Screw hitting method and device, controller, manipulator and screw hitting equipment

• Main Authors: ZHANG JIANYUN, WANG JIE, SUN WEI, ZHANG FADONG, YUAN QUAN
• Format: Patent
• Language: Chinese; English
• Published: 08.12.2023
• Subjects: COMBINED OPERATIONS; MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR; OTHER WORKING OF METAL; PERFORMING OPERATIONS; TRANSPORTING; UNIVERSAL MACHINE TOOLS

The invention provides a screw hitting method and device, a controller, a manipulator and screw hitting equipment. According to the screw driving method, the drawing information of the workpiece is obtained, the preset positioning point position of the positioning point and the preset screw hole position of the screw hole are obtained, and the positioning point and the screw hole are located in the workpiece; acquiring a current workpiece image of the workpiece to obtain a current positioning point position; obtaining a current screw hole deviation according to the current positioning point position and a preset positioning point position; according to the current screw hole deviation and a preset screw hole position, a screw hitting position is obtained; and according to the screwing position, controlling the manipulator to screw the workpiece. Therefore, efficient screwing is achieved. 本申请提供一种打螺钉方法、装置、控制器、机械手和打螺钉设备。上述的打螺钉方法，获取工件的图纸信息，得到定位点的预设定位点位置和螺孔的预设螺孔位置，其中定位点和螺孔位于工件；获取工件的当前工件图像，得到当前定位点位置；根据当前定位点位置和预设定位点