Flow drill screw nailing system and control method

Abstract

The invention relates to a flow drill screw nailing system and a control method. The system comprises a flow drilling screw device, a production execution module, a programmable logic control module, a screw feeding device and a robot. The programmable logic control module is used for acquiring nailing data and sending the nailing data to the production execution module; the production execution module is used for generating a nailing control signal according to the nailing data and sending the nailing control signal to the programmable logic control module; the programmable logic control module is further used for generating a nail feeding signal according to the nailing control signal and sending the nail feeding signal to the nail feeding equipment; the screw feeding equipment is used for carrying out screw feeding operation on the screw drilling equipment according to the screw feeding signal; the robot is used for driving the flow drilling screw equipment to a target position after the screw feeding equipment executes the screw feeding operation, generating an in-place signal and sending the in-place signal to the flow drilling screw equipment; and the flow drilling screw equipment is used for executing the nailing action according to the in-place signal. By adopting the system, the nailing efficiency can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of automatic nailing, and in particular to a flow drill screw nailing system and a control method. Background Art

[0002] FDS (flow drill screw) technology is a high-speed rotation, self-tapping, and final tightening connection process. This process allows for single-sided connections with minimal deformation and is a removable fastening method. FDS technology is widely used in the production of body panels and battery trays for new energy vehicles.

[0003] In the existing technology, most FDS equipment operates independently, and production execution relies on manual intervention, resulting in problems such as low nailing efficiency and poor adaptability to production scenarios. Summary of the Invention

[0004] Based on this, it is necessary to provide a flow drill screw nailing system and control method that can improve nailing efficiency and adapt to production scenarios to address the above technical problems.

[0005] In a first aspect, the present application provides a flow drill screw nailing system, the flow drill screw nailing system comprising:

[0006] Flow drilling screw equipment, production execution module, programmable logic control module, nail feeding equipment and robots;

[0007] The programmable logic control module is used to obtain nailing data and send the nailing data to the production execution module;

[0008] The production execution module is used to generate a nailing control signal according to the nailing data, and send the nailing control signal to the programmable logic control module;

[0009] The programmable logic control module is further configured to generate a nail feeding signal according to the nail driving control signal, and send the nail feeding signal to the nail feeding device;

[0010] The nail feeding device is used to perform a nail feeding operation on the flow drill screw device according to the nail feeding signal;

[0011] The robot is used to drive the flow drill screw device to the target position after the nail feeding device performs the nail feeding operation, and generate an in-position signal and send it to the flow drill screw device;

[0012] The flow drill screw device is used to perform a nailing action according to the in-position signal.

[0013] In some embodiments of the system, the programmable logic control module is further configured to generate and send a pre-nail installation signal to the flow drill screw device after the nail feeding device performs a nail feeding operation, and the flow drill screw device is configured to perform a pre-nail installation operation according to the pre-nail installation signal;

[0014] The programmable logic control module is also used to generate and send a pre-loading completion signal to the robot after detecting that the pre-loading nail operation of the flow drilling screw device is completed. The robot is also used to drive the flow drilling screw device to the target position according to the pre-loading nail completion signal, and generate an in-position signal and send it to the flow drilling screw device.

[0015] In some embodiments of the system, the programmable logic control module is also used to repeatedly control the nail feeding device and the flow drill screw device to respectively perform the nail feeding operation and the pre-nail operation when the flow drill screw device completes nailing and there is no error in nailing.

[0016] In some embodiments of the system, the programmable logic control module is further configured to generate a nailing completion signal and send it to the robot when the flow drill screw device completes nailing without error;

[0017] The robot drives the flow drill screw device to first lift to a preset height according to the nailing completion signal, and then moves horizontally to just above the next target position;

[0018] The preset height represents the maximum height allowed by the flow drill screw device.

[0019] In some embodiments of the system, the robot is further configured to mark a target position corresponding to the nailing completion signal as a tightened position, and the robot is configured to be unable to regenerate an in-position signal at the tightened position.

[0020] According to a second aspect of an embodiment of the present disclosure, a method for controlling a flow drill screw nailing system is provided, using the above-mentioned flow drill screw nailing system, the method comprising:

[0021] Acquire nailing data through a programmable logic control module and send the nailing data to a production execution module;

[0022] Generate a nailing control signal according to the nailing data by the production execution module, and send the nailing control signal to the programmable logic control module;

[0023] Generate a nail feeding signal according to the nail driving control signal by the programmable logic control module, and send the nail feeding signal to the nail feeding device;

[0024] The nail feeding device performs a nail feeding operation on the flow drill screw device according to the nail feeding signal;

[0025] After the nail feeding device performs the nail feeding operation, the flow drilling screw device is driven to the target position by the robot and an in-position signal is generated and sent to the flow drilling screw device;

[0026] The flow drill screw device performs a nailing action according to the in-position signal.

[0027] In some embodiments of the method, the method further comprises:

[0028] After the nail feeding device performs a nail feeding operation, a pre-nail installation signal is generated and sent to the flow drilling screw device through the programmable logic control module, and the flow drilling screw device performs a pre-nail installation operation according to the pre-nail installation signal;

[0029] In response to detecting that the pre-stitching operation of the flow drill screw device is completed, generating and sending a pre-stitching completion signal to the robot through the programmable logic control module;

[0030] The robot drives the flow drill screw device to the target position according to the pre-nail completion signal, generates an in-position signal and sends it to the flow drill screw device.

[0031] In some embodiments of the method, the method further comprises:

[0032] When the flow drill screw device completes nailing without error, the programmable logic control module repeatedly controls the nail feeding device and the flow drill screw device to respectively perform the nail feeding operation and the pre-nail installation operation.

[0033] In some embodiments of the method, the method further comprises:

[0034] When nailing is completed by the flow drill screw device and there is no error in nailing, a nailing completion signal is generated by the programmable logic control module and sent to the robot;

[0035] The robot drives the flow drill screw device to be first lifted to a preset height according to the nailing completion signal, and then horizontally moved to just above the next target position;

[0036] The preset height represents the maximum height allowed by the flow drill screw device.

[0037] In some embodiments of the method, the method further comprises:

[0038] The robot marks the target position corresponding to the nailing completion signal as a tightened position;

[0039] The robot is configured to be unable to regenerate an in-position signal at the tightened position.

[0040] The flow drill screw nailing solution provided in the embodiment of the present application can achieve unilateral connection with less deformation through the flow drill screw process, which can improve the torque bearing capacity and safety of the screw and ensure stable operation under various conditions; it can realize refined, automated and precise nailing production through the collaborative interaction between the flow drill screw equipment, programmable logic control module, production execution module, nail feeding equipment and robot, which can reduce processing time while ensuring the nailing quality and improve nailing efficiency.

[0041] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings herein are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the description are used to explain the principles of the present disclosure, and do not constitute an improper limitation of the present disclosure.

[0043] Figure 1 1 is a structural block diagram of a flow drill screw nailing system according to an exemplary embodiment;

[0044] Figure 2 1 is a schematic diagram showing the operation modes of a flow drill screw nailing system according to an exemplary embodiment;

[0045] Figure 3 1 is a schematic diagram of the operation flow of a flow drill screw nailing system according to an exemplary embodiment;

[0046] Figure 4 This is a schematic diagram of a system alarm process according to an exemplary embodiment;

[0047] Figure 5 The figure is a flow chart of a control method of a flow drill screw nailing system according to an exemplary embodiment.

[0048] Reference numerals: 100, flow drill screw nailing system; 110, flow drill screw equipment; 120, production execution module; 140, programmable logic control module; 160, nail feeding equipment; 180, robot. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0050] It should be noted that the terms "first," "second," and the like in the specification and claims of the present disclosure and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than that illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Rather, they are merely examples of apparatuses and methods consistent with certain aspects of the present disclosure. The terms "comprise," "include," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, product, or apparatus comprising a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, product, or apparatus. Without further limitation, the presence of additional identical or equivalent elements in the process, method, product, or apparatus comprising the elements is not precluded. For example, the use of terms such as "first," "second," and the like are intended to indicate names and do not imply any specific order.

[0051] In some embodiments of the present disclosure, a flow drill screw nailing system 100 is provided, such as Figure 1 As shown, the flow drilling and screw nailing system 100 includes a flow drilling and screw nailing device 110, a production execution module 120, a programmable logic control module 140, a nail feeding device 160, and a robot 180. The programmable logic control module 140 is configured to acquire nailing data and transmit the nailing data to the production execution module 120. The production execution module 120 is configured to generate a nailing control signal based on the nailing data and transmit the nailing control signal to the programmable logic control module 140. The programmable logic control module 140 is further configured to generate a nail feeding signal based on the nailing control signal and transmit the nail feeding signal to the nail feeding device 160. The nail feeding device 160 is configured to perform a nail feeding operation on the flow drilling and screw nailing device 110 based on the nail feeding signal. The robot 180 is configured to drive the flow drilling and screw nailing device 110 to a target position after the nail feeding device 160 performs the nail feeding operation, and to generate and transmit an in-position signal to the flow drilling and screw nailing device 110. The flow drilling and screw nailing device 110 is configured to perform a nailing operation based on the in-position signal.

[0052] In some embodiments of the present disclosure, the flow drill screwing equipment 110 typically utilizes the FDS flow drill screw tightening process. FDS is a highly efficient cold-forming connection technology. It transmits the high-speed rotational power of a motor to the sheet metal to be connected via a tightening shaft at the center of the equipment, generating plastic deformation of the sheet metal using frictional heat. Subsequently, self-tapping and screwing are performed to form a secure connection. The production execution module 120 typically refers to a module that provides production operations and management services for flow drill screw nailing. The production execution module may include a Manufacturing Execution System (MES). In some examples, the MES system may be a production information management system for the FDS nailing execution layer. The MES can provide management modules for FDS nailing, including manufacturing data management, planning and scheduling management, production scheduling management, inventory management, quality management, work center / equipment management, tool and fixture management, procurement management, cost management, project kanban management, production process control, underlying data integration and analysis, and upper-level data integration and decomposition, providing a solid, reliable, comprehensive, and feasible manufacturing collaborative management platform. The nailing data can be obtained through the programmable logic control module 140 and sent to the production execution module 120. The production execution module 120 can perform production information management based on the nailing data, generate a nailing control signal, and send the nailing control signal to the programmable logic control module 140. The nailing data may include target position information to be nailed and nailing parameter information. The nailing parameter information may include torque information, speed information, axial force information, and temperature information. By configuring appropriate nailing parameter information, the nailing quality and nailing efficiency of the target position to be nailed can be guaranteed. In some embodiments, the programmable logic control module 140 can communicate and interact with the MES system through the PROFINET communication protocol.

[0053] In some embodiments of the present disclosure, the programmable logic control module 140 can generate a nail feeding signal after receiving a nailing control signal, and send the nail feeding signal to the nail feeding device 160. The nail feeding device 160 generally refers to a device that performs a nail feeding operation for the flow drilling screw device 110. The nail feeding device 160 may include devices such as a vibration plate. The nail feeding device 160 performs a nail feeding operation on the flow drilling screw device 110 according to the nail feeding signal. After the nail feeding device 160 performs the nail feeding operation, the robot 180 can drive the flow drilling screw device 110 to the target position to be nailed. After the robot 180 is in position, it can generate an in-position signal and send it to the flow drilling screw device 110. After receiving the in-position signal, the flow drilling screw device 110 performs a nailing action, thereby completing the nailing operation on the target position to be nailed.

[0054] In some embodiments of the present disclosure, a flow drilling screw process can be used to achieve unilateral connection with relatively small deformation, thereby improving the torque bearing capacity and safety of the screws and ensuring stable operation under various conditions; refined, automated and precise nailing production can be achieved through the collaborative interaction among the flow drilling screw device 110, the programmable logic control module 140, the production execution module 120, the nail feeding device 160 and the robot 180, thereby reducing processing time while ensuring nailing quality and improving nailing efficiency.

[0055] In some embodiments of the present disclosure, Figure 2 , the operating modes of the flow drill screw system include manual mode and automatic mode. In some examples, the flow drill screw system defaults to automatic mode when powered on, and the switch button for manual mode or automatic mode can be configured through the system display page, and the manual mode or automatic mode can be switched through the switch button. During the production process, the flow drill screw system can display the nailing curve through the display page to reflect the production situation. In some examples, the flow drill screw device 110 is in the initial position, that is, the home position, by default at startup. If it is not in the home position, it can be initialized and automatically reset, or it can be manually controlled to return to the home position. In other examples, the flow drill screw device 110 needs to be in the initial position, that is, it needs to be in the home position before it can be switched to automatic mode.

[0056] In some embodiments of the present disclosure, the programmable logic control module 140 is further configured to generate and send a pre-nail installation signal to the flow drilling screw device 110 after the nail feeding device 160 performs a nail feeding operation, and the flow drilling screw device 110 is configured to perform a pre-nail installation operation according to the pre-nail installation signal. The programmable logic control module 140 is further configured to generate and send a pre-nail installation completion signal to the robot 180 after detecting that the pre-nail installation operation of the flow drilling screw device 110 is completed. The robot 180 is further configured to drive the flow drilling screw device 110 to a target position according to the pre-nail installation completion signal, and generate and send an in-position signal to the flow drilling screw device 110.

[0057] In some embodiments of the present disclosure, Figure 3, after importing the nailing data, the nail feeding device 160 executes nail feeding after waiting for the buffer time. The buffer time may include 10ms, 30ms, 100ms, etc., and the buffer time is used to provide buffering for the corresponding device. After the nail feeding device 160 executes the nail feeding operation, the programmable logic control module 140 generates and sends a pre-nail installation signal to the flow drilling screw device 110, and the flow drilling screw device 110 executes the pre-nail installation operation according to the pre-nail installation signal. If the nail feeding device 160 is still not detected to have completed nail feeding after the first preset time, there may be situations such as no nails or nail feeding anomalies. The system can automatically replace spare nails or manually feed nails for processing. The first preset time represents the maximum threshold allowed for detecting that the nail feeding device 160 has completed nail feeding. By adopting such a technical solution, automated nail feeding, nailing and nailing production can be achieved, thereby reducing the overall processing time and improving the efficiency of automated nailing.

[0058] In some embodiments of the present disclosure, the programmable logic control module 140 is also used to repeatedly control the nail feeding device 160 and the flow drilling screw device 110 to respectively perform the nail feeding operation and the pre-nailing operation when the flow drilling screw device 110 completes nailing and there is no error in nailing.

[0059] In some embodiments of the present disclosure, the nailing status of the flow drill screw device 110 can be detected. When the flow drill screw device 110 completes nailing and there are no errors in nailing, the programmable logic control module 140 can repeatedly control the nail feeding device 160 and the flow drill screw device 110 to perform nail feeding operations and pre-nail installation operations, respectively. In some examples, in response to detecting that the flow drill screw device 110 currently completes nailing and there are no errors in nailing, the programmable logic control module 140 regenerates a nail feeding signal and sends the nail feeding signal to the nail feeding device 160. The nail feeding device 160 repeats the nail feeding operation on the flow drill screw device 110 according to the regenerated nail feeding signal. After the nail feeding device 160 performs the nail feeding operation, the programmable logic control module 140 regenerates and sends the pre-nail installation signal to the flow drill screw device 110, and the flow drill screw device 110 re-executes the pre-nail installation operation according to the pre-nail installation signal. Reference Figure 3 and Figure 4In other examples, if nailing completion is not detected after a second preset time, or if a nailing error is detected, the nail feeding and pre-stapling operations are not repeated. In some embodiments, if nailing completion is not detected after the second preset time, or if a nailing error is detected, the programmable logic control module 140 will also trigger an alarm and generate a log file. The corresponding abnormality can be automatically handled using a pre-stored configuration file, or an alarm or notification can be issued to instruct a technician to manually handle the problem. In other embodiments, if pre-stapling completion is not detected after a third preset time, or if a pre-stapling error is detected, the programmable logic control module 140 can also trigger a corresponding alarm and generate a log file describing the current alarm information. The corresponding abnormality can be automatically handled using a pre-stored configuration file, or an alarm or notification can be issued to instruct a technician to manually handle the problem. It should be noted that after the alarm is triggered, the flow drill screw device 110 must return to its initial position, i.e., to its home position, before it can resume operation. If it is not in its home position, an initialization automatic reset can be performed, or it can be manually returned to its home position. The second preset time represents the maximum threshold allowed for detecting nailing completion. The third preset time represents a maximum threshold allowed for detecting completion of pre-stapling.

[0060] In some embodiments of the present disclosure, after the flow drill screw device 110 completes nailing and nailing without errors, the nail feeding and pre-loading operations can be repeated to reduce the nailing interval, thereby reducing the overall processing time and improving the efficiency of automated nailing.

[0061] In some embodiments of the present disclosure, the programmable logic control module 140 is further configured to generate a nailing completion signal and transmit it to the robot 180 when the flow drill screw device 110 completes nailing without error. Based on the nailing completion signal, the robot 180 drives the flow drill screw device 110 to first lift it to a preset height and then translate it to directly above the next target position. The preset height represents the maximum height allowed by the flow drill screw device 110.

[0062] In some embodiments of the present disclosure, when the flow drill screw device 110 completes nailing and there are no errors in nailing, it can be determined that the current nailing is completed, and the robot 180 can drive the flow drill screw device 110 to be lifted to a preset height, that is, lifted to the highest height allowed by the current production, and then translated to just above the next target position. After the nailing is completed, the robot 180 drives the flow drill screw device 110 to be lifted to a preset height, which can avoid the risk of hitting the gun due to misoperation and ensure the safety of the equipment during the nailing process. In some examples, after the robot 180 drives the flow drill screw device 110 to be translated to just above the next target position, and then after the nail feeding device 160 re-executes the nail feeding operation, it drives the flow drill screw device 110 to the next target position, regenerates the in-position signal and resends it to the flow drill screw device 110, and the flow drill screw device 110 performs the nailing action according to the regenerated in-position signal. By repeating the above operations, the flow drill screw system repeatedly completes the nailing and tightening operation, achieving fast and highly safe automated nailing.

[0063] In some embodiments of the present disclosure, the robot 180 is further configured to mark the target position corresponding to the nailing completion signal as a tightened position, and the robot 180 is configured to be unable to regenerate an in-position signal at the tightened position.

[0064] In some embodiments of the present disclosure, when the flow drill screw device 110 completes nailing and there are no errors in nailing, it can be determined that the current nailing is completed, and a nailing completion signal can be generated by the programmable logic control module 140 and sent to the robot 180. After receiving the nailing completion signal, the robot 180 marks the corresponding target position as a tightened position. By adopting this method, all target positions that have been nailed and tightened can be marked to reflect the overall nailing situation. It should be noted that the robot 180 cannot regenerate an in-position signal at the tightened position, and thus cannot restart the nailing and tightening operation at the tightened position.

[0065] Some flow drill screw nailing systems 100 provided in the present disclosure can achieve unilateral connection with less deformation through the flow drill screw process, which can improve the torque bearing capacity and safety of the screws and ensure stable operation under various conditions; refined, automated and precise nailing production can be achieved through the collaborative interaction between the flow drill screw equipment 110, the programmable logic control module 140, the production execution module 120, the nail feeding equipment 160 and the robot 180, which can reduce processing time while ensuring the nailing quality and improve nailing efficiency.

[0066] In some embodiments provided by the present disclosure, the execution of the control method of the flow drill screw nailing system 100 can be controlled by a unified controller or by multiple controllers. These controllers can include a controller of a local terminal, such as the controller of the flow drill screw nailing system 100, or a controller of a remote server, such as a controller in a server that can communicate with the flow drill screw nailing system 100. In some embodiments, the controller of the local terminal and the controller of the server can jointly assist in completing the control processing of the flow drill screw nailing system 100. The local terminal described in the present disclosure can include, but is not limited to, various robot 180 devices, vehicle-mounted devices, personal computers, laptops, smartphones, tablets, wearable devices, medical devices, VR (Virtual Reality) virtual devices, etc. The server can also be a server, a server cluster, a distributed subsystem, a cloud processing platform, a server containing blockchain nodes, and any combination thereof. The controller described in the present disclosure may include various control units capable of implementing logic processing functions, including but not limited to CPU (Central Processing Unit), PLC (Programmable Logic Controller), ECU (Electronic Control Unit), MCU (Microcontroller Unit), FPGA (Field Programmable Gate Array) and CPLD (Complex Programmable Logic Device), as well as a controller composed of one or more logic function units, chips, etc.

[0067] In some embodiments of the present disclosure, a flow drill screw nailing system 100 control method is provided, using the above-mentioned flow drill screw nailing system 100, referring to Figure 5 , the method comprising:

[0068] S20 , obtaining nailing data through the programmable logic control module 140 and sending the nailing data to the production execution module 120 .

[0069] S22 , generating a nailing control signal according to the nailing data through the production execution module 120 , and sending the nailing control signal to the programmable logic control module 140 .

[0070] S24 , generating a nail feeding signal according to the nail driving control signal through the programmable logic control module 140 , and sending the nail feeding signal to the nail feeding device 160 .

[0071] S26 , the nail feeding device 160 performs a nail feeding operation on the flow drilling screw device 110 according to the nail feeding signal.

[0072] S28 . After the nail feeding device 160 performs the nail feeding operation, the robot 180 drives the flow drilling screw device 110 to the target position and generates an in-position signal and sends it to the flow drilling screw device 110 .

[0073] S30 , executing a nailing action according to the in-position signal by the flow drill screw device 110 .

[0074] In some embodiments of the present disclosure, a flow drilling screw process can be used to achieve unilateral connection with relatively small deformation, thereby improving the torque bearing capacity and safety of the screws and ensuring stable operation under various conditions; refined, automated and precise nailing production can be achieved through the collaborative interaction among the flow drilling screw device 110, the programmable logic control module 140, the production execution module 120, the nail feeding device 160 and the robot 180, thereby reducing processing time while ensuring nailing quality and improving nailing efficiency.

[0075] In some embodiments of the present disclosure, the method further comprises:

[0076] After the nail feeding device 160 performs the nail feeding operation, the programmable logic control module 140 generates and sends a pre-nail installation signal to the flow drilling screw device 110, and the flow drilling screw device 110 performs the pre-nail installation operation according to the pre-nail installation signal.

[0077] In response to detecting that the pre-nail installation operation of the flow drill screw device 110 is completed, the programmable logic control module 140 generates and sends a pre-nail installation completion signal to the robot 180 .

[0078] The robot 180 drives the flow drill screw device 110 to the target position according to the pre-nail completion signal, generates an in-position signal and sends it to the flow drill screw device 110 .

[0079] In some embodiments of the present disclosure, the method further comprises:

[0080] When the flow drill screw device 110 completes nailing without error, the programmable logic control module 140 repeatedly controls the nail feeding device 160 and the flow drill screw device 110 to respectively perform the nail feeding operation and the pre-nail installation operation.

[0081] In some embodiments of the present disclosure, the method further comprises:

[0082] When the flow drill screw device 110 completes nailing without error, a nailing completion signal is generated by the programmable logic control module 140 and sent to the robot 180 .

[0083] The robot 180 drives the flow drill screw device 110 to be lifted to a preset height according to the nailing completion signal, and then moves horizontally to just above the next target position.

[0084] The preset height represents the maximum height allowed by the flow drill screw device 110 .

[0085] In some embodiments of the present disclosure, the method further comprises:

[0086] The robot 180 marks the target position corresponding to the nailing completion signal as a tightened position.

[0087] The robot 180 is configured to be unable to regenerate an in-position signal at the tightened position.

[0088] It is understood that the various embodiments of the above method in this specification are described in a progressive manner. The same / similar parts between the various embodiments can be referred to in detail. Each embodiment focuses on the differences from other embodiments. For related parts, please refer to the description of other method embodiments.

[0089] It should be understood that although the steps in the flowcharts involved in the drawings are shown sequentially as indicated by the arrows, these steps are not necessarily executed sequentially in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least some of the steps in the drawings may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times. The order of execution of these steps or stages is not necessarily sequential, but can be executed in rotation or alternation with other steps or at least a portion of steps or stages of other steps.

[0090] It should be noted that the information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0091] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the above-mentioned embodiments. In particular, any reference to memory, database, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The databases involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processors involved in the various embodiments provided herein may be, but are not limited to, general-purpose processors, central processing units (CPUs), graphics processing units (GPUs), digital signal processors (DSPs), programmable logic devices (PLDs), data processing logic devices based on quantum computing, and the like.

[0092] Other embodiments of the present disclosure will readily occur to those skilled in the art after considering the specification and practicing the invention disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of the present disclosure that follow from the general principles of the present disclosure and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, with the true scope and spirit of the present disclosure being indicated by the following claims.

[0093] It will be understood that the present disclosure is not limited to the exact construction that has been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof.

Claims

1. A flow drill screw nailing system, characterized in that: The flow drill screw nailing system includes: Flow drilling screw equipment, production execution module, programmable logic control module, nail feeding equipment and robots; The programmable logic control module is used to obtain nailing data and send the nailing data to the production execution module; The production execution module is used to generate a nailing control signal according to the nailing data, and send the nailing control signal to the programmable logic control module; The programmable logic control module is further configured to generate a nail feeding signal according to the nail driving control signal, and send the nail feeding signal to the nail feeding device; The nail feeding device is used to perform a nail feeding operation on the flow drill screw device according to the nail feeding signal; The robot is used to drive the flow drill screw device to the target position after the nail feeding device performs the nail feeding operation, and generate an in-position signal and send it to the flow drill screw device; The flow drill screw device is used to perform a nailing action according to the in-position signal.

2. The system according to claim 1, wherein: The programmable logic control module is further configured to generate and send a pre-nail installation signal to the flow drill screw device after the nail feeding device performs a nail feeding operation, and the flow drill screw device is configured to perform a pre-nail installation operation according to the pre-nail installation signal; The programmable logic control module is also used to generate and send a pre-loading completion signal to the robot after detecting that the pre-loading nail operation of the flow drilling screw device is completed. The robot is also used to drive the flow drilling screw device to the target position according to the pre-loading nail completion signal, and generate an in-position signal and send it to the flow drilling screw device.

3. The system according to claim 2, characterized in that The programmable logic control module is also used to repeatedly control the nail feeding device and the flow drilling screw device to respectively perform the nail feeding operation and the pre-nailing operation when the flow drilling screw device completes nailing without error.

4. The system according to claim 1, wherein: The programmable logic control module is further configured to generate a nailing completion signal and send it to the robot when the flow drill screw device completes nailing without error; The robot drives the flow drill screw device to first lift to a preset height according to the nailing completion signal, and then moves horizontally to just above the next target position; The preset height represents the maximum height allowed by the flow drill screw device.

5. The system according to claim 4, characterized in that The robot is further configured to mark a target position corresponding to the nailing completion signal as a tightened position, and the robot is configured to be unable to regenerate an in-position signal at the tightened position.

6. A flow drill screw nailing system control method, characterized in that: Using the flow drill screw nailing system according to any one of claims 1 to 5, the method comprises: Acquire nailing data through a programmable logic control module and send the nailing data to a production execution module; Generate a nailing control signal according to the nailing data by the production execution module, and send the nailing control signal to the programmable logic control module; Generate a nail feeding signal according to the nail driving control signal by the programmable logic control module, and send the nail feeding signal to the nail feeding device; The nail feeding device performs a nail feeding operation on the flow drill screw device according to the nail feeding signal; After the nail feeding device performs the nail feeding operation, the flow drilling screw device is driven to the target position by the robot and an in-position signal is generated and sent to the flow drilling screw device; The flow drill screw device performs a nailing action according to the in-position signal.

7. The method according to claim 6, characterized in that The method further comprises: After the nail feeding device performs a nail feeding operation, a pre-nail installation signal is generated and sent to the flow drilling screw device through the programmable logic control module, and the flow drilling screw device performs a pre-nail installation operation according to the pre-nail installation signal; In response to detecting that the pre-stitching operation of the flow drill screw device is completed, generating and sending a pre-stitching completion signal to the robot through the programmable logic control module; The robot drives the flow drill screw device to the target position according to the pre-nail completion signal, generates an in-position signal and sends it to the flow drill screw device.

8. The method according to claim 7, characterized in that The method further comprises: When the flow drill screw device completes nailing without error, the programmable logic control module repeatedly controls the nail feeding device and the flow drill screw device to respectively perform the nail feeding operation and the pre-nail installation operation.

9. The method according to claim 6, characterized in that The method further comprises: When nailing is completed by the flow drill screw device and there is no error in nailing, a nailing completion signal is generated by the programmable logic control module and sent to the robot; The robot drives the flow drill screw device to be first lifted to a preset height according to the nailing completion signal, and then horizontally moved to just above the next target position; The preset height represents the maximum height allowed by the flow drill screw device.

10. The method according to claim 9, characterized in that The method further comprises: The robot marks the target position corresponding to the nailing completion signal as a tightened position; The robot is configured to be unable to regenerate an in-position signal at the tightened position.

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