CN114473464B - Intelligent screw mounting equipment and method for industrial distribution box - Google Patents
Intelligent screw mounting equipment and method for industrial distribution box Download PDFInfo
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- CN114473464B CN114473464B CN202111612137.9A CN202111612137A CN114473464B CN 114473464 B CN114473464 B CN 114473464B CN 202111612137 A CN202111612137 A CN 202111612137A CN 114473464 B CN114473464 B CN 114473464B
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- 239000000463 material Substances 0.000 claims abstract description 78
- 238000001514 detection method Methods 0.000 claims abstract description 34
- 230000005540 biological transmission Effects 0.000 claims abstract description 20
- 238000009434 installation Methods 0.000 claims abstract description 13
- 230000007547 defect Effects 0.000 claims description 13
- 230000000007 visual effect Effects 0.000 claims description 13
- 238000012545 processing Methods 0.000 claims description 10
- 239000002699 waste material Substances 0.000 claims description 6
- 238000010521 absorption reaction Methods 0.000 claims description 3
- 238000007781 pre-processing Methods 0.000 claims description 3
- 238000000926 separation method Methods 0.000 claims description 3
- 230000008901 benefit Effects 0.000 abstract description 6
- 239000013307 optical fiber Substances 0.000 description 5
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
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Abstract
The invention discloses intelligent screw mounting equipment and method for an industrial distribution box, wherein the intelligent screw mounting equipment for the industrial distribution box comprises a central control module, a material taking module, a transmission module and an assembly module; the central control module is respectively and electrically connected with the material taking module, the transmission module and the installation module and is used for controlling the work of each module; the material taking module comprises a material taking manipulator and a first camera arranged on the material taking manipulator, and the transmission module comprises a screw track and a second camera arranged at the end part of the screw track; the assembly module comprises an assembly manipulator and a third camera arranged on the assembly manipulator. The intelligent screw mounting equipment and the intelligent screw mounting method for the industrial distribution box solve the problems of low flexibility and low universality of screw mounting, have perfect screw detection function, are high in screw mounting quantity, improve economic benefit, improve screw mounting efficiency and improve screw mounting success rate.
Description
Technical Field
The invention relates to the technical field of intelligent screw installation, in particular to intelligent screw installation equipment and method for an industrial distribution box.
Background
Along with the rapid development of scientific technology, the industrial distribution box is increasingly demanded in industry, the internal structure of the distribution box is complicated, the screws are numerous, a long time is often required for manually installing the screws, the installation quality is not high, the production speed is greatly influenced, and the economic benefit of the product can be greatly influenced. In addition, in the process of installing the screw, workers need to distinguish the model and the quality of the inspected screw by naked eyes, so that a series of problems such as long time, high error rate, poor products and the like can be brought about manually. In summary, manually installing the box screws is inconvenient.
At present, some automatic screw locking machines exist, but a large number of manual auxiliary operations are needed to complete, the degree of automation is not high, the functions are single, the screws with different models are difficult to adapt, visual detection of the screws is difficult to realize, the quality of the screws possibly cannot meet the requirements, for example, the screws are provided with small-area dirt and broken teeth on the nuts, the screws cannot be screwed in place due to the fact that the yield of products is necessarily affected.
In addition, the internal structure of the distribution box is complicated, the types of screws are various, only manual assistance is relied on, the speed is greatly reduced, and the error rate is high; the most important point is that the screw can not be screwed for a plurality of different types of screws, and the screw can not be quickly and accurately adjusted according to the change of the production mode. In the actual production process, according to the different requirements of the internal structure of the distribution box or the different types of screws to be installed, the problems that nuts with different screw shapes, different screw tooth structures and different screw hole positions in the distribution box are generated, and the difficulty of a visual processing algorithm is increased.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides intelligent screw mounting equipment for an industrial distribution box, which comprises a central control module, a material taking module, a transmission module and an assembly module;
the central control module is respectively and electrically connected with the material taking module, the transmission module and the installation module and is used for controlling the work of each module;
the material taking module comprises a material taking manipulator and a first camera arranged on the material taking manipulator, and the transmission module comprises a screw track and a second camera arranged at the end part of the screw track; the assembly module comprises an assembly manipulator and a third camera arranged on the assembly manipulator;
the first camera is used for shooting an image of a nut part of the screw and transmitting the image to the central control module so as to judge whether the screw model meets the requirement; the second camera is used for shooting side images of the screw and transmitting the images to the central control module so as to detect whether the quality of the screw is qualified or not; the third camera is used for shooting an image of the distribution box and transmitting the image to the central control module so as to determine the position of a screw to be assembled in the distribution box;
the material taking manipulator can move under the control of the central control module, and is used for conveying screws of a required model from a material taking position for initially storing the screws to a detection position beside the second camera, conveying the screws which are qualified in detection into a container above the screw track after detection is completed, and conveying the screws which are unqualified in detection into an external waste collection container;
the screw track is used for working under the control of the central control module so as to drive the container above the screw track to move between a first position and a second position;
the assembly manipulator is used for taking out the screws in the containers on the screw tracks under the control of the central control module, and the assembly is completed on the distribution box.
In some embodiments, the first, second and third cameras are each provided with a white ring light source in front of their lenses.
In some embodiments, the device further comprises a cabinet, wherein the material taking module, the transmission module and the assembly module are all installed above the cabinet, and the central control module is installed inside a cabinet body of the cabinet.
In some embodiments, the reclaiming robot comprises a column, a first arm, a second arm, and an electromagnet; the bottom fixed mounting of stand is in on the rack, just one side of stand is formed with slide rail structure, the inner of first arm is installed on the slide rail structure of stand, make first arm can follow the slide rail structure up-and-down motion of stand, the outer end of first arm with the inner of second arm is rotationally connected through the pivot, the electro-magnet sets up the outer end below of second arm, can realize the absorption and put down to the screw through the break-make of control electro-magnet, first camera is installed the extension region of the outer end of second arm.
In some embodiments, the assembly robot includes a base, a third arm, a fourth arm, and a clamping device; the base is fixedly arranged on the cabinet, the inner end of the third arm is rotatably arranged above the base through a rotating shaft, the outer end of the third arm is rotatably connected with the inner end of the fourth arm through a rotating shaft, the clamping device is arranged below the outer end of the fourth arm, and the third camera is arranged in an extension area of the outer end of the fourth arm.
In some embodiments, the central control module comprises a first industrial personal computer and a second industrial personal computer, the first industrial personal computer is in wired connection with the material taking module and the transmission module through a first hub, and the second industrial personal computer is in wired connection with the assembly module through a second hub.
The invention further provides an intelligent screw mounting method for the industrial distribution box, which is characterized by comprising the following steps of:
s1, initializing and adjusting a central control module;
s2, setting a plurality of types of required screws and the required number of the screws of each type in a central control module according to the structure of the distribution box to be assembled, setting a plurality of nut templates matched with the types of the screws to be assembled in the central control module, and setting related parameters;
s3, conveying a screw carrying disc filled with a sufficient amount of screws to be assembled to a material taking position, conveying the distribution box to be assembled to an assembly position, fixing the distribution box, and determining the type of the screws needing to be assembled at first;
s4, the central control module controls the material taking manipulator to finish material taking of one screw, and the step S4 specifically comprises the following steps:
s41, moving a material taking manipulator to the upper part of a screw carrying disc, shooting a screw cap image of one screw in the screw carrying disc by a first camera, and transmitting the shot image to a central control module;
s42, the central control module compares the shot nut image with a pre-stored nut template image through a template matching algorithm, judges whether the screw to be tested is of a current required model according to a comparison result, directly enters the step S43 if yes, and enters the step S43 after the first camera shoots the nut image of the next screw in the screw carrying disc and judges until the screw of the current required model is found;
s43, the material taking manipulator moves the screw to a position opposite to a lens of the second camera, the second camera shoots a side image of the screw, and the shot image is transmitted to the central control module;
s44, performing size detection and defect detection by the central control module according to the photographed side image of the screw, so as to detect whether the quality of the screw is qualified, if so, placing the screw into a container above a screw track by a material taking manipulator, then entering a step S5, and if not, conveying the screw into an external waste collection container by the material taking manipulator, and entering a step S45;
s45, returning the material taking position by the material taking manipulator, shooting a nut image of the next screw in the screw carrying disc by the first camera, and transmitting the shot image to the central control module;
s46, repeating the steps S42-S45 until a qualified screw with a required model is found, placing the screw into a container above a screw track through a material taking manipulator, and entering the step S5;
s5, the screw track works to convey the container filled with the screws to the side of the assembling manipulator;
s6, the assembling manipulator takes out the screws in the container and equips the screws into matched screw holes in the distribution box, and the screw track conveys the empty container back to the side of the material taking manipulator;
s7, recording the number of screws of the current model which are assembled in the central control module and adding one, judging whether the number of screws of the current model which are assembled reaches the preset required number, if not, returning to the step S4, and if so, entering the step S8;
s8, judging whether the number of the screws of each type which are assembled reaches the preset required number, if so, completing the screw installation of the distribution box, if not, switching the types of the screws to be assembled, and then returning to the step S4.
In some embodiments, step S43 specifically includes: the material taking manipulator moves the screw to a position where the lens of the second camera is opposite to the screw, and the material taking manipulator drives the screw to rotate, and the second camera shoots a side image of one screw every 90 degrees, shoots four images in total and transmits the four images to the central control module.
In some embodiments, in step S44, the central control module detects whether the quality of the screw is acceptable according to the following steps:
preprocessing four images of the side face of the screw obtained through shooting respectively, and extracting the area where the screw is located in each image through an image separation and edge processing algorithm;
for the four processed images, firstly detecting the size, calculating the average value of the length and the diameter of the screw, comparing the calculated result with the standard length and the diameter of the preset corresponding model, if the difference is smaller than the preset threshold value, entering the next step, otherwise judging that the screw is unqualified;
and detecting defects of four images with qualified size, detecting whether screw areas in the four images are complete or not and whether attachments exist or not through an image processing algorithm, judging whether defects exist or not, judging that the screws are qualified if the four images are complete and the defects do not exist, and otherwise, judging that the screws are unqualified.
In some embodiments, before step S6, the method further includes the following steps:
the assembling manipulator moves to the position above the distribution box to be assembled, images of the distribution box are shot through a third camera, and the images are transmitted to the central control module;
the central control module completes visual positioning through positioning points in the image of the distribution box so as to determine the position of the distribution box where the screw needs to be assembled, if the visual positioning is successful, the step S6 is entered, and if the visual positioning is failed, the current flow is stopped and error prompt information is sent.
Compared with the prior art, the invention has the beneficial effects that:
the intelligent screw mounting equipment and the intelligent screw mounting method for the industrial distribution box solve the problems of low screw mounting flexibility and low universality, have perfect screw detection function, have a large number of screw mounting, improve economic benefit, improve screw mounting efficiency and improve the success rate of screw mounting; the screw detection device structurally adopts three cameras, one screw track and two manipulators, combines various visual processing algorithms, improves the qualification standard of screw detection, can better carry out screw installation on the complicated structure of the distribution box, greatly lightens the workload of workers, improves the economic benefit of enterprises and can adapt to detection of various models compared with the traditional manual detection mode and other mechanical detection modes, the precision of detection is flexible and adjustable as long as corresponding screw templates are made, and the screw detection device can adapt to different application scenes.
Drawings
Fig. 1 is a schematic diagram of an intelligent screw mounting device of an industrial distribution box;
FIG. 2 is a schematic illustration of a reclaimer robot and associated structure;
fig. 3 is a schematic view of an assembly robot and related structures.
Reference numerals: 1. a first camera; 2. a second camera; 3. a third camera; 4. a material taking manipulator; 5. a screw rail; 6. assembling a manipulator; 7. a cabinet; 8. a screw carrying disc; 9. a distribution box rail; 41. a first arm; 42. a second arm; 43. a column; 44. an electromagnet; 51. a sliding sheet; 61. a base; 62. a third arm; 63. a fourth arm; 64. and a clamping device.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the present invention easy to understand, the following further describes how the present invention is implemented with reference to the accompanying drawings and the detailed description.
Referring to fig. 1, the invention provides intelligent screw mounting equipment for an industrial distribution box, which comprises a central control module, a material taking module, a transmission module and an assembly module, wherein the central control module is used for controlling the screw mounting equipment to take materials from the central control module; the central control module is respectively and electrically connected with the material taking module, the transmission module and the installation module and is used for controlling the work of each module; the material taking module comprises a material taking manipulator 4 and a first camera 1 arranged on the material taking manipulator 4, and the transmission module comprises a screw track 5 and a second camera 2 arranged at the end part of the screw track 5; the assembly module comprises an assembly manipulator 6 and a third camera 3 arranged on the assembly manipulator 6; the first camera 1 is used for shooting an image of a nut part of the screw and transmitting the image to the central control module so as to judge whether the screw model meets the requirement; the second camera 2 is used for shooting a side image of the screw and transmitting the image to the central control module so as to detect whether the quality of the screw is qualified or not; the third camera 3 is used for shooting an image of the distribution box and transmitting the image to the central control module so as to determine the position of a screw to be assembled in the distribution box; the material taking manipulator 4 can move under the control of the central control module, and the material taking manipulator 4 is used for conveying screws of a required model from a material taking position for initially storing the screws to a detection position beside the second camera 2, conveying the screws which are qualified in detection into a container above the screw track 5 after detection is completed, and conveying the screws which are unqualified in detection into an external waste collection container; the screw track 5 is used for working under the control of the central control module so as to drive the container above the screw track to move between a first position and a second position; the assembly robot 6 is used under the control of the central control module to take out the screws in the containers on the screw rails 5 and complete the assembly on the distribution box.
Preferably, the first camera 1, the second camera 2 and the third camera 3 are provided with white annular light sources in front of lenses; it will be appreciated that the lenses of the first camera 1 and the third camera 3 are both facing downwards, and that the lens of the second camera 2 is preferably facing outwards of the screw track 5, as shown with reference to fig. 2.
In addition, a sliding sheet 51 may be disposed above the screw track 5, and a container may be placed above the sliding sheet 51, and the screw track 5 may drive the sliding sheet 51 and the container above the sliding sheet 51 to move.
Further, this screw intelligent mounting equipment of industry block terminal, its characterized in that still includes rack 7, gets material module, transmission module and assembly module and all installs in the top of rack 7, and the central control module is installed in the internal portion of the cabinet of rack 7.
Further, the material taking manipulator 4 comprises a column 43, a first arm 41, a second arm 42 and an electromagnet 44; the bottom fixed mounting of stand 43 is on rack 7, and one side of stand 43 is formed with the slide rail structure, and the inner of first arm is installed on the slide rail structure of stand 43 for first arm 41 can follow the slide rail structure up-and-down motion of stand 43, and the outer end of first arm 41 is rotationally connected through the pivot with the inner of second arm 42, and electro-magnet 44 sets up in the outer end below of second arm 42, can realize the absorption and put down to the screw through controlling the break-make of electro-magnet 44, and the extension region of the outer end of second arm 42 is installed to first camera 1.
With further reference to fig. 3, the assembly robot 6 includes a base 61, a third arm 62, a fourth arm 63, and a clamping device 64; the base 61 is fixedly mounted on the cabinet 7, the inner end of the third arm 62 is rotatably mounted above the base 61 through a rotating shaft, the outer end of the third arm 62 is rotatably connected with the inner end of the fourth arm 63 through a rotating shaft, the clamping device 64 is mounted below the outer end of the fourth arm 63, and the third camera 3 is mounted in an extension area of the outer end of the fourth arm 63.
Preferably, the central control module comprises a first industrial personal computer and a second industrial personal computer, the first industrial personal computer is in wired connection with the material taking module and the transmission module through a first hub, and the second industrial personal computer is in wired connection with the assembly module through a second hub; the material taking module and the assembly module can be respectively arranged on the two cabinets 7, and the first industrial personal computer and the second industrial personal computer can be respectively arranged in the two cabinets 7. In the illustrated embodiment, two cabinets are used; it will be appreciated that only one cabinet may be used if the cabinet 7 is sufficiently large.
Preferably, the transmission module may further comprise a plurality of optical fiber sensors mounted on the screw track 5, wherein the optical fiber sensors may be used for detecting the situation above the screw track 5 and perform a limiting function. For example, after the optical fiber sensor senses that the container is provided with the screw, related information is sent to the central control module, and the central control module controls the screw track 5 to automatically start to move; when the screw track 5 drives the container to move to the corresponding position, the information is detected by the optical fiber sensor and transmitted to the central control module, and the central control module controls the screw track 5 to automatically stop moving.
In addition, the transmission module may further include a distribution box rail 9, and the distribution box rail 9 may be connected to an external distribution box pipeline to send the distribution box to an assembly position and to send away the distribution box after being assembled; a plurality of optical fiber sensors can be arranged on the distribution box rail 9 as well, and can be used for realizing the limit of the distribution box.
The invention further provides an intelligent screw mounting method for the industrial distribution box, which is characterized by comprising the following steps of:
s1, initializing and adjusting a central control module;
s2, setting a plurality of types of required screws and the required number of the screws of each type in a central control module according to the structure of the distribution box to be assembled, setting a plurality of nut templates matched with the types of the screws to be assembled in the central control module, and setting related parameters;
s3, conveying a screw carrying disc 8 filled with a sufficient amount of screws to be assembled to a material taking position, conveying a distribution box to be assembled to an assembly position, fixing the distribution box, and determining the type of the screws required to be assembled at first;
s4, the central control module controls the material taking manipulator 4 to finish material taking of one screw, and the step S4 specifically comprises the following steps:
s41, the material taking manipulator 4 moves to the position above the screw carrying disc 8, the first camera 1 firstly shoots a nut image of one screw in the screw carrying disc 8, and the shot image is transmitted to the central control module;
s42, the central control module compares the shot nut image with a pre-stored nut template image through a template matching algorithm, judges whether the screw to be tested is of a current required model according to a comparison result, directly enters the step S43 if yes, and enters the step S43 after the first camera 1 shoots the nut image of the next screw in the screw carrying disc 8 and judges if not until the screw of the current required model is found;
s43, the material taking manipulator 4 moves the screw to a position opposite to the lens of the second camera 2, the second camera 2 shoots a side image of the screw, and the shot image is transmitted to the central control module;
s44, performing size detection and defect detection by the central control module according to the photographed side image of the screw to detect whether the quality of the screw is qualified, if so, placing the screw into a container above the screw track 5 through the material taking manipulator 4, then entering the step S5, and if not, conveying the screw into an external waste collection container through the material taking manipulator 4, and entering the step S45;
s45, returning the material taking position by the material taking manipulator 4, shooting a nut image of the next screw in the screw carrying disc 8 by the first camera 1, and transmitting the shot image to the central control module;
s46, repeating the steps S42-S45 until a qualified screw with a required model is found, placing the screw into a container above the screw track 5 through the material taking manipulator 4, and entering the step S5;
s5, the screw track 5 works to convey the container filled with the screws to the side of the assembling manipulator 6;
s6, the assembling manipulator 6 takes out the screws in the container and equips the screws into matched screw holes in the distribution box, and the screw track 5 conveys the empty container back to the side of the material taking manipulator 4;
s7, recording the number of screws of the current model which are assembled in the central control module and adding one, judging whether the number of screws of the current model which are assembled reaches the preset required number, if not, returning to the step S4, and if so, entering the step S8;
s8, judging whether the number of the screws of each type which are assembled reaches the preset required number, if so, completing the screw installation of the distribution box, if not, switching the types of the screws to be assembled, and then returning to the step S4.
After step S8, if the next distribution box is further required to be assembled, the process proceeds to step S9: and judging whether the next distribution box and the distribution box which is assembled before are of the same model, if so, returning to the step S3, and if not, returning to the step S1.
Preferably, step S43 specifically includes: the material taking manipulator 4 moves the screw to a position where the lens of the second camera 2 is opposite to the screw, and the material taking manipulator 4 drives the screw to rotate, and every 90 degrees of rotation, the second camera 2 shoots a side image of one screw, and a total of four images are shot and all transmitted to the central control module.
Preferably, in step S44, the central control module detects whether the quality of the screw is acceptable according to the following steps:
preprocessing four images of the side face of the screw obtained through shooting respectively, and extracting the area where the screw is located in each image through an image separation and edge processing algorithm;
for the four processed images, firstly detecting the size, calculating the average value of the length and the diameter of the screw, comparing the calculated result with the standard length and the diameter of the preset corresponding model, if the difference is smaller than the preset threshold value, entering the next step, otherwise judging that the screw is unqualified;
and detecting defects of four images with qualified size, detecting whether screw areas in the four images are complete or not and whether attachments exist or not through an image processing algorithm, judging whether defects exist or not, judging that the screws are qualified if the four images are complete and the defects do not exist, and otherwise, judging that the screws are unqualified.
Preferably, before step S6, the method further comprises the following steps:
the assembly manipulator 6 moves to the position above the distribution box to be assembled, images of the distribution box are shot through the third camera 3, and the images are transmitted to the central control module;
the central control module completes visual positioning through positioning points (mark points) in the image of the distribution box to determine the position of the screw to be assembled in the distribution box, if the visual positioning is successful, the step S6 is entered, and if the visual positioning is failed, the current flow is stopped and error prompt information is sent.
In summary, the intelligent screw mounting equipment and method for the industrial distribution box solve the problems of low screw mounting flexibility and low universality, have more complete screw detection functions and more screw mounting quantity, improve economic benefits, and improve the screw mounting efficiency and the success rate of screw mounting at the same time; the intelligent screw driver is structurally characterized in that three cameras, a screw track and two manipulators are adopted, the three cameras are respectively lighted by three annular light sources, the excellent lighting mode can enable an industrial camera to acquire clear and bright images, so that complexity and difficulty of algorithm processing are reduced, a plurality of visual processing algorithms are combined, qualified standards of screw detection are improved, the complicated structure of the distribution box can be better subjected to screw installation, compared with a traditional manual detection mode and other mechanical detection modes, the screw installation efficiency is improved, meanwhile the workload of workers is greatly reduced, the economic benefit of enterprises is also improved, detection of various models is adapted, only corresponding screw templates are made, the detection accuracy is flexible and adjustable, and the intelligent screw driver can be adapted to different application scenes.
Finally, it is noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the technical solution of the present invention, which is intended to be covered by the scope of the claims of the present invention.
Claims (9)
1. The intelligent screw mounting device for the industrial distribution box is characterized by comprising a central control module, a material taking module, a transmission module and an assembly module;
the central control module is respectively and electrically connected with the material taking module, the transmission module and the installation module and is used for controlling the work of each module;
the material taking module comprises a material taking manipulator (4) and a first camera (1) arranged on the material taking manipulator (4), and the transmission module comprises a screw track (5) and a second camera (2) arranged at the end part of the screw track (5); the assembly module comprises an assembly manipulator (6) and a third camera (3) arranged on the assembly manipulator (6);
the first camera (1) is used for shooting an image of a nut part of the screw and transmitting the image to the central control module so as to judge whether the screw model meets the requirement or not; the second camera (2) is used for shooting side images of the screw and transmitting the images to the central control module so as to detect whether the quality of the screw is qualified or not; the third camera (3) is used for shooting an image of the distribution box and transmitting the image to the central control module so as to determine the position of a screw to be assembled in the distribution box;
the material taking manipulator (4) can move under the control of the central control module, the material taking manipulator (4) is used for conveying screws of a required model from a material taking position for initially storing the screws to a detection position beside the second camera (2), conveying the screws which are qualified in detection into a container above the screw track (5) after detection is completed, and conveying the screws which are unqualified in detection into an external waste collection container;
the screw track (5) is used for working under the control of the central control module so as to drive the container above the screw track to move between a first position and a second position;
the assembling manipulator (6) is used for taking out the screws in the containers on the screw tracks (5) under the control of the central control module, and assembling is completed on the distribution box;
the central control module comprises a first industrial personal computer and a second industrial personal computer, the first industrial personal computer is in wired connection with the material taking module and the transmission module through a first hub, and the second industrial personal computer is in wired connection with the assembly module through a second hub.
2. The intelligent screw mounting device for the industrial distribution box according to claim 1, wherein white annular light sources are arranged in front of lenses of the first camera (1), the second camera (2) and the third camera (3).
3. The intelligent screw mounting device for the industrial distribution box according to claim 1, further comprising a cabinet (7), wherein the material taking module, the transmission module and the assembly module are all mounted above the cabinet (7), and the central control module is mounted inside a cabinet body of the cabinet (7).
4. The intelligent screw mounting device for an industrial distribution box according to claim 3, wherein the material taking manipulator (4) comprises a stand column (43), a first arm (41), a second arm (42) and an electromagnet (44); the bottom fixed mounting of stand (43) is in on rack (7), just one side of stand (43) is formed with slide rail structure, the inner of first arm (41) is installed on the slide rail structure of stand (43), make first arm (41) can follow slide rail structure up-and-down motion of stand (43), the outer end of first arm (41) with the inner of second arm (42) is rotationally connected through the pivot, electro-magnet (44) set up the outer end below of second arm (42), can realize the absorption and put down to the screw through the break-make of control electro-magnet (44), first camera (1) are installed the extension region of the outer end of second arm (42).
5. The intelligent screw mounting device for an industrial distribution box according to claim 3, wherein the assembly manipulator (6) comprises a base (61), a third arm (62), a fourth arm (63) and a clamping device (64); the base (61) is fixedly installed on the cabinet (7), the inner end of the third arm (62) is rotatably installed above the base (61) through a rotating shaft, the outer end of the third arm (62) is rotatably connected with the inner end of the fourth arm (63) through a rotating shaft, the clamping device (64) is installed below the outer end of the fourth arm (63), and the third camera (3) is installed in an extension area of the outer end of the fourth arm (63).
6. An intelligent screw mounting method for an industrial distribution box, characterized in that an intelligent screw mounting device for an industrial distribution box according to any one of claims 1-5 is adopted, and the method comprises the following steps:
s1, initializing and adjusting a central control module;
s2, setting a plurality of types of required screws and the required number of the screws of each type in a central control module according to the structure of the distribution box to be assembled, setting a plurality of nut templates matched with the types of the screws to be assembled in the central control module, and setting related parameters;
s3, conveying a screw carrying disc (8) filled with a sufficient amount of screws to be assembled to a material taking position, conveying a distribution box to be assembled to an assembly position, fixing the distribution box, and determining the type of the screws required to be assembled at first;
s4, the central control module controls the material taking manipulator (4) to finish material taking of one screw, and the step S4 specifically comprises the following steps:
s41, moving a material taking manipulator (4) to the position above a screw carrying disc (8), shooting a screw cap image of one screw in the screw carrying disc (8) by a first camera (1), and transmitting the shot image to a central control module;
s42, the central control module compares the shot nut image with a pre-stored nut template image through a template matching algorithm, judges whether the screw to be tested is of a current required model according to a comparison result, directly enters the step S43 if yes, and enters the step S43 after the first camera (1) shoots the nut image of the next screw in the screw carrying disc (8) and judges if not until the screw of the current required model is found;
s43, the material taking manipulator (4) moves the screw to a position opposite to a lens of the second camera (2), the second camera (2) shoots a side image of the screw, and the shot image is transmitted to the central control module;
s44, performing size detection and defect detection by the central control module according to the photographed side image of the screw to detect whether the quality of the screw is qualified, if so, placing the screw into a container above a screw track (5) through a material taking manipulator (4), then entering a step S5, and if not, conveying the screw into an external waste collection container through the material taking manipulator (4), and entering a step S45;
s45, returning the material taking position by the material taking manipulator (4), shooting a nut image of the next screw in the screw carrying disc (8) by the first camera (1), and transmitting the shot image to the central control module;
s46, repeating the steps S42-S45 until a qualified screw with a required model is found, placing the screw into a container above a screw track (5) through a material taking manipulator (4), and entering the step S5;
s5, the screw track (5) works to convey the container filled with the screws to the side of the assembling manipulator (6);
s6, the assembling manipulator (6) takes out the screws in the container and equips the screws into matched screw holes in the distribution box, and the screw track (5) conveys the empty container back to the side of the material taking manipulator (4);
s7, recording the number of screws of the current model which are assembled in the central control module and adding one, judging whether the number of screws of the current model which are assembled reaches the preset required number, if not, returning to the step S4, and if so, entering the step S8;
s8, judging whether the number of the screws of each type which are assembled reaches the preset required number, if so, completing the screw installation of the distribution box, if not, switching the types of the screws to be assembled, and then returning to the step S4.
7. The intelligent screw mounting method of an industrial distribution box according to claim 6, wherein step S43 specifically includes: the screw is moved to the position where the lens of the second camera (2) is opposite by the material taking manipulator (4), the screw is driven by the material taking manipulator (4) to rotate, and every 90 degrees of rotation is achieved, a side image of one screw is shot by the second camera (2), and four images are shot in total and are transmitted to the central control module.
8. The intelligent screw mounting method of an industrial distribution box according to claim 7, wherein in step S44, the central control module detects whether the quality of the screw is acceptable according to the following steps:
preprocessing four images of the side face of the screw obtained through shooting respectively, and extracting the area where the screw is located in each image through an image separation and edge processing algorithm;
for the four processed images, firstly detecting the size, calculating the average value of the length and the diameter of the screw, comparing the calculated result with the standard length and the diameter of the preset corresponding model, if the difference is smaller than the preset threshold value, entering the next step, otherwise judging that the screw is unqualified;
and detecting defects of four images with qualified size, detecting whether screw areas in the four images are complete or not and whether attachments exist or not through an image processing algorithm, judging whether defects exist or not, judging that the screws are qualified if the four images are complete and the defects do not exist, and otherwise, judging that the screws are unqualified.
9. The intelligent screw mounting method for an industrial power distribution box according to claim 6, further comprising the steps of, before step S6:
the assembly manipulator (6) moves to the position above the distribution box to be assembled, images of the distribution box are shot through the third camera (3), and the images are transmitted to the central control module;
the central control module completes visual positioning through positioning points in the image of the distribution box so as to determine the position of the distribution box where the screw needs to be assembled, if the visual positioning is successful, the step S6 is entered, and if the visual positioning is failed, the current flow is stopped and error prompt information is sent.
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| CN107825125A (en) * | 2017-11-30 | 2018-03-23 | 中国地质大学（武汉） | A kind of screw positioning of view-based access control model servo and lock unload screw device |
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| CN111571190A (en) * | 2020-05-22 | 2020-08-25 | 中国科学院自动化研究所 | Three-dimensional visual automatic assembly system and method |
| CN112404972A (en) * | 2020-10-27 | 2021-02-26 | 北海市海城区海腹川背信息咨询服务中心 | Screw assembly device based on big data intelligent recognition |
| CN216939325U (en) * | 2021-12-24 | 2022-07-12 | 武汉纺织大学 | Intelligent screw mounting equipment of industrial distribution box |
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2021
- 2021-12-27 CN CN202111612137.9A patent/CN114473464B/en active Active
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| CN107825125A (en) * | 2017-11-30 | 2018-03-23 | 中国地质大学（武汉） | A kind of screw positioning of view-based access control model servo and lock unload screw device |
| CN109483216A (en) * | 2019-01-03 | 2019-03-19 | 深圳市森阳智能制造装备有限公司 | Double vision feels recognition detection function the screwed lock device and the screwed lock method |
| CN111571190A (en) * | 2020-05-22 | 2020-08-25 | 中国科学院自动化研究所 | Three-dimensional visual automatic assembly system and method |
| CN112404972A (en) * | 2020-10-27 | 2021-02-26 | 北海市海城区海腹川背信息咨询服务中心 | Screw assembly device based on big data intelligent recognition |
| CN216939325U (en) * | 2021-12-24 | 2022-07-12 | 武汉纺织大学 | Intelligent screw mounting equipment of industrial distribution box |
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