CN113790653A - Automatic thread proofreading device and proofreading method - Google Patents
Automatic thread proofreading device and proofreading method Download PDFInfo
- Publication number
- CN113790653A CN113790653A CN202111154272.3A CN202111154272A CN113790653A CN 113790653 A CN113790653 A CN 113790653A CN 202111154272 A CN202111154272 A CN 202111154272A CN 113790653 A CN113790653 A CN 113790653A
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- gauge
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- calibration
- proofreading
- manipulator
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/02—Devices for feeding articles or materials to conveyors
- B65G47/04—Devices for feeding articles or materials to conveyors for feeding articles
- B65G47/12—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles
- B65G47/14—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles arranging or orientating the articles by mechanical or pneumatic means during feeding
- B65G47/1407—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles arranging or orientating the articles by mechanical or pneumatic means during feeding the articles being fed from a container, e.g. a bowl
- B65G47/1414—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles arranging or orientating the articles by mechanical or pneumatic means during feeding the articles being fed from a container, e.g. a bowl by means of movement of at least the whole wall of the container
- B65G47/1421—Vibratory movement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/34—Devices for discharging articles or materials from conveyor
- B65G47/44—Arrangements or applications of hoppers or chutes
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The invention provides an automatic thread checking device and a checking method, and the automatic thread checking device comprises a thread gauge conveying device, a thread gauge grabbing and identifying device and a thread workpiece checking device, wherein the thread gauge conveying device comprises a vibrating disc, a belt conveyor, a horn cylinder, a multi-unit storage bin and a conveying motor driving device; the automatic checking device is used for centrally checking the checking workpieces of the same type, the checking process is completed mechanically, the problems of missing detection, false detection, low efficiency and the like in manual gauge checking are avoided, the problem that an existing automatic detection device cannot form a production line is solved, the checking efficiency is improved, and the labor cost is saved.
Description
Technical Field
The invention relates to the field of thread detection, in particular to an automatic thread proofreading device and a proofreading method.
Background
The thread gauge is divided into a thread plug gauge and a thread ring gauge according to the detected internal and external threads, wherein the thread plug gauge is a tool for measuring the correctness of the size of the internal thread and can be divided into three types, namely common coarse threads, fine threads and pipe threads.
Most of the existing thread detection methods rely on manual operation to screw in and screw out a thread gauge to inspect the thread machining condition of a product, the method is low in efficiency, high in labor intensity and free of detection leakage and false detection risks, and although some automatic thread detection devices are provided, the automatic thread detection devices are not suitable for establishing an automatic correction assembly line.
Disclosure of Invention
The invention aims to provide an automatic thread proofreading device and a proofreading method.
In order to achieve the purpose, the technical scheme of the invention is as follows:
an automatic thread proofreading device is characterized by comprising a thread gauge conveying device, a thread gauge grabbing and identifying device and a thread workpiece proofreading device,
the thread gauge conveying device comprises a vibrating disc, a belt conveyor, a horn cylinder, a multi-unit storage bin and a conveying motor driving device, wherein the vibrating disc is used for conveying the ring gauge standard parts into the belt conveyor, the belt conveyor is driven by the conveying motor driving device, the ring gauge standard parts are stored into the multi-unit storage bin after the conveying direction is changed through the horn cylinder,
the thread gauge grabbing and identifying device comprises an electric mechanical finger, a ring gauge manipulator and an industrial camera, the multi-unit storage bin is provided with a slide rail assembly, the electric mechanical finger is arranged on the slide rail assembly and is driven by a slide rail motor driving device to perform plane movement through the slide rail assembly, the electric mechanical finger grabs a thread standard part of the multi-unit storage bin and delivers the thread standard part to the ring gauge manipulator for grabbing,
the threaded workpiece proofreading device comprises a proofreading manipulator which moves a proofreading gauge from a workpiece storage bin to a proofreading position.
Furthermore, the checking device further comprises a ring gauge detection table, a thread gauge standard component is placed on the ring gauge detection table, and model images of the thread gauge are recorded through an industrial camera.
Further, the slide rail assembly comprises horizontal slide rails, a cross bar and vertical guide rails, the horizontal slide rails are located on two sides of the multi-unit storage bin, the electric mechanical fingers move in the horizontal direction along the horizontal slide rails, the cross bar is bridged between the two horizontal slide rails, the electric mechanical fingers move in the front-back direction along the cross bar, the vertical guide rails are vertically arranged and are fixedly connected with one sides of the cross bar, sliding blocks are installed on the vertical guide rails, the electric mechanical fingers are installed on the sliding blocks, and the electric mechanical fingers move in the vertical direction along the vertical guide rails.
Further, the ring gauge manipulator has two degrees of freedom of displacement and one degree of freedom of rotation, and moves the end of the ring gauge manipulator to the position of the electromechanical finger through horizontal rotation, vertical displacement and forward and backward displacement.
An automatic thread proofing method, comprising the steps of:
step 1, putting a thread gauge to be used into a vibration disc;
step 6, moving the thread gauge to a position designated by the calibration operation by the ring gauge mechanical handle, grabbing the thread gauge by the ring gauge mechanical hand, moving the ring gauge mechanical hand to one side of the calibration mechanical hand, moving the tail end of the ring gauge mechanical hand to the lower part of the tail end of the calibration mechanical hand, and screwing the thread gauge into the side surface to form a vertical relation with the axis of the tail end of the calibration mechanical hand;
step 8, installing a stress detection sensor on the calibration manipulator, continuously detecting the resistance of the calibration gauge in the calibration process by the stress detection sensor, and indicating that the calibration gauge cannot be continuously inserted into the thread gauge when the detected stress value is larger than a threshold value; judging whether the proofreading gauge can be directly inserted into the thread gauge or not according to the number of teeth of the proofreading gauge inserted into the thread gauge;
step 9, controlling the screw gauge to be screwed into the calibration gauge through the ring gauge manipulator, acquiring resistance force applied in the screwing process of the screw gauge by a stress detection sensor, if the resistance value is larger than a preset value, the screw gauge cannot be screwed into the calibration gauge, and the calibration gauge is unqualified, otherwise, continuing the subsequent steps;
and step 13, continuing to calibrate the same type of calibration gauge, continuously grabbing the calibration workpiece by the calibration manipulator, and performing the operations from the step 8 to the step 12 until all the calibration gauges of the same type are calibrated.
And 14, correcting the system to switch the thread gauge, manually taking down the thread gauge, sending the thread gauge into a vibration disc, and repeating the steps 3 to 14.
Further, step 2 includes, the vibration dish sends the screw thread gauge into the grid of conveyer belt in order, and the screw thread gauge transports to the conveyer belt end and gets into the horn section of thick bamboo, gets into the polycell storage storehouse through the slide again.
Further, the step 3 includes that the electromechanical finger can move along the slide rail above the multi-unit storage bin in three axial directions, and takes out the thread gauges in all the storage units of the multi-unit storage bin and conveys the thread gauges to a specified position.
Further, in step 8, the number of threads to be inserted into the gauge based on the gauge is determined to be over-clearance fit when the number of threads is limited to three, and the gauge is determined to be defective if the number of threads exceeds three, and the subsequent steps are continued.
Further, the step 12 includes storing the qualified pieces and the unqualified pieces separately according to the determination result of the collation gauge.
The invention utilizes a vibrating disk to load a thread gauge, a belt conveyor to convey the thread gauge, a horn cylinder changes the conveying direction of the thread gauge to enable the thread gauge to be orderly stored in a multi-unit storage bin, an electric manipulator realizes the movement of the thread gauge in the storage bin, a standard part is delivered to a ring gauge detection manipulator, the ring gauge manipulator conveys the thread gauge into a ring gauge detection table, an industrial camera identifies the specific model of the thread gauge, after a system identifies the model of the thread gauge, the ring gauge manipulator grabs the thread gauge to an appointed position to wait for calibrating a threaded workpiece, a calibration manipulator grabs calibration gauges of the same model according to the model of the thread gauge to perform calibration, the calibration operation is completed by matching of the calibration manipulator, the ring gauge manipulator and a stress detection sensor, and the calibration manipulator processes the calibration workpiece according to the calibration result.
The automatic checking device is used for centrally checking the checking workpieces of the same type, the checking process is completed mechanically, the problems of missing detection, false detection, low efficiency and the like in manual gauge checking are avoided, the problem that an existing automatic detection device cannot form a production line is solved, the checking efficiency is improved, and the labor cost is saved.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Reference numerals:
1 vibration disc, 2 belt conveyors, 3 trumpet, 4 multi-unit storage bins, 5 electric mechanical fingers,
6 slide rails, 7 slide rail motor driving devices, 8 ring gauge manipulators, 9 industrial cameras, 10 ring gauge detection tables,
11 proofreading gauge, 12 proofreading manipulator, 13 conveyer motor driving device.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment discloses an automatic thread checking device, which comprises a thread gauge conveying device, a thread gauge grabbing and recognizing device and a thread workpiece checking device as shown in figure 1.
The thread gauge conveying device comprises a vibration disc 1, a belt conveyor 2, a conveyor motor driving device 13 and a multi-unit storage bin 4, wherein the vibration disc 1 is installed on the left side of the belt conveyor 2, a horn cylinder 3 is installed at the tail end of the belt conveyor 2, the multi-unit storage bin 4 is arranged on the right side of the belt conveyor 2, and the multi-unit storage bin 4 is connected with the belt conveyor 2 through the horn cylinder 3.
The thread gauge standard part is placed in a vibration disc 1 and sent into a belt conveyor 2, a conveyor motor driving device 13 drives a belt to rotate, the thread gauge is sent into a horn 3, and finally the thread gauge standard part is stored in a multi-unit storage bin 4.
The thread gauge grabbing and identifying device comprises a slide rail motor driving device 7, a ring gauge manipulator 8 and an industrial camera 9, two horizontal slide rails 6 are installed on the front side and the rear side of the multi-unit storage bin 4, the two horizontal slide rails 6 are parallel to each other, a cross rod is vertically installed between the two slide rails 6, a vertical guide rail is fixedly arranged on one side of the cross rod along the vertical direction, and the horizontal slide rails 6, the cross rod and the vertical guide rail form a three-axis slide rail assembly.
The electromechanical finger 5 is installed on the slider of vertical guide rail, drives the slider then and drives electromechanical finger 5 and remove by slide rail motor drive 7 drive slider, and 5 ends of electromechanical finger are claw column structures, can snatch the screw thread rule, and the polycell storage storehouse 4 is equipped with a platform that highly is close, and the ring gauge is installed according to front and back position on this platform and is examined platform 10 and ring gauge manipulator 8.
An industrial camera 9 is installed above the ring gauge detection table 10, the lens direction of the industrial camera is perpendicular to the ring gauge detection table 10, a picture on the ring gauge detection table 10 can be completely shot, an electric mechanical finger 5 grabs a thread gauge delivery ring gauge mechanical hand 8 from a storage bin, the ring gauge mechanical hand 8 places the ring thread gauge on the ring gauge detection table 10, and a thread gauge model image is shot by the industrial camera 9.
The thread proofreading device comprises a ring gauge manipulator 8 and a proofreading manipulator 12, the gripping device at the tail end of the proofreading manipulator 12 can rotate the proofreading gauge 11 along the axis, at least three rotations of the proofreading gauge 11 in the left and right directions are met, and in the proofreading process, the two manipulators ensure that the axes of the proofreading gauge 11 and the thread gauge coincide.
The embodiment also discloses an automatic thread proofreading method, which comprises the following steps:
step 1, putting a thread gauge to be used into a vibration disc 1, wherein the vibration disc 1 is a common device in a production field, so that feeding can be ordered, and assembly line operation is facilitated.
And 3, the electric mechanical finger 5 realizes the movement in three axial directions by means of the slide rail assembly above the multi-unit storage bin, grabs the thread gauges in all the storage units of the multi-unit storage bin 4 and conveys the thread gauges to a specified position, and the position can be set at will according to actual conditions.
And 4, moving the tail end of the ring gauge manipulator 8 to a specified position, grabbing the thread gauge, sending the thread gauge into a specified range of a ring gauge detection table 10, and enabling one side of the thread gauge with the thread type to face an industrial camera 9.
And 5, shooting an image of the thread gauge on the ring gauge detection table 10 by an industrial camera 9, extracting the type of the thread gauge in the image by an image recognition technology, when the type of the thread cannot be recognized on one side of the thread gauge, turning the thread gauge upside down by a ring gauge manipulator 8, and repeating the steps until the system acquires the type of the thread gauge, and when the step is repeated for many times and the type of the thread cannot be acquired, reporting an error by the system, and requesting manual processing.
And 6, the ring gauge manipulator 8 grabs the thread gauge and then moves to one side of the calibration manipulator 12, the tail end of the ring gauge manipulator 8 moves to a certain position below the tail end of the calibration manipulator 12, the thread gauge is screwed into the side face to be vertical to the axis of the tail end of the calibration manipulator 12, and the ring gauge manipulator 8 keeps a distance from the tail end of the calibration manipulator 12.
And 7, taking the workpiece to be corrected out of the workpiece storage bin by the correcting manipulator 12, moving the workpiece to be corrected to a position appointed by correction, grabbing the workpiece to be corrected from the workpiece storage bin by the correcting manipulator 12, moving the workpiece to be corrected to the upper part of the thread gauge, and enabling the axis of the workpiece to be corrected to be vertical to one screwed side of the thread gauge.
Step 8, the calibrating manipulator 12 and the ring gauge manipulator 8 ensure that a screwing side of the thread gauge is in a vertical relation with the axis of the calibrating gauge 11, in the calibrating process, the calibrating manipulator 12 controls the calibrating gauge 11 to be vertically inserted into the thread gauge along the axis of the thread gauge, in the process, the calibrating gauge 11 does not rotate around the axis of the calibrating gauge 11, the tail end of the calibrating manipulator 12 is provided with a stress detection sensor, the stress detection sensor continuously detects the resistance of the calibrating gauge 11 in the calibrating process, when the detected stress value is larger than a certain threshold value, the calibrating gauge 11 cannot be continuously inserted into the thread gauge, and at the moment, whether the calibrating gauge 11 can be directly inserted into the thread gauge or not is judged by judging the number of teeth of the calibrating gauge 11 inserted into the thread gauge;
and taking three teeth as a limit, determining that the clearance fit is achieved when the number of the threads inserted into the thread gauge by the calibration gauge 11 exceeds three teeth, considering that the calibration gauge 11 is unqualified, and continuing the subsequent steps if the number of the threads does not exceed three teeth.
And 9, under the condition of ensuring that the axes of the thread gauge and the calibration gauge 11 are coincident, the ring gauge manipulator 8 controls the thread gauge to be screwed into the calibration gauge 11, whether the thread gauge can be screwed into the calibration gauge is judged, a stress detection sensor arranged at the tail end of the calibration manipulator 12 collects resistance force applied in the screwing process of the thread gauge, if the resistance value is larger than a preset value, the thread gauge cannot be screwed into the calibration gauge 11, the calibration gauge 11 is considered to be unqualified, and otherwise, the subsequent steps are continued.
And step 10, judging whether the fit between the thread gauge and the gauge 11 is interference fit, controlling the gauge 11 to move along the axis of the thread gauge by the calibrating manipulator 12 under the condition of ensuring the axis coincidence of the thread gauge and the gauge 11, and enabling the gauge 11 to approach the thread gauge until the gauge and the thread gauge are contacted with each other and cannot generate displacement any more.
continuing to rotate for 360 degrees along the axis on the basis of the first 360 degrees, screwing in a tooth, continuously detecting the resistance of the calibration gauge 11 in the rotation process by a stress detection sensor at the tail end of the calibration manipulator 12 in the process, stopping rotating and reversely screwing out if the resistance is larger than an empirical value in the rotation process, until the resistance cannot be detected by the stress detection sensor, and judging that the calibration gauge 11 is an unqualified part; otherwise, continuing the subsequent steps;
on the basis of the first two 360 degrees, the mechanical hand is continuously rotated for 360 degrees along the axis, a tooth is screwed in, the resistance of the calibration gauge 11 in the rotating process is continuously detected by a stress sensor at the tail end of the calibration mechanical hand 12 in the process, if the resistance is larger than an empirical value in the rotating process, the mechanical hand stops rotating and reversely screws out until the resistance cannot be detected by the stress detection sensor, and at the moment, the calibration gauge 11 is judged to be an unqualified part; otherwise, the subsequent steps are continued.
And step 12, classifying the calibration gauge 11 by the calibration manipulator 12 according to the calibration result, and storing qualified parts and unqualified parts separately according to the judgment result.
And step 13, continuing to perform the proofreading of the proofreading gauges 11 of the same type, wherein in the process of processing the proofreading of the proofreading gauges 11 of the same type, the state of the ring gauge manipulator 8 for grabbing the thread gauge is not changed, and the proofreading manipulator 12 continuously grabs the proofreading workpiece to perform the operations from the step 8 to the step 12.
And 14, after all the proofreading pieces of the same type are proofread, switching the thread gauges by the proofreading system, manually taking down the thread gauges, sending the thread gauges into the vibration disc 1, and repeating the steps 3 to 14 by the system.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. An automatic thread proofreading device is characterized by comprising a thread gauge conveying device, a thread gauge grabbing and identifying device and a thread workpiece proofreading device,
the thread gauge conveying device comprises a vibrating disc, a belt conveyor, a horn cylinder, a multi-unit storage bin and a conveying motor driving device, wherein the vibrating disc is used for conveying the ring gauge standard parts into the belt conveyor, the belt conveyor is driven by the conveying motor driving device, the ring gauge standard parts are stored into the multi-unit storage bin after the conveying direction is changed through the horn cylinder,
the thread gauge grabbing and identifying device comprises an electric mechanical finger, a ring gauge manipulator and an industrial camera, the multi-unit storage bin is provided with a slide rail assembly, the electric mechanical finger is arranged on the slide rail assembly and is driven by a slide rail motor driving device to perform plane movement through the slide rail assembly, the electric mechanical finger grabs a thread standard part of the multi-unit storage bin and delivers the thread standard part to the ring gauge manipulator for grabbing,
the threaded workpiece proofreading device comprises a proofreading manipulator which moves a proofreading gauge from a workpiece storage bin to a proofreading position.
2. The automatic thread correction device of claim 1, wherein the correction device further comprises a ring gauge detection table, a thread gauge standard component is placed on the ring gauge detection table, and model images of the thread gauge are recorded through an industrial camera.
3. The automatic thread checking device according to claim 1, wherein the slide rail assembly comprises horizontal slide rails, a cross bar and a vertical guide rail, the horizontal slide rails are located on two sides of the multi-unit storage bin, the electromechanical finger moves in a horizontal direction along the horizontal slide rails, the cross bar is bridged between the two horizontal slide rails, the electromechanical finger moves in a front-back direction along the cross bar, the vertical guide rail is vertically arranged and is fixedly connected with one side of the cross bar, a sliding block is mounted on the vertical guide rail, the electromechanical finger is mounted on the sliding block, and the electromechanical finger moves in a vertical direction along the vertical guide rail.
4. An automatic thread proofreading apparatus as claimed in claim 3, wherein said ring gauge robot has two degrees of freedom of displacement and one degree of freedom of rotation, and said ring gauge robot moves the tip of the ring gauge robot to the position of the electromechanical fingers by horizontal rotation, vertical displacement and back-and-forth displacement.
5. An automatic thread proofing method, comprising the steps of:
step 1, putting a thread gauge to be used into a vibration disc;
step 2, matching the vibrating disc, the conveying belt and the horn cylinder, and conveying the thread gauge into a multi-unit storage bin;
step 3, an electric mechanical finger grabs thread gauges in all storage units of the multi-unit storage bin and conveys the thread gauges to a designated position;
step 4, connecting a thread gauge from an electric mechanical finger by a ring gauge manipulator, and sending the thread gauge into a ring gauge detection table;
step 5, the model of the thread gauge is identified through an image by the industrial camera and is transmitted into a system background, when the model of the thread cannot be identified on one side of the thread gauge, the thread gauge is turned upside down by the ring gauge manipulator, the steps are repeated until the model of the thread gauge is obtained by the system, and when the step is repeated for specified times and the model of the thread cannot be obtained, the system reports an error and requests manual processing;
step 6, moving the thread gauge to a position designated by the calibration operation by the ring gauge mechanical handle, grabbing the thread gauge by the ring gauge mechanical hand, moving the ring gauge mechanical hand to one side of the calibration mechanical hand, moving the tail end of the ring gauge mechanical hand to the lower part of the tail end of the calibration mechanical hand, and screwing the thread gauge into the side surface to form a vertical relation with the axis of the tail end of the calibration mechanical hand;
step 7, the calibrating manipulator grabs the workpiece to be calibrated from the workpiece storage bin, moves the workpiece to be calibrated above the thread gauge, and enables the axis of the workpiece to be calibrated to be perpendicular to one screwed side of the thread gauge;
step 8, installing a stress detection sensor on the calibration manipulator, continuously detecting the resistance of the calibration gauge in the calibration process by the stress detection sensor, and indicating that the calibration gauge cannot be continuously inserted into the thread gauge when the detected stress value is larger than a threshold value; judging whether the proofreading gauge can be directly inserted into the thread gauge or not according to the number of teeth of the proofreading gauge inserted into the thread gauge;
step 9, controlling the screw gauge to be screwed into the calibration gauge through the ring gauge manipulator, acquiring resistance force applied in the screwing process of the screw gauge by a stress detection sensor, if the resistance value is larger than a preset value, the screw gauge cannot be screwed into the calibration gauge, and the calibration gauge is unqualified, otherwise, continuing the subsequent steps;
step 10, enabling the axis of the gauge to coincide with the axis of the thread gauge, controlling the gauge to move along the axis of the thread gauge by a gauge manipulator, and enabling the gauge to approach the thread gauge until the gauge is contacted with the thread gauge and cannot move;
step 11, the calibration manipulator controls the calibration gauge to rotate three circles along the axis, after each circle of rotation is completed, the calibration gauge is screwed into one tooth of the thread gauge, the stress detection sensor detects the resistance of the calibration gauge in the rotation process of the circle, if the resistance value is larger than the experience value in the rotation process, the rotation is stopped, the rotation is reversely screwed out until the resistance value cannot be detected by the sensor, the calibration gauge is judged to be an unqualified part, otherwise, the calibration gauge is judged to be a qualified part, and the next circle of rotation is continued; after completing three rotations and judging qualified parts for three times, continuing the subsequent steps;
step 12, according to the proofreading result, proofreading the mechanical arm classification processing proofreading gauge;
and step 13, continuing to calibrate the same type of calibration gauge, continuously grabbing the calibration workpiece by the calibration manipulator, and performing the operations from the step 8 to the step 12 until all the calibration gauges of the same type are calibrated.
6. And 14, correcting the system to switch the thread gauge, manually taking down the thread gauge, sending the thread gauge into a vibration disc, and repeating the steps 3 to 14.
7. The automatic thread proofing method of claim 5, wherein step 2 comprises the step of feeding the thread gauges into the grid of the conveyor belt in order by the vibrating plate, conveying the thread gauges to the end of the conveyor belt into a trumpet, and then into the multi-unit storage bin through a chute.
8. The method of claim 5, wherein step 3 comprises moving the electromechanical finger along a rail above the multi-unit magazine in three axes to remove the thread gauges from all the storage units of the multi-unit magazine and transport them to a desired location.
9. An automatic thread correction method according to claim 5, wherein in step 8, the number of threads inserted into the gauge according to the gauge includes a number bounded by three threads, and if the number exceeds three, the gauge is determined to be over-clearance fit, and the subsequent steps are continued.
10. The automatic thread correction method according to claim 5, wherein said step 12 comprises separately storing the qualified pieces and the unqualified pieces based on the determination result of the master gauge.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111154272.3A CN113790653A (en) | 2021-09-29 | 2021-09-29 | Automatic thread proofreading device and proofreading method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111154272.3A CN113790653A (en) | 2021-09-29 | 2021-09-29 | Automatic thread proofreading device and proofreading method |
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| Publication Number | Publication Date |
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| CN113790653A true CN113790653A (en) | 2021-12-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111154272.3A Pending CN113790653A (en) | 2021-09-29 | 2021-09-29 | Automatic thread proofreading device and proofreading method |
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- 2021-09-29 CN CN202111154272.3A patent/CN113790653A/en active Pending
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