Screw locking device and control method thereof

Abstract

The invention provides a screw locking device and a control method thereof, and relates to the field of automatic production. The screw locking device comprises a feeding mechanism used for being arranged on a workbench, and the workbench is used for placing a workpiece to be locked; the positioning mechanism is connected with the discharging end of the feeding mechanism, and the positioning mechanism is configured to receive the screws conveyed by the feeding mechanism and rectify the posture of the screws; the detection assembly is configured to emit detection light rays to the screws in the positioning mechanism and judge whether the deviation of the screws is successfully corrected or not according to the shielding state of the detection light rays; the adsorption mechanism is configured to suck the screw subjected to successful deviation correction and move the screw to the position of the workpiece to be locked; and the screwing mechanism is used for being arranged on the workbench, and the screwing mechanism is configured to screw the screws adsorbed by the adsorption mechanism to the to-be-locked workpiece. Therefore, it is ensured that only the screw with the normal posture can be screwed by the screwing mechanism, and the success rate of locking is increased.

Description

Technical Field

[0001] This application relates to the field of automated production, and particularly to a screw locking device and its control method. Background Art

[0002] An automatic screw locking device is a device that replaces manual labor with automation to complete screw feeding and locking. Through mechanical structures and automatic control, it realizes the transformation of screws from a loose state to precise locking, so as to improve production efficiency and consistency.

[0003] In related technologies, a screw locking device generally includes a feeding module and a locking actuator. The feeding module conveys screws to the locking actuator through a vibration module and a feeding pipeline, and the locking module completes the locking action by screwing the screws with an electric screwdriver.

[0004] However, when the locking module receives screws with attitude deviations, it will cause abnormal locking, thereby affecting the success rate of locking and the yield of products. Summary of the Invention

[0005] This application provides a screw locking device and its control method to solve the technical problem that when the locking module receives screws with attitude deviations, it will cause abnormal locking, thereby affecting the success rate of locking and the yield of products.

[0006] In a first aspect, this application provides a screw locking device, including:

[0007] A feeding mechanism for being arranged on a workbench, where the workbench is used to place workpieces to be locked;

[0008] A positioning mechanism connected to the discharge end of the feeding mechanism, and the positioning mechanism is configured to receive the screws conveyed by the feeding mechanism and correct the attitude of the screws;

[0009] An adsorption mechanism configured to suck the screws with successful attitude correction;

[0010] A detection component configured to emit detection light to the screws in the positioning mechanism and judge whether the attitude correction of the screws is successful according to the occlusion state of the detection light;

[0011] An adsorption mechanism configured to suck the screws with successful attitude correction and move to the position of the workpiece to be locked;

[0012] A screwing mechanism for being arranged on the workbench, and the screwing mechanism is configured to screw the screws adsorbed by the adsorption mechanism onto the workpiece to be locked.

[0013] The screw-locking device provided by the present application corrects the posture of the screw through the positioning mechanism, and the detection component further detects whether the screw is successfully corrected. The adsorption mechanism sucks the screw after successful correction and moves it to the workpiece to be locked, ensuring that only the screw with a normal posture will be screwed by the screwing mechanism, avoiding the problem of abnormal locking when the screwing mechanism screws the screw with a deviated posture, thereby significantly improving the locking success rate.

[0014] Optionally, for the screw-locking device as described above, the positioning mechanism includes:

[0015] A first driving member disposed on the workbench;

[0016] Two clamping members, on one side of the two clamping members facing each other, semi-grooves are formed. The first driving member is configured to drive the two clamping members to move closer to or away from each other. When the two clamping members are in contact with each other, the semi-grooves are combined to form a positioning groove that matches the outer contour of the screw. The axial direction of the positioning groove is perpendicular to the moving direction of the clamping member to correct the posture of the screw.

[0017] For the screw-locking device provided by the present application, the first driving member drives the two clamping members to move closer to or away from each other. When the two clamping members are in contact with each other, the semi-grooves are combined to form a positioning groove that matches the outer contour of the screw. The axial direction of the positioning groove is perpendicular to the moving direction of the clamping member, enabling the screw to automatically adjust to the correct posture when entering the positioning groove, thereby achieving precise correction of the screw posture, ensuring that the screw always maintains a stable and accurate position during subsequent adsorption and screwing processes, and effectively avoiding locking failure caused by the deviated posture of the screw.

[0018] Optionally, for the screw-locking device as described above, the semi-groove includes a connected guiding portion and a receiving portion. The guiding portion is arranged to match the end of the screw, and the receiving portion is arranged to match the rod portion of the screw to limit the posture of the screw.

[0019] For the screw-locking device provided by the present application, by providing a connected guiding portion and a receiving portion, the guiding portion matches the end of the screw, and the receiving portion matches the rod portion of the screw, enabling the screw to be quickly positioned through the guiding portion when entering the semi-groove and restricting the rod portion of the screw through the receiving portion, thereby precisely correcting the posture of the screw, ensuring that the screw is stably maintained in the correct position after the clamping members are closed, providing a reliable posture basis for subsequent adsorption and screwing operations, and effectively avoiding locking failure caused by the incorrect posture of the screw.

[0020] Optionally, for the screw-locking device as described above, the screwing mechanism includes:

[0021] A screwing member, part of the screwing member is disposed within the adsorption mechanism;

[0022] A second driving member, an output end of the second driving member is connected to the screwing member, and the second driving member is configured to drive the screwing member to extend out of the adsorption mechanism and screw the screw onto the workpiece to be locked.

[0023] For the screw locking device provided by the present application, the second driving member is connected to the screwing member to drive the screwing member to extend out of the adsorption mechanism and screw the screw onto the workpiece to be locked, ensuring that the screw is accurately locked on the premise of a normal posture.

[0024] Optionally, for the screw locking device as described above, the adsorption mechanism further includes a vacuum detection member, and the vacuum detection member is configured to detect the vacuum degree of the adsorption mechanism to judge whether the posture of the screw is deviated.

[0025] For the screw locking device provided by the present application, by setting the vacuum detection member to detect the vacuum degree of the adsorption mechanism, it can accurately judge whether the screw is stably adsorbed and whether the posture is deviated. If the vacuum degree is abnormal, it indicates that the screw may not be fully adsorbed or the posture is deviated, thereby effectively avoiding the locking failure caused by unstable adsorption or deviated posture of the screw, and further improving the accuracy and reliability of locking.

[0026] Optionally, for the screw locking device as described above, the screwing mechanism further includes a height detection member, and the height detection member is configured to detect the screwing depth of the screw to judge whether the screw is normally locked.

[0027] For the screw locking device provided by the present application, by setting the height detection member to detect the screwing depth of the screw, it can accurately judge whether the screw reaches the preset locking standard, ensuring that the screw will neither be loose due to too shallow screwing nor cause damage to the workpiece due to too deep screwing during the locking process, thereby further improving the accuracy and reliability of locking.

[0028] Optionally, for the screw locking device as described above, the feeding mechanism includes:

[0029] A housing, and a plurality of the screws are placed in the housing;

[0030] An alignment feeding assembly, which is arranged in the housing, and the alignment feeding assembly is configured to screen and convey the screws in the housing;

[0031] A material distribution assembly, which is arranged in the housing, and the material distribution assembly is configured to convey the screws to the positioning mechanism;

[0032] A linear vibration conveying assembly, which is arranged in the housing, and the linear vibration conveying assembly is configured to convey the screws in the alignment feeding assembly to the material distribution assembly.

[0033] The screw-locking device provided by this application accommodates multiple screws in a housing. The alignment feeding assembly screens and transports the screws. The linear vibrating conveying assembly transports the screened screws to the material distributing assembly, and then the material distributing assembly accurately transports the screws to the positioning mechanism, realizing the orderliness and automation of the screws from storage to transportation, and ensuring that the screws can efficiently and stably enter the positioning mechanism.

[0034] In a second aspect, this application provides a control method for a screw-locking device, which adopts the screw-locking device described in any item of the first aspect, and includes:

[0035] Start the feeding mechanism to transport screws to the positioning mechanism;

[0036] Start the positioning mechanism to correct the posture of the screws;

[0037] Absorb the screws with successful posture correction on the positioning mechanism through the adsorption mechanism;

[0038] Start the detection component. The detection component emits detection light to the screws in the positioning mechanism, and judges whether the screws are successfully corrected according to the occlusion state of the detection light;

[0039] If the screws are successfully corrected, the adsorption mechanism absorbs the screws with successful posture correction on the positioning mechanism and drives the screws to move to the workpiece to be locked;

[0040] Start the screwing mechanism to screw the screws adsorbed by the adsorption mechanism onto the workpiece to be locked.

[0041] The control method for the screw-locking device provided by this application corrects the posture of the screws through the positioning mechanism. The detection component further detects whether the screws are successfully corrected. The adsorption mechanism absorbs the corrected screws and moves them to the workpiece to be locked, ensuring that only the screws with normal postures will be screwed by the screwing mechanism, avoiding the problem of abnormal locking when the screwing mechanism screws the screws with offset postures, thereby significantly improving the locking success rate.

[0042] Optionally, the control method for the screw-locking device as described above further includes:

[0043] Obtain the vacuum degree of the adsorption mechanism;

[0044] If the vacuum degree is less than the preset vacuum degree value, the screws are determined to have an offset posture;

[0045] If the vacuum degree is greater than or equal to the preset vacuum degree value, the screws are determined to have a normal posture.

[0046] The control method of the screw locking device provided by the present application can accurately determine whether the screw is stably adsorbed and whether its posture has shifted by detecting the vacuum degree of the adsorption mechanism. If the vacuum degree is abnormal, it indicates that the screw may not be fully adsorbed or its posture has shifted, thus effectively avoiding the locking failure caused by unstable adsorption or posture shift of the screw and further improving the accuracy and reliability of locking.

[0047] Optionally, the control method of the screw locking device as described above further includes:

[0048] If the screw deviation correction fails, the adsorption mechanism drives the screw to move to the discharging part and releases the adsorption of the screw, so that the screw is placed in the discharging part.

[0049] The control method of the screw locking device provided by the present application avoids the screws with posture deviation caused by failed deviation correction from entering the subsequent locking process by making the screws fall into the discharging part, thus effectively preventing the locking failure caused by the posture deviation of the screws.

[0050] Optionally, the control method of the screw locking device as described above further includes:

[0051] Obtain the screwing height of the screw;

[0052] If the screwing height of the screw is greater than the preset height value, the screw is determined to be wrongly locked;

[0053] If the screwing height is less than or equal to the preset height value, the screw is determined to be normally locked.

[0054] The control method of the screw locking device provided by the present application can accurately determine whether the screw reaches the preset locking standard by detecting the screwing depth of the screw, ensuring that the screw will neither be loose due to too shallow screwing nor cause workpiece damage due to too deep screwing during the locking process, thus further improving the accuracy and reliability of locking.

[0055] The screw-locking device and its control method provided by the present application. The screw-locking device includes a feeding mechanism configured to be arranged on a workbench, and the workbench is used to place the workpiece to be screwed; a positioning mechanism connected to the discharging end of the feeding mechanism, and the positioning mechanism is configured to receive the screws conveyed by the feeding mechanism and correct the posture of the screws; a detection component configured to emit detection light to the screws in the positioning mechanism and judge whether the screws are successfully corrected according to the occlusion state of the detection light; an adsorption mechanism configured to suck the successfully corrected screws and move them to the position of the workpiece to be screwed; a screwing mechanism configured to be arranged on the workbench, and the screwing mechanism is configured to screw the screws adsorbed by the adsorption mechanism onto the workpiece to be screwed. Thus, the screws conveyed by the feeding mechanism are positioned by the positioning mechanism, and whether the screws are successfully corrected is detected by the detection component, ensuring that only the screws with normal postures will be screwed by the screwing mechanism, avoiding the problem of abnormal locking when the screwing mechanism screws the screws with deviated postures, and thus significantly improving the success rate of locking. Description of the Drawings

[0056] The drawings here are incorporated into the specification and form a part of this specification, showing the embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application.

[0057] Figure 1 Schematic structural diagram of the screw-locking device provided by the embodiment of the present application;

[0058] Figure 2 Schematic structural diagram of the screw-locking structure provided by the embodiment of the present application after removing the feeding mechanism;

[0059] Figure 3 is Figure 2 Enlarged schematic diagram of part A in

[0060] Figure 4 is Figure 3 Schematic structural diagram of the clamping member in

[0061] Figure 5 is Figure 1 Schematic structural diagram of the feeding mechanism in

[0062] Explanation of the reference numerals in the drawings:

[0063] 10 - Workbench;

[0064] 20 - Workpiece to be screwed;

[0065] 100 - Feeding mechanism; 110 - Housing; 120 - Alignment feeding component; 130 - Material separation component; 140 - Linear vibration conveying component;

[0066] 200 - Positioning mechanism; 210 - First driving member; 220 - Clamping member; 230 - Half groove; 231 - Guiding portion; 232 - Accommodating portion; 240 - Through hole;

[0067] 300 - Adsorption mechanism; 310 - Vacuum tube; 320 - Vacuum detection member;

[0068] 400 - Detection assembly;

[0069] 500 - Screwing mechanism; 510 - Screwing member; 520 - Second driving member; 530 - Height detection member;

[0070] 600 - Robot arm;

[0071] 700 - Sliding assembly;

[0072] 800 - Camera;

[0073] 900 - Lighting member.

[0074] Through the above - mentioned drawings, specific embodiments of the present application have been shown, and there will be more detailed descriptions hereinafter. These drawings and textual descriptions are not intended to limit the scope of the concept of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. Detailed Description of the Embodiments

[0075] Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0076] An automatic screw - locking device is a device that replaces manual labor through automation to complete screw feeding and locking. Through mechanical structures and automatic control, it realizes the transformation of screws from a scattered state to precise locking, so as to improve production efficiency and consistency.

[0077] In the related art, the screw - locking device generally includes a feeding module and a locking execution mechanism. The feeding module transports screws to the locking execution mechanism through a vibration module and a feeding pipeline, and the locking module tightens the screws by screwing them with an electric screwdriver to complete the locking action.

[0078] However, when the locking module receives screws with attitude deviation, it will cause abnormal locking, thereby affecting the success rate of locking and the yield of products.

[0079] In view of the above technical problems, the embodiments of the present application provide a screw locking device and its control method. The screw locking device includes a feeding mechanism configured to be disposed on a workbench for placing a workpiece to be locked; a positioning mechanism connected to the discharging end of the feeding mechanism, configured to receive the screws conveyed by the feeding mechanism and correct the posture of the screws; a detection component configured to emit detection light to the screws in the positioning mechanism and determine whether the screws are successfully corrected according to the occlusion state of the detection light; an adsorption mechanism configured to suck the successfully corrected screws and move them to the position of the workpiece to be locked; and a screwing mechanism configured to be disposed on the workbench, configured to screw the screws adsorbed by the adsorption mechanism onto the workpiece to be locked. Thus, the positioning mechanism positions the screws transmitted by the feeding mechanism, and the detection component detects whether the screws are successfully corrected, ensuring that only the screws with normal postures are screwed by the screwing mechanism, avoiding the problem of abnormal locking when the screwing mechanism screws the screws with deviated postures, thereby significantly improving the locking success rate.

[0080] The following uses specific embodiments to elaborate in detail on the technical solutions of the present application and how the technical solutions of the present application solve the above technical problems. These several specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The following will describe the embodiments of the present application with reference to the drawings.

[0081] Figure 1 It is a schematic structural diagram of the screw locking device provided by the embodiment of the present application. Figure 2 It is a schematic structural diagram of the screw locking structure removing the feeding mechanism provided by the embodiment of the present application. Figure 3 For Figure 2 an enlarged schematic diagram of part A in Figure 4 For Figure 3 a schematic structural diagram of the clamping member in Figure 5 For Figure 1 a schematic structural diagram of the feeding mechanism in

[0082] Please refer to Figures 1 to 5。In a first aspect, this embodiment provides a screw-locking device, including a feeding mechanism 100 configured to be disposed on a workbench 10 for placing a workpiece 20 to be screwed; a positioning mechanism 200 connected to the discharging end of the feeding mechanism 100 and configured to receive the screws conveyed by the feeding mechanism 100 and correct the postures of the screws; a detection assembly 400 configured to emit detection light to the screws in the positioning mechanism 200 and determine whether the screws are successfully corrected based on the occlusion state of the detection light; an adsorption mechanism 300 configured to suck the successfully corrected screws and move them to the workpiece 20 to be screwed; and a screwing mechanism 500 configured to be disposed on the workbench 10 and configured to screw the screws adsorbed by the adsorption mechanism 300 onto the workpiece 20 to be screwed.

[0083] Traditional screw-locking devices usually rely on a feeding module to convey screws to the adsorption position. Subsequently, a vacuum tube 310 sucks the screws and moves them to the surface of the workpiece, and then the screwing actuator completes the screwing. However, during the feeding process, the postures of the screws are likely to be offset due to vibration or collision (such as tilting, inversion, or jamming). If the adsorption mechanism 300 sucks screws with abnormal postures, it will directly result in screwing failure or damage to the workpiece 20 to be screwed.

[0084] To solve the above problems, this embodiment provides a screw-locking device. The feeding mechanism 100 is configured to be disposed on the workbench 10 to ensure that the screws are output one by one in an orderly manner to the inlet of the positioning mechanism 200, avoiding multi-screw jamming or accumulation. The positioning mechanism 200 is connected to the feeding mechanism 100 and is used to receive the screws and correct their postures. The axial tilt or radial offset of the screws is corrected by the positioning mechanism 200 to ensure that the postures of the screws are normal before entering the adsorption mechanism 300. The detection assembly 400 emits detection light to the screws in the positioning mechanism 200 and determines whether the screws are successfully corrected based on the occlusion state of the light. The adsorption mechanism 300 is used to suck the screws corrected by the positioning mechanism 200 to ensure that only the screws with normal postures after successful correction enter the screwing link. The screwing mechanism 500 is used to accurately screw the screws onto the workpiece 20 to be screwed.

[0085] Specifically, in this embodiment, the adsorption mechanism 300 includes a vacuum tube 310 and a vacuum generator. The vacuum tube 310 is used to contact the screws and generate an adsorption force, and the vacuum generator adsorbs the screws through negative pressure. Thus, the screws corrected by the positioning mechanism 200 are sucked by the vacuum tube 310, and the postures of the screws during the adsorption process are ensured to be normal, providing a reliable basis for subsequent screwing operations.

[0086] Among them, in an optional embodiment, the vacuum tube 310 can be made of silica gel material to avoid scratching or indentation on the surface of the screw during the adsorption process. A groove structure matching the shape of the screw head can be formed at the end of the vacuum tube 310 to ensure full contact with the screw surface during adsorption. A vacuum channel is provided inside the vacuum tube 310, and a negative pressure is generated by a vacuum generator to firmly adsorb the screw. The operator can adaptively select the depth of the groove structure of the vacuum tube 310 to ensure that the end of the screw can be completely embedded, while avoiding contact between the rod part of the screw and the vacuum tube 310 to prevent the screw from tilting or shifting during the adsorption process.

[0087] In an optional embodiment, the detection assembly 400 includes a transmitting end, a receiving end, and a data processing unit. The transmitting end is used to emit a beam of detection light, such as a laser beam or infrared light, to the screw in the positioning mechanism 200; the receiving end is used to receive the light after being blocked by the screw and generate a corresponding optical signal; the data processing unit is used to analyze the change of the optical signal to judge whether the screw is successfully corrected.

[0088] Specifically, when the screw is successfully corrected, the detection light will be blocked by the screw, and the intensity of the optical signal detected by the receiving end will be significantly reduced; if the screw is not successfully corrected, the intensity of the optical signal remains unchanged. Through the beam detection mechanism of the detection assembly 400, it is possible to quickly judge whether the screw is successfully corrected, ensuring the reliability of the subsequent screwing process.

[0089] Among them, the detection assembly 400 can judge whether the screw is successfully corrected by analyzing the shape of the light blocked by the screw. For example, the transmitting end can emit multiple parallel light beams, and the receiving end detects the range and position of each light beam blocked. If the screw is adsorbed in a normal posture, the range of each light beam blocked should be uniform and symmetrical; if the screw is tilted or offset, the blocked range will show an asymmetrical or abnormal distribution. The data processing unit judges whether the posture of the screw is normal in real time according to the blocking characteristics to confirm whether the correction is successful, further improving the accuracy and success rate of screwing.

[0090] Furthermore, the screw locking device provided in this embodiment further includes a discharging member. The discharging member is arranged on one side of the workbench 10 and is used to receive and collect the screws that are not successfully corrected. When the detection assembly 400 determines that the screw is not successfully corrected, the adsorption mechanism 300 adsorbs the screw that is not successfully corrected, transfers the screw to the discharging member and releases the adsorption, so that the screw slides into the discharging member, preventing abnormal screws from entering the screwing process and affecting the screwing quality and production operation efficiency. At the same time, the discharging member can be cleaned regularly, thereby reducing the frequency of manual intervention and improving the operation efficiency of the screw locking device.

[0091] In addition, the screw-locking device provided in this embodiment further includes a robotic arm 600, which is arranged on the workbench 10. The robotic arm 600 is used to drive the adsorption mechanism 300 to move between the positioning mechanism 200, the workpiece to be locked 20, and the discharging member. Among them, the robotic arm 600 can be driven by a servo motor or a cylinder to precisely control the movement path and speed of the adsorption mechanism 300, ensuring a smooth and efficient transfer process of the screw from deviation correction to locking.

[0092] Furthermore, the screw-locking device provided in this embodiment further includes a sliding assembly 700. The sliding assembly 700 is connected to the positioning mechanism 200, so as to be able to drive the positioning mechanism 200 to move, to receive the screw or move to below the adsorption mechanism 300, facilitating the adsorption mechanism 300 to suck the screw whose deviation correction is completed on the positioning mechanism 200. At the same time, after the adsorption mechanism 300 finishes adsorption, the sliding assembly 700 can drive the positioning mechanism 200 away from the adsorption mechanism 300, thereby avoiding the interference of the positioning mechanism 200 on the screwing path of the locking mechanism.

[0093] Among them, the sliding assembly 700 can be a slide cylinder.

[0094] For the screw-locking device provided in this embodiment, the positioning mechanism 200 corrects the posture of the screw, and the detection component 400 further detects whether the deviation correction of the screw is successful. The adsorption mechanism 300 sucks the screw with successful deviation correction and moves it to the workpiece to be locked 20, ensuring that only the screws with normal postures will be screwed by the screwing mechanism 500, avoiding the problem of abnormal locking when the screwing mechanism 500 screws the screws with offset postures, thereby significantly improving the locking success rate.

[0095] In an alternative embodiment, the positioning mechanism 200 includes a first driving member 210, which is arranged on the workbench 10; two clamping members 220, and half grooves 230 are formed on the opposite sides of the two clamping members 220. The first driving member 210 is configured to drive the two clamping members 220 to move closer to or away from each other. When the two clamping members 220 are in contact with each other, the half grooves 230 are combined to form a positioning groove that matches the outer contour of the screw. The axial direction of the positioning groove is perpendicular to the moving direction of the clamping member 220 to correct the posture of the screw.

[0096] During the automated screw-locking process, the posture of the screw (i.e., the axial direction of the screw) directly affects the locking accuracy and success rate. If the posture of the screw is offset, it will cause the screw to fail to accurately enter the threaded hole of the workpiece to be locked 20, resulting in locking failure and even damage to the workpiece to be locked 20. The positioning mechanism 200 in the embodiment realizes the deviation correction of the screw posture through the setting of the clamping member 220 and the half groove 230.

[0097] Specifically, in this embodiment, semi-grooves 230 are formed on the opposite sides of the two clamping members 220. When the first driving member 210 drives the two clamping members 220 to approach each other, the two semi-grooves 230 gradually merge. When the clamping members 220 are in full contact, the two semi-grooves 230 form a positioning groove, and the shape of the positioning groove matches the outer contour of the screw, thereby realizing the attitude adjustment of the screw.

[0098] Specifically, when the screw is fed between the two clamping members 220 by the feeding mechanism 100, the screw may be inclined or offset to a certain extent due to its initial position or external force. At this time, the semi-grooves 230 on the two clamping members 220 gradually approach and merge to form a positioning groove that matches the outer contour of the screw. Since the shape of the positioning groove matches the outer contour of the screw, the screw will be gradually guided and restricted by the inner walls of the semi-grooves 230 during the process of entering the positioning groove. Any inclination or offset of the screw will contact the inner walls of the semi-grooves 230 and be squeezed and adjusted during the continuous approach of the clamping members 220, thereby forcibly aligning the axis of the screw to the axis direction of the positioning groove and correcting the attitude of the screw. Finally, the axis of the screw completely coincides with the axis of the positioning groove, realizing the correction of the screw attitude.

[0099] Among them, in this embodiment, the first driving member 210 is a driving motor, and by controlling the movement distance and speed of the two clamping members 220, it is ensured that the screw can be stably clamped and corrected to a preset attitude.

[0100] In other alternative embodiments, the first driving member 210 can adopt driving methods such as cylinders or linear modules to drive the clamping members 220. In this regard, this embodiment does not impose any restrictions, and the operator can make an adaptive selection according to actual needs.

[0101] In addition, it should be noted that in this embodiment, through holes 240 communicating with the semi-grooves 230 are formed on the clamping members 220, and the detection light of the detection component 400 can pass through the through holes 240 and irradiate the screw clamped in the positioning groove, thereby determining whether the screw deviation correction is successful.

[0102] In an alternative embodiment, the semi-groove 230 includes a connected guiding portion 231 and a receiving portion 232. The guiding portion 231 is arranged to match the end of the screw, and the receiving portion 232 is arranged to match the rod portion of the screw to restrict the attitude of the screw.

[0103] Specifically, in this embodiment, the guiding portion 231 is arranged to match the end portion of the screw. The shape of the guiding portion 231 is arranged to match the end portion of the screw, and is used to preliminarily guide and position the end portion of the screw when the screw enters the clamping member 220. The accommodating portion 232 is arranged to match the rod portion of the screw, and is used to restrict the rod portion of the screw after the screw is clamped. When the two clamping members 220 approach each other, the guiding portion 231 first contacts the end portion of the screw, and guides the end portion of the screw to the correct position through its shape. At the same time, the accommodating portion 232 gradually contacts the rod portion of the screw to further restrict the movement of the screw. When the clamping members 220 are completely abutted, the guiding portion 231 and the accommodating portion 232 act together to completely restrict the end portion and the rod portion of the screw within the positioning groove, ensuring that the axis of the screw is aligned with the axis of the positioning groove, thereby achieving precise deviation correction of the screw posture and ensuring the accuracy and reliability of the screw posture adjustment.

[0104] Among them, in this embodiment, the guiding portion 231 is a conical structure. When the screw is fed between the two clamping members 220, the end portion of the screw first contacts the inclined surface of the conical guiding portion 231. Due to the guiding effect of the conical structure, the end portion of the screw will be gradually guided to the central position of the conical structure during the contact process, thereby achieving preliminary deviation correction of the end portion of the screw.

[0105] At the same time, the conical guiding portion 231 can adapt to the end portions of screws of different specifications, improving the versatility and adaptability of the positioning mechanism 200.

[0106] Please refer to Figures 1 to 5 . In an alternative embodiment, the screwing mechanism 500 includes a screwing member 510, and a part of the screwing member 510 is arranged inside the adsorption mechanism 300; a second driving member 520, the output end of the second driving member 520 is connected to the screwing member 510, and the second driving member 520 is configured to drive the screwing member 510 to extend out of the adsorption mechanism 300 and screw the screw onto the workpiece 20 to be locked.

[0107] Specifically, in this embodiment, after the screw is adsorbed by the adsorption mechanism 300, the second driving member 520 is activated to push the screwing member 510 to extend outwards from the inside of the adsorption mechanism 300. The extension of the screwing member 510 causes it to contact the end portion of the screw and start to rotate, screwing the screw into the threaded hole of the workpiece 20 to be locked.

[0108] Among them, in this embodiment, the screwing member 510 is an electric screwdriver.

[0109] The screwing mechanism 500 provided in this embodiment integrates a part of the screwing member 510 into the adsorption mechanism 300, realizing the integrated operation of screw adsorption, positioning, and screwing, simplifying the structure of the screw locking device, and improving the efficiency of screw locking. At the same time, the driving action of the second driving member 520 ensures that the screwing member 510 can accurately extend and contact the screw, thereby completing the screwing action and improving the accuracy and reliability of screw locking.

[0110] Among them, in this embodiment, a part of the screwing member 510 is arranged in the vacuum tube 310. After the screw is adsorbed by the adsorption mechanism 300, the second driving member 520 drives the screwing end of the screwing member 510 to abut against the end of the screw and drives the screw to gradually extend out of the vacuum tube 310 and enter the threaded hole of the workpiece 20 to be locked. Then, the second driving member 520 drives the screwing member 510 to rotate to screw the screw onto the workpiece 20 to be locked.

[0111] Among them, in this embodiment, the adsorption mechanism 300 moves between the positioning mechanism 200, the workpiece 20 to be locked, and the discharging member under the drive of the robotic arm 600. Among them, a camera 800, a processing unit, and a lighting member 900 are arranged on the robotic arm 600. The lighting member 900 can illuminate the workpiece 20 to be locked to ensure sufficient light in the shooting environment and avoid the influence of shadows. The camera 800 takes a picture of the workpiece 20 to be locked and captures the image information of the threaded hole. After the shooting is completed, the image data is transmitted to the processing unit. The processing unit analyzes the position of the threaded hole through an image recognition algorithm and calculates its coordinate information. Subsequently, the processing unit sends the coordinate information to the robotic arm 600, and the robotic arm 600 adjusts the position of the adsorption mechanism 300 according to the received coordinates to ensure that the screwing member 510 can accurately align with the threaded hole and complete the screw screwing operation.

[0112] In an alternative embodiment, the adsorption mechanism 300 further includes a vacuum detector 320, and the vacuum detector 320 is configured to detect the vacuum degree of the adsorption mechanism 300 to determine whether the posture of the screw is offset.

[0113] Specifically, in this embodiment, the vacuum detector 320 can detect the vacuum degree of the vacuum tube 310. When the adsorption mechanism 300 grabs the screw by vacuum adsorption, the vacuum detector 320 will monitor the vacuum degree of the adsorption vacuum tube 310 in real time. If the posture of the screw is normal and it fits perfectly with the adsorption mechanism 300, the vacuum degree will be maintained within a stable range; while if the posture of the screw is offset, it will cause a decrease in the sealing performance between the adsorption mechanism 300 and the screw, and the vacuum degree will show a significant downward trend. By monitoring the change of the vacuum degree, the vacuum detector 320 can timely judge whether the posture of the screw is offset and feedback the detection result to the control system. The control system can adjust the actions of the adsorption mechanism 300 or the robotic arm 600 according to the feedback information, re-grab the screw or move it to the discharging part, ensuring that only the screws with normal postures can accurately enter the subsequent positioning and locking processes.

[0114] The screw locking device provided in this embodiment can accurately judge whether the screw is stably adsorbed and whether its posture is offset by setting the vacuum detector 320 to detect the vacuum degree of the adsorption mechanism 300, thus effectively avoiding the locking failure caused by unstable screw adsorption or posture offset, and further improving the accuracy and reliability of locking.

[0115] In an optional embodiment, the screwing mechanism 500 further includes a height detector 530, which is configured to detect the screwing depth of the screw to judge whether the screw is normally locked.

[0116] Specifically, in this embodiment, when the screwing member 510 screws the screw into the threaded hole of the workpiece 20 to be locked, the height detector 530 will monitor the screwing depth of the screw in real time. If the screwing depth of the screw reaches the preset value, it means that the screw has been normally locked; if the screwing depth is insufficient or exceeds the preset value, there may be problems such as the screw not being fully screwed in, skewed locking, over-tight locking or abnormal threaded hole. The height detector 530 can feedback the detection result to the control system, and the control system can adjust the action of the screwing member 510 or issue an alarm according to the feedback information to ensure the quality and accuracy of screw locking.

[0117] Among them, the height detector 530 can measure the distance change between the screw head and the workpiece surface through a contact or non-contact sensor, or judge the screwing depth of the screw by monitoring the displacement of the screwing member 510. The operator can adaptively select the height detector 530 according to actual needs, and this embodiment does not impose any restrictions on this.

[0118] In an alternative embodiment, the feeding mechanism 100 includes a housing 110, with a plurality of screws placed inside the housing 110; an alignment feeding assembly 120, disposed inside the housing 110, and the alignment feeding assembly 120 is configured to screen and transfer the screws inside the housing 110; a material distribution assembly 130, disposed inside the housing 110, and the material distribution assembly 130 is configured to transfer the screws to the positioning mechanism 200; a linear vibrating conveying assembly 140, disposed inside the housing 110, and the linear vibrating conveying assembly 140 is configured to transfer the screws in the alignment feeding assembly 120 to the material distribution assembly 130.

[0119] Specifically, in this embodiment, the housing 110 is used to store screws, and the alignment feeding assembly 120, the material distribution assembly 130, and the linear vibrating conveying assembly 140 are all disposed inside the housing 110. Among them, the alignment feeding assembly 120 is used to screen and arrange the screws inside the housing 110. The linear vibrating conveying assembly 140, through the vibration effect, enables the screws to move smoothly along a predetermined path, avoiding jamming or attitude deviation of the screws during the transmission process. The material distribution assembly 130 is used to separate the screws conveyed by the linear vibrating conveying assembly 140 one by one and transfer them to the positioning mechanism 200.

[0120] Specifically, the alignment feeding assembly 120 can adopt a vibrating bowl or other screening structures to arrange the screws neatly in a standard posture with the head facing up and the rod facing down. Operators can adaptively select the specific structure of the alignment feeding assembly 120 according to actual needs, and this embodiment does not impose any restrictions on this.

[0121] The material distribution assembly 130 can adopt a material distribution wheel or other material distribution structures to separate and push the screws conveyed by the linear vibrating conveying assembly 140 to the positioning mechanism 200, ensuring that the screws are output to the entrance of the positioning mechanism 200 one by one in an orderly manner, and avoiding jamming or accumulation of multiple screws. In this embodiment, the material distribution assembly 130 and the positioning mechanism 200 are connected by a feeding pipe. The material distribution assembly 130 pushes the screws into the feeding pipe, and the screws enter the positioning mechanism 200 through the feeding pipe.

[0122] Among them, to ensure the stability of screw transmission, an air nozzle is provided on the material distribution assembly 130. The air nozzle is used to blow air into the feeding pipe to assist the screws in moving smoothly in the feeding pipe, avoiding jamming or attitude deviation of the screws due to friction or gravity. The air flow direction and intensity of the air nozzle can be adjusted according to the size of the screws and the length of the feeding pipe to ensure that the screws can pass through the feeding pipe smoothly and quickly and reach the positioning mechanism 200.

[0123] Please refer to Figures 1 to 5 . In a second aspect, this embodiment provides a control method for a screw locking device, using the screw locking device according to any one of the first aspect, including:

[0124] S101. Turn on the feeding mechanism 100 to convey screws to the positioning mechanism 200.

[0125] Among them, through the coordinated work of the alignment feeding component 120, the linear vibration conveying component 140 and the material distribution component 130, the feeding mechanism 100 screens, arranges and transports the screws one by one to the positioning mechanism 200, ensuring that the screws are output to the entrance of the positioning mechanism 200 in an orderly manner.

[0126] S102. Turn on the positioning mechanism 200 to correct the posture of the screws.

[0127] Among them, the positioning mechanism 200 can correct the axial tilt or radial offset of the screws to ensure that the screws have a normal posture before entering the adsorption mechanism 300.

[0128] S103. Turn on the detection component 400. The detection component 400 emits detection light to the screws in the positioning mechanism 200 and judges whether the screws are successfully corrected according to the occlusion state of the detection light.

[0129] Among them, the detection component 400 includes a transmitting end, a receiving end and a data processing unit. The transmitting end is used to emit a beam of detection light, such as a laser beam or infrared light, to the screws in the positioning mechanism 200; the receiving end is used to receive the light after being blocked by the screws and generate corresponding optical signals; the data processing unit is used to analyze the changes in the optical signals to judge whether the screws are successfully corrected.

[0130] Specifically, when the screws are successfully corrected, the detection light will be blocked by the screws, and the intensity of the optical signal detected by the receiving end will be significantly reduced; if the screws are not successfully corrected, the intensity of the optical signal remains unchanged. Through the beam detection mechanism of the detection component 400, it is possible to quickly judge whether the screws are successfully corrected, ensuring the reliability of the subsequent locking process.

[0131] Among them, the detection component 400 can judge whether the screws are successfully corrected by analyzing the shape of the light blocked by the screws. For example, the transmitting end can emit multiple parallel light beams, and the receiving end detects the range and position of each light beam blocked. If the screws are adsorbed normally, the range of each light beam blocked should be uniform and symmetrical; if the screws are tilted or offset, the blocked range will show an asymmetrical or abnormal distribution. The data processing unit judges whether the posture of the screws is normal in real time according to the occlusion characteristics to confirm whether the correction is successful, further improving the accuracy and success rate of locking.

[0132] S104. If the screws are successfully corrected, the adsorption mechanism 300 sucks the successfully corrected screws on the positioning mechanism 200 and drives the screws to move to the workpiece 20 to be locked.

[0133] S105. Turn on the screwing mechanism 500 to screw the screws adsorbed by the adsorption mechanism 300 onto the workpiece 20 to be locked.

[0134] Among them, the adsorption mechanism 300 can suck the screws after the deviation correction of the positioning mechanism 200, ensuring that only the screws with normal postures enter the screwing process.

[0135] This embodiment provides a control method for a screw locking device. The positioning mechanism 200 corrects the posture of the screws, and the detection component 400 further detects whether the deviation correction of the screws is successful. The adsorption mechanism 300 sucks the screws after successful deviation correction and moves them to the workpiece 20 to be locked, ensuring that only the screws with normal postures will be screwed by the screwing mechanism 500, avoiding the problem of abnormal screwing when the screwing mechanism 500 screws the screws with offset postures, thereby significantly improving the screwing success rate.

[0136] In an alternative embodiment, the control method of the screw locking device further includes:

[0137] S201, obtaining the vacuum degree of the adsorption mechanism 300;

[0138] S202, if the vacuum degree is less than the preset vacuum degree value, determining that the posture of the screw is offset;

[0139] S203, if the vacuum degree is greater than or equal to the preset vacuum degree value, determining that the posture of the screw is normal.

[0140] Specifically, in this embodiment, the vacuum detector 320 can detect the vacuum degree of the vacuum tube 310. When the adsorption mechanism 300 grabs the screws by vacuum adsorption, the vacuum detector 320 will monitor the vacuum degree of the adsorption vacuum tube 310 in real time. If the posture of the screw is normal and it is completely attached to the adsorption mechanism 300, the vacuum degree will be maintained within a stable range; while if the posture of the screw is offset, it will cause a decrease in the sealing performance between the adsorption mechanism 300 and the screw, and the vacuum degree will show a significant decreasing trend. By monitoring the change of the vacuum degree, the vacuum detector 320 can timely judge whether the posture of the screw is offset and feedback the detection result to the control system. The control system can adjust the actions of the adsorption mechanism 300 or the robotic arm 600 according to the feedback information, re-grab or move the screw to the discharging part, ensuring that only the screws with normal postures can accurately enter the subsequent positioning and screwing processes.

[0141] The control method of the screw locking device provided in this embodiment can accurately judge whether the screws are stably adsorbed and whether the posture is offset by setting the vacuum detector 320 to detect the vacuum degree of the adsorption mechanism 300, thereby effectively avoiding screwing failures caused by unstable screw adsorption or offset postures, and further improving the accuracy and reliability of screwing.

[0142] In an alternative embodiment, the control method of the screw locking device further includes:

[0143] In S301, if the screw alignment fails, the adsorption mechanism 300 drives the screw to move to the discharging part, releases the adsorption of the screw, and places the screw into the discharging part.

[0144] Specifically, when the detection component 400 determines that the screw alignment fails, the adsorption mechanism 300 can transfer the screw to the discharging part and release the adsorption, so that the screw slides into the discharging part, preventing abnormal screws from entering the locking process and affecting the locking quality and production operation efficiency. At the same time, the discharging part can be cleaned regularly, thereby reducing the frequency of manual intervention and improving the operation efficiency of the screw locking device.

[0145] In an optional embodiment, the control method of the screw locking device further includes:

[0146] S401, obtaining the screwing height of the screw;

[0147] S402, if the screwing height of the screw is greater than the preset height value, determining that the screw is wrongly locked;

[0148] S403, if the screwing height is less than or equal to the preset height value, determining that the screw is normally locked.

[0149] Specifically, when the screwing part 510 screws the screw into the threaded hole of the workpiece 20 to be locked, the height detection part 530 will monitor the screwing depth of the screw in real time. If the screwing depth of the screw reaches the preset value, it means that the screw has been normally locked; if the screwing depth is insufficient or exceeds the preset value, there may be problems such as the screw not being fully locked, the locking being inclined, the locking being too tight, or the threaded hole being abnormal. The height detection part 530 can feed back the detection result to the control system, and the control system can adjust the action of the screwing part 510 or issue an alarm according to the feedback information to ensure the quality and accuracy of the screw locking.

[0150] The control method of the screw locking device provided in this embodiment can accurately judge whether the screw reaches the preset locking standard by detecting the screwing depth of the screw, ensuring that the screw will neither be loose due to too shallow screwing nor cause damage to the workpiece due to too deep screwing during the locking process, thereby further improving the accuracy and reliability of the locking.

[0151] The various embodiments or implementation manners in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts among the various embodiments can be referred to each other.

[0152] It should be noted that the phrases such as "an embodiment", "embodiments", "exemplary embodiments", "some embodiments", etc. mentioned in the specification indicate that the described embodiments may include specific features, structures or characteristics, but not necessarily every embodiment includes such specific features, structures or characteristics. In addition, such phrases do not necessarily refer to the same embodiment. Moreover, when combining a specific feature, structure or characteristic with an embodiment, it is within the knowledge scope of those skilled in the art to implement such feature, structure or characteristic in combination with other embodiments whether explicitly or implicitly described.

[0153] Generally speaking, terms should be understood at least partially based on their use in the context. For example, at least partially according to the context, the term "one or more" used in the text can be used to describe any feature, structure or characteristic in the sense of singularity, or can be used to describe a combination of features, structures or characteristics in the sense of plurality. Similarly, at least partially according to the context, terms such as "a" or "the" can also be understood to convey either singular usage or plural usage.

[0154] It should be easily understood that the terms "on", "above", and "over" in the present disclosure should be interpreted in the broadest manner, so that "on" not only means "directly on something", but also includes the meaning of "on something" with intermediate features or layers therebetween, and "above" or "over" not only includes the meaning of "above or over something", but may also include the meaning of "above or over something" with no intermediate features or layers therebetween (i.e., directly on something).

[0155] In addition, for the convenience of description, spatial relative terms such as "below", "beneath", "under", "above", "over" etc. may be used in the text to describe the relationship of one element or feature relative to other elements or features as shown in the figures. Spatial relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation shown in the drawings. The device may have other orientations (rotated 90 degrees or in other orientations), and the spatial relative descriptive words used in the text can be interpreted accordingly.

[0156] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A screw-locking device, characterized in that, Including: A feeding mechanism for being arranged on a workbench, and the workbench is used for placing workpieces to be locked; A positioning mechanism connected to the discharging end of the feeding mechanism, and the positioning mechanism is configured to receive the screws conveyed by the feeding mechanism and correct the posture of the screws; A detection component, and the detection component is configured to emit detection light to the screws in the positioning mechanism and judge whether the screws are successfully corrected according to the shielding state of the detection light; An adsorption mechanism, and the adsorption mechanism is configured to suck the successfully corrected screws and move them to the position of the workpiece to be locked; A screwing mechanism for being arranged on the workbench, and the screwing mechanism is configured to screw the screws adsorbed by the adsorption mechanism onto the workpiece to be locked.

2. The screw locking device according to claim 1, wherein, The positioning mechanism includes: A first driving member arranged on the workbench; Two clamping members, on one side of the two clamping members facing each other, semi-grooves are formed. The first driving member is configured to drive the two clamping members to move closer to or away from each other. When the two clamping members are in contact with each other, the semi-grooves are combined to form a positioning groove matching the outer contour of the screw. The axial direction of the positioning groove is perpendicular to the moving direction of the clamping members to correct the posture of the screw.

3. The screw locking device according to claim 2, characterized in that, The semi-groove includes a connected guiding portion and a receiving portion. The guiding portion is arranged to match the end of the screw, and the receiving portion is arranged to match the rod portion of the screw to limit the posture of the screw.

4. The screw locking device according to claim 1, characterized in that, The screwing mechanism includes: A screwing member, and part of the screwing member is arranged in the adsorption mechanism; A second driving member, the output end of the second driving member is connected to the screwing member, and the second driving member is configured to drive the screwing member to extend out of the adsorption mechanism and screw the screw onto the workpiece to be locked.

5. The screw locking device according to any one of claims 1-4, characterized in that, The adsorption mechanism further includes a vacuum detection member, and the vacuum detection member is configured to detect the vacuum degree of the adsorption mechanism to judge whether the posture of the screw is deviated.

6. The screw locking device according to any one of claims 1-4, characterized in that, The screwing mechanism further includes a height detection member, and the height detection member is configured to detect the screwing depth of the screw to judge whether the screw is normally locked.

7. The screw locking device according to any one of claims 1-4, characterized in that, The feeding mechanism includes: A housing, and a plurality of the screws are placed in the housing; An aligning and feeding assembly arranged in the housing, and the aligning and feeding assembly is configured to screen and convey the screws in the housing; A material distributing assembly arranged in the housing, and the material distributing assembly is configured to convey the screws to the positioning mechanism; A linear vibration conveying assembly arranged in the housing, and the linear vibration conveying assembly is configured to convey the screws in the aligning and feeding assembly to the material distributing assembly.

8. A control method for a screw-locking device, using the screw-locking device according to any one of claims 1-7, characterized in that, Including: Turn on the feeding mechanism to convey screws to the positioning mechanism; Turn on the positioning mechanism to correct the posture of the screws; Turn on the detection component, and the detection component emits detection light to the screws in the positioning mechanism and judges whether the screws are successfully corrected according to the shielding state of the detection light; If the screws are successfully corrected, the adsorption mechanism sucks the successfully corrected screws on the positioning mechanism and drives the screws to move to the position of the workpiece to be locked; Turn on the screwing mechanism and screw the screw adsorbed by the adsorption mechanism onto the workpiece to be locked.

9. The control method of the screw locking device according to claim 8, wherein, It further includes: Obtain the vacuum degree of the adsorption mechanism; If the vacuum degree is less than the preset vacuum degree value, determine that the posture of the screw is deviated; If the vacuum degree is greater than or equal to the preset vacuum degree value, determine that the posture of the screw is normal.

10. The control method of the screw locking device according to claim 9, characterized in that, It further includes: If the screw deviation correction fails, the adsorption mechanism drives the screw to move to the discharging part, releases the adsorption of the screw, and places the screw in the discharging part.

11. The control method of the screw locking device according to claim 8, characterized in that, It further includes: Obtain the screwing height of the screw; If the screwing height of the screw is greater than the preset height value, determine that the screw is wrongly locked; If the screwing height is less than or equal to the preset height value, determine that the screw is normally locked.

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