CN110253272B - screw system - Google Patents
screw system Download PDFInfo
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- CN110253272B CN110253272B CN201910584496.4A CN201910584496A CN110253272B CN 110253272 B CN110253272 B CN 110253272B CN 201910584496 A CN201910584496 A CN 201910584496A CN 110253272 B CN110253272 B CN 110253272B
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- screw
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- screwdriver
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- 238000006073 displacement reaction Methods 0.000 claims description 48
- 238000001514 detection method Methods 0.000 claims description 24
- 238000010586 diagram Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 230000003068 static effect Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001151 other effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
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- Mechanical Engineering (AREA)
- Details Of Spanners, Wrenches, And Screw Drivers And Accessories (AREA)
Abstract
本发明提供一种拧螺丝系统，包含致动器、拧螺丝机及控制器。致动器具有静止部与可在垂直方向线性位移的可动部。拧螺丝机具本体、驱动马达及螺丝起子，本体设于可动部，可于垂直方向上线性位移，驱动马达设于本体，螺丝起子被驱动马达驱动旋转，且螺丝起子供啮合待拧螺丝。控制器电性连接致动器及拧螺丝机。待拧螺丝具有螺纹段，螺纹段具有螺距，控制器用以控制驱动马达驱动螺丝起子旋转默认圈数，同时令致动器驱动可动部在垂直方向上线性位移相对长度，相对长度等于默认圈数与螺距的乘积，且致动器移动的速度等于螺丝起子转速与螺距的乘积。
The present invention provides a screw-driving system, comprising an actuator, a screw-driving machine and a controller. The actuator has a stationary portion and a movable portion that can be linearly displaced in the vertical direction. A screwdriver body, a drive motor and a screwdriver are provided on the movable part, which can be linearly displaced in the vertical direction. The controller is electrically connected to the actuator and the screwdriver. The screw to be screwed has a thread segment, and the thread segment has a pitch. The controller is used to control the drive motor to drive the screwdriver to rotate the default number of turns, and at the same time make the actuator drive the movable part to linearly displace the relative length in the vertical direction, and the relative length is equal to the default number of turns. and the screw pitch, and the speed at which the actuator moves is equal to the product of the screwdriver rotational speed and the screw pitch.
Description
Technical Field
The present invention relates to a screwing system, and more particularly, to a screwing system having an actuator and a screwing machine that are vertically displaced by a predetermined amount.
Background
The screw locking machine is widely used in manufacturing industry, and for manufacturers, the operation performance, the use efficiency and the productivity of the service life of the screw locking machine are very important.
Most of the screw locking machines used in the market cannot be used at variable speed in the screwing process, often run at one screw speed, and cannot be flexibly adjusted according to various locked objects.
In addition, the conventional screw locking machine is disposed on the vertical axis (Z axis) of the robot arm, but because the pitch of the vertical axis of the robot arm is much larger than that of the screw to be locked, the displacement stroke of the robot arm often cannot accurately match the vertical stroke (Z axis stroke) and the moving speed in the screw locking process.
In order to avoid this problem, in the prior art, a buffer, such as a spring or a pneumatic cylinder, is installed between the vertical axis of the robot arm and the screw locking machine to adjust the problem that the stroke and speed of the robot arm and the screw locking machine cannot be accurately matched, but the spring and the pneumatic cylinder apply unnecessary force in the vertical direction to the screw to be locked, thereby increasing the difficulty of screw locking, and increasing the possibility of tooth breakage or increasing the degree of thread abrasion.
Compared with the screwing and unscrewing of the screw, the conventional screw locking machine cannot accurately find the screw and combine the screw cap head groove to further perform the operation of unscrewing the screw.
Therefore, how to design a screwing system with good performance and easy operation, which can improve the above problems, is a subject of great research by professionals in the related art.
Disclosure of Invention
In view of the above, the present invention provides a screwing system disposed on a vertical arm of a robot system, comprising an actuator, a screwing machine and a controller.
The actuator is arranged on the vertical arm and is provided with a static part which is static relative to the vertical arm and a movable part which can linearly displace in the vertical direction relative to the vertical arm; the screw driving machine comprises a body, a driving motor and a screw driver, wherein the body is arranged on the movable part and can linearly displace along with the movable part in the vertical direction; the controller is electrically connected with the actuator and the screw driving machine respectively. The screw to be screwed is provided with a threaded section, the threaded section is provided with a thread pitch, the controller is used for controlling the driving motor to drive the screwdriver to rotate for default turns, and simultaneously the actuator drives the movable part to linearly displace in the vertical direction for a relative length which is equal to the product of the default turns and the thread pitch, and the actuator moves in the vertical direction for a speed which is equal to the product of the rotating speed of the screwdriver and the thread pitch.
As with the screwing system described above, in one embodiment, the actuator is a servo stepper motor.
In an embodiment of the screwing system, the screw driver further includes a torque detection module for sensing a torque value fed back by the screw to be screwed, and the controller is configured to stop the driving motor from driving the screwdriver when the torque value sensed by the torque detection module reaches a predetermined torque value.
In the screwing system, in an embodiment of the invention, the screwing machine further includes a torque detection module for sensing a torque value fed back by the screw to be screwed, and the controller is configured to stop the movable portion from moving in the vertical direction when the torque value sensed by the torque detection module reaches a predetermined torque value.
As described above, in an embodiment of the screw screwing system, the actuator further includes a displacement detection module for sensing a relative displacement of the movable portion in a vertical direction, and the controller is configured to determine whether the relative displacement sensed by the displacement detection module reaches a predetermined displacement when the torque sensed by the torque detection module is equal to a predetermined torque value, and send an alarm signal when the relative displacement is smaller than the predetermined displacement.
As described above, in an embodiment of the screw screwing system, the actuator further includes a current detection module for sensing a working current of the actuator, and the controller is further configured to stop the movable portion from moving in the vertical direction when the working current sensed by the current detection module reaches a predetermined current.
In one embodiment of the screw driving system, the controller sets at least two screw driving parameters, and the controller controls the screwdriver to rotate according to different parameters when the screw driving parameters are different,
as with the screwing system described above, in one embodiment, the controller also simultaneously sets a movement parameter of the actuator to control movement of the actuator in the vertical direction.
Through the screwing system provided by one or more of the above embodiments, the screwing machine and the actuator can move in the vertical direction by the same displacement amount, so that the robot arm can accurately match the vertical stroke of the screwing machine during screwing without additionally arranging a buffer, and the problems encountered by the prior art are solved.
Other effects and embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic diagram of a screw locking system according to an embodiment of the present invention;
FIG. 2 is a schematic external view of a screw locking system according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a setting of an embodiment of a controller of the screw locking system in a tightened state according to the present invention;
fig. 4 is a schematic diagram illustrating a setting of a controller of the screw locking system in a loosened state according to an embodiment of the present invention.
Description of the symbols
1 Lock screw System 11 actuator
111 stationary part 112 movable part
1121 slide rail 1122 slide table
113 displacement detecting module 114 current detecting module
12 screw machine 121 body
122 driving motor 123 screwdriver
124 torsion detecting module 13 controller
14 flange 2 screw to be screwed
21 default number of turns of thread segment C
D pitch FW distance
P1 pressure upper limit P2 searching for pressure
W preliminary distance S search speed
SP rotation speed SW search distance
TW Hold Width
Detailed Description
Referring to fig. 1 and 2, fig. 1 is a schematic diagram of a screwing system 1 according to an embodiment of the present invention. Fig. 2 is an external view of the screwing system 1 according to an embodiment of the present invention.
The screwing system 1 may be arranged on a vertical arm (not shown) in a robot arm system. The screwing system 1 comprises an actuator 11, a screwing machine 12 and a controller 13.
The actuator 11 is provided on a vertical arm, and the actuator 11 has a stationary part 111 that is stationary with respect to the vertical arm and a movable part 112 that is linearly displaceable in the vertical direction with respect to the vertical arm. In this embodiment, the movable portion 112 includes a slide rail 1121 and a slide table 1122.
The screwing machine 12 has a main body 121, a driving motor 122 and a screwdriver 123, the main body 121 is disposed on the movable portion 112 and can be linearly displaced along with the movable portion 112 in the vertical direction, in this embodiment, the main body 121 is mounted on the movable portion 112 via two flanges 14, so that the movable portion 112 drives the main body 121 to move in the vertical direction.
The driving motor 122 is disposed inside the body 121 and drives the screwdriver 123 to rotate. The screwdriver 123 is used for engaging the screw 2 to be screwed (see fig. 3 and 4).
The controller 13 is electrically connected to the actuator 11 and the screw driver 12, respectively. In some embodiments, the controller 13 is a computer. In other embodiments, the controller 13 includes a first control module and a second control module that control the operation of the actuator 11 and the screwing machine 12, respectively.
The screw 2 to be screwed has a threaded section 21, the threaded section 21 has a thread pitch D, and the controller 13 is configured to control the driving motor 122 to drive the screwdriver 123 to rotate for a predetermined number of turns, and to cause the actuator 11 to drive the movable portion 112 to linearly displace in the vertical direction for a relative length, which is equal to the product of the predetermined number of turns and the thread pitch D. Further, the speed at which the actuator 11 moves in the vertical direction is the product of the rotational speed and the pitch of the screwdriver 123.
That is, the pitch D is the distance between the threads, the screw driver 123 drives the screw 2 to be screwed to rotate, and the amount of displacement of the screw 2 to be screwed in the vertical direction corresponds to the considerable length of displacement of the movable portion 112 during the rotation.
In some embodiments, the actuator 11 is a servo stepper motor, which has both the characteristics of a servo motor and the characteristics of a stepper motor.
In the embodiment shown in fig. 1, the screwing machine 12 further includes a torque detection module 124, the torque detection module 124 can sense the torque value fed back by the screw 2 to be screwed, that is, the screw 2 to be screwed is screwed into the screw hole of the locking object, and may encounter resistance during the rotation of the screw 2 to be screwed, the feedback torque value is generated by the screw 2 to be screwed, the torque value is preset in the controller 13, and when the controller 13 determines that the torque value sensed by the torque detection module 124 reaches the preset torque value, the driving motor 122 is stopped to drive the screw driver 123 to rotate, so as to protect the screw driver 123, the screw 2 to be screwed and the locking object (i.e., to avoid the locking object from being damaged and the locking object from being broken.
In addition, in some embodiments, when the torque value fed back by the screw 2 reaches the preset torque value, the controller 13 may also stop the movable portion 112 from moving in the vertical direction, i.e., fix a position of the screwing machine 12 in the vertical direction so that it does not move downward, thereby protecting the screwing machine 12.
Referring to fig. 1, in this embodiment, the actuator 11 further includes a displacement detecting module 113, the displacement detecting module 113 can sense a relative displacement of the movable portion 112 in the vertical direction, when the torque force sensed by the torque force detecting module 124 is equal to a preset torque force value, the controller 13 determines whether the relative displacement sensed by the displacement detecting module 113 reaches a preset displacement, and sends an alarm signal when the relative displacement is smaller than the preset displacement.
That is, the practitioner can set the depth of the screw hole rotation locking of the screw 2 to be screwed in the locking object, i.e. the preset displacement, as described above, the amount of displacement in the vertical direction during the rotation use of the screw 2 to be screwed is equal to the amount of displacement of the movable portion 112 in the vertical direction (i.e. the relative displacement sensed by the displacement sensing module 113), when the torque sensed by the torque sensing module 124 is equal to the preset torque value, the controller 13 determines whether the relative displacement sensed by the displacement sensing module 113 reaches the preset displacement, if the relative displacement reaches the preset displacement, it indicates that the screw 2 to be screwed has successfully completed the locking (screwing) operation, and if the relative displacement is smaller than the preset displacement, the controller 13 sends out a warning signal to indicate that a problem occurs in the screwing process of the screw 2 to be screwed. In some embodiments, the controller 13 includes an alarm module (not shown), and the alarm signal is notified to the operator through an audible and visual effect via the alarm module.
Referring to fig. 1 again, in this embodiment, the actuator 11 further includes a current detection module 114, the current detection module 114 senses a working current of the actuator 11, and the controller 13 is further configured to stop the movable portion 112 from moving in the vertical direction when the working current sensed by the current detection module 114 reaches a predetermined current.
That is, when the actuator 11 is in use, the screw driving machine 12 may encounter resistance in moving in the vertical direction, so that the working current provided by the actuator 11 is gradually increased to make the screw driving machine 12 move smoothly in the vertical direction, however, when the working current reaches the predetermined current, there is a risk of damaging the screw driving machine 12, the screw 2 to be driven and the locking object, and the controller 13 stops moving the movable portion 112.
In addition, in some embodiments, the controller 13 further can stop the driving motor 122 from driving the screwdriver 123 to rotate when the working current sensed by the current detecting module 114 reaches the default current.
Referring to fig. 3 and 4, fig. 3 is a schematic diagram illustrating a setting of the controller 13 of the screw locking system 1 in a tightening state according to an embodiment of the present invention. Fig. 4 is a schematic diagram illustrating a setting of the controller 13 in a loosened state according to an embodiment of the screw locking system 1 of the present invention.
The controller 13 can set at least two screwing parameters and further control the screwdriver 123 to rotate with different parameters, and also control the actuator movable part 112 to move with different parameters. As shown in fig. 3, in a tightened state, the controller 13 can set the screwing parameters such as the default number of turns C of the screw 2 to be screwed and the corresponding rotation speed SP, the preparatory distance W to the object to be locked, the upper limit P1 of the pressure that can be tolerated by the screw 2 to be screwed in the lock, and the tolerance width TW in the horizontal direction in the thread of the object to be locked. As shown in fig. 4, in a loosening state, the screwing parameters include a search speed S and a search pressure P2 for the screw 2 to be screwed to search (face) for the loosened object, a search distance SW, a default number of turns C and a corresponding rotation speed SP, and a distance FW between the loosened object and the screw after the operation is completed. The above-mentioned screwing parameters are exemplary illustrations, and the present invention is not limited to these screwing parameters.
With the screwing system 1 provided in one or more embodiments, the screwing machine 12 and the actuator 11 can move in the vertical direction by the same displacement amount, so that the vertical stroke and the moving speed of the screw locking machine 12 during screw locking can be accurately matched by the actuator 11 without additionally installing a buffer.
In some embodiments, the screw driving machine 12 further includes a torque detection module 124, and the controller 13 can make the driving motor 122 stop driving the screwdriver 123 to rotate through the operation of the torque detection module 124, so as to protect the screwdriver 123, the screw 2 to be screwed, and the locking object (i.e. to prevent the locking object from being damaged and the screw from breaking). Or the movable part 112 stops moving in the vertical direction, i.e. a position of the screwing machine 12 in the vertical direction is fixed so that it does not move downwards any more, thereby protecting the screwing machine 12.
In addition, in some embodiments, through the displacement detecting module 113, when the torque force sensed by the torque force detecting module 124 is equal to the preset torque force value, the controller 13 determines whether the relative displacement amount sensed by the displacement detecting module 113 reaches the preset displacement amount, and sends out a warning signal indicating that a problem occurs in the screwing process of the screw 2 to be screwed when the relative displacement amount is smaller than the preset displacement amount.
In addition, in some embodiments, through the operation of the current detecting module 114, the controller 13 may stop the movable portion 112 from moving in the vertical direction when the working current sensed by the current detecting module 114 reaches a predetermined current. Further, the controller 13 may stop the driving motor 122 from driving the screwdriver 123 to protect the actuator 11 and the screwing machine 12.
In other words, through the above embodiments, the screwing system of the present invention has multiple functions, can enhance the control of the positioning accuracy, the moving speed and the pressure, and simplify the operation procedure of screwing, and has great benefits.
The above-described embodiments and/or implementations are only for illustrating the preferred embodiments and/or implementations of the present technology, and are not intended to limit the implementations of the present technology in any way, and those skilled in the art can make many modifications or changes without departing from the scope of the technology disclosed in the present disclosure, but should be construed as technology or implementations that are substantially the same as the present technology.
Claims (8)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910584496.4A CN110253272B (en) | 2019-07-01 | 2019-07-01 | screw system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910584496.4A CN110253272B (en) | 2019-07-01 | 2019-07-01 | screw system |
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| Publication Number | Publication Date |
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| CN110253272A CN110253272A (en) | 2019-09-20 |
| CN110253272B true CN110253272B (en) | 2021-07-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910584496.4A Active CN110253272B (en) | 2019-07-01 | 2019-07-01 | screw system |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111558539A (en) * | 2020-05-18 | 2020-08-21 | 北京航天军创技术有限公司 | Full-automatic intelligent nailing system and use method |
| CN112621198B (en) * | 2020-12-16 | 2022-05-24 | 歌尔光学科技有限公司 | Screw locking machine control method, device, equipment and storage medium |
Citations (2)
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|---|---|---|---|---|
| CN104723092A (en) * | 2015-03-20 | 2015-06-24 | 国家电网公司 | Clamping device and method used for guaranteeing equality of extension lengths of two ends of through bolt |
| CN109909734A (en) * | 2019-04-28 | 2019-06-21 | 范涛 | The screwed lock method, apparatus, filature and computer readable storage medium |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA1006606A (en) * | 1972-05-22 | 1977-03-08 | Katsuyuki Totsu | Motor-driven screw driver with automatic stopping means |
| DE69227007D1 (en) * | 1991-11-02 | 1998-10-22 | Yoshitaka Aoyama | Device for feeding and clamping threaded parts |
| KR100268273B1 (en) * | 1997-01-28 | 2000-10-16 | 윤종용 | Bolt fastening device and method |
| JP5513964B2 (en) * | 2010-04-19 | 2014-06-04 | 株式会社大武ルート工業 | Automatic screw tightening device |
| TWM399770U (en) * | 2010-11-03 | 2011-03-11 | Auras Technology Co Ltd | automatic screw locking machine |
| CN208528492U (en) * | 2018-06-11 | 2019-02-22 | 无锡智动力机器人有限公司 | The turn of the screw robot |
| CN210703514U (en) * | 2019-07-01 | 2020-06-09 | 友创工业股份有限公司 | Screw screwing system |
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2019
- 2019-07-01 CN CN201910584496.4A patent/CN110253272B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104723092A (en) * | 2015-03-20 | 2015-06-24 | 国家电网公司 | Clamping device and method used for guaranteeing equality of extension lengths of two ends of through bolt |
| CN109909734A (en) * | 2019-04-28 | 2019-06-21 | 范涛 | The screwed lock method, apparatus, filature and computer readable storage medium |
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| CN110253272A (en) | 2019-09-20 |
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