CN112861923A - Intelligent ordered bolt and nut matching system and matching method thereof - Google Patents
Intelligent ordered bolt and nut matching system and matching method thereof Download PDFInfo
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Abstract
The invention discloses an intelligent ordered 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: 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; inputting the outer diameter of a bolt to be matched, and calling out the inner diameter D of a nut and/or an accessory matched with the outer diameter; 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(ii) a And 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. When the nut feeding device is used, only the outer diameter of the bolt needs to be directly input, the system automatically calls the inner diameter of the nut, and when the nut is fed, the nut consistent with the inner diameter can be directly matched by finding out the nut through image acquisition and data processingAnd (4) preparing.
Description
Technical Field
The invention belongs to the technical field of bolt and nut matching, and particularly relates to an intelligent ordered 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, because of the various types of nuts and fittings, it is difficult to accurately find the nut and the fitting corresponding to the bolt during matching.
Disclosure of Invention
The invention provides an intelligent ordered bolt and nut matching system and a matching method thereof for solving the technical problems in the background technology.
The invention adopts the following technical scheme: a matching method of an intelligent ordered bolt and nut matching system comprises the following steps:
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;
inputting the outer diameter of a bolt to be matched, and calling out the inner diameter D of a nut and/or an accessory matched with the outer diameter;
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；
And 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.
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, outputting a match instruction;
when | D-D1| >0.02, the match fails, outputting a reselection instruction.
A matching system based on an intelligent sequential bolt and 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 rotating mechanism is arranged inside the base;
the rotating disc is positioned above the base; the rotating disc is in transmission connection with the rotating mechanism; a plurality of placing cavities are formed in the edge of the rotating disc;
the bolt feeding mechanism and the nut feeding mechanism are respectively arranged on one side of the base;
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 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 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.
In a further embodiment, the guide strip comprises: the connecting part, the reversing part, the guide part and the supporting part;
the connecting part and the guide part are horizontally arranged, the upper surface of the connecting part is flush with the bottom of the outlet, the tail end of the guide part extends to the upper part of the placing cavity, and the reversing part is arc-shaped and is connected between the connecting part and the guide part; the supporting part is respectively arranged on the inner wall of the reversing part and below the guiding part, and gaps are reserved among the supporting part, the reversing part and the guiding part; the end of the supporting part extends to the edge of the placing cavity.
In a further embodiment, the nut feed mechanism comprises: the second vibration disc is arranged between the second vibration disc and the 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 jaw assembly comprises: the connecting device comprises a threaded rod, a threaded ring, a connecting ring, a plurality of connecting pieces, a first connecting rod, a plurality of second connecting rods and a clamping plate, wherein the threaded rod is in transmission connection with an output shaft of the rotating motor, the threaded ring is in transmission connection with the threaded rod through internal and external threads, the connecting ring is installed at the bottom of the threaded rod through a bearing, the connecting pieces are fixed on the threaded ring at equal intervals, the first connecting rod is hinged at the tail end of each connecting piece, the second connecting rods are correspondingly hinged on the;
the tail end of the second connecting rod is hinged with the middle position of the first connecting rod;
an ejection cylinder is fixed at the bottom of the connecting ring, and an ejection block is arranged on a piston rod of the ejection cylinder.
The invention has the beneficial effects that: the invention forms a matching system in the system by setting the outer diameter of the bolt and the inner diameter of the nut which is theoretically matched with the outer diameter of the bolt, only the outer diameter of the bolt needs to be directly input when the system is used, the system automatically calls the corresponding inner diameter of the nut, and when the nut is fed, the nut which is consistent with the inner diameter of the bolt can be directly matched by finding out the nut through image acquisition and data processing.
Drawings
Fig. 1 is a flow chart of a matching method of an intelligent ordered bolt and nut matching system.
Fig. 2 is a block diagram of the system.
Fig. 3 is a schematic structural diagram of an intelligent sequential bolt and nut matching device according to the present invention.
Fig. 4 is a side view of a bolt feed mechanism in the present invention.
Fig. 5 is a partial schematic view of the aisle assembly of the present invention.
Fig. 6 is a schematic view showing a state of a bolt at a connection portion in the present invention.
Fig. 7 is a schematic view showing a state of a bolt at a guide portion in the present invention.
Figure 8 is a schematic view of the jaw assembly of the present invention.
Each of fig. 1 to 8 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 roller 3045, a supporting portion 3046, a threaded rod 401, a threaded ring 402, a connecting ring 403, a connecting piece 404, a first connecting rod 405, a second connecting rod 406, a clamping plate 407 and an ejector 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: 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, because of the various types of nuts and fittings, it is difficult to accurately find the nut and the fitting corresponding to the bolt during matching.
The inventor develops a matching method of an intelligent ordered bolt and nut matching system, which comprises the following steps:
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;
inputting the outer diameter of a bolt to be matched, and calling out the inner diameter D of a nut and/or an accessory matched with the outer diameter;
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；
And 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.
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, thenThe curve of the acquired image is closed and has the same brightness, 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 reselection instruction.
Based on the matching method, the matching system of the intelligent ordered bolt and nut matching system comprises the following steps:
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:
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
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 according to the calculated actual inner diameter value and the standard inner diameter: 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。
And the execution module outputs an execution command according to the matching result.
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 reselection instruction.
In a further embodiment, the matching system of the intelligent ordered bolt and nut matching system specifically further comprises a matching device: the matching device comprises: the inner part is a base 1 with a hollow structure, and the rotating mechanism is arranged in the base 1. A rotating disk 2 is arranged above the base 1, the rotating disk 2 is in transmission connection with the rotating mechanism, and the rotating disk 2 intermittently rotates under the driving of the rotating mechanism. In order to fix the bolts and drive the bolts to be matched differently during operation, a plurality of placing cavities are formed in the edge of the rotating disc 2 and used for placing the bolts to be matched. And a bolt feeding mechanism 3 and a nut feeding mechanism 4 are arranged on two sides of the rotating disk 2, wherein the nut feeding mechanism 4 has a function of rotating a nut on a bolt at the same time.
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; all be provided with the camera on nut feed mechanism and the batching feed mechanism, image acquisition module sets up the inside of camera.
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 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, 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, 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 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 threaded rod 401 which is in transmission connection with an output shaft of the rotating motor, a threaded ring 402 which is in transmission connection with the threaded rod 401 through internal and external threads, a connecting ring 403 which is arranged at the bottom of the threaded rod 401 through a bearing, a plurality of connecting pieces 404 which are fixed on the threaded ring 402 at equal intervals, a first connecting rod 405 which is hinged at the tail end of each connecting piece 404, a plurality of second connecting rods 406 which are correspondingly hinged on the connecting ring 403, and a clamping plate 407 which is 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.
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 above technical problem, an ejection cylinder is fixed at the bottom of the connecting ring 403, and an ejection block 408 is arranged on a piston rod of the ejection cylinder.
That is, when the Z-axis moving assembly moves the jaw assembly upward, the ejector block 408 is ejected to contact the screw 6, and the screw 6 is pressed inside the placing cavity without shaking.
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, a rotating part connected to each connecting pin in a transmission mode, an outer gear ring fixed on the outer edge of each rotating part, 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.
A matching method of a matching system of an intelligent ordered bolt and nut matching system specifically comprises the following steps:
firstly, respectively pouring bolts with the same type, nuts with the same type and mixed type, spring gaskets and flat gaskets into a bolt feeding mechanism, a nut feeding mechanism, a first ingredient feeding mechanism and a second ingredient feeding mechanism;
step two, inputting the outer diameter of the bolt in the batch controller, and calling out the inner diameter of the nut, the spring gasket and the flat gasket matched with the data processing module by the data processing module;
the bolts are orderly arranged to the outlet by the bolt feeding mechanism through the first vibrating disc, the bolts in front are pushed into the aisle assembly under the pushing of the bolts behind, the screw rods of the bolts fall down from the two guide strips under the action of the two parallel guide strips, so that the heads of the bolts are hung on the two guide strips, the bolts in transverse arrangement are changed into longitudinal arrangement, the heads of the bolts are positioned at the top ends, the bolts in front are continuously pushed and reach the guide parts after passing through the reversing parts, the heads of the bolts are positioned at the bottom ends at the moment, the supports of the supporting parts are lost when the bolts move to the tail ends of the guide parts, the bolts positioned at the tail ends directly fall into the placing cavity, and the petal blades at the bottom of the placing cavity are in a closed state;
step four, under the action of the 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 matched spring gasket and the matched flat gasket are selected to be matched on the bolt through the step six;
fifthly, under the action of the rotating mechanism, the bolt matched with the spring gasket and the flat gasket is transferred to a nut feeding mechanism, the matched nut is selected through the sixth step, a clamping jaw assembly in the nut feeding mechanism clamps the bolt positioned at the outlet of the second vibrating disk and transfers the bolt to the bolt, and the nut is screwed on the bolt by combining a rotating motor and a Z-axis moving assembly;
step six, in the step four to the step five, screening the bolts, the spring gaskets and the flat gaskets which are discharged by the vibrating disk by the camera, wherein the screening process comprises the following steps:
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| is >0.02, the matching fails, a reselection instruction is output, and the execution module controls the clamping jaw assembly to abandon the unmatched nut and fitting to reselect the next nut and fitting until the nut and the fitting are matched;
seventhly, after the bolt is screwed into the clamping jaw assembly by 1-2 cm, a clamping plate in the clamping jaw assembly does not have acting force on the nut, an ejection cylinder ejects an ejection block to be in contact with the top end of a threaded 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 eight, the bolt screwed with the nut leaves the nut feeding mechanism, the petal blades at the bottom of the placing cavity are in an open state, and the bolt is discharged.
Claims (10)
1. A matching method of an intelligent ordered bolt and nut matching system is characterized by comprising the following steps:
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;
inputting the outer diameter of a bolt to be matched, and calling out the inner diameter D of a nut and/or an accessory matched with the outer diameter;
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；
And 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.
2. The matching method of the intelligent ordered bolt-nut matching system according to claim 1, wherein the image preprocessing of the collected 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),
wherein x is transportValue of gray-scale value of(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
3. The matching method of the intelligent ordered bolt-nut matching system according to claim 1, wherein the calculation 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 PmaxObtaining a linear equation of L ═ Ax + By + C ═ 0, and the straight line divides the inner edge lineThe upper point set is divided into an upper part and a lower part, and B is defined1Partial 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 ordered bolt and nut matching system as claimed in claim 1, wherein when | D-D1| < 0.02, matching is successful, and a matching instruction is output;
when | D-D1| >0.02, the match fails, outputting a reselection instruction.
5. A matching system for realizing the intelligent ordered bolt and nut matching method according to any one of claims 1 to 4, which is characterized by 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 sequential bolt and nut matching system according to claim 5, further comprising a matching device, said matching device 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 rotating mechanism is arranged inside the base;
the rotating disc is positioned above the base; the rotating disc is in transmission connection with the rotating mechanism; a plurality of placing cavities are formed in the edge of the rotating disc;
the bolt feeding mechanism and the nut feeding mechanism are respectively arranged on one side of the base;
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 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 the intelligent ordered bolt-nut matching system as claimed in 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.
8. The matching system of the intelligent sequential bolt-nut matching system according to claim 7,
the guide strip includes: the connecting part, the reversing part, the guide part and the supporting part;
the connecting part and the guide part are horizontally arranged, the upper surface of the connecting part is flush with the bottom of the outlet, the tail end of the guide part extends to the upper part of the placing cavity, and the reversing part is arc-shaped and is connected between the connecting part and the guide part; the supporting part is respectively arranged on the inner wall of the reversing part and below the guiding part, and gaps are reserved among the supporting part, the reversing part and the guiding part; the end of the supporting part extends to the edge of the placing cavity.
9. The matching system of the intelligent ordered bolt-nut matching system as claimed in claim 6,
the nut feed mechanism includes: the second vibration disc is arranged between the second vibration disc and the 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.
10. The matching system of the intelligent sequential bolt-nut matching system of claim 9,
the jaw assembly includes: the connecting device comprises a threaded rod, a threaded ring, a connecting ring, a plurality of connecting pieces, a first connecting rod, a plurality of second connecting rods and a clamping plate, wherein the threaded rod is in transmission connection with an output shaft of the rotating motor, the threaded ring is in transmission connection with the threaded rod through internal and external threads, the connecting ring is installed at the bottom of the threaded rod through a bearing, the connecting pieces are fixed on the threaded ring at equal intervals, the first connecting rod is hinged at the tail end of each connecting piece, the second connecting rods are correspondingly hinged on the;
the tail end of the second connecting rod is hinged with the middle position of the first connecting rod;
an ejection cylinder is fixed at the bottom of the connecting ring, and an ejection block is arranged on a piston rod of the ejection cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110056554.3A CN112861923A (en) | 2021-01-15 | 2021-01-15 | Intelligent ordered bolt and nut matching system and matching method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110056554.3A CN112861923A (en) | 2021-01-15 | 2021-01-15 | Intelligent ordered bolt and nut matching system and matching method thereof |
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| Publication Number | Publication Date |
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| CN112861923A true CN112861923A (en) | 2021-05-28 |
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ID=76006941
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110056554.3A Withdrawn CN112861923A (en) | 2021-01-15 | 2021-01-15 | Intelligent ordered bolt and nut matching system and matching method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112861923A (en) |
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2021
- 2021-01-15 CN CN202110056554.3A patent/CN112861923A/en not_active Withdrawn
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Application publication date: 20210528 |