CN112861921A - Intelligent out-of-order bolt and nut matching system and matching method thereof - Google Patents
Intelligent out-of-order bolt and nut matching system and matching method thereof Download PDFInfo
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Abstract
The invention discloses an intelligent out-of-order bolt and nut matching system and a matching method thereof, and belongs to the technical field of bolt and nut matching. The method comprises the following steps: inputting information of the bolts, the nuts and/or the accessories in pairs; detecting the outer diameter of the bolt and the screw rod, and calling out the inner diameter D of the nut and/or the fitting matched with the outer diameter D; acquiring images of nuts and/or accessories, and extracting the acquired single image; carrying out image preprocessing on the acquired single image; calculating the actual inner diameter value D of the nut and/or the fitting based on the preprocessed image1(ii) a If the nuts and/or the accessories cannot be matched, the nuts and/or the accessories are transferred into a classified storage mechanism to be classified and stored according to models; and at the later stage, nuts and/or accessories matched with the bolts are directly selected from the classified storage mechanism. According to the invention, the material storage device is directly sleeved on the bolt when matched with the bolt, and is transferred into the material storage barrel through the clamping jaw assembly if not matched, classification management is carried out according to the model, and the material storage device is directly arranged on the material storage barrel according to the model when matched at later stageGrabbing matched accessories and nuts in the storage barrel.
Description
Technical Field
The invention belongs to the technical field of bolt and nut matching, and particularly relates to an intelligent out-of-order bolt and nut matching system and a matching method thereof.
Background
In the prior art, in order to meet different requirements, the types of bolts are various, and therefore, the types of nuts or nuts matched with the bolts are also produced.
For the convenience of users, part of the bolts, nuts and fittings are matched before being put on the market and then packaged and sold. However, in actual production, the bolts, the nuts and the accessories are separately producible, so that the bolts, the nuts and the accessories need to be classified before matching, the workload is large, and if the nuts and the accessories are not managed in time in the matching selection process, the workload is continuously large and the efficiency is low, so that a related system is needed to perform online identification and matching.
Disclosure of Invention
The invention provides an intelligent out-of-order bolt and nut matching system and a matching method thereof, aiming at solving the technical problems in the background technology.
The invention adopts the following technical scheme: an intelligent out-of-order bolt and nut matching system, comprising:
pair-wise entering of information of bolts, nuts and/or fittings: the outer diameter of the bolt, the inner diameter D of the nut and/or fitting;
detecting the outer diameter of the bolt and the screw rod, and calling out the inner diameter D of the nut and/or the fitting matched with the outer diameter D;
respectively collecting images of the nut and/or the accessory, and extracting the collected single image;
carrying out image preprocessing on the acquired single image;
calculating the actual inner diameter value D of the nut and/or the fitting based on the preprocessed image1；
Judging whether the nut and/or the accessory are matched with the bolt or not according to the calculated actual inner diameter value and the standard inner diameter; if the nuts and/or the accessories cannot be matched, the nuts and/or the accessories are transferred into a classified storage mechanism to be classified and stored according to models; and at the later stage, nuts and/or accessories matched with the bolts are directly selected from the classified storage mechanism.
In a further embodiment, the image pre-processing of the acquired single image comprises the steps of:
enhancing gray contrast: the result of the gradation conversion of the input is calculated as the output gradation value according to the formula (1),
where x is the input gray scale value, f(x)Is the gray value of the output, DminIs the minimum pixel value, DmaxIs the maximum pixel value, RmaxAnd<Rminis a specified image processing range;
image binarization: image thresholding is calculated by equation (2):
wherein T is a predetermined threshold value, f(x，y)Is the gray value of the pixel at point (x, y) before thresholding, g(x，y)Is the gray value of the pixel at point (x, y) after the threshold;
edge processing: defining the amplitude of image function as the edge amplitude, and rotating gradient direction psi to-90 deg.C as the edge direction
The gradient direction is defined as the direction of maximum growth of the image function, the curve of the acquired image is closed and has the same brightness, and then
Magnitude of gradient
In a further embodiment, the calculating of the actual inner diameter value of the nut and/or the fitting based on the preprocessed image specifically comprises the following steps:
defining the smallest point on the inner edge line in x-coordinate as PminThe maximum point is PmaxIs connected to PminAnd PmaxTo obtain a linear equation of
L is Ax + By + C is 0, and a straight line divides a point set on an inner edge line into an upper part and a lower part, and defines B1Partial set of points on bit, B2A set of in-place partial points;
calculating the point of the upper door point set farthest from the straight line according to the formula (5), and calculating the farthest distance dmax：
With dmaxThe inner diameter D of the nut is defined by the radius at the inner edge of the nut1Is 2dmax。
In a further embodiment, when | D-D1|0.02, the match is successful, a match instruction is output;
when | D-D1| >0.02, the match fails, outputting a reselect instruction and a sorted store instruction.
A matching system based on an intelligent out-of-order bolt-nut matching system as described above, comprising:
the information acquisition module is used for recording the information of the bolts, the nuts and/or the accessories in pairs: the outer diameter of the bolt, the inner diameter D of the nut and/or fitting;
the input module is used for inputting the outer diameter of the bolt to be matched and calling out the inner diameter D of the nut and/or the fitting matched with the outer diameter;
the image acquisition module is used for respectively acquiring images of the nut and/or the accessory and extracting the acquired single image;
the image processing module is used for carrying out image preprocessing on the acquired single image;
a data processing module for calculating the spiral based on the preprocessed imageActual internal diameter value D of female and/or fitting1(ii) a Judging whether the nut and/or the accessory are matched with the bolt or not according to the calculated actual inner diameter value and the standard inner diameter;
and the execution module outputs an execution command according to the matching result.
In a further embodiment, further comprising: the inner part of the base is of a hollow structure; the base is provided with a controller and a display, and the information acquisition module, the input module, the image acquisition module and the data processing module are arranged in the controller;
the first rotating mechanism is arranged inside the base;
the first rotating disc is positioned above the base; the first rotating disc is in transmission connection with the first rotating mechanism; a plurality of placing cavities are formed in the edge of the first rotating disc;
the bolt feeding mechanism and the nut feeding mechanism are respectively arranged on one side of the base; the nut feeding mechanism has the function of rotating the nut on the bolt;
at least one group of accessory feeding mechanisms arranged between the bolt feeding mechanisms and the nut feeding mechanisms; cameras are arranged on the nut feeding mechanism and the batching feeding mechanism, and the image acquisition module is arranged inside the cameras;
the classified storage mechanisms are at least two groups; the nut feeding mechanism and the batching feeding mechanism are respectively arranged on one side of the nut feeding mechanism and one side of the batching feeding mechanism; the classified storage mechanism is used for storing nuts and accessories in the nut feeding mechanism and the batching feeding mechanism in a classified mode according to models;
the output end of the information acquisition module, the output end of the input module and the output end of the image processing module are electrically connected with the input end of the data processing module;
the output end of the image acquisition module is electrically connected with the input end of the image processing module;
and the output end of the data processing module is electrically connected with the input end of the execution module.
In a further embodiment, the tick magazine comprises:
the vertical frame is positioned on one side of the base;
the second rotating mechanism is arranged in the vertical frame;
the second rotating disc is positioned above the stand and is in transmission connection with the second rotating mechanism;
a plurality of material storage cylinders; the second rotating disc is fixed at the edge of the second rotating disc at equal distance; the top end of the storage barrel is of an open structure, and a conduction groove is formed in the inner side wall of the storage barrel along the length direction of the storage barrel;
a plurality of mounting plates; the mounting plate is correspondingly fixed on the lower surface of the second rotating disc and is positioned on the inner side of the storage barrel; the outer side wall of the mounting plate is movably clamped with a transversely arranged top plate, and the movable end of the top plate penetrates through the conduction groove and is positioned in the storage barrel; the fixed end of the top plate is fixedly connected with the bottom of the mounting plate through a compression spring;
when the storage barrel is filled with materials, the top plate is positioned at the bottom of the storage barrel, and the compression spring is in a compressed state; when only one material is in the storage cylinder, the compression spring is in a normal state, the top plate is positioned at the top of the storage cylinder, and the material at the moment is exposed above the storage cylinder.
In a further embodiment, the nut feeding mechanism is the same structure as the accessory feeding mechanism;
the nut feed mechanism includes: the second vibration disc is arranged between the clamp assembly and the first rotating disc;
the clamp assembly includes: the vertical frame is transversely fixed on a cross frame at the top end of the vertical frame, an X-axis moving assembly is arranged on the cross frame, a moving plate of the X-axis moving assembly is connected in a transmission mode, a Z-axis moving assembly is arranged on the moving plate, a lifting plate of the Z-axis moving assembly is connected in a transmission mode, a rotating motor is arranged on the lifting plate, and a clamping jaw assembly on an output shaft of the rotating motor is connected in a transmission mode.
In a further embodiment, the bolt feed mechanism comprises: a first vibratory pan, and a gangway assembly disposed at an outlet of the first vibratory pan;
the aisle assembly comprises: the rack comprises a rack, upright columns vertically fixed on two sides of the rack, and two guide strips which are fixed on the inner sides of the upright columns and are parallel to each other; the distance between the two guide strips is greater than the outer diameter of the bolt screw and less than the inner diameter of the bolt head;
the two guide strips are used for realizing ordered and vertical arrangement of the bolts and transferring the bolts into the placing cavity, and the head of the bolt positioned in the placing cavity is positioned at the bottom end.
The invention has the beneficial effects that: according to the invention, a matching system is formed in the system by matching the outer diameter of the bolt and the inner diameter of the nut which is theoretically matched with the outer diameter of the bolt, the outer diameter of the bolt is directly detected when the bolt is fed, the clamping jaw assemblies in the accessory feeding mechanism and the nut feeding mechanism are controlled to recognize when clamping the accessory and the nut, if the clamping jaw assemblies are matched with the bolt, the accessory and the nut are directly sleeved on the bolt, if the clamping jaw assemblies are not matched, the accessory and the nut are transferred into the storage barrel through the clamping jaw assemblies, classification management is carried out according to the model, and the matched accessory and nut are directly grabbed from the storage barrel according to.
Drawings
Fig. 1 is a flow chart of a matching method of an intelligent out-of-order bolt and nut matching system.
FIG. 2 is a flow chart of a matching method of an intelligent ordered bolt and nut matching system.
Fig. 3 is a block diagram of the system.
Fig. 4 is a schematic structural diagram of an intelligent ordered bolt and nut matching device of the present invention.
Fig. 5 is a side view of a bolt feed mechanism in the present invention.
Fig. 6 is a partial schematic view of the aisle assembly of the present invention.
Fig. 7 is a schematic view showing a state of a bolt at a connection portion in the present invention.
Fig. 8 is a schematic view of the state of the bolt at the guide portion in the present invention.
Figure 9 is a schematic view of the jaw assembly of the present invention.
Each of fig. 1 to 9 is labeled as: the automatic feeding device comprises a base 1, a rotating disc 2, a bolt feeding mechanism 3, a nut feeding mechanism 4, a batching feeding mechanism 5, a screw rod 6, a head 7, a first vibrating disc 301, a placing frame 302, a stand 303, a guide strip 304, a connecting portion 3041, a reversing portion 3042, a guide portion 3043, a conveying belt 3044, a rolling shaft 3045, a supporting portion 3046, a two-stage electric telescopic rod 401, a connecting ring 402, a movable ring 403, a connecting member 404, a first connecting rod 405, a second connecting rod 406, a clamping plate 407 and an ejection block 408.
Detailed Description
The invention is further described with reference to the following description and specific embodiments in conjunction with the accompanying drawings.
The inventor finds that: in actual production, the bolts, the nuts and the accessories are separately producible, so the bolts, the nuts and the accessories need to be classified before matching, the workload is large, and if the nuts and the accessories are not managed in time in the matching selection process, the workload is continuously large and the efficiency is low, so that a related system is needed to perform online identification and matching.
An intelligent out-of-order bolt and nut matching system, comprising: pair-wise entering of information of bolts, nuts and/or fittings: the outer diameter of the bolt, the inner diameter D of the nut and/or fitting;
detecting the outer diameter of the bolt and the screw rod, and calling out the inner diameter D of the nut and/or the fitting matched with the outer diameter D;
respectively collecting images of the nut and/or the accessory, and extracting the collected single image;
carrying out image preprocessing on the acquired single image;
calculating the actual inner diameter value D of the nut and/or the fitting based on the preprocessed image1；
Judging whether the nut and/or the accessory are matched with the bolt or not according to the calculated actual inner diameter value and the standard inner diameter; if the nuts and/or the accessories cannot be matched, the nuts and/or the accessories are transferred into a classified storage mechanism to be classified and stored according to models; and at the later stage, nuts and/or accessories matched with the bolts are directly selected from the classified storage mechanism.
The image preprocessing of the acquired single image comprises the following steps:
enhancing gray contrast: the result of the gradation conversion of the input is calculated as the output gradation value according to the formula (1),
where x is the input gray scale value, f(x)Is the gray value of the output, DminIs the minimum pixel value, DmaxIs the maximum pixel value, RmaxAnd<Rminis a specified image processing range;
image binarization: image thresholding is calculated by equation (2):
wherein T is a predetermined threshold value, f(x，y)Is the gray value of the pixel at point (x, y) before thresholding, g(x，y)Is the gray value of the pixel at point (x, y) after the threshold;
edge processing: defining the amplitude of image function as the edge amplitude, and rotating gradient direction psi to-90 deg.C as the edge direction
The gradient direction is defined as the direction of maximum growth of the image function, the curve of the acquired image is closed and has the same brightness, and then
Magnitude of gradient
The step of calculating the actual inner diameter value of the nut and/or the fitting based on the preprocessed image specifically comprises the following steps:
defining the smallest point on the inner edge line in x-coordinate as PminThe maximum point is PmaxIs connected to PminAnd PmaxTo obtain a linear equation of
L is Ax + By + C is 0, and a straight line divides a point set on an inner edge line into an upper part and a lower part, and defines B1Partial set of points on bit, B2A set of in-place partial points;
calculating the point of the upper door point set farthest from the straight line according to the formula (5), and calculating the farthest distance dmax：
With dmaxThe inner diameter D of the nut is defined by the radius at the inner edge of the nut1Is 2dmax。
When the absolute value of D-D1 is less than 0.02, matching is successful, and a matching instruction is output;
when | D-D1| >0.02, the match fails, outputting a reselect instruction and a sorted store instruction.
A matching system based on an intelligent out-of-order bolt-nut matching system as described above, comprising:
the information acquisition module is used for recording the information of the bolts, the nuts and/or the accessories in pairs: the outer diameter of the bolt, the inner diameter D of the nut and/or fitting;
the input module is used for inputting the outer diameter of the bolt to be matched and calling out the inner diameter D of the nut and/or the fitting matched with the outer diameter;
the image acquisition module is used for respectively acquiring images of the nut and/or the accessory and extracting the acquired single image;
the image processing module is used for carrying out image preprocessing on the acquired single image;
a data processing module for calculating the actual inner diameter value D of the nut and/or the fitting based on the preprocessed image1(ii) a Judging whether the nut and/or the accessory are matched with the bolt or not according to the calculated actual inner diameter value and the standard inner diameter;
and the execution module outputs an execution command according to the matching result.
In a further embodiment, further comprising: the inner part of the base is of a hollow structure; the base is provided with a controller and a display, and the information acquisition module, the input module, the image acquisition module and the data processing module are arranged in the controller;
the first rotating mechanism is arranged inside the base;
the first rotating disc is positioned above the base; the first rotating disc is in transmission connection with the first rotating mechanism; a plurality of placing cavities are formed in the edge of the first rotating disc;
the bolt feeding mechanism and the nut feeding mechanism are respectively arranged on one side of the base; the nut feeding mechanism has the function of rotating the nut on the bolt;
at least one group of accessory feeding mechanisms arranged between the bolt feeding mechanisms and the nut feeding mechanisms; cameras are arranged on the nut feeding mechanism and the batching feeding mechanism, and the image acquisition module is arranged inside the cameras;
the classified storage mechanisms are at least two groups; the nut feeding mechanism and the batching feeding mechanism are respectively arranged on one side of the nut feeding mechanism and one side of the batching feeding mechanism; the classified storage mechanism is used for storing nuts and accessories in the nut feeding mechanism and the batching feeding mechanism in a classified mode according to models;
the output end of the information acquisition module, the output end of the input module and the output end of the image processing module are electrically connected with the input end of the data processing module;
the output end of the image acquisition module is electrically connected with the input end of the image processing module;
and the output end of the data processing module is electrically connected with the input end of the execution module.
As shown in fig. 3, an intelligent out-of-order bolt and nut matching device includes: the automatic feeding device comprises a base 1, a first rotating mechanism, a first rotating disk 2, a bolt feeding mechanism 3, a nut feeding mechanism 4, two sets of accessory feeding mechanisms (hereinafter referred to as a first accessory feeding mechanism and a second accessory feeding mechanism) and three sets of classified storage mechanisms, wherein the three sets of classified storage mechanisms are in one-to-one correspondence with the nut feeding mechanism 4, the first accessory feeding mechanism and the second accessory feeding mechanism respectively. The inside of base 1 is hollow structure, first rotary mechanism sets up the inside of base 1, first rotary disk 2 is located the top of base 1, first rotary disk 2 with first rotary mechanism transmission is connected, the edge of first rotary disk 2 is provided with a plurality of and places the chamber, it is used for placing and fixing bolt to place the chamber. The bolt feeding mechanism 3 and the nut feeding mechanism 4 are respectively arranged on one side of the base 1; the nut feeding mechanism 4 has a function of rotating the nut on the bolt at the same time. A first fitting feed mechanism and a second fitting feed mechanism 5 are provided between the bolt feed mechanism 3 and the nut feed mechanism 4. In the structure, the classified storage mechanism is used for storing nuts and accessories in the nut feeding mechanism 4 and the batching feeding mechanism 5 according to the types. In actual use, other accessories such as a spring washer and a flat washer are arranged between part of the bolts and the nuts, so that at least one set of accessory feeding mechanism is arranged between the bolt feeding mechanism 3 and the nut feeding mechanism 4 and is used for matching other accessories such as the spring washer and the flat washer, the accessory feeding mechanism is generally called as an accessory feeding mechanism in the embodiment, namely, the structures of the ingredient feeding mechanisms 5 used for different ingredients are the same.
In a further embodiment, the tick magazine comprises: the vertical frame 8, the second rotating mechanism, the second rotating disk 2 and the vertical rod. The vertical frame 8 is positioned on one side of the base 1, the second rotating mechanism is arranged in the vertical frame 8, the second rotating disk 2 is positioned above the vertical frame 8 and is in transmission connection with the second rotating mechanism, and a plurality of vertical rods are fixed on the edge of the second rotating disk 2 at equal intervals; different montants are used for sleeving nuts or accessories of different models, and the nuts or accessories on the same montant are of the same model.
When the classifying and discharging mechanism is used, nuts or accessories of different models are sleeved on the vertical rod, so that the corresponding models can be directly selected in the matching process in the later stage. However, given the fixed distance between the vertical rods, there is a certain spatial limitation for the gripping jaws, and the nuts or fittings at the bottom of the vertical rods are less easily gripped. The inventors therefore made the following modifications: as shown in fig. 1 to 2, the tick magazine includes: the stand 8 is positioned on one side of the base 1; a second rotating mechanism provided in the stand 8; the second rotating disk 2 is positioned above the stand 8, and the second rotating disk 2 is in transmission connection with the second rotating mechanism; a plurality of material storage cylinders 10; the second rotating disk 2 is fixed at the edge of the second rotating disk at equal distance; the top end of the storage barrel 10 is of an open structure, and a conduction groove 11 is formed in the inner side wall of the storage barrel 10 along the length direction of the storage barrel; a plurality of mounting plates 12; the mounting plate 12 is correspondingly fixed on the lower surface of the second rotating disc 2 and is positioned at the inner side of the storage cylinder 10; a transversely arranged top plate 13 is movably clamped on the outer side wall of the mounting plate 12, and the movable end of the top plate 13 penetrates through the conduction groove 11 and is positioned in the storage barrel 10; the fixed end of the top plate 13 is fixedly connected with the bottom of the mounting plate 12 through a compression spring; when the storage barrel 10 is filled with materials, the top plate 13 is positioned at the bottom of the storage barrel 10, and the compression spring is in a compressed state; when only one material is in the storage cylinder 10, the compression spring is in a normal state, the top plate 13 is located at the top of the storage cylinder 10, and the material is exposed above the storage cylinder 10.
Above-mentioned categorised discharge mechanism is when using, places nut or accessory in the inside of storage cylinder 10, then under compression spring's effect, guarantees that there is nut or accessory at the top of storage cylinder 10 all the time, and the clamp of the clamping jaw of being convenient for gets.
In addition, in a further embodiment, as shown in fig. 2, the bolt feeding mechanism 3 includes: the outlet of the first vibration disc 301 is provided with a passage component communicated with the first vibration disc 301. The aisle assembly is used for introducing bolts into the placing cavity of the rotating disc 2, and in the embodiment, the aisle assembly comprises: the rack 302, a plurality of stands 303 are vertically fixed to the both sides of rack 302, the inboard of stand 303 is connected with guide bar 304, promptly guide bar 304 is two sets of, and is parallel to each other. The distance between the two guide strips 304 is greater than the outer diameter of the bolt shank 6 and less than the inner diameter of the bolt head 7.
The two guide strips 304 are used for realizing the orderly and vertical arrangement of the bolts and transferring the bolts into the placing cavity, the head 7 of the bolt positioned in the placing cavity is positioned at the bottom end, and the working principle is as follows: the bolts are orderly arranged to the outlet under the action of the vibrating disk, the bolts are transversely arranged at the moment, and the bolts continuously push the bolts in front forwards. When the first bolt is pushed between the guide strips 304, the bolt is suspended between the two guide strips 304, i.e. the head 7 is at the top, as the distance between the two guide strips 304 is larger than the outer diameter of the bolt shank 6 and smaller than the inner diameter of the bolt head 7, and the bolt shank 6 falls from the gap between the two guide strips 304. The vertical arrangement of the bolts is realized.
However, in this embodiment, the nut and other fittings are later fitted directly onto the threaded rod 6, so that when the bolt reaches the placing cavity, the head 7 of the bolt is required to be at the bottom end.
Therefore, in order to achieve the above function, the inventor makes the following limitations on the guide bar 304: the guide bar 304 includes: a connecting portion 3041, a diverting portion 3042, a guide portion 3043, and a supporting portion 3046. The connecting portion 3041 and the guiding portion 3043 are horizontally disposed, the upper surface of the connecting portion 3041 is flush with the bottom of the outlet, the end of the guiding portion 3043 extends above the placing cavity, the reversing portion 3042 is arc-shaped and is connected between the connecting portion 3041 and the guiding portion 3043; the supporting portion 3046 is respectively disposed at the inner wall of the reversing portion 3042 and below the guiding portion 3043, and a gap is left between the supporting portion 3046 and the reversing portion 3042 and the guiding portion 3043; the end of the support 3046 extends to the edge of the placing cavity, so that the bolt directly falls into the placing cavity when falling.
In this embodiment, the direction changing portion 3042 and the guiding portion 3043 of the guiding strip 304 are used to turn the vertical bolt, so as to ensure that the head 7 of the bolt located in the placing cavity is located at the bottom end. And the support 3046 is to prevent the bolt from falling out in advance without being restricted by the guide bar 304.
In order to accelerate the movement of the bolt at the connecting portion 3041 and provide enough space for the bolt which needs to be changed from a horizontal direction to a vertical direction, the inventor arranges a conveyer belt 3044 between the placing frame 302 and the guide bar 304, wherein the conveyer belt 3044 is in transmission connection with a roller 3045, and the roller 3045 is in transmission connection with a driving motor.
The nut is screwed on the screw 6 of the bolt, so that the nut has a function of rotating downwards in addition to a function of clamping. Therefore, in this embodiment, the nut feeding mechanism 4 includes: a second vibration plate, and a clamp assembly disposed between the second vibration plate and the rotation plate 2.
Wherein the clamp assembly comprises: the vertical frame is transversely fixed on a cross frame at the top end of the vertical frame, the X-axis moving assembly is arranged on the cross frame, the moving plate is connected with the X-axis moving assembly in a transmission mode, the Z-axis moving assembly is arranged on the moving plate, the lifting plate is connected with the Z-axis moving assembly in a transmission mode, the rotating motor is installed on the lifting plate, and the clamping jaw assembly is connected to an output shaft of the rotating motor in a transmission mode. The rotating motor is used for realizing the autorotation of the clamping jaw assembly, namely the clamping jaw assembly is screwed on the bolt under the action of the Z-axis moving assembly.
In this embodiment, the X-axis moving assembly includes: the X-axis guide rail that the length direction of edge crossbearer set up, with X-axis guide rail interference fit's first slider, first slider passes through the cylinder and promotes, moves on X-axis slide rail, first slider with movable plate fixed connection.
The Z-axis moving assembly realizes the movement of the lifting plate through the matching of the guide rail, the sliding block and the cylinder. As shown in fig. 6, the jaw assembly includes: a secondary electric telescopic rod 401 connected to an output shaft of the rotating motor in a transmission manner, a connecting ring 402 fixed on an outer sleeve of the secondary electric telescopic rod 401, a movable ring 403 fixed on an inner sleeve of the secondary electric telescopic rod 401, a plurality of connecting pieces 404 fixed on the connecting ring 402 at equal intervals, a first connecting rod 405 hinged at the tail end of each connecting piece, a plurality of second connecting rods 406 correspondingly hinged on the movable rings, and a clamping plate hinged at the tail end of the first connecting rod 405; the end of the second link 406 is hinged to the middle of the first link 405.
When an inner sleeve in the two-stage electric telescopic rod is converted from an extension state to a compression state, the movable ring hinged on the inner sleeve moves upwards, the clamping plates are gathered under the action of the first connecting rod and the second connecting rod, the clamping effect on the nut and the accessory is achieved, and then the nut and the accessory rotate under the action of the rotating motor.
However, in the actual use process, since the nut is screwed into the screw 6 under the action of the clamping plate 407, a strong clamping force is provided, and if the clamping jaw assembly is moved upwards directly through the Z-axis moving assembly, the clamping jaw assembly is lifted together with the nut and the bolt, so that the bolt is "jumped out" of the placing cavity.
Therefore, in order to solve the technical problem, an ejection rod is fixed at the bottom of the movable ring 403, an ejection block 408 is arranged at the tail end of the ejection rod, after the nut is screwed on the bolt, an inner sleeve in the secondary electric telescopic rod is in a state of being converted from a compression state to a tension state, the movable ring hinged on the sleeve moves downwards, the clamping plate is opened under the action of the first connecting rod and the Lidi connecting rod, the nut and the accessory are not clamped, at the moment, the ejection rod at the top of the movable ring is ejected out to be in contact with the top of the bolt and be in contact with the screw rod 6, the screw rod 6 is pressed inside the placing cavity, and the bolt cannot shake.
In this embodiment, the structure of the ingredient feeding mechanism 5 is the same as that of the nut feeding mechanism 4, and the first vibration plate 301 and the second vibration plate are both in the prior art, and therefore are not described in detail.
In this embodiment, the rotation mechanism includes: the transmission box comprises a driving motor arranged in the transmission box, a disc in transmission connection with the driving motor, a convex block fixed on the upper surface of the disc and a transmission part rotatably arranged in the transmission box; the transmission part is in transmission connection with the disc;
the convex block is provided with an inwards concave first arc-shaped surface; the driving medium is formed by a plurality of V-shaped plates in a butt joint mode, a gap is reserved between every two adjacent V-shaped plates, and the outer side face of each V-shaped plate is provided with an inwards-concave second arc-shaped face.
When the driving mechanism is used, the lug rotates the edge of the first arc-shaped surface to push the edge of the second arc-shaped surface, so that the driving part rotates; after the edge of first arcwall face breaks away from with the edge of second arcwall face, the another side of lug is located the second arcwall face, and the lug continues to rotate but rotates the piece and do not take place to rotate, promotes the edge of second arcwall face again up to the edge of first arcwall face.
In order to facilitate the transfer of the matched bolt and nut, the bottom of the placing cavity is of an open structure, and an end cover assembly is arranged at the bottom of the placing cavity;
the end cap assembly includes: the device comprises a material guide pipe extending downwards, supports fixed on the outer surface of the material guide pipe at equal intervals, sliding grooves formed in the bottom surface of each support, connecting pins clamped in the sliding grooves in a movable mode, petal blades fixed on each connecting pin, rotating pieces connected to the connecting pins in a transmission mode, an outer gear ring fixed on the outer edge of each rotating piece, a rotating motor fixed on the placing frame 302 and a rotating gear connected to the output shaft of the rotating motor in a transmission mode; the transmission gear is meshed with the outer gear ring; one side of the connecting pin and one side of the petal blades are simultaneously subjected to limiting transmission of the sliding groove and the rotating piece, and the rotating piece rotates under the transmission of the transmission gear and the outer gear ring to drive the sliding groove and the rotating piece to move inside and outside the sliding groove, so that the closed state and the open state of the petal blades are realized.
Firstly, respectively pouring a bolt, a nut, a spring gasket and a flat gasket into a bolt feeding mechanism, a nut feeding mechanism, a first ingredient feeding mechanism and a second ingredient feeding mechanism;
the bolt feeding mechanism arranges disordered bolts to an outlet in order through the first vibrating disc, under the pushing of a rear bolt, the bolt positioned in front is pushed into the aisle component, under the action of the two parallel guide strips, a screw rod of the bolt drops from between the two guide strips, so that the head of the bolt is hung on the two guide strips, the transversely arranged bolts are longitudinally arranged, the head of the bolt is positioned at the top end, the bolt positioned in front is continuously pushed and reaches the guide part after passing through the reversing part, at the moment, the head of the bolt is positioned at the bottom end, when the bolt moves to the tail end of the guide part, the support of the support part is lost, the bolt positioned at the tail end directly drops into the placing cavity, and at the moment, the bottom of the placing cavity is in a closed state; simultaneously detecting the type of the bolt;
thirdly, under the action of the first rotating mechanism, the placing cavity where the bolt is placed is transferred to the first batching feeding mechanism and the second batching feeding mechanism, and the spring gasket and the flat gasket matched with the placing cavity are screened out by the detection units on the first batching feeding mechanism and the second batching feeding mechanism and are matched with the spring gasket and the flat gasket;
at the in-process of screening, with the different spring shim of model, flat gasket according to the categorised storage of model in the storage section of thick bamboo of the categorised storage mechanism that corresponds, guarantee: the types of accessories in different storage barrels are different from each other, and the types of accessories in the same storage barrel are the same; the spring gasket and the flat gasket are directly clamped from the storage barrel in the later period;
fourthly, under the action of the first rotating mechanism, the bolt matched with the spring gasket and the flat gasket is transferred to a nut feeding mechanism, and the nut matched with the bolt is screened out through a detection unit on the nut feeding mechanism and is matched on the bolt; a clamping jaw assembly in the nut feeding mechanism clamps and transfers the bolt positioned at the outlet of the second vibrating disc to the bolt, and the nut is screwed on the bolt by combining a rotating motor and a Z-axis moving assembly;
at the in-process of screening, with the nut that the model is different according to the categorised storage of model in the storage section of thick bamboo of the categorised storage mechanism that corresponds, guarantee: the types of nuts in different storage barrels are different from each other, and the types of nuts in the same storage barrel are the same; the later clamping screw cap is directly clamped from the material storage cylinder;
fifthly, after the bolt is screwed into the clamping jaw assembly by 1-2 cm, a clamping plate in the clamping jaw assembly has no acting force on the nut, an ejector rod ejects an ejector block to be in contact with the top end of a screw rod of the bolt, and then the clamping jaw assembly moves upwards under the action of a Z-axis moving assembly to prepare for clamping a next nut;
and step six, the bolt screwed with the nut leaves the nut feeding mechanism, the bottom of the placing cavity is in an open state, and the bolt is discharged.
Wherein, the screening in the second step, the third step and the fourth step is specifically as follows: the camera respectively collects images of the nut and/or the accessory and extracts the collected single image;
the image preprocessing of the acquired single image comprises the following steps:
enhancing gray contrast: the result of the gradation conversion of the input is calculated as the output gradation value according to the formula (1),
where x is the input gray scale value, f(x)Is the gray value of the output, DminIs the minimum pixel value, DmaxIs the maximum pixel value, RmaxAnd<Rminis a specified image processing range;
image binarization: image thresholding is calculated by equation (2):
wherein T is a predetermined threshold value, f(x，y)Is the gray value of the pixel at point (x, y) before thresholding, g(x，y)Is the gray value of the pixel at point (x, y) after the threshold;
edge processing: defining the amplitude of image function as the edge amplitude, and rotating gradient direction psi to-90 deg.C as the edge direction
The gradient direction is defined as the direction of maximum growth of the image function, the curve of the acquired image is closed and has the same brightness, and then
Magnitude of gradient
The step of calculating the actual inner diameter value of the nut and/or the fitting based on the preprocessed image specifically comprises the following steps:
defining the smallest point on the inner edge line in x-coordinate as PminThe maximum point is PmaxIs connected to PminAnd PmaxTo obtain a linear equation of
L is Ax + By + C is 0, and a straight line divides a point set on an inner edge line into an upper part and a lower part, and defines B1Partial set of points on bit, B2A set of in-place partial points;
calculating the point of the upper door point set farthest from the straight line according to the formula (5), and calculating the farthest distance dmax：
With dmaxThe inner diameter D of the nut is defined by the radius at the inner edge of the nut1Is 2dmax。
Judging whether the nut and/or the accessory are matched with the bolt according to the calculated actual inner diameter value and the standard inner diameter: when the absolute value of D-D1 is less than 0.02, matching is successful, and a matching instruction is output; the execution module controls the clamping jaw assembly to match the nut and the accessory on the bolt;
when the | D-D1| >0.02 is detected, the matching fails, a reselection instruction is output, and the execution module controls the clamping jaw assembly to sort and arrange the unmatched nuts and accessories in the storage barrel until the nuts and the accessories are matched.
Claims (9)
1. The utility model provides an intelligent out of order bolt and nut matching system which characterized in that includes:
pair-wise entering of information of bolts, nuts and/or fittings: the outer diameter of the bolt, the inner diameter D of the nut and/or fitting;
detecting the outer diameter of the bolt and the screw rod, and calling out the inner diameter D of the nut and/or the fitting matched with the outer diameter D;
respectively collecting images of the nut and/or the accessory, and extracting the collected single image;
carrying out image preprocessing on the acquired single image;
calculating the actual inner diameter value D of the nut and/or the fitting based on the preprocessed image1；
Judging whether the nut and/or the accessory are matched with the bolt or not according to the calculated actual inner diameter value and the standard inner diameter; if the nuts and/or the accessories cannot be matched, the nuts and/or the accessories are transferred into a classified storage mechanism to be classified and stored according to models; and at the later stage, nuts and/or accessories matched with the bolts are directly selected from the classified storage mechanism.
2. The intelligent out-of-order bolt and nut matching system as claimed in claim 1, wherein the image preprocessing of the collected single image comprises the steps of:
enhancing gray contrast: the result of the gradation conversion of the input is calculated as the output gradation value according to the formula (1),
where x is the input gray scale value, f(x)Is the gray value of the output, DminIs the minimum pixel value, DmaxIs the maximum pixel value, RmaxAnd<Rminis a specified image processing range;
image binarization: image thresholding is calculated by equation (2):
wherein T is a predetermined threshold value, f(x，y)Is the gray scale of the pixel at point (x, y) before thresholdingValue g(x，y)Is the gray value of the pixel at point (x, y) after the threshold;
edge processing: defining the amplitude of image function as the edge amplitude, and rotating gradient direction psi to-90 deg.C as the edge direction
The gradient direction is defined as the direction of maximum growth of the image function, the curve of the acquired image is closed and has the same brightness, and then
Magnitude of gradient
3. The matching method of the intelligent disordered bolt and nut matching system according to claim 1, wherein the step of calculating the actual inner diameter value of the nut and/or the fitting based on the preprocessed image specifically comprises the following steps:
defining the smallest point on the inner edge line in x-coordinate as PminThe maximum point is PmaxIs connected to PminAnd PmaxTo obtain a linear equation of
L is Ax + By + C is 0, and a straight line divides a point set on an inner edge line into an upper part and a lower part, and defines B1Partial set of points on bit, B2A set of in-place partial points;
calculating the point of the upper door point set farthest from the straight line according to the formula (5), and calculating the farthest distance dmax：
With dmaxThe inner diameter D of the nut is defined by the radius at the inner edge of the nut1Is 2dmax。
4. The matching method of the intelligent out-of-order bolt and nut matching system as claimed in claim 1, wherein when | D-D1| < 0.02, the matching is successful, and a matching instruction is output;
when | D-D1| >0.02, the match fails, outputting a reselect instruction and a sorted store instruction.
5. A matching system based on the intelligent out-of-order bolt-nut matching system as claimed in any one of claims 1 to 4, comprising:
the information acquisition module is used for recording the information of the bolts, the nuts and/or the accessories in pairs: the outer diameter of the bolt, the inner diameter D of the nut and/or fitting;
the input module is used for inputting the outer diameter of the bolt to be matched and calling out the inner diameter D of the nut and/or the fitting matched with the outer diameter;
the image acquisition module is used for respectively acquiring images of the nut and/or the accessory and extracting the acquired single image;
the image processing module is used for carrying out image preprocessing on the acquired single image;
a data processing module for calculating the actual inner diameter value D of the nut and/or the fitting based on the preprocessed image1(ii) a Judging whether the nut and/or the accessory are matched with the bolt or not according to the calculated actual inner diameter value and the standard inner diameter;
and the execution module outputs an execution command according to the matching result.
6. The matching system of an intelligent out-of-order bolt-nut matching system of claim 5, further comprising: the inner part of the base is of a hollow structure; the base is provided with a controller and a display, and the information acquisition module, the input module, the image acquisition module and the data processing module are arranged in the controller;
the first rotating mechanism is arranged inside the base;
the first rotating disc is positioned above the base; the first rotating disc is in transmission connection with the first rotating mechanism; a plurality of placing cavities are formed in the edge of the first rotating disc;
the bolt feeding mechanism and the nut feeding mechanism are respectively arranged on one side of the base; the nut feeding mechanism has the function of rotating the nut on the bolt;
at least one group of accessory feeding mechanisms arranged between the bolt feeding mechanisms and the nut feeding mechanisms; cameras are arranged on the nut feeding mechanism and the batching feeding mechanism, and the image acquisition module is arranged inside the cameras;
the classified storage mechanisms are at least two groups; the nut feeding mechanism and the batching feeding mechanism are respectively arranged on one side of the nut feeding mechanism and one side of the batching feeding mechanism; the classified storage mechanism is used for storing nuts and accessories in the nut feeding mechanism and the batching feeding mechanism in a classified mode according to models;
the output end of the information acquisition module, the output end of the input module and the output end of the image processing module are electrically connected with the input end of the data processing module;
the output end of the image acquisition module is electrically connected with the input end of the image processing module;
and the output end of the data processing module is electrically connected with the input end of the execution module.
7. The matching system of an intelligent out-of-order bolt and nut matching system of claim 6, wherein the sortation mechanism comprises:
the vertical frame is positioned on one side of the base;
the second rotating mechanism is arranged in the vertical frame;
the second rotating disc is positioned above the stand and is in transmission connection with the second rotating mechanism;
a plurality of material storage cylinders; the second rotating disc is fixed at the edge of the second rotating disc at equal distance; the top end of the storage barrel is of an open structure, and a conduction groove is formed in the inner side wall of the storage barrel along the length direction of the storage barrel;
a plurality of mounting plates; the mounting plate is correspondingly fixed on the lower surface of the second rotating disc and is positioned on the inner side of the storage barrel; the outer side wall of the mounting plate is movably clamped with a transversely arranged top plate, and the movable end of the top plate penetrates through the conduction groove and is positioned in the storage barrel; the fixed end of the top plate is fixedly connected with the bottom of the mounting plate through a compression spring;
when the storage barrel is filled with materials, the top plate is positioned at the bottom of the storage barrel, and the compression spring is in a compressed state; when only one material is in the storage cylinder, the compression spring is in a normal state, the top plate is positioned at the top of the storage cylinder, and the material at the moment is exposed above the storage cylinder.
8. The matching system of an intelligent out-of-order bolt-nut matching system of claim 6,
the nut feeding mechanism and the accessory feeding mechanism have the same structure;
the nut feed mechanism includes: the second vibration disc is arranged between the clamp assembly and the first rotating disc;
the clamp assembly includes: the vertical frame is transversely fixed on a cross frame at the top end of the vertical frame, an X-axis moving assembly is arranged on the cross frame, a moving plate of the X-axis moving assembly is connected in a transmission mode, a Z-axis moving assembly is arranged on the moving plate, a lifting plate of the Z-axis moving assembly is connected in a transmission mode, a rotating motor is arranged on the lifting plate, and a clamping jaw assembly on an output shaft of the rotating motor is connected in a transmission mode.
9. The matching system of an intelligent out-of-order bolt-nut matching system of claim 6,
bolt feed mechanism includes: a first vibratory pan, and a gangway assembly disposed at an outlet of the first vibratory pan;
the aisle assembly comprises: the rack comprises a rack, upright columns vertically fixed on two sides of the rack, and two guide strips which are fixed on the inner sides of the upright columns and are parallel to each other; the distance between the two guide strips is greater than the outer diameter of the bolt screw and less than the inner diameter of the bolt head;
the two guide strips are used for realizing ordered and vertical arrangement of the bolts and transferring the bolts into the placing cavity, and the head of the bolt positioned in the placing cavity is positioned at the bottom end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110054730.XA CN112861921A (en) | 2021-01-15 | 2021-01-15 | Intelligent out-of-order bolt and nut matching system and matching method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110054730.XA CN112861921A (en) | 2021-01-15 | 2021-01-15 | Intelligent out-of-order bolt and nut matching system and matching method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112861921A true CN112861921A (en) | 2021-05-28 |
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ID=76005847
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110054730.XA Withdrawn CN112861921A (en) | 2021-01-15 | 2021-01-15 | Intelligent out-of-order bolt and nut matching system and matching method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112861921A (en) |
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2021
- 2021-01-15 CN CN202110054730.XA patent/CN112861921A/en not_active Withdrawn
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