance between the force-applying position and each blowing hole 411 within the preset range to obtain a plurality of blowing intervals; wherein the preset range is a circular area formed by drawing a circle with the force-applying position as the center and a preset length as the radius, and then drawing a horizontal line through the force-applying position, and of the two semicircular areas formed by the horizontal line and the circular area, the semicircular area located close to the output end of the combination nail is confirmed as the preset range.

[0100] It can be understood that the preset length can be 10 cm, or the length of a screw, etc., but is not limited thereto. A circular area is formed by drawing a circle with the force application position as the center and the preset length as the radius, and then a horizontal line is drawn through the force application position. Of the two semicircular areas formed by the horizontal line and the circular area, the semicircular area close to the output end of the combination nail is confirmed as the preset range, which can ensure that the blowing holes 411 within the preset range are all located below the output direction of the combination nail, and the blowing holes 411 within the preset range may all affect the sliding posture of the combination nail, and the blowing holes 411 located above the output direction of the combination nail that cannot affect the sliding posture of the combination nail are removed, thereby reducing the amount of calculation and improving processing efficiency. Calculating the straight-line distance between the force application position and each blowing hole 411 within the preset range to obtain multiple blowing intervals can provide a basis for subsequent steps.

[0101] S330, determine whether the blowing spacing with the smallest value among the blowing spacings is less than or equal to the preset spacing; if the blowing spacing with the smallest value is less than or equal to the preset spacing, confirm the blowing hole 411 corresponding to the blowing spacing with the smallest value as the output hole; if the blowing spacing with the smallest value is greater than the preset spacing, calculate the vertical distance between the force application position and each side blowing hole 421 to obtain multiple vertical spacings; wherein the vertical distance reflects the distance between the force application position and the side blowing hole 421 on the midline when the force application position and the side blowing hole 421 are projected on the midline.

[0102] It is understandable that the preset spacing can be 2 cm, 3 cm, etc., or a user-defined value, etc., but it is not limited to this. The method of calculating the vertical spacing can be to draw a perpendicular line from the force application position as the starting point to the center line and confirm the foot of the perpendicular as the first point, then draw a perpendicular line from the center line point of the side blowing hole 421 as the starting point to the center line and confirm the foot of the perpendicular as the second point, calculate the straight-line distance between the first point and the second point and confirm it as the vertical spacing, etc., but it is not limited to this. Confirming the blowing hole 411 corresponding to the blowing spacing with the smallest value as the output hole or obtaining multiple vertical spacings by calculation can provide a basis for subsequent steps.

[0103] S340, determine whether the vertical spacing with the smallest value among the vertical spacings is less than or equal to the preset vertical spacing; if the vertical spacing with the smallest value is less than or equal to the preset vertical spacing, the side air blowing hole 421 corresponding to the vertical spacing with the smallest value is confirmed as the output hole; if the vertical spacing with the smallest value is greater than the preset vertical spacing, the air blowing hole 411 corresponding to the air blowing spacing with the smallest value and the side air blowing hole 421 corresponding to the vertical spacing with the smallest value are jointly confirmed as the output holes.

[0104] It is understandable that the preset vertical spacing can be 2 cm, 3 cm, etc., or can be a user-defined value, etc., but is not limited thereto. If the vertical spacing with the smallest value is less than or equal to the preset vertical spacing, it means that the air blown through the side blowing hole 421 corresponding to the vertical spacing with the smallest value can effectively affect the sliding posture of the combination nail. If the vertical spacing with the smallest value is greater than the preset vertical spacing, it means that the air blown through the side blowing hole 421 corresponding to the vertical spacing with the smallest value may not effectively affect the sliding posture of the combination nail. Confirming the side blowing hole 421 corresponding to the vertical spacing with the smallest value as the output hole, or confirming the blowing hole 411 corresponding to the blowing spacing with the smallest value and the side blowing hole 421 corresponding to the vertical spacing with the smallest value as the output hole can provide a basis for subsequent steps.

[0105] S350, if there is only one output hole and the output hole is the blowing hole 411, then an output control scheme is obtained for instructing the blowing device 43 to blow air through the output hole according to the blowing force within a preset time; if there is only one output hole and the output hole is the side blowing hole 421, then an output control scheme is obtained for instructing the blowing device 43 to blow air through the output hole according to the blowing force within a preset time; if there are two output holes, then after multiplying the blowing force by a preset ratio to obtain a second blowing force, an output control scheme is obtained for instructing the blowing device 43 to blow air through the output hole according to the second blowing force within a preset time.

[0106] It is understood that the preset ratio may be 0.7, 1.5, or a user-defined value, but is not limited thereto. Obtaining an output control scheme that instructs the blowing device 43 to blow air through the output hole at a blowing force within a preset time, or obtaining an output control scheme that instructs the blowing device 43 to blow air through the output hole at a second blowing force within a preset time enables the blowing device 43 to adjust the sliding posture of the combination nail during the sliding process of the combination nail, so that the combination nail falls into the box in a suitable posture, reducing the possibility of the screw and the washer being separated due to the collision between the screw and the washer with a larger hole diameter and the box body during the boxing process.

[0107] For example, assuming that the blowing force is 1.5N and the preset ratio is 1.5, the second blowing force=1.5*1.5=2.25N.

[0108] The cross recessed pan head tapping screw and spring flat washer combination device 100 provided in the embodiment of the present application may further include a control unit, which may be arranged on the mounting portion 10 and communicated with the blowing device 43 and the image acquisition device 44, and the control unit may include: at least one processor, at least one memory, and a computer program stored in at least one memory and executable on at least one processor, and when the processor executes the computer program, the cross recessed pan head tapping screw and spring flat washer combination device 100 implements the steps in any of the above-mentioned cross recessed pan head tapping screw and spring flat washer combination method embodiments.

[0109] Exemplarily, the computer program may be divided into one or more modules / units, one or more modules / units are stored in a memory and executed by a processor to complete the present application. One or more modules / units may be a series of computer program instruction segments capable of completing a specific function, and the instruction segments are used to describe the execution process of the computer program in the control unit.

[0110] The control unit may be a computing device such as a control box, a desktop computer, a notebook, a PDA, and a cloud server. The control unit may include, but is not limited to, a processor and a memory. Those skilled in the art will appreciate that the above embodiments are merely examples of the control unit and do not constitute a limitation on the control unit, which may include more or fewer components, or a combination of certain components, or different components, such as input and output devices, network access devices, buses, etc.

[0111] The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0112] In some embodiments, the memory may be an internal storage unit of the control unit, such as a hard disk or memory of the control unit. In other embodiments, the memory may also be an external storage device of the control unit, such as a plug-in hard disk equipped on the control unit, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. Further, the memory may also include both an internal storage unit of the control unit and an external storage device. The memory is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as program code of a computer program. The memory may also be used to temporarily store data that has been output or is to be output.

[0113] An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps in any of the above method embodiments are implemented.

[0114] An embodiment of the present application provides a computer program product. When the computer program product runs on a control unit, the control unit implements the steps in any of the above method embodiments.

[0115] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device that can carry the computer program code to the control unit, a recording medium, a computer memory, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), an electrical carrier signal, a telecommunication signal, and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a disk or an optical disk.

[0116] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0117] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0118] In the embodiments provided in the present application, it should be understood that the disclosed cross recessed pan head tapping screw and spring flat washer assembly device and method can be implemented in other ways. For example, the embodiments of the cross recessed pan head tapping screw and spring flat washer assembly device and method described above are only exemplary. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0119] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0120] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A cross recessed pan head tapping screw and spring washer assembly device, characterized in that: include: Installation Department; A feeding part, arranged on the mounting part, and used to output screws and washers respectively; wherein the washers are spring washers or flat washers; A combining part, which is arranged on the mounting part and is located beside the output end of the feeding part, and is used to receive and combine the screws and washers output by the feeding part, and output the combined screws and washers; as well as The output part is arranged on the mounting part and is located beside the output end of the combination part. The output part includes a blanking plate, two blocking mechanisms and a blowing device. The blanking plate is used to receive and output the combined screws and washers output by the combination part. A plurality of blowing holes are provided on the blanking plate. The two blocking mechanisms are respectively and movably arranged on the blanking plate and arranged opposite to each other. A plurality of side blowing holes are provided on the blocking mechanism. The blowing device is arranged on the mounting part. The blowing device is used to adjust the posture of the combined screws and washers through the blowing holes and the side blowing holes in the process that the combined screws and washers slide down on the blanking plate.

2. The cross recessed pan head tapping screw and spring washer assembly as claimed in claim 1, characterized in that: The combination unit comprises: A screw clamping and conveying device is provided on the mounting portion and is located beside the screw output end of the feeding portion, the screw clamping and conveying device is used to clamp the screw output by the feeding portion according to a preset screw clamping force, and move the screw to the input end of the output portion according to a preset path; and A washer clamping device is provided on the screw clamping and conveying device and is located beside the washer output end of the feeding part. The washer clamping device is used to output at a preset angle and clamp the washer output by the feeding part according to a preset washer clamping force, and make the washer be located directly above the preset path; Among them, the preset screw clamping force is greater than the preset washer clamping force. When the screw clamping and conveying device moves the screw along the preset path, the height of one end of the screw close to the washer clamping device can be equal to the height of the center of the hole of the washer clamped by the washer clamping device, and the screw can be combined with the washer clamped by the washer clamping device.

3. The cross recessed pan head tapping screw and spring washer assembly device as claimed in claim 2, characterized in that: The screw clamping and conveying device comprises: A fixing frame, arranged on the mounting portion; A conveying drive device, disposed on the fixing frame; and A screw clamping mechanism is provided on the power output end of the conveying drive device and is located beside the screw output end of the feeding part, and the screw clamping mechanism is used to clamp and rotate the screw according to a preset screw clamping force, so that the length direction of the screw is parallel to the gravity direction, and the tail of the screw is close to the washer clamping device, and the height of one end of the screw close to the washer clamping device is equal to the height of the center of the hole of the washer clamped by the washer clamping device; Wherein, the conveying drive device is used to drive the screw clamping mechanism to drive the screw to move along the preset path.

4. The cross recessed pan head tapping screw and spring washer assembly as claimed in claim 3, characterized in that: The screw clamping mechanism comprises: A rotary drive mechanism, disposed on the power output end of the conveying drive device; and A screw clamping jaw is arranged on the rotating shaft of the rotating driving mechanism, and is used to clamp the screw according to the preset screw clamping force, and to make the height of one end of the screw close to the washer clamping device equal to the height of the center of the hole of the washer clamped by the washer clamping device; Among them, the rotary drive mechanism is used to drive the screw clamp to rotate, so as to drive the screw clamped by the screw clamp to rotate, so that the length direction of the screw is parallel to the direction of gravity, and the tail of the screw is close to the washer clamping device, and the conveying drive device is used to drive the rotary drive mechanism to move so as to drive the screw clamped by the screw clamp to move along the preset path.

5. The cross recessed pan head tapping screw and spring washer assembly as claimed in claim 2, characterized in that: The washer clamping device comprises: A washer feeding pipe is arranged on the screw clamping and conveying device, the washer feeding pipe has a washer feeding channel, one end of the washer feeding pipe is connected with the washer output end of the feeding part, the washer can enter from one end of the washer feeding pipe through the washer feeding channel, and be output from the other end at the preset angle, and is located directly above the preset path; A washer clamping claw is provided on the washer delivery tube and is located at one side of the output end of the washer delivery tube, and the washer clamping claw is used to clamp the washer output from the washer delivery tube according to the preset washer clamping force; Two sensing devices are arranged on the pad delivery tube, located in the pad delivery channel, and located on one side close to the output end of the pad delivery tube. The gasket can pass between the two sensing devices. The sensing devices are used to control the gasket clamps to close to clamp the gasket when the gasket passes between the two sensing devices.

6. The cross recessed pan head tapping screw and spring washer assembly as claimed in claim 1, characterized in that: The blanking plate is arranged on the mounting portion and is located beside the output end of the combination portion; the two blocking mechanisms are respectively movably arranged on the blanking plate and symmetrically arranged on both sides of the output end of the combination portion, the distance between the two blocking mechanisms on the side close to the output end of the combination portion is greater than the distance between the two blocking mechanisms on the side away from the output end of the combination portion, an output space is formed between the blanking plate and the two blocking mechanisms, and the assembled screws and washers can be output through the output space, and the output portion further includes: An image acquisition device is disposed on the blanking plate and is located on a side of the blanking plate away from the mounting portion, the image acquisition device being used to capture an image of the blanking plate in a direction perpendicular to a contact surface between the blanking plate and the screw; and A plurality of air blowing pipes are arranged on the blanking plate and located on a side of the blanking plate close to the mounting portion, one end of each of the air blowing pipes is respectively connected to each of the air blowing holes or the side air blowing holes, and the air blowing pipe has an air blowing channel; Among them, the other end of the blowing pipe is connected to the blowing device, the blowing channel is connected to the blowing device, and the blowing device is used to blow air to the output space through the blowing channel and the blowing hole or through the blowing channel and the side blowing hole. When the blowing device blows air to the output space through the blowing channel and the blowing hole, an acute angle less than thirty degrees is formed between the blowing direction and the contact surface between the blanking plate and the screw.

7. The cross recessed pan head tapping screw and spring washer assembly as claimed in claim 6, characterized in that: The blocking mechanism comprises: An upper sliding member is movably disposed on the blanking plate and is located on a side of the blanking plate close to the output end of the combination part; An upper blocking member is rotatably disposed on the upper sliding member, a sliding groove is provided on the upper blocking member, and at least one side blowing hole is provided on the upper blocking member; a lower blocking member, movably disposed on the upper blocking member along the sliding groove, wherein the lower blocking member is provided with at least one side blowing hole; and A lower sliding member is movably disposed on the blanking plate and is located at a side of the blanking plate away from the output end of the combination part, and the lower blocking member is rotatably disposed on the lower sliding member; Wherein, the distance between the upper sliding members of the two blocking mechanisms is greater than the distance between the lower sliding members of the two blocking mechanisms.

8. A method for assembling a cross recessed pan head tapping screw and a spring washer, characterized in that: Applied to the cross recessed pan head tapping screw and spring flat washer assembly device according to any one of claims 1 to 7, the method comprising: Acquire an output image; wherein the output image is an image acquired in real time at a preset time interval reflecting the relative position of the combination nail on the blanking plate, the blanking plate and the blocking mechanism, wherein the combination nail is a screw and a washer combined by the combination unit; Obtaining posture detection information based on the output image; wherein the posture detection information includes posture information and a force application position, the posture information includes information reflecting whether the sliding posture of the combination nail during the sliding process is qualified and the inclination angle of the combination nail during the sliding process, and the force application position reflects a specific position on the combination nail; An output control scheme is obtained based on the posture detection information; wherein the output control scheme is used to control the blowing device.

9. The method for assembling a cross recessed pan head tapping screw and a spring washer as claimed in claim 8, characterized in that: The obtaining of posture detection information based on the output image includes: The output image is input into a posture recognition model to obtain posture detection image information; wherein the posture detection image information includes the output image, a center line marked on the output image, and combination nail information corresponding to the combination nail in the output image, the center line is a line segment parallel to the output direction of the combination nail and capable of dividing the blanking plate in the output image into equal parts, the combination nail information includes a head line, a long line, and a pad line marked on the output image, the head line is a line segment parallel to the diameter direction of the pan head of the screw in the combination nail, the long line is a line segment parallel to the length direction of the screw rod of the screw in the combination nail, the long line is perpendicular to the head line, and the pad line is a line segment parallel to the diameter direction of the washer in the combination nail; Obtaining the posture information based on the combination nail information and the center line; Obtaining the force application position based on the combination nail information and the posture information; The posture information and the force application position are confirmed as the posture detection information.

10. The method for assembling a cross recessed pan head tapping screw and a spring washer as claimed in claim 9, characterized in that: The obtaining the posture information based on the combination nail information and the center line includes: Determine whether the inclination angle is greater than a preset angle; wherein the inclination angle is the angle formed by the center line and the extension line of the long line; If the tilt angle is greater than the preset angle, the tilt angle and the information reflecting that the sliding posture of the combination nail is unqualified are confirmed as the posture information; If the inclination angle is less than or equal to the preset angle and the head line is closer to the output end of the combination nail than the pad line, the inclination angle and the information reflecting that the combination nail has a qualified sliding posture are confirmed as the posture information.

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