Intelligent screw locking method for screw hole positioning

Abstract

The invention relates to the technical field of automatic screw locking, in particular to an intelligent screw locking method for screw hole positioning, which comprises the following steps: S100, acquiring the current transmission state of each transmission mechanism so as to select the transmission mechanism for transmitting products; s200, the selected conveying mechanism is used for conveying the product to a first specific position; s300, the visual module is used for recognizing hole sites, where screws need to be locked, of the product, and then the hole sites are divided into first hole sites and second hole sites; s400, a first locking mechanism is used for conducting screw locking on the first hole site; s500, the selected conveying mechanism is used for conveying the product to a second specific position; and S600, a second locking mechanism is used for conducting screw locking on the second hole site. The visual module is used for recognizing products to obtain the position of each hole site, then after the hole sites are classified according to the specifications of screws needing to be locked, the first locking mechanism and the second locking mechanism are used for locking the screws respectively, and therefore the locking precision is guaranteed, and the effect of locking multiple types of screws is achieved.

Description

Technical Field

[0001] This invention relates to the field of automated screw fastening technology, and in particular to an intelligent screw fastening method for screw hole positioning. Background Technology

[0002] Automated screw fastening equipment can transform assembly line operations into automated operations, thereby improving efficiency and largely preventing the occurrence of missed screw fastening.

[0003] Existing screw fastening methods typically involve transferring a product to a screw fastening mechanism, which then performs the fastening action according to a predetermined sequence, achieving a streamlined process. However, in practice, there may be positional errors in the holes on the product. In such cases, it can easily lead to situations where screws cannot be fastened to specific holes, resulting in downtime or damage to the product / equipment. Furthermore, current screw fastening equipment usually only allows for the fastening of a single screw. Summary of the Invention

[0004] This invention addresses the problems of existing technologies by providing an intelligent screw fastening method for screw hole positioning, which can ensure the accuracy of screw fastening and can fasten two types of screws.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: This invention provides an intelligent screw fastening method for screw hole positioning, applied to a screw fastening device. The device includes a vision module, multiple transmission mechanisms, several first fastening mechanisms, and several second fastening mechanisms, and comprises the following steps: S100. Obtain the current transmission status of each transmission mechanism to select the transmission mechanism for the transmission product; S200. Use the selected transmission mechanism to transfer the product to the first specific location; S300. Use a vision module to identify the holes where screws need to be fastened on the product, and then divide the holes into first holes and second holes; S400. The first locking mechanism is used to lock the screw in the first hole; S500. Use a selected transmission mechanism to transfer the product to a second specific location; S600. The second screw is fastened to the second hole using the second fastening mechanism.

[0006] Furthermore, step S100 specifically includes: S110. Obtain the loading status of the first specific position of each transmission mechanism. If there is a transmission mechanism with no load at the first specific position, proceed to step S120. If the first specific position of each transmission mechanism is loaded with products, proceed to step S130. S120. Select a transmission mechanism from the unloaded transmission mechanism at the first specific location to transmit the product; S130. Obtain the loading status of the second specific position of each transmission mechanism. If there is a transmission mechanism with an empty second specific position, proceed to step S140; if the second specific position of each transmission mechanism is loaded with products, proceed to step S150. S140. Select a transmission mechanism from the unloaded transmission mechanism at the second specific location to transmit the product; S150. Determine the screw fastening completion rate of the products at the second specific position of each transmission mechanism, and select the transmission mechanism corresponding to the product with the highest fastening completion rate for product transmission.

[0007] Furthermore, step S120 specifically includes: S121. Obtain the loading status of the second specific position of the transmission mechanism that is empty at the first specific position. If there is a second specific position of the transmission mechanism that is empty, select the transmission mechanism for product transmission. If the second specific position of each transmission mechanism is loaded with products, proceed to step S122. S122. Obtain the screw fastening completion rate of each product, and select the transmission mechanism of the product with the highest fastening completion rate for transmission.

[0008] Furthermore, in step S140, if the number of unloaded transmission mechanisms at the second specific position is greater than 1, then the transmission mechanism corresponding to the product with the highest locking completion rate in the first specific position is selected for transmission.

[0009] Furthermore, step S300 specifically includes: S310. Use a vision module to acquire images of the product; S320. Analyze the product image to determine the location of each hole; S330. Based on the inner diameter of each hole, the holes are divided into the first hole and the second hole. S340. Match the coordinates of each first hole position and each second hole position and record them.

[0010] Furthermore, step S340 specifically includes: S341. Process the image of the first hole / second hole to obtain a circular pattern; S342. Calculate the center of the circular pattern; S343. Establish a coordinate system with the reference object as the center, and match the coordinates of each circle center in the coordinate system; S344. Record each coordinate.

[0011] Furthermore, the number of the first locking mechanism and the second locking mechanism are the same, and the ratio of the number of the first locking mechanism to the number of the transmission mechanism is 1:2; During step S400, a first locking mechanism is used to lock screws in the first holes of the products on two adjacent transfer mechanisms in succession. During step S600, a second locking mechanism is used to lock screws in the second holes of the products on two adjacent transfer mechanisms.

[0012] Furthermore, positioning modules are respectively provided at the first specific position and the second specific position, and the specific operation of the positioning modules is as follows: Identify the vehicle carrying the product in place; The first positioning component is lifted into the insertion carrier by the action of the first cylinder; The second positioning component is lifted by the action of the second cylinder so that it is inserted into the two positioning holes of the carrier. After the screws are tightened, the first and second cylinders are simultaneously activated so that the first and second positioning components disengage from the carrier.

[0013] Furthermore, step S400 specifically includes: S410. Screws are output using a screw feeder; S420. Inspect the screws output by the screw feeder to determine whether the screws are qualified; S430. If the screw is defective, the first fastening mechanism will pick it up and transfer it to the recycling device; if the screw is qualified, the first fastening mechanism will pick it up and fasten it to the first hole of the product.

[0014] Furthermore, step S420 specifically includes: S421. Suspend the screw in the air and then take a picture of it; S422. Analyze the image of the screw to obtain data on the shape, length, diameter, and curvature of the screw shank; S423. Compare the data obtained in step S422 with the corresponding preset data ranges respectively; S424. If any one of the data is not within the corresponding preset data range, the screw is determined to be unqualified; if all the data are within the corresponding preset data range, then proceed to step S425. S425. Take a picture of the screw head using the first locking mechanism to obtain an image of the screw head; S426. Analyze whether the image of the screw head matches the pre-stored information. If so, the screw is considered qualified; otherwise, the screw is considered unqualified.

[0015] The beneficial effects of the present invention are as follows: The present invention uses a vision module to identify the product to obtain the position of each hole, and then classifies the holes according to the specifications of the screws to be fastened. The first fastening mechanism and the second fastening mechanism are used to fasten the screws respectively, thereby ensuring fastening accuracy and achieving the effect of fastening various types of screws. Attached Figure Description

[0016] Figure 1 This is a flowchart of the present invention.

[0017] Figure 2 This is a schematic diagram of the screw-locking device using the present invention.

[0018] Figure 3 for Figure 2 Enlarged view of point A.

[0019] Reference numerals: 1—vision module, 2—transmission mechanism, 3—first locking mechanism, 4—second locking mechanism, 5—first specific position, 6—second specific position, 7—positioning module, 8—first cylinder, 9—second cylinder, 10—first positioning component, 11—second positioning component, 12—pressing module, 13—screw feeder. Detailed Implementation

[0020] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to embodiments and accompanying drawings. The content mentioned in the embodiments is not intended to limit the present invention. The present invention will be described in detail below with reference to the accompanying drawings.

[0021] Combination Figures 1 to 3 As shown, the present invention provides an intelligent screw fastening method for screw hole positioning, applied to a screw fastening device. This screw fastening device has a vision module 1, multiple transmission mechanisms 2, several first fastening mechanisms 3, and several second fastening mechanisms 4, and includes the following steps: S100. Obtain the current transmission status of each transmission mechanism 2 to select the transmission mechanism 2 used for the transmission product; S200. The product is transferred to the first specific location 5 using the selected transmission mechanism 2; S300. Use vision module 1 to identify the holes where screws need to be fastened on the product, and then divide the holes into first holes and second holes; S400. The first locking mechanism 3 is used to lock the screw in the first hole; S500. The product is transferred to the second specific location 6 using the selected transmission mechanism 2; S600. The second screw is fastened to the second hole using the second fastening mechanism 4.

[0022] In practical applications, the number of first locking mechanisms 3 and second locking mechanisms 4 is the same, and the ratio of the number of first locking mechanisms 3 to the number of transmission mechanisms 2 is 1:2. For example, in this embodiment, there are two first locking mechanisms 3, two second locking mechanisms 4, and four transmission mechanisms 2. The two first locking mechanisms 3 and two second locking mechanisms 4 are arranged in a 2*2 rectangular array. One first locking mechanism 3 and one second locking mechanism 4 work together to lock the product screws of the two transmission mechanisms 2, thereby matching the operating rhythm of the first locking mechanisms 3 and second locking mechanisms 4 with the operating rhythm of the transmission mechanisms 2, reducing the long waiting time caused by rhythm mismatch.

[0023] During operation, this invention requires external transfer equipment or manual assistance to load the product-laden carrier. Specifically, based on the progress of screw fastening at each transfer mechanism 2, the mechanism that completes the screw fastening for the current product fastest is determined, and the product-laden carrier is then transferred to that mechanism 2. While the product is being transferred, the distribution of each hole is first determined by taking photos. Then, the holes are classified according to their inner diameter. The first fastening mechanism 3 and the second fastening mechanism 4 then sequentially fasten screws of different specifications to the first and second holes, respectively, achieving a high-precision and high-efficiency fastening effect for various screws. This makes the invention more flexible than existing technologies.

[0024] In this embodiment, step S100 specifically includes: S110. Obtain the loading status of the first specific position 5 of each transmission mechanism 2. If there is a transmission mechanism 2 with an empty first specific position 5, then execute step S120; if the first specific position 5 of each transmission mechanism 2 is carrying a product, then execute step 130. S120. Select the unloaded transmission mechanism 2 at the first specific position 5 to transmit the product; S130. Obtain the loading status of the second specific position 6 of each transmission mechanism 2. If there is a transmission mechanism 2 with an empty second specific position 6, then execute step S140; if the second specific position 6 of each transmission mechanism 2 is loaded with products, then execute step S150. S140. Select the unloaded transmission mechanism 2 at the second specific position 6 to transmit the product; S150. Determine the screw fastening completion rate of the product at the second specific position 6 of each transmission mechanism 2, and select the transmission mechanism 2 corresponding to the product with the highest fastening completion rate for product transmission.

[0025] Since the product needs to be screwed in at the first specific position 5 and then transferred to the second specific position 6 for screwing, when judging the status of each transmission mechanism 2, the transmission mechanism 2 with no load at the first specific position 5 is selected first, because the product can be directly photographed and identified and screwed in. If all four transmission mechanisms 2 are screwing in the first specific position 5, it is necessary to judge whether the second specific position 6 of each transmission mechanism 2 is no load. If there is a no load, the product is transferred to that transmission mechanism 2 first. This can maximize the number of transmission mechanisms 2 that are paused in the screw-locking equipment and ensure production efficiency.

[0026] In this embodiment, step S120 specifically includes: S121. Obtain the loading status of the second specific position 6 of the transmission mechanism 2 that is empty at the first specific position 5. If there is a transmission mechanism 2 with an empty second specific position 6, select that transmission mechanism 2 for product transmission. If the second specific position 6 of each transmission mechanism 2 is loaded with products, then execute step S122. S122. Obtain the screw fastening completion rate of each product, and select the product with the highest fastening completion rate to be transmitted through the transmission mechanism 2.

[0027] Of course, the present invention will also encounter a situation where more than one of the first specific positions 5 of the transmission mechanism 2 is unloaded. In this case, in order to maintain the operation of each transmission mechanism 2, it is necessary to evaluate the completion of the product fastening at the second specific position 6. For example, if the product needs to fasten 10 screws in the second hole at the second specific position 6, and if the first specific positions 5 of both transmission mechanisms 2 are unloaded, and the fastening progress of the second specific positions 6 of the two transmission mechanisms 2 is 30% and 50% respectively, then it is preferable to move the product to the transmission mechanism 2 with a fastening progress of 50% for transmission, so as to ensure that after the product is fastened at the first specific position 5, it can enter the second specific position 6 for screw fastening more quickly.

[0028] Of course, taking the screw fastening device described in this embodiment as an example: when there are three first specific positions 5 of the three transmission mechanisms 2 that are unloaded, since one second fastening mechanism 4 is responsible for fastening the product screws of two transmission mechanisms 2, it is inevitable that the first specific positions 5 of the two transmission mechanisms 2 corresponding to one second fastening mechanism 4 will be unloaded. At this time, it is only necessary to transfer the product to another transmission mechanism 2, without paying attention to any fastening completion.

[0029] Specifically, in step S140, if the number of unloaded transmission mechanisms 2 at the second specific position 6 is greater than 1, then the transmission mechanism 2 corresponding to the product with the highest locking completion rate at the first specific position 5 is selected for transmission.

[0030] Specifically, step S300 includes: S310. Use vision module 1 to acquire an image of the product; S320. Analyze the product image to determine the location of each hole; S330. Based on the inner diameter of each hole, the holes are divided into the first hole and the second hole. S340. Match the coordinates of each first hole position and each second hole position and record them.

[0031] The vision module 1 is preferably located at the first locking mechanism 3. Since the first locking mechanism 3 has movement in the X, Y, and Z directions, the position of the vision module 1 can be adjusted so that the vision module 1 can acquire a complete image of the product. As for the analysis of the holes on the product, it can be done by analyzing the "black dots" on the image. This action can be accomplished by introducing deep learning or AI into the system of the present invention, so the present invention will not describe it.

[0032] In this embodiment, step S340 specifically includes: S341. Process the image of the first hole / second hole to obtain a circular pattern; S342. Calculate the center of the circular pattern; S343. Establish a coordinate system with the reference object as the center, and match the coordinates of each circle center in the coordinate system; S344. Record each coordinate.

[0033] Because the product may have slight deviations in posture when fixed on the carrier, these deviations can affect the determination of the hole positions. Therefore, this invention specifically equips a reference object (not shown in the figure) on one side of the transmission mechanism 2, and uses the reference object as the center to establish a coordinate system, preferably a rectangular coordinate system. In this way, even if the shape of the carrier is deformed or the product is offset, the specific position information of the product can be identified on the coordinate system, thereby calculating the information of the first hole position and the second hole position on the rectangular coordinate system. This facilitates the accurate screw fastening of the first fastening mechanism 3 and the second fastening mechanism 4, avoiding safety accidents caused by misalignment.

[0034] Specifically, during step S400, a first locking mechanism 3 is used to lock screws onto the first holes of the products on two adjacent transfer mechanisms 2 in succession. During step S600, a second locking mechanism 4 is used to lock screws in the second holes of the products on two adjacent transmission mechanisms 2 in succession.

[0035] Specifically, positioning modules 7 are provided at the first specific position 5 and the second specific position 6, and the operation of the positioning modules 7 is as follows: Identify the vehicle carrying the product in place; The first cylinder 8 is used to control the first positioning component 10 to be lifted into the insertion carrier; The second cylinder 9 is used to control the second positioning member 11 to be lifted so that the second positioning member 11 is inserted into the two positioning holes of the carrier; After the screws are tightened, the first cylinder 8 and the second cylinder 9 are simultaneously controlled to operate so that the first positioning component 10 and the second positioning component 11 are both disengaged from the carrier.

[0036] In other words, the positioning method of the carrier on the transmission mechanism 2 in this invention is achieved by the sequential action of the first cylinder 8 and the second cylinder 9, which causes the first positioning member 10 and the second positioning member 11 to be inserted into the groove at the bottom of the carrier. In this way, since the second positioning member 11 has a structure with two insertion points into the carrier, it forms a three-point positioning with the first positioning member 10, which makes the carrier more stable and prevents deviation during screw fastening, thus ensuring the fastening effect.

[0037] The first cylinder 8 is activated first to achieve initial positioning with the vehicle. The top of the first positioning component 10 is a frustum shape. When there is a slight misalignment in the vehicle, it can still slide into the vehicle through the frustum structure to complete the positioning, providing a more precise insertion action for the subsequent positioning of the second positioning component 11.

[0038] To ensure stability, the transmission mechanism 2 also has a holding module 12: when the first positioning member 10 and the second positioning member 11 are inserted into the carrier, the holding module 12 presses down, and by pressing the edge of the product, it achieves the effect of "clamping" the product in conjunction with the positioning module 7, thereby ensuring the stability of the product and the carrier when the screws are tightened.

[0039] In this embodiment, step S400 specifically includes: S410. Screws are output using screw feeder 13; S420. Inspect the screws output by the screw feeder 13 to determine whether the screws are qualified; S430. If the screw is defective, the first fastening mechanism 3 will pick it up and transfer it to the recycling device; if the screw is qualified, the first fastening mechanism 3 will pick it up and fasten it to the first hole of the product.

[0040] Since screws also have a certain yield rate, they need to be inspected before each screw is installed. Only qualified screws will be installed on the product to avoid unqualified screws affecting the installation effect and product quality.

[0041] In this embodiment, step S420 specifically includes: S421. Suspend the screw in the air and then take a picture of it; S422. Analyze the image of the screw to obtain data on the shape, length, diameter, and curvature of the screw shank; S423. Compare the data obtained in step S422 with the corresponding preset data ranges respectively; S424. If any one of the data is not within the corresponding preset data range, the screw is determined to be unqualified; if all the data are within the corresponding preset data range, then proceed to step S425. S425. Use the first locking mechanism 3 to take a picture of the screw head to obtain an image of the screw head; S426. Analyze whether the image of the screw head matches the pre-stored information. If so, the screw is considered qualified; otherwise, the screw is considered unqualified.

[0042] The quality of screws is mainly determined by whether the screw head can be gripped, whether the shank length is appropriate, whether the thread is intact, and whether the curvature is within the required range. Based on these requirements, this invention uses a first fastening mechanism 3 to suspend the screw in the air before inspection; alternatively, the screw can be suspended in the air before feeding by the screw feeder 13, and then inspected by a vision device (not shown in the figure) installed on the screw feeder 13. After inspection, unqualified screws are picked up by the first fastening mechanism 3 and transferred to the recycling position, while qualified screws are inspected by the vision module 1 by acquiring an image of the screw head to determine whether the screw head is qualified (i.e., whether it can be turned), thus achieving a secondary inspection effect.

[0043] Only screws that pass both of the above tests will be screwed onto the product.

[0044] It should be noted that the operation of the second locking mechanism 4 is basically the same as that of the first locking mechanism 3; both require first checking whether the screws are qualified before locking the qualified screws onto the product. Therefore, this invention will not describe it in detail.

[0045] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some changes or modifications to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes, and modifications made to the above embodiments based on the present invention without departing from the scope of the present invention are within the scope of the present invention.

Claims

1. An intelligent screw fastening method for screw hole positioning, applied to a screw fastening device, the screw fastening device having a vision module, multiple transmission mechanisms, several first fastening mechanisms, and several second fastening mechanisms, characterized in that, Includes the following steps: S100. Obtain the current transmission status of each transmission mechanism to select the transmission mechanism for the transmission product; S200. Use the selected transmission mechanism to transfer the product to the first specific location; S300. Use a vision module to identify the holes where screws need to be fastened on the product, and then divide the holes into first holes and second holes; S400. The first locking mechanism is used to lock the screw in the first hole; S500. Use a selected transmission mechanism to transfer the product to a second specific location; S600. The second screw is fastened to the second hole using the second fastening mechanism.

2. The intelligent screw fastening method for screw hole positioning according to claim 1, characterized in that, Step S100 specifically includes: S110. Obtain the loading status of the first specific position of each transmission mechanism. If there is a transmission mechanism with no load at the first specific position, proceed to step S120. If the first specific position of each transmission mechanism is loaded with products, proceed to step S130. S120. Select a transmission mechanism from the unloaded transmission mechanism at the first specific location to transmit the product; S130. Obtain the loading status of the second specific position of each transmission mechanism. If there is a transmission mechanism with an empty second specific position, proceed to step S140; if the second specific position of each transmission mechanism is loaded with products, proceed to step S150. S140. Select a transmission mechanism from the unloaded transmission mechanism at the second specific location to transmit the product; S150. Determine the screw fastening completion rate of the products at the second specific position of each transmission mechanism, and select the transmission mechanism corresponding to the product with the highest fastening completion rate for product transmission.

3. The intelligent screw fastening method for screw hole positioning according to claim 2, characterized in that, Step S120 specifically includes: S121. Obtain the loading status of the second specific position of the transmission mechanism that is empty at the first specific position. If there is a second specific position of the transmission mechanism that is empty, select the transmission mechanism for product transmission. If the second specific position of each transmission mechanism is loaded with products, proceed to step S122. S122. Obtain the screw fastening completion rate of each product, and select the transmission mechanism of the product with the highest fastening completion rate for transmission.

4. The intelligent screw fastening method for screw hole positioning according to claim 2, characterized in that, In step S140, if the number of unloaded transmission mechanisms at the second specific position is greater than 1, then the transmission mechanism corresponding to the product with the highest locking completion rate in the first specific position is selected for transmission.

5. The intelligent screw fastening method for screw hole positioning according to claim 1, characterized in that, Step S300 specifically includes: S310. Use a vision module to acquire images of the product; S320. Analyze the product image to determine the location of each hole; S330. Based on the inner diameter of each hole, the holes are divided into the first hole and the second hole. S340. Match the coordinates of each first hole position and each second hole position and record them.

6. The intelligent screw fastening method for screw hole positioning according to claim 5, characterized in that, Step S340 specifically includes: S341. Process the image of the first hole / second hole to obtain a circular pattern; S342. Calculate the center of the circular pattern; S343. Establish a coordinate system with the reference object as the center, and match the coordinates of each circle center in the coordinate system; S344. Record each coordinate.

7. The intelligent screw fastening method for screw hole positioning according to claim 1, characterized in that, The number of the first locking mechanism and the second locking mechanism are the same, and the ratio of the number of the first locking mechanism to the number of the transmission mechanism is 1:2; During step S400, a first locking mechanism is used to lock screws in the first holes of the products on two adjacent transfer mechanisms in succession. During step S600, a second locking mechanism is used to lock screws in the second holes of the products on two adjacent transfer mechanisms.

8. The intelligent screw fastening method for screw hole positioning according to claim 1, characterized in that, Positioning modules are respectively installed at the first specific location and the second specific location. The specific operation of the positioning modules is as follows: Identify the vehicle carrying the product in place; The first positioning component is lifted into the insertion carrier by the action of the first cylinder; The second positioning component is lifted by the action of the second cylinder so that it is inserted into the two positioning holes of the carrier. After the screws are tightened, the first and second cylinders are simultaneously activated so that the first and second positioning components disengage from the carrier.

9. The intelligent screw fastening method for screw hole positioning according to claim 1, characterized in that, Step S400 specifically includes: S410. Screws are output using a screw feeder; S420. Inspect the screws output by the screw feeder to determine whether the screws are qualified; S430. If the screw is defective, the first fastening mechanism will pick it up and transfer it to the recycling device; if the screw is qualified, the first fastening mechanism will pick it up and fasten it to the first hole of the product.

10. The intelligent screw fastening method for screw hole positioning according to claim 9, characterized in that, Step S420 specifically includes: S421. Suspend the screw in the air and then take a picture of it; S422. Analyze the image of the screw to obtain data on the shape, length, diameter, and curvature of the screw shank; S423. Compare the data obtained in step S422 with the corresponding preset data ranges respectively; S424. If any one of the data is not within the corresponding preset data range, the screw is determined to be unqualified; if all the data are within the corresponding preset data range, then proceed to step S425. S425. Take a picture of the screw head using the first locking mechanism to obtain an image of the screw head; S426. Analyze whether the image of the screw head matches the pre-stored information. If so, the screw is considered qualified; otherwise, the screw is considered unqualified.

Images