CN113593897A

CN113593897A - Accurate pin arrangement device of network transformer

Info

Publication number: CN113593897A
Application number: CN202110992528.1A
Authority: CN
Inventors: 周道斌; 胡明洲
Original assignee: Xinjiang Cichuang Electronic Technology Co ltd; Hubei Cichuang Electronic Technology Co ltd
Current assignee: Xinjiang Cichuang Electronic Technology Co ltd; Hubei Cichuang Electronic Technology Co ltd
Priority date: 2021-08-27
Filing date: 2021-08-27
Publication date: 2021-11-02
Anticipated expiration: 2041-08-27
Also published as: CN113593897B

Abstract

The invention relates to an accurate pin adjusting device of a network transformer, and belongs to the technical field of shaping equipment of network transformers. The accurate pin adjusting device of the network transformer comprises a rack, a positioner, a feeder, a blanking plate, a shaping head, a moving mechanism, a camera, a motion controller and an industrial computer; the frame is provided with a positioner; one end of the locator is connected with a feeder in an inclined manner; the other end of the locator is connected with a blanking plate in an inclined manner; the frame at the inner side of the positioner is provided with a shaping head through a moving mechanism; a camera is arranged above the positioner through a bracket; the camera is connected with an industrial computer; the industrial computer is electrically connected with the moving mechanism and the positioner through the motion controller. This accurate pin arrangement device of network transformer has solved the current pin arrangement mode of network transformer and has had the problem of "the rejection rate is high" and "work efficiency is low", has satisfied the needs of the high-efficient plant use of enterprise.

Description

Accurate pin arrangement device of network transformer

Technical Field

The invention relates to an accurate pin adjusting device of a network transformer, and belongs to the technical field of shaping equipment of network transformers.

Background

The network transformer is a basic part in the communication field; it is a cuboid structure, and two rows of stitches are symmetrically arranged on the surface of the cuboid structure. After the network transformer is produced, in order to ensure that the perpendicularity of the pins can meet the use requirement, the perpendicularity of the pins needs to be corrected before the network transformer leaves a factory. The present invention discloses a fine adjustment leg machine, which can meet the requirement of the whole leg of the network transformer to a certain extent, but has the following problems.

1. The existing pin arrangement mode of the network transformer is completed by shaping all pins in the correction block, so that the pins with the verticality meeting the requirements are also subjected to shaping operation, and the problem of high rejection rate caused by breaking the bottoms of the pins is easily caused in the process of shaping the pins with the verticality meeting the requirements.

2. The pin arrangement mode of the existing network transformer adopts the mode that pins are pushed from four directions in sequence to finish shaping, and the pin arrangement mode cannot accurately shape deviated pins and further causes the pins to be bent repeatedly, so that the risk of breakage of the pin connection is increased.

3. The existing pin arrangement mode of the network transformer has the problem of low working efficiency due to the fact that manual work is needed to sequentially feed and discharge.

Therefore, it is necessary to develop a device capable of accurately trimming pins of a network transformer, so as to solve the above problems of the conventional pin trimming method of the network transformer.

Disclosure of Invention

The invention aims to: the accurate pin adjusting device of the network transformer has the advantages of compact structure and ingenious design, and solves the problems of high rejection rate and low working efficiency existing in the existing pin adjusting mode of the network transformer.

The technical scheme of the invention is as follows:

an accurate pin adjusting device of a network transformer comprises a rack, a positioner, a feeder, a blanking plate, a shaping head, a moving mechanism, a camera, a motion controller and an industrial computer; the method is characterized in that: the frame is provided with a positioner; one end of the locator is connected with a feeder in an inclined manner; the other end of the locator is connected with a blanking plate in an inclined manner; the frame at the inner side of the positioner is provided with a shaping head through a moving mechanism; a camera is arranged above the positioner through a bracket; the camera is connected with an industrial computer; the industrial computer is electrically connected with the moving mechanism and the positioner through the motion controller.

The positioner comprises a positioning seat, a pressing cylinder, a pushing cylinder and a lighting lamp bead; the middle part of the positioning seat is provided with a guide sliding chute; one side of the guide chute is provided with a pressing head through a pressing cylinder; a pushing cylinder is arranged on the rack at one end of the guide chute; the positioning seats above the two sides of the guide sliding groove are symmetrically provided with a row of illuminating lamp beads.

The feeder comprises a bottom plate, a pressing block and a discharging cylinder; one end of the positioning seat is connected with a bottom plate in an inclined manner; the bottom plate is provided with a material storage chute; the bottom end of the material storage chute is provided with a limiting block; one side of the limiting block is provided with a guide chute; the guide chute is communicated with the material storage chute; a pressing block is arranged on the bottom plate above the other end of the storage chute; a conduit clamping hole is arranged between the pressing block and the bottom plate; the pipe clamping hole is communicated with the material storage chute; a blanking cylinder is arranged on the other side of the lower end of the material storage chute; the blanking cylinder and the guide chute are arranged in opposite directions.

The blanking plate is provided with a material receiving chute; connect the material spout and the direction spout one end intercommunication of positioning seat.

The moving mechanism comprises a longitudinal screw rod, a transverse screw rod, a longitudinal moving sliding plate, a transverse moving sliding block, a driving motor A, a driving motor B, a worm and a worm wheel; the rack is provided with a longitudinal sliding plate in a sliding way through a sliding rail; two groups of longitudinal screw rods are symmetrically arranged on the machine frame below the longitudinal sliding plate through bearing seats; the longitudinal screw rod is connected with the longitudinal sliding plate; a worm is arranged on the rack at one end of the longitudinal screw rod through a driving motor A; the worm is connected with one end of the longitudinal screw rod through a worm wheel; the longitudinal sliding plate is provided with a transverse sliding block in a sliding manner through a sliding rail; a transverse screw rod is arranged on the longitudinal sliding plate below the transverse sliding block through a driving motor B; the transverse screw rod is connected with the transverse sliding block; the transverse moving slide block is provided with a shaping head.

The shaping head comprises a vertical plate, a rotating wheel, a transmission belt, a shaping motor, a shaping needle tube, a lifting strip, a connecting block, a buffer spring and a connecting sleeve; a vertical plate is fixedly arranged on the transverse sliding block; the vertical plate is provided with a lifting bar in a sliding way through guide wheels which are symmetrically arranged; a vertical plate above the lifting bar is provided with a rotating wheel through a shaping motor; one side of the rotating wheel is connected with the upper end of the lifting strip through a transmission belt; the end face of the front end of the lifting bar is fixedly provided with a connecting block; the lower end of the connecting block is connected with a connecting sleeve through a buffer spring; the lower end of the connecting sleeve is provided with a shaping needle tube.

The accurate pin adjusting device of the network transformer comprises the following working steps:

1) using a calibration machine sample to obtain a sample image;

preparing a qualified calibrator sample, and measuring two rows of pin row spacing Y1 and pin spacing X1 by using a vernier caliper; placing a calibrator sample into the guide chute of the positioning seat below the camera, and then starting the compressing cylinder to compress and fix the calibrator sample into the guide chute in a manner that the compressing head compresses from the side surface;

starting the illuminating lamp beads and the camera, starting sherlock vision software in the industrial computer, sending a photographing instruction to the camera through the network port by the software, and transmitting a photographed sample image to the industrial computer after the photographing of the camera is finished;

2) preprocessing a sample image;

the sherlock vision software automatically acquires a current sample image, establishes a surface-shaped region of interest with the size of 1455x590 pixels to obtain a pixel range needing to be processed, and equivalently cuts the image to obtain only a useful part to obtain a real-time characteristic picture;

performing simple noise elimination processing on the real-time characteristic picture by using Draw, scale, Smooth, Erode and Threshold preprocessing in sherlock software to eliminate partial interference; to obtain an image of the sample after pretreatment;

3) solving a coordinate lattice of the pin points of the sample;

acquiring coordinates of all pixel points in the preprocessed sample image by using a Crawler algorithm in a sherlock software to obtain a dot matrix 1, assigning the number of the pixel points of each contour point to a sample array 1, and assigning the position of the initial pixel point of each contour in the dot matrix 1 to a sample array 2;

acquiring a first number in a sample array 1 and a first number in a sample array 2, acquiring a lattice of all pixel point coordinates forming a first contour point of a sample from the lattice 1 by using a GetRange instruction, solving central point coordinates of all points in the lattice to obtain a central point coordinate of the first contour point of the sample, and performing circular operation to obtain a central point coordinate lattice 2 of all sample pins;

obtaining a first point in a sample pin central point coordinate lattice 2 to obtain the distance between the first point and other points in the sample pin central point coordinate lattice 2, screening the minimum distance and judging whether the distance is less than 15 pixel distances, if the distance is less than 15 pixel distances, obtaining the point with the minimum distance and merging the point with the first point, simultaneously changing the contents of a sample array 2 and the sample array 1, judging and merging all the points once by circulating operation, and aiming at avoiding the interference of two contour points on one pin due to uneven cross sections of the pins of some products so as to obtain a merged sample array 2 and a merged sample array 1;

acquiring a first number in the combined sample array 2 and a first number in the combined sample array 1, acquiring a dot matrix of coordinates of all pixel points forming a first contour point of the sample from the dot matrix 1 by a GetRange instruction, acquiring coordinate values of leftmost, rightmost, uppermost and lowermost points in the dot matrix by an Extrane instruction, then subtracting the leftmost coordinate from the rightmost coordinate to obtain a transverse length, subtracting the uppermost coordinate from the lowermost coordinate to obtain a longitudinal length, multiplying the transverse length by the longitudinal length to obtain an area, and judging whether the transverse length is less than 40 pixel distance and whether the transverse length is greater than 10 pixel distance; whether the longitudinal length is less than 40 pixels distance, greater than 10 pixels distance; whether the area is less than 1000 pixels; if all the pixel points meet the requirements, circle-drawing is carried out on all the pixel points in the dot matrix to obtain circle center coordinates and diameter sizes, if the diameter is larger than 6 pixels and smaller than 30 pixels, the circle center coordinates are stored in a sample dot matrix 3, and the sample dot matrix 3 of the point coordinates in all the sample contours is obtained in a circulating mode; therefore, the product is a standard calibrator sample and has no noise point, so that each point in the dot matrix 3 represents the central point of the pin point of the sample image, and the coordinate dot matrix 3 of the central point of the pin of the sample is obtained;

4) calculating the x-size pixel ratio and the y-size pixel ratio

Obtaining the center point coordinate of the center position of the sample pin point coordinate lattice 3 by using the coordinates of all points in the sample pin center point coordinate lattice 3, obtaining a first point in the sample pin center point coordinate lattice 3, subtracting the center point Y coordinate from the Y coordinate of the first point to obtain a result, judging the positive and negative of the result, and if the result is regular, putting the first point into a newly-built sample pin point coordinate lattice 4; if the number is negative, a newly-built sample pin point coordinate lattice 5 is placed, and all points in the sample pin central point coordinate lattice 3 are circularly placed into the sample pin central point coordinate lattice 4 and the sample pin central point coordinate lattice 5 respectively; the purpose is to divide the coordinate points in the coordinate lattice 3 of the pin central points of all samples into an upper row and a lower row so as to restore the actual model of the product for later analysis;

fitting a straight line, namely an upper-row fit line, with 80% of points in a PtsToBestLine instruction automatic sampling article pin central point coordinate lattice 4, fitting a straight line, namely a lower-row fit line, with 80% of points in a PtsToBestLine instruction automatic sampling article pin central point coordinate lattice 5, sampling an article pin central point coordinate lattice 4 central point, drawing a vertical line of the upper-row fit line through the central point, solving the distance between the upper-row fit line and the lower fit line, obtaining a pixel distance Y of upper and lower rows of pins of an image, and storing a number obtained by dividing Y by 2 into a variable B;

respectively sequencing all points in the sample pin central point coordinate lattice 4 and the sample pin central point coordinate lattice 5 from small to large according to the size of an X coordinate, sequentially calculating the distance between two adjacent points, and taking the average value of all the distances to obtain a pixel pin distance X;

dividing the pixel distance Y of the upper and lower rows of pins by the actual distance Y1 between the upper and lower rows of pins of the sample measured by the vernier caliper to obtain a Y-size pixel ratio; dividing the actual inter-foot distance X1 measured by the vernier caliper by the pixel inter-foot distance X to obtain an X-size pixel ratio; thus, the ratio of the standard actual size to the pixel size, namely the x-size pixel ratio and the y-size pixel ratio, is obtained respectively;

5) establishing a world coordinate system B;

establishing a standard dot matrix model according to the clockwise direction of a pin of a corrector sample, and respectively obtaining pixel coordinate points of four angular points of an upper left corner, a lower left corner, an upper right corner and a lower right corner of the standard model;

inputting four angular point world coordinate values of the proof machine sample by a keyboard in an Input Box instruction, sending the Input four angular point theoretical world coordinate values to a motion controller through a serial port to drive a shaping head to move to the upper left corner point stitch, the lower left corner point stitch, the upper right corner point stitch and the lower right corner point stitch of the proof machine sample respectively, continuously correcting until the shaping head moves to the positions right above the four angular point stitches of the proof machine sample, wherein the coordinate value at the moment is the actual world coordinate value, and simultaneously recording the coordinate value; establishing a coordinate system by using the calibre using points, the pixel coordinate points of the four corner points and the actual world coordinate points of the four corner points to obtain a world coordinate system B;

6) automatically feeding the workpiece to be finished;

firstly, inserting a packaging tube filled with a workpiece to be finished into a conduit clamping hole of a feeder, sliding the packaging tube downwards along a material storage chute to be abutted against a limiting block under the action of self gravity, and arranging the workpiece to be finished in the packaging tube inside the material storage chute in sequence, wherein the workpiece to be finished at the tail end is abutted against the limiting block;

after the packaging pipe with the workpiece to be finished is assembled, placing another empty packaging pipe on the material receiving chute of the blanking plate; then starting the accurate pin adjusting device, and lighting the lighting lamp beads; then the industrial computer controls the blanking cylinder through the motion controller, so that the blanking cylinder pushes the workpiece to be finished at the tail end in the material storage chute to the guide chute and then resets; then, the workpiece to be subjected to foot arrangement in the storage chute slides down to be abutted against the limiting block under the action of gravity; the workpiece to be finished enters the guide chute and slides into the guide chute of the positioner along the inclined plane of the workpiece; then the motion controller controls the pushing cylinder to act; the pushing cylinder acts to push the workpiece to be finished to one side of the pressing head and then resets; then the pressing cylinder drives the pressing head to act to tightly press and fix the workpiece to be finished in the guide sliding groove in a side pressing mode;

7) the camera collects an original picture, and the industrial computer preprocesses the original picture to obtain a dot matrix model;

7.1, automatically acquiring a current product image by using sherlock vision software, establishing a 1455x 590-sized surface-shaped region of interest to obtain a pixel range needing to be processed, namely cutting the image to obtain only a useful part to obtain a real-time characteristic picture of the product;

7.2, product real-time characteristic picture preliminary denoising

Performing simple noise elimination processing on a real-time characteristic picture of a product by using Draw, scale, Smooth, Erode and Threshold preprocessing in sherlock software to eliminate partial interference; to obtain a product image after preliminary pretreatment;

7.3, obtaining contour points by using the product image after preliminary denoising

Obtaining coordinates of all pixel points in the image after the preliminary preprocessing by using a Crawler algorithm in a sherlock software to obtain a product lattice 1, assigning the number of the pixel points of each contour point to a product array 1, and assigning the position of the initial pixel point of each contour point in the product lattice 1 to a product array 2;

acquiring a first number in a product array 1 and a first number in a product array 2, acquiring all pixel point coordinates forming a first product contour point from the product dot matrix 1 by using a GetRange instruction, then solving the center point coordinates of the pixel point coordinates to obtain the center point coordinates of the first contour point of the product, and performing cyclic operation to obtain the center point coordinates dot matrix 2 of all contour points of the product;

obtaining a first point in a product central point coordinate lattice 2, obtaining the distance between the first point and other points, screening the minimum distance and judging whether the distance is smaller than 15 pixel distance, if the distance is smaller than 15 pixel distance, obtaining the point with the minimum distance and combining the point with the first point, simultaneously changing the contents of a product array 2 and a product array 1, and judging and combining all the points once by circulating operation, wherein the purpose is to avoid interference test caused by two contour points of one pin due to uneven cross section of the pin of some products, so that a combined product array 2 and a combined product array 1 can be obtained;

acquiring a first number in a product array 2 and a first number in the product array 1, acquiring coordinates of all pixel points forming a first contour point of a product from the product dot matrix 1 by a GetRange instruction, acquiring abscissa values of the leftmost point and the rightmost point, ordinate values of the uppermost point and the lowermost point in the product contour point by an Extrama, subtracting the abscissa value of the leftmost point from the abscissa value of the rightmost point to obtain the transverse length of the product contour point, subtracting the ordinate value of the uppermost point from the ordinate value of the lowermost point to obtain the longitudinal length, multiplying the transverse length by the longitudinal length to obtain the area of the product contour point, and judging whether the transverse length is smaller than 40 pixels and larger than 10 pixels, whether the longitudinal length is smaller than 40 pixels and larger than 10 pixels, and whether the area is smaller than 1000 pixels and larger than 100 pixels; if all the requirements are met, using all the pixel points in the product contour points to perform circle simulation to obtain the circle center and the diameter, judging whether the circle center is directly smaller than 40 and larger than 10, if the requirements are met, storing the circle center into the dot matrix 3, and circularly obtaining a product dot matrix 3;

7.4, dividing the obtained pixel dot matrix into an upper row and a lower row to establish a product dot matrix model

Obtaining the coordinates of the center point of the center position of the product pin point coordinate lattice 3 by using the coordinates of all points in the product pin pixel point coordinate lattice 3, obtaining a first point in the lattice 3, subtracting the Y coordinate of the center point from the Y coordinate of the first point to obtain a result, judging the positive and negative of the result, if the result is regular, putting the first point into the product lattice 4, and putting the product lattice 5 into the product lattice 4 and the product lattice 5 respectively, and circularly putting all points in the product lattice 3 into the product lattice 4 and the product lattice 5; the purpose is to divide all contour points of the product into an upper row and a lower row so as to restore the actual model of the product and facilitate the later analysis;

7.5, longitudinally denoising the obtained product dot matrix 4 and the product dot matrix 5

Automatically taking 80% of points in the product dot matrix 4 by using a PtsToBestLine instruction to fit a straight line, namely an upper row of fit lines, automatically taking 80% of points in the product dot matrix 4 by using the PtsToBestLine instruction to fit a straight line, namely a lower row of fit lines, fitting a central bisector by using an upper row of fit lines and a lower row of fit lines, solving the distance from all the points in the product dot matrix 4 to the central bisector, obtaining the maximum distance judgment, multiplying the variable B obtained by a previous corrector by 1.4, then comparing the maximum distance with the obtained maximum distance, and deleting the coordinate point corresponding to the maximum distance in the product dot matrix 4 if the maximum distance is smaller than the maximum distance; obtaining the minimum distance from all points in the dot matrix 4 to the middle bisector, multiplying the variable B obtained by the previous correction by 0.6, and judging whether the number is smaller than the minimum distance or not, if not, deleting the point corresponding to the minimum distance in the product dot matrix 4; circularly executing until the maximum distance from the point in the dot matrix 4 of the product to the bisector is less than 1.4 times and the minimum distance of the variable B is more than 0.6 times;

calculating the distances from all points in the product dot matrix 5 to the middle bisector, obtaining the maximum distance judgment, multiplying the variable B obtained by the previous correction by 1.4, then comparing the value with the obtained maximum distance, and if the value is smaller than the maximum distance, deleting the coordinate point corresponding to the maximum distance in the product dot matrix 5; obtaining the minimum distance from all points in the dot matrix 5 to the distance of the middle bisector, multiplying the variable B obtained by the previous correction by 0.6, and judging whether the number is smaller than the minimum distance or not, if not, deleting the point corresponding to the minimum distance in the product dot matrix 5; circularly executing until the maximum distance from the point in the dot matrix 5 of the product to the bisector is less than 1.4 times and the minimum distance of the variable B is more than 0.6 times; thus, longitudinal noise points can be eliminated to obtain a product dot matrix 4 and a product dot matrix 5 after the longitudinal noise points are eliminated;

7.6, carrying out transverse denoising treatment on the lattice model after longitudinal denoising to obtain a product pin center lattice after the complete denoising point;

sorting the product dot matrixes 4 without the longitudinal noise points from small to large according to X coordinates, sorting the product dot matrixes 5 without the longitudinal noise points from small to large according to X coordinates, obtaining first points of the sorted dot matrixes 4, obtaining the first points of the sorted dot matrixes 5 to calculate the pixel distance of the two points in the X direction, multiplying the pixel distance by the X-dimension pixel ratio to obtain the actual distance of the leftmost point in the product dot matrixes 4 to the leftmost point in the product dot matrixes 5 in the X axis direction, judging whether the distance is less than 1mm, if the distance does not meet the requirement, comparing the sizes of the X coordinates of the two points, deleting the points with the small X coordinates, and thus, sorting the leftmost noise points;

sorting the product dot matrix 4 and the product dot matrix 5 after the leftmost noisy point according to the x coordinate from big to small, obtaining a first point of the sorted product dot matrix 4, obtaining the first point of the sorted product dot matrix 5 to calculate the pixel distance of the two points in the x direction, obtaining the actual distance from the rightmost point in the product dot matrix 4 to the rightmost point in the product dot matrix 5 by multiplying the pixel distance by the x-dimension pixel ratio, judging whether the distance is less than 1mm, and if the distance is not less than the requirement, comparing the size of the x coordinate of the two points to delete the point with the big x coordinate. Thus eliminating the rightmost noise;

arranging the product dot matrixes 4 with the leftmost and rightmost noise points arranged from small to large to obtain a first point coordinate, obtaining a second point coordinate to calculate the distance between the two points, then obtaining a third point to calculate the distance between the second point and the third point, adding the two distances to judge whether the distance is larger than 2.5mm, if the distance is not larger than 2.5mm, deleting the second point in the product dot matrixes 4, circularly executing to judge all the points in the product dot matrixes 4 once to obtain the product dot matrixes 4 with the noise points arranged between the two connected points and the noise points removed;

arranging the product dot matrix 5 with the leftmost and rightmost noise points arranged from small to large to obtain a first point coordinate, obtaining a second point coordinate to calculate the distance between the two points, then obtaining a third point to calculate the distance between the second point and the third point, adding the two distances to judge whether the distance is larger than 2.5mm, if the distance is not larger than 2.5mm, deleting the second point in the product dot matrix 5, and circularly executing to judge all the points in the dot matrix 5 once to obtain the product dot matrix 5 with the noise points arranged between the two connected points and completely denoised;

7.7, establishing a product coordinate system A by using a complete denoised dot matrix;

fitting a straight line by using the product dot matrix 4 after complete de-noising to obtain the slope k1 of the straight line; fitting a straight line by using the product dot matrix 5 after complete de-noising to obtain a slope k 2; averaging k3 of k1 and k 2; combining the product dot matrix 4 and the product dot matrix 5 into a new dot matrix 6, obtaining the coordinates of the central points of all the dots in the dot matrix 6, and establishing a product coordinate system A by using the coordinates of the central points, k3, the x-dimension pixel ratio and the y-dimension pixel ratio;

8) calculating the moving path of the shaping head 5 by the industrial computer according to the dot matrix 6 obtained in the step 7);

converting all pixel points in the product dot matrix 6 in the step 7) into points in a product coordinate system one by one through the product coordinate system A and storing the points in the product dot matrix 7 to obtain a product dot matrix 7 of product pins in the product coordinate system;

establishing a standard dot matrix 9 by using the coordinates of each stitch of a standard product in a product coordinate system, acquiring a first standard point a1 in the standard dot matrix 9, solving the distance from the first point to all points in the product dot matrix 7, multiplying the minimum distance by 2, then adding the diameter of the stitch of the standard product, comparing the obtained number with 0.7mm, if the obtained number is greater than 0.7mm, finishing the stitch to acquire the position of the point with the minimum distance in the product dot matrix 7, and then acquiring the point a2 at the position in the product dot matrix 6, wherein the point a2 is a bad point; storing the point a2 into a new product dot matrix 8; calculating the distance between the point a1 and the point a2 to obtain d1, multiplying the d1 by a lever ratio value 10 (the lever ratio value is the ratio of the effective length of the shaping head to the stitch length of the product) to obtain d2, dividing d1 by d2 to obtain a length ratio value, obtaining an x1 abscissa of the standard point a1 and an x2 abscissa of the defective point a2, and multiplying the length ratio value by a number obtained by subtracting x1 from x2 and adding x1 to obtain x 3; acquiring an ordinate y1 of the standard point a1 and an ordinate y2 of the bad point a2, and multiplying a length ratio by a number obtained by subtracting y1 from y2 and adding y1 to obtain y 3; generating a correction point a3 by using x3 and y3 and storing the correction point a3 in the product dot matrix 8; storing the standard point a1 into the product dot matrix 8; circularly storing all stitches to be repaired into the product dot matrix 8 according to the sequence of the bad points, the correction points and the standard points; each point in the product dot matrix is a pixel point in the pixel coordinate system, so that each point in the product dot matrix 8 is sequentially converted into a world coordinate system midpoint by using the world coordinate system obtained by the correcting machine and is stored in the newly-built finishing dot matrix 9 to obtain a finishing path of the shaping head 5;

9) controlling the movement of the industrial computer according to the moving path of the shaping head 5 obtained in the step 8) to reset after finishing the shaping work of the pins with unqualified verticality; the specific process is as follows:

firstly, obtaining world coordinates of a first point, namely a bad pin, in a product trimming dot matrix 9, sending an instruction to control a driving motor A and a driving motor B of a moving mechanism to mutually cooperate to push a shaping head to be right above an unqualified pin; then a shaping motor in the shaping head drives the rotating wheel to rotate for a certain angle, so that the lifting strip moves downwards under the action of gravity, and the shaping motor stops acting after a shaping needle tube on the lifting strip is inserted into an unqualified stitch; then, obtaining a world coordinate sending instruction driving motor A and a driving motor B of a second point, namely a correction point, in the trimming dot matrix 9, and mutually matching to drive a trimming head to accurately move to trim the unqualified pin, and obtaining a third point, namely a standard point world coordinate sending instruction driving motor A and a driving motor B, in the trimming dot matrix 9, mutually matching to drive the trimming head to reset; thereby finishing the correction work of a single unqualified stitch; sequentially taking out all points in the trimming dot matrix 7 to drive the moving mechanism and the trimming head to repeat the trimming work of a single unqualified pin, resetting the moving mechanism 6 and the trimming head and testing again after finishing trimming all unqualified pins, so that a qualified workpiece is formed after the trimming of the workpiece to be trimmed;

10) blanking the qualified workpieces;

then the compressing cylinder drives the compressing head to reset and loosen the qualified workpiece; then, the accurate pin arrangement device of the network transformer repeats the steps 6), 7), 8) and 9) repeatedly to complete the pin arrangement correction work of the next workpiece to be subjected to pin arrangement, in the process, the qualified workpiece of the pin arrangement is completed in advance, the subsequent qualified workpiece is ejected out of the guide chute, and finally the qualified workpiece enters the packaging pipe inside the packaging pipe along the material receiving chute on the blanking plate to complete the packaging work.

The invention has the advantages that:

this accurate whole foot device of network transformer, compact structure, design benefit can be accurate the plastic work of accomplishing network transformer stitch, have solved the problem of the current whole foot mode of network transformer existing "rejection rate is high" and "work efficiency is low", have satisfied the needs of the high-efficient plant use of enterprise.

Drawings

FIG. 1 is a schematic top view of the present invention;

FIG. 2 is a schematic view of the structure in the direction B-B in FIG. 1;

FIG. 3 is a schematic structural diagram of the positioning base of the present invention;

FIG. 4 is a schematic view of the structure of the feeder of the present invention;

FIG. 5 is a schematic axial view of the loader of the present invention;

FIG. 6 is a schematic view of the structure in the direction A-A in FIG. 1;

FIG. 7 is a schematic structural view of a shaping head according to the present invention;

fig. 8 is a schematic view of the structure in the direction of C-C in fig. 7.

In the figure: 1. a frame; 2. a positioner; 3. a material loading device; 4. a blanking plate; 5. a shaping head; 6. a moving mechanism; 7. a camera; 8. positioning seats; 9. a pressing cylinder; 10. shaping the needle tube; 11. a connecting sleeve; 12. a pushing cylinder; 13. a lighting lamp bead; 14. a guide chute; 15. a compression head; 16. a limiting block; 17. a guide chute; 18. a storage chute; 19. a catheter clamping hole; 20. a material receiving chute; 21. a longitudinal screw rod; 22. a transverse screw rod; 23. longitudinally moving the sliding plate; 24. transversely moving the sliding block; 25. driving a motor A; 26. driving a motor B; 27. a worm; 28. a worm gear; 29. a vertical plate; 30. a guide wheel; 31. a lifting bar; 32. shaping the motor; 33. a rotating wheel; 34. a transmission belt; 35. connecting blocks; 36. a buffer spring; 37. a base plate; 38. briquetting; 39. and a blanking cylinder.

Detailed Description

The accurate pin adjusting device of the network transformer comprises a rack 1, a positioner 2, a feeder 3, a blanking plate 4, a shaping head 5, a moving mechanism 6, a camera 7, a motion controller and an industrial computer (see the attached figures 1 and 2 in the specification).

The frame 1 is provided with a positioner 2 (see the attached figures 1 and 2 of the specification). The locator 2 comprises a locating seat 8, a pressing cylinder 9, a pushing cylinder 12 and a lighting lamp bead 13 (see the attached figure 3 in the specification).

A guide chute 14 (see the attached figure 3 in the specification) is arranged in the middle of the positioning seat 8; the guide chute 14 is provided with a pressing head 15 on one side by a pressing cylinder 9 (see the description attached to fig. 1 and 3). The width of the guide chute 14 is the same as the width of the network transformer, and the network transformer can only slide back and forth in the guide chute 14 after entering the interior of the guide chute, but cannot perform other actions. When the network transformer enters the guide chute 14 during operation, the compressing cylinder 9 can compress and fix the network transformer in the guide chute 14 through the compressing head 15.

A row of illuminating lamp beads 13 (refer to the attached figure 3 in the specification) are symmetrically arranged on the positioning seat 8 above the two sides of the guide chute 14. A camera 7 is arranged above a positioning seat 8 of the positioner 2 through a bracket (see the attached figure 2 in the specification); the camera 7 is connected with an industrial computer; during operation, after the compression head 15 compresses tightly the network transformer and fixes the inside at the guide chute 14, the illuminating lamp bead 10 can provide illumination, and the camera 7 can shoot it and form images.

One end of the locator 2 is connected with a loading device 3 in an inclined shape (refer to the attached figures 1 and 2 in the specification); the feeder 3 comprises a bottom plate 37, a pressing block 38 and a blanking cylinder 39 (see the description and the attached figure 4); one end of the positioning seat 8 is connected with a bottom plate 37 in an inclined shape; the bottom plate 37 is provided with a storage chute 18 (see the description attached to fig. 4 and 5); the width of the storage chute 18 is the same as the width of the network transformer, and after entering the interior of the storage chute 18, the network transformer can only slide back and forth in the interior, but cannot perform other actions.

The bottom end of the storage chute 18 is provided with a limiting block 16; during operation, when the network transformer enters the bottom end of the storage chute 18, the limiting block 16 can limit the network transformer, and the problem that the network transformer slides out of the storage chute 18 is solved.

A guide chute 17 is arranged at one side of the limiting block 16; the side edge of the guide chute 17 is communicated with a material storage chute 18 (see the attached figures 4 and 5 in the specification); a blanking cylinder 39 is arranged on the other side of the lower end of the material storage chute 18; the blanking cylinder 39 is disposed opposite the guide chute 17 (see fig. 4 and 5 of the specification). The lower end of the guide chute 17 is arranged opposite to the guide chute 14 on the positioning seat 8.

When the blanking cylinder 39 works, the network transformer located at the bottom end of the storage chute 18 can be pushed into the guide chute 17, and the network transformer entering the guide chute 17 enters the guide chute 14 of the positioning seat 8 along the inclined plane of the guide chute 17 under the action of self gravity.

A pressing block 38 is arranged on the bottom plate 37 above the other end of the storage chute 18 (see the attached figures 4 and 5 in the specification); a conduit clamping hole 19 is arranged between the pressing block 38 and the bottom plate 37; the pipe clamping hole 19 is communicated with the material storage chute 18 (see the attached figure 4 of the specification); the purpose of the conduit engagement hole 19 is to: so that during operation, the packing tube with the workpiece to be finished is inserted into the guide tube clamping hole 19, and then the workpiece in the packing tube slides into the material storage chute 18 under the action of self gravity, so that the feeding action can be automatically completed.

The other end of the locator 2 is connected with a blanking plate 4 in an inclined shape (see the attached figure 2 in the specification); the blanking plate 4 is provided with a material receiving chute 20; the material receiving chute 20 is communicated with one end of the guide chute 14 of the positioning seat 8. During operation, after an empty packing tube is placed inside the material receiving chute 20, the network transformer completing the whole leg enters the packing tube along the material receiving chute 20 to complete the blanking action.

A pushing cylinder 12 (see the attached figure 2 of the specification) is arranged on the frame 1 below the feeder 3 at one end of the guide chute 14; the purpose of the push cylinder 12 is to: when the network transformer pushing device works, after the network transformer enters the inside of the guide chute 14, the pushing cylinder 12 acts to push the network transformer to the position below the camera 7, and because the stroke of each action of the pushing cylinder 12 is consistent, the network transformer can be pushed to a specified position by each action, so that the problem that the network transformer deviates from the working position is avoided.

A shaping head 5 is arranged on the frame 1 at the inner side of the positioner 2 through a moving mechanism 6 (see the attached figure 1 in the specification); the moving mechanism 6 comprises a longitudinal screw rod 21, a transverse screw rod 22, a longitudinal sliding plate 23, a transverse sliding block 24, a driving motor A25, a driving motor B26, a worm 27 and a worm wheel 28 (see the attached figure 1 in the specification).

A longitudinal sliding plate 23 is arranged on the frame 1 in a sliding way through a sliding rail; two groups of longitudinal screw rods 21 are symmetrically arranged on the machine frame 1 below the longitudinal sliding plate 23 through bearing seats; the longitudinal screw 21 is connected with a longitudinal sliding plate 23; a worm 27 is arranged on the frame 1 at one end of the longitudinal screw rod 21 through a driving motor A25; the worm 27 is connected with one end of the longitudinal screw rod 21 through a worm wheel 28; when the driving motor A25 drives the longitudinal screw 21 to rotate through the worm 27 and the worm wheel 28, the longitudinal screw 21 can drive the longitudinal sliding plate 23 to move back and forth in the longitudinal direction of the frame 1.

A transverse sliding block 24 is arranged on the longitudinal sliding plate 23 through a sliding rail in a sliding way; a transverse screw rod 22 is arranged on the longitudinal sliding plate 23 below the transverse sliding block 24 through a driving motor B26; the transverse screw rod 22 is connected with a transverse sliding block 24 (see the attached figures 1 and 6 in the specification); when the driving motor B26 works, the transverse moving slide block 24 can be driven by the transverse lead screw 22 to transversely slide back and forth on the longitudinal moving slide plate 23.

The traversing slider 24 is provided with a shaping head 5 (see the description and the attached figure 6). The transverse moving slide block 24 can drive the shaping head 5 to move synchronously. The shaping head 5 comprises a vertical plate 29, a rotating wheel 33, a transmission belt 34, a shaping motor 32, a shaping needle tube 10, a lifting bar 31, a connecting block 35, a buffer spring 36 and an engaging sleeve 11 (see the attached figures 7 and 8 in the specification).

A vertical plate 29 is fixedly arranged on the transverse sliding block 24; the vertical plate 29 is provided with a lifting bar 31 in a sliding way through guide wheels 30 which are symmetrically arranged; the lifting bar 31 is guided by the guide wheels 30 to slide up and down along it.

A vertical plate 29 above the lifting bar 31 is provided with a rotating wheel 33 through a shaping motor 32 (see the attached figures 1 and 7 in the specification); the shaping motor 32 can drive the rotating wheel 33 to rotate synchronously when working.

One side of the rotating wheel 33 is connected with the upper end of the lifting bar 31 through a transmission belt 34 (see the description and the attached figure 7); when the rotating wheel 33 rotates anticlockwise, the driving belt 34 can be wound on the surface of the rotating wheel 33, so that the purpose of pulling the lifting strip 31 to move upwards is achieved; when the wheel 33 rotates clockwise, the wheel 33 releases the lifting bar 31 wound thereon, so that the lifting bar 31 can move downwards freely under the action of gravity.

The purpose of connecting one side of the wheel 33 to the upper end of the lifting bar 31 by means of the belt 34 is: so that the lifting strip 31 moves downwards freely under the action of gravity in the process that the rotating wheel 33 rotates through the driving belt 34, and the problem that the shaping needle tube 10 on the lifting strip 31 moves downwards forcibly and the shaping needle tube 10 is easily crushed in work when the lifting strip 31 pushes the lifting strip to move downwards under the action of external force is avoided.

The front end face of the lifting bar 31 is fixedly provided with a connecting block 35; the lower end of the connecting block 35 is connected with a connecting sleeve 11 through a buffer spring 36; the lower end of the connecting sleeve 11 is provided with a plastic needle tube 10 (see the attached figure 7 in the specification). The purpose of connecting the connecting piece 35 with the connecting sleeve 11 via the buffer spring 36 is: so that the connecting block 35 is in certain flexible connection with the connecting sleeve 11 through the buffer spring 36, and the buffer spring 36 has certain elasticity; therefore, when the plastic needle tube 10 is inserted into the unqualified pin of the network transformer to push the unqualified pin to be in a vertical state in normal work, the plastic needle tube 10 can complete the plastic action of the unqualified pin along with the track action of the connecting block 35, the buffer spring 36 and the connecting sleeve 11. When the plastic needle tube 10 has a malfunction, such as touching the network transformer body, the plastic needle tube 10 can overcome the elastic force of the buffer spring 36 and then avoid the plastic needle tube 10 to be bent and deformed when in hard contact.

The industrial computer is electrically connected with the moving mechanism 6 and the positioner 2 through the motion controller. The type of motion controller used in this application is Zhongxing ADT-8940A 1; the industrial computer can control the motion of the moving mechanism 6 and the positioner 2 through the motion controller.

2) using a calibration machine sample to obtain a sample image;

preparing a qualified calibrator sample, and measuring two rows of pin row spacing Y1 and pin spacing X1 by using a vernier caliper; placing a calibrator sample into a guide chute 14 of a positioning seat 8 below a camera 7, and then starting a pressing cylinder 9 to press and fix the calibrator sample into the guide chute 14 in a side pressing mode through a pressing head 15;

starting the illuminating lamp beads 13 and the camera 7, starting the sherlock vision software in the industrial computer, sending a photographing instruction to the camera through the internet access by the software, and transmitting a photographed sample image to the industrial computer after the photographing of the camera 7 is finished;

2) preprocessing a sample image;

3) solving a coordinate lattice of the pin points of the sample;

4) calculating the x-size pixel ratio and the y-size pixel ratio

5) establishing a world coordinate system B;

6) automatically feeding the workpiece to be finished;

firstly, inserting a packaging tube filled with a workpiece to be subjected to pin alignment into a conduit clamping hole 19 of a feeder 3, sliding the packaging tube along a material storage chute 18 to abut against a limiting block 16 under the action of self gravity, and arranging the workpiece to be subjected to pin alignment in the packaging tube inside the material storage chute 18 in sequence at the moment, wherein the workpiece to be subjected to pin alignment positioned at the tail end abuts against the limiting block 16;

after the packaging pipe with the workpiece to be finished is assembled, placing another empty packaging pipe on the material receiving chute 20 of the blanking plate 4; then starting the accurate pin adjusting device, and then lighting the lighting lamp beads 13; then the industrial computer controls the blanking cylinder 39 through the motion controller, so that the industrial computer pushes the workpiece to be finished at the tail end in the material storage chute 18 to the guide chute 17 and then resets; then, the workpiece to be subjected to foot arrangement in the storage chute 18 slides down to be abutted against the limiting block 16 under the action of gravity; the workpiece to be finished which enters the guide chute 17 slides along the inclined surface thereof to the interior of the guide chute 14 of the positioner 2; then the motion controller controls the pushing cylinder 12 to act; the pushing cylinder 12 acts to push the workpiece to be finished to one side of the pressing head 15 and then resets; then the pressing cylinder 9 drives the pressing head 15 to act to press and fix the workpiece to be finished in the guide chute 14 in a side pressing mode;

7) the camera 7 collects an original picture, and the industrial computer preprocesses the original picture to obtain a dot matrix model;

7.2, product real-time characteristic picture preliminary denoising

converting all pixel points in the product dot matrix 6 (step 7)) into points in a product coordinate system one by one through the product coordinate system A and storing the points in the product dot matrix 7 to obtain a product dot matrix 7 of product pins in the product coordinate system;

firstly, obtaining world coordinates of a first point, namely a bad stitch, in a product trimming dot matrix 9, sending an instruction to control a driving motor A25 and a driving motor B26 of a moving mechanism 6 to mutually cooperate to push a shaping head 5 to be right above the bad stitch; then, a shaping motor 32 in the shaping head 5 drives a rotating wheel 33 to rotate for a certain angle, so that the lifting strip 31 moves downwards under the action of gravity, and when the shaping needle tubes 10 on the lifting strip 31 are inserted into unqualified pins, the shaping motor 32 stops acting; then, obtaining a world coordinate sending instruction driving motor A25 and a driving motor B26 of a second point, namely a correction point, in the trimming dot matrix 9, and mutually cooperating to drive the shaping head 5 to precisely act to correct the unqualified stitch, and obtaining a third point, namely a standard point world coordinate sending instruction driving motor A25 and a driving motor B26 in the trimming dot matrix 9, and mutually cooperating to drive the shaping head 5 to reset; thereby finishing the correction work of a single unqualified stitch; sequentially taking out all points in the trimming dot matrix 7 to drive the moving mechanism 6 and the trimming head 5 to repeat the correction work of a single unqualified pin, resetting the moving mechanism 6 and the trimming head 5 and testing again after finishing correcting all unqualified pins, so that a qualified workpiece is formed after the pin trimming of the workpiece to be trimmed;

10) blanking the qualified workpieces;

then the pressing cylinder 9 drives the pressing head 15 to reset and loosen qualified workpieces; and then, the accurate pin arranging device of the network transformer repeats the steps 6), 7), 8) and 9) repeatedly to complete the pin arranging correction work of the next workpiece to be arranged, in the process, the qualified workpiece of the whole pin is completed in advance, and the subsequent qualified workpiece is ejected out of the guide chute 14, so that the qualified workpiece finally enters the packaging pipe inside the packaging pipe along the material receiving chute 20 on the blanking plate 4 to complete the packaging work.

Claims

1. An accurate pin adjusting device of a network transformer comprises a rack (1), a positioner (2), a feeder (3), a blanking plate (4), a shaping head (5), a moving mechanism (6), a camera (7), a motion controller and an industrial computer; the method is characterized in that: the frame (1) is provided with a positioner (2); one end of the locator (2) is connected with a feeder (3) in an inclined shape; the other end of the locator (2) is connected with a blanking plate (4) in an inclined shape; a shaping head (5) is arranged on the frame (1) at the inner side of the positioner (2) through a moving mechanism (6); a camera (7) is arranged above the positioner (2) through a bracket; the camera (7) is connected with an industrial computer; the industrial computer is electrically connected with the moving mechanism (6) and the positioner (2) through the motion controller.

2. The precise pin adjusting device of the network transformer according to claim 1, wherein: the positioner (2) comprises a positioning seat (8), a pressing cylinder (9), a pushing cylinder (12) and a lighting lamp bead (13); a guide sliding groove (14) is arranged in the middle of the positioning seat (8); a pressing head (15) is arranged on one side of the guide chute (14) through a pressing cylinder (9); a pushing cylinder (12) is arranged on the frame (1) at one end of the guide chute (14); a row of illuminating lamp beads (13) are symmetrically arranged on the positioning seat (8) above the two sides of the guide chute (14).

3. The precise pin adjusting device of the network transformer according to claim 2, wherein: the feeder (3) comprises a bottom plate (37), a pressing block (38) and a discharging cylinder (39); one end of the positioning seat (8) is connected with a bottom plate (37) in an inclined shape; the bottom plate (37) is provided with a material storage chute (18); the bottom end of the material storage chute (18) is provided with a limiting block (16); a guide chute (17) is arranged at one side of the limiting block (16); the guide chute (17) is communicated with the material storage chute (18); a pressing block (38) is arranged on the bottom plate (37) above the other end of the material storage chute (18); a conduit clamping hole (19) is arranged between the pressing block (38) and the bottom plate (37); the pipe clamping hole (19) is communicated with the material storage chute (18); a blanking cylinder (39) is arranged on the other side of the lower end of the material storage chute (18); the blanking cylinder (39) and the guide chute (17) are arranged oppositely.

4. The precise pin adjusting device of the network transformer according to claim 2, wherein: the blanking plate (4) is provided with a material receiving chute (20); the material receiving chute (20) is communicated with one end of a guide chute (14) of the positioning seat (8).

5. The precise pin adjusting device of the network transformer according to claim 2, wherein: the moving mechanism (6) comprises a longitudinal screw rod (21), a transverse screw rod (22), a longitudinal sliding plate (23), a transverse sliding block (24), a driving motor A (25), a driving motor B (26), a worm (27) and a worm wheel (28); a longitudinally-moving sliding plate (23) is arranged on the rack (1) in a sliding way through a sliding rail; two groups of longitudinal screw rods (21) are symmetrically arranged on the machine frame (1) below the longitudinal sliding plate (23) through bearing seats; the longitudinal screw rod (21) is connected with the longitudinal sliding plate (23); a worm (27) is arranged on the rack (1) at one end of the longitudinal screw rod (21) through a driving motor A (25); the worm (27) is connected with one end of the longitudinal screw rod (21) through a worm wheel (28); the longitudinal sliding plate (23) is provided with a transverse sliding block (24) in a sliding way through a sliding rail; a transverse screw rod (22) is arranged on the longitudinal sliding plate (23) below the transverse sliding block (24) through a driving motor B (26); the transverse screw rod (22) is connected with the transverse sliding block (24); the transverse moving slide block (24) is provided with a shaping head (5).

6. The precise pin adjusting device of the network transformer according to claim 5, wherein: the shaping head (5) comprises a vertical plate (29), a rotating wheel (33), a transmission belt (34), a shaping motor (32), a shaping needle tube (10), a lifting strip (31), a connecting block (35), a buffer spring (36) and a connecting sleeve (11); a vertical plate (29) is fixedly arranged on the transverse sliding block (24); the vertical plate (29) is provided with a lifting bar (31) in a sliding way through guide wheels (30) which are symmetrically arranged; a vertical plate (29) above the lifting strip (31) is provided with a rotating wheel (33) through a shaping motor (32); one side of the rotating wheel (33) is connected with the upper end of the lifting bar (31) through a transmission belt (34); the front end face of the lifting bar (31) is fixedly provided with a connecting block (35); the lower end of the connecting block (35) is connected with a connecting sleeve (11) through a buffer spring (36); the lower end of the connecting sleeve (11) is provided with a shaping needle tube (10).

7. The precise pin adjusting device of the network transformer according to claim 6, wherein: the accurate pin adjusting device of the network transformer comprises the following working steps:

1) using a calibration machine sample to obtain a sample image;

preparing a qualified calibrator sample, and measuring two rows of pin row spacing Y1 and pin spacing X1 by using a vernier caliper; placing a calibrator sample into a guide chute (14) of a positioning seat (8) below a camera (7), and then starting a pressing cylinder (9) to press and fix the calibrator sample into the guide chute (14) in a manner that a pressing head (15) presses from the side;

starting the illuminating lamp beads (13) and the camera (7), starting the sherlock vision software in the industrial computer, sending a photographing instruction to the camera through the network port by the software, and transmitting a photographed sample image to the industrial computer after the photographing of the camera (7) is finished;

2) preprocessing a sample image;

3) solving a coordinate lattice of the pin points of the sample;

obtaining a first point in the sample pin central point coordinate lattice 2, obtaining the distance between the first point and other points in the sample pin central point coordinate lattice 2, screening the minimum distance and judging whether the distance is less than 15 pixel distances, if the distance is less than 15 pixel distances, obtaining the point with the minimum distance and merging the point with the first point, simultaneously changing the contents of the sample array 2 and the sample array 1, and performing cyclic operation to judge and merge all the points once, so that a merged sample array 2 and a merged sample array 1 can be obtained;

4) calculating the x-size pixel ratio and the y-size pixel ratio

Obtaining the center point coordinate of the center position of the sample pin point coordinate lattice 3 by using the coordinates of all points in the sample pin center point coordinate lattice 3, obtaining a first point in the sample pin center point coordinate lattice 3, subtracting the center point Y coordinate from the Y coordinate of the first point to obtain a result, judging the positive and negative of the result, and if the result is regular, putting the first point into a newly-built sample pin point coordinate lattice 4; if the number is negative, a newly-built sample pin point coordinate lattice 5 is placed, and all points in the sample pin central point coordinate lattice 3 are circularly placed into the sample pin central point coordinate lattice 4 and the sample pin central point coordinate lattice 5 respectively;

5) establishing a world coordinate system B;

6) automatically feeding the workpiece to be finished;

firstly, inserting a packaging tube filled with a workpiece to be finished into a conduit clamping hole (19) of a feeder (3), sliding the workpiece in the packaging tube along a material storage chute (18) to be abutted against a limiting block (16) under the action of self gravity, arranging the workpiece to be finished in the packaging tube inside the material storage chute (18) in sequence, and abutting the workpiece to be finished at the tail end against the limiting block (16);

after the packaging pipe provided with the workpiece to be finished is assembled, placing another empty packaging pipe on the material receiving chute (20) of the blanking plate (4); then starting the accurate pin adjusting device, and lighting lamp beads (13) are on; then the industrial computer controls the blanking cylinder (39) through the motion controller, so that the blanking cylinder pushes the workpiece to be finished at the tail end in the material storage chute (18) to the guide chute (17) and then resets; then, the workpiece to be finished in the material storage chute (18) slides down to be abutted against the limiting block (16) under the action of gravity; the workpiece to be finished which enters the guide chute (17) slides along the inclined surface of the workpiece to be finished into the guide chute (14) of the positioner (2); then the motion controller controls the pushing cylinder (12) to act; the pushing cylinder (12) acts to push the workpiece to be finished to one side of the pressing head (15) and then resets; then, the pressing cylinder (9) drives the pressing head (15) to act to press and fix the workpiece to be finished in the guide chute (14) in a side pressing mode;

7) the camera (7) collects an original picture, and the industrial computer preprocesses the original picture to obtain a dot matrix model:

7.2, primarily denoising the real-time characteristic picture of the product;

7.3, acquiring contour points by using the product image after the initial denoising;

Obtaining the coordinates of the center point of the center position of the product pin point coordinate lattice 3 by using the coordinates of all points in the product pin pixel point coordinate lattice 3, obtaining a first point in the lattice 3, subtracting the Y coordinate of the center point from the Y coordinate of the first point to obtain a result, judging the positive and negative of the result, if the result is regular, putting the first point into the product lattice 4, and putting the product lattice 5 into the product lattice 4 and the product lattice 5 respectively, and circularly putting all points in the product lattice 3 into the product lattice 4 and the product lattice 5;

7.5, longitudinally removing noise points of the obtained product dot matrix 4 and the product dot matrix 5;

sorting the product dot matrix 4 and the product dot matrix 5 after the leftmost noisy point according to x coordinates from large to small, obtaining a first point of the sorted product dot matrix 4, obtaining the first point of the sorted product dot matrix 5 to calculate the pixel distance of the two points in the x direction, obtaining the actual distance from the rightmost point in the product dot matrix 4 to the rightmost point in the product dot matrix 5 by multiplying the pixel distance by the x-dimension pixel ratio, judging whether the distance is less than 1mm, and if the distance does not meet the requirement, comparing the size of the x coordinate of the two points to delete the point with the large x coordinate; thus eliminating the rightmost noise;

establishing a standard dot matrix 9 by using the coordinates of each stitch of a standard product in a product coordinate system, acquiring a first standard point a1 in the standard dot matrix 9, solving the distance from the first point to all points in the product dot matrix 7, multiplying the minimum distance by 2, then adding the diameter of the stitch of the standard product, comparing the obtained number with 0.7mm, if the obtained number is greater than 0.7mm, finishing the stitch to acquire the position of the point with the minimum distance in the product dot matrix 7, and then acquiring the point a2 at the position in the product dot matrix 6, wherein the point a2 is a bad point; storing the point a2 into a new product dot matrix 8; calculating the distance between the point a1 and the point a2 to obtain d1, multiplying the ratio of the lever to the effective length of the shaping head by d1 to obtain d2, dividing d1 by d2 to obtain the length ratio, obtaining the abscissa x1 of the standard point a1 and the abscissa x2 of the defective point a2, and multiplying the length ratio by the number obtained by subtracting x1 from x2 to obtain x3 by adding x 1; acquiring an ordinate y1 of the standard point a1 and an ordinate y2 of the bad point a2, and multiplying a length ratio by a number obtained by subtracting y1 from y2 and adding y1 to obtain y 3; generating a correction point a3 by using x3 and y3 and storing the correction point a3 in the product dot matrix 8; storing the standard point a1 into the product dot matrix 8; circularly storing all stitches to be repaired into the product dot matrix 8 according to the sequence of the bad points, the correction points and the standard points; each point in the product dot matrix is a pixel point in a pixel coordinate system, so that each point in the product dot matrix 8 is sequentially converted into a world coordinate system midpoint by using a world coordinate system obtained by a correcting machine and is stored in a newly-built finishing dot matrix 9 to obtain a finishing path of the shaping head (5);

9) controlling the movement of the industrial computer to reset after finishing the shaping work of the pins with unqualified verticality according to the moving path of the shaping head (5) obtained in the step 8); the specific process is as follows:

firstly, obtaining world coordinates of a first point, namely a bad stitch, in a product trimming dot matrix 9, sending an instruction to control a driving motor A (25) and a driving motor B (26) of a moving mechanism (6) to mutually cooperate to push a shaping head (5) to be right above the unqualified stitch; then a shaping motor (32) in the shaping head (5) drives a rotating wheel (33) to rotate for a certain angle, so that the lifting strip (31) moves downwards under the action of gravity, and when a shaping needle tube (10) on the lifting strip (31) is inserted into an unqualified stitch, the shaping motor (32) stops acting; then, obtaining a world coordinate sending instruction driving motor A (25) and a driving motor B (26) of a second point, namely a correction point, in the trimming dot matrix 9, and mutually matching to drive the trimming head (5) to accurately act to trim the unqualified stitch, and obtaining a third point, namely a standard point world coordinate sending instruction driving motor A (25) and a driving motor B (26), in the trimming dot matrix 9, mutually matching to drive the trimming head (5) to reset; thereby finishing the correction work of a single unqualified stitch; sequentially taking out all points in the trimming dot matrix 7 to drive the moving mechanism (6) and the trimming head (5) to repeat the correction work of a single unqualified stitch, and resetting and testing the moving mechanism (6) and the trimming head (5) again after finishing correcting all unqualified stitches to enable the workpiece to be subjected to stitch trimming correction to form a qualified workpiece;

10) blanking the qualified workpieces;

then the pressing cylinder (9) drives the pressing head (15) to reset and loosen qualified workpieces; then, the accurate pin arranging device of the network transformer repeats the steps 6), 7), 8) and 9) to finish the pin arranging correction work of the next workpiece to be arranged, in the process, the qualified workpiece of the whole pin is firstly finished, the subsequent qualified workpiece is ejected out of the guide chute (14), and finally enters the packaging pipe inside the accurate pin arranging device along the material receiving chute (20) on the material discharging plate (4) to finish the packaging work.