A lead screw nut feeding method, system, storage medium and intelligent terminal

Abstract

The application relates to a lead screw nut feeding method and system, a storage medium and an intelligent terminal, and relates to the field of lead screw nut processing. The application comprises the following steps: acquiring a feeding signal; acquiring image information of a material disc when the feeding signal is received; analyzing blank material position information in the image information of the material disc based on preset blank material feature information; selecting one of the blank material position information as current blank material position information; clamping the blank material corresponding to the current blank material position information by a mechanical hand and moving the blank material to a preset processing station; moving the material disc to a preset recycling station when the current blank material position information does not exist; outputting a filling signal when the material disc is moved to the recycling station, and moving the material disc at the recycling station to a feeding station when preset filling completion information is received. The application has the advantages that it is not necessary to wait for feeding at the feeding station at all times, the labor cost is greatly saved, and the automation effect of lead screw nut feeding is improved.

Description

Technical Field

[0001] This application relates to the field of lead screw and nut processing, and in particular to a method, system, storage medium, and intelligent terminal for feeding lead screws and nuts. Background Technology

[0002] A lead screw nut is a common mechanical transmission device. Its working principle is to convert rotary motion into linear motion by utilizing the friction and torque transmission principle of the threaded pair.

[0003] The manufacturing process of a lead screw nut generally includes the following steps: a) using a mold to stamp out the circular platform and side lugs of the lead screw nut from an iron plate; b) heating the outer contour blank to a temperature of 700-800℃; c) placing the heated outer contour blank on a punch press and stamping out the circular platform and conical cylinder using an inner cylinder mold; d) machining internal threads on the inner wall of the conical tube using a threading machine, thus completing the manufacturing process.

[0004] The existing technology has the following problems: when placing the raw materials on the punch press or other processing equipment, the raw materials need to be processed one by one during the processing. Therefore, the staff needs to observe and fill the materials at all times. The staff cannot leave the entire processing process, resulting in a large waste of labor costs. There is still room for improvement. Summary of the Invention

[0005] To address the issue of requiring constant monitoring of the filling process during manufacturing, which leads to significant waste of manpower, this application provides a method, system, storage medium, and intelligent terminal for feeding lead screws and nuts.

[0006] Firstly, this application provides a method for feeding lead screw nuts, which adopts the following technical solution:

[0007] A method for feeding lead screw nuts includes:

[0008] Obtain the feeding signal;

[0009] Upon receiving a feeding signal, acquire image information of the material tray located at the preset feeding station;

[0010] The position information of the blank in the material tray image is analyzed based on the preset blank feature information;

[0011] Select one of the blank material location information to define the current blank material location information;

[0012] The robotic arm clamps the blank corresponding to the current blank position information and moves it to the preset processing station.

[0013] If the current blank material location information is not available, move the material tray to the preset recycling station;

[0014] When the material tray moves to the recycling station, it outputs a filling signal and moves the material tray at the recycling station to the loading station when it receives the preset filling completion information.

[0015] By adopting the above technical solution and setting up a material tray, multiple blanks can be transported to the loading station at the same time. Then, the position of the blanks in the material tray is identified, so that the robot can sequentially feed the blanks to the processing station for processing according to the position corresponding to the identified image. The user only needs to fill the empty material tray with blanks, without having to wait at the unloading station all the time. The idle time during unloading is relatively long, and the user can do other work during the idle time, which greatly saves labor costs and improves the automation of screw nut loading.

[0016] Optionally, it also includes blank position information, including clamping position information and current orientation information, and a method for determining the clamping position information and current orientation information, the method including:

[0017] The blank area information is determined based on the image information of the material tray, the preset color information of the material tray, and the color information of the blank material;

[0018] The blank area information is analyzed based on the preset elliptical arc information of the nut pair to determine the nut pair area information and clamping position information;

[0019] Arbitrarily select a nut pair region information and define it as the current nut pair region information;

[0020] Determine whether there is blank material area information on both sides of the current nut pair area information;

[0021] If so, then reselect the nut pair area information;

[0022] If not, the information of the blank area on one side is matched with the preset lead screw frame information to determine the current lead screw area information;

[0023] Determine the current orientation information based on the current nut pair area information and the current lead screw area information, and then delete the current nut pair area information and the current lead screw area information from the blank area information.

[0024] Re-filter the current nut pair area information from the blank area information and determine the current screw area information until there is no nut pair area information.

[0025] By adopting the above technical solution, due to the characteristics of the material tray and the lead screw nut, the nut pair on the outermost lead screw nut can be determined, and then the screw of the lead screw nut can be determined in sequence, thereby determining the position of all lead screw nuts. This allows for precise control of the robot arm to clamp from the corresponding position, resulting in a high degree of recognition and improving the accuracy and stability of the robot arm's clamping.

[0026] Optionally, methods for deleting the current nut pair region information and the current lead screw region information from the blank region information include:

[0027] Determine whether the current lead screw region information falls within the nut pair region information;

[0028] If so, the information of the nut pair region into which the interference occurs is defined as the information of the nut pair region.

[0029] The overlapping area information is determined based on the current information of the lead screw region and the interference nut pair region.

[0030] After deleting the current nut pair area information and the current lead screw area information from the blank area information, the overlapping area information is recompensated.

[0031] If not, then directly delete the current nut pair area information and the current lead screw area information from the blank area information.

[0032] By adopting the above technical solution, when the lead screw on the lead screw nut is stacked on another nut pair, there may be an overlapping area. By compensating for the corresponding area, the situation that a complete nut pair arc cannot be formed after the area corresponding to the previous lead screw nut is deleted due to the overlapping area is prevented, thereby improving the accuracy of blank area identification.

[0033] Optionally, methods for analyzing the blank region information based on the elliptical arc information of the nut pair to determine the nut pair region information include:

[0034] Determine the straight boundary line information based on the information of the raw material area;

[0035] Determine whether the straight line boundary information is parallel to the preset track straight line information;

[0036] If so, the blank area information is analyzed based on the elliptical arc information of the nut pair to determine the nut pair area information;

[0037] If not, the horizontal axis tilt angle is calculated based on the straight boundary line information and the track straight line information;

[0038] Matching analysis is performed based on the frequency information, amplitude information and horizontal axis tilt angle information stored in the preset alignment database to determine the swing frequency and swing amplitude of the material tray corresponding to the horizontal axis tilt angle information, which will straighten the tilted screw nut. The swing frequency is defined as the swing frequency information and the swing amplitude is defined as the swing amplitude information.

[0039] The material tray is oscillated around the direction of the track line information as an axis, according to the oscillation frequency information and oscillation amplitude information within the time corresponding to the preset oscillation duration information, and the straight line boundary information is re-determined to see if it is parallel to the track line information.

[0040] By adopting the above technical solution, the ball screw and nut, which are tilted relative to the placement track, are restored to a parallel state by swinging the material tray. This ensures that all the ball screws and nuts are facing the same or opposite directions. When the robot is gripping, it does not need to turn multiple angles but only needs to maintain one angle, which improves the efficiency of the robot.

[0041] Optionally, it also includes a method for analyzing the blank material region information based on the elliptical arc information of the nut pair when the material tray is oscillated with the direction of the track straight line information as the axis, according to the oscillation frequency information and oscillation amplitude information within the time corresponding to the preset oscillation duration information, and the straight line boundary line information is still not parallel to the track straight line information. This method includes:

[0042] The straight line boundary information that is not parallel to the straight line information of the track before the material tray swings is defined as the inclined straight line boundary information.

[0043] After the material tray swings, the horizontal axis tilt angle information of the straight line corresponding to the tilted straight line boundary line information is re-acquired, and the horizontal axis tilt angle information is defined as the swing tilt angle information.

[0044] The absolute value of the difference between the swing tilt angle information and the preset vertical angle information is calculated and defined as the swing tilt amplitude information.

[0045] The absolute value of the difference between the horizontal axis tilt angle information and the vertical angle information is calculated, and this absolute value is defined as the horizontal axis tilt amplitude information.

[0046] Determine whether the value corresponding to the swing tilt amplitude information is greater than the value corresponding to the horizontal axis tilt amplitude information;

[0047] If it is greater than that, the tray will continue to swing around the direction of the track straight line information as the axis, according to the swing frequency information and swing amplitude information within the time corresponding to the swing duration information.

[0048] If equal, then record the number of times the oscillation duration corresponds to the oscillation duration information of the material tray;

[0049] When the number of times exceeds the preset critical number of times, the material tray will swing along the direction of the track straight line information as the axis, and vibrate according to the preset vibration frequency information within the time corresponding to the swing duration information, according to the swing frequency information and swing amplitude information.

[0050] By adopting the above technical solution, the effectiveness of the oscillation process can be determined by calculating the change in tilt angle. When the oscillation process is ineffective, it indicates that the lead screw nut is stuck. By using a more intense method, namely vibration, to vibrate the material tray, the efficiency of the lead screw nut returning to a parallel state can be improved.

[0051] Optionally, methods for determining whether the straight line boundary information is parallel to the track straight line information include:

[0052] Determine if there is a straight boundary line information perpendicular to the track straight line information;

[0053] If it exists, then define the straight line boundary line information that is perpendicular to the track straight line information as the abnormal straight line boundary line information;

[0054] Determine whether the line segment corresponding to the blank material area information that intersects with the abnormal straight line boundary information is parallel to the track straight line information;

[0055] If so, the abnormal straight boundary line information is defined as the vertical boundary line information of the nut pair and removed from the straight boundary line information. The straight boundary line information corresponding to the blank area information that intersects with the abnormal straight boundary line information is defined as the flat straight boundary line information.

[0056] When the output straight line boundary information is parallel to the track straight line information and the corresponding lead screw area information is the current lead screw area information, the output current lead screw area information falls within the nut pair area information;

[0057] If not, output the abnormal straight line boundary line information and the track straight line information as not being parallel;

[0058] If it does not exist, then directly determine whether the information of the straight line boundary line is parallel to the information of the straight line on the track.

[0059] By adopting the above technical solution, the lead screw of the lead screw nut falls on the nut pair of another lead screw nut, causing the nut pair of the current lead screw nut to be in a vertical state. As a result, the elliptical line of the nut pair cannot be identified during identification. Therefore, by identifying whether the line segment adjacent to the straight line perpendicular to the track straight line information is also a straight line, it can be determined whether the identification error of the nut pair and lead screw is caused by this situation, thus improving the accuracy of blank material identification.

[0060] Optionally, the method for oscillating the pallet when abnormal straight line boundary information exists and the output abnormal straight line boundary information and track straight line information are not parallel includes:

[0061] Determine whether there are any straight line boundary lines that are not parallel to the track straight line information, in addition to the abnormal straight line boundary line information;

[0062] If it exists, the tray will be rotated around the abnormal straight line boundary information by a preset vertical axis tilt angle information, and then the tray will be rotated around the track straight line information direction by an axis according to the swing frequency information and swing amplitude information within the time corresponding to the preset swing duration information, and the existence of the abnormal straight line boundary information will be re-determined.

[0063] If it does not exist, the tray will be oscillated around the abnormal straight line boundary information as an axis according to the vertical axis tilt angle information and the preset shaking frequency information, and the existence of the abnormal straight line boundary information will be re-evaluated.

[0064] By adopting the above technical solution, since the screw of the lead screw nut cannot be restored to a parallel state when it is perpendicular to the straight line information of the track by swinging along the straight line information of the track, the material tray is shaken along the boundary line information of the abnormal straight line, so that the lead screw rotates around the nut pair and deviates from the perpendicular state, and then restores to the parallel state during the swinging process, thus improving the efficiency of the lead screw nut in restoring to the parallel state.

[0065] Secondly, this application provides a lead screw and nut feeding system, which adopts the following technical solution:

[0066] A lead screw nut feeding system, comprising:

[0067] The acquisition module is used to acquire the feeding signal, the tray image information, and the position information of the blank.

[0068] The memory is used to store the program of the control method for any of the above-mentioned lead screw and nut feeding methods;

[0069] The processor and the program in the memory can be loaded and executed by the processor to implement the control method of any of the above-mentioned lead screw and nut feeding methods.

[0070] By adopting the above technical solution and setting up a material tray, multiple blanks can be transported to the loading station at the same time. Then, the position of the blanks in the material tray is identified, so that the robot can sequentially feed the blanks to the processing station for processing according to the position corresponding to the identified image. The user only needs to fill the empty material tray with blanks, without having to wait at the unloading station all the time. The idle time during unloading is relatively long, and the user can do other work during the idle time, which greatly saves labor costs and improves the automation of screw nut loading.

[0071] Thirdly, this application provides a smart terminal, which adopts the following technical solution:

[0072] The intelligent terminal includes a memory and a processor. The memory stores a computer program that can be loaded by the processor and executed for any of the aforementioned lead screw and nut feeding methods.

[0073] By adopting the above technical solution and setting up a material tray, multiple blanks can be transported to the loading station at the same time. Then, the position of the blanks in the material tray is identified, so that the robot can sequentially feed the blanks to the processing station for processing according to the position corresponding to the identified image. The user only needs to fill the empty material tray with blanks, without having to wait at the unloading station all the time. The idle time during unloading is relatively long, and the user can do other work during the idle time, which greatly saves labor costs and improves the automation of screw nut loading.

[0074] Fourthly, this application provides a computer storage medium capable of storing corresponding programs, and characterized by stable and accurate operation.

[0075] Computer-readable storage media adopt the following technical solutions:

[0076] A computer-readable storage medium storing a computer program that can be loaded by a processor and executed for any of the above-described lead screw and nut feeding methods.

[0077] By adopting the above technical solution and setting up a material tray, multiple blanks can be transported to the loading station at the same time. Then, the position of the blanks in the material tray is identified, so that the robot can sequentially feed the blanks to the processing station for processing according to the position corresponding to the identified image. The user only needs to fill the empty material tray with blanks, without having to wait at the unloading station all the time. The idle time during unloading is relatively long, and the user can do other work during the idle time, which greatly saves labor costs and improves the automation of screw nut loading.

[0078] In summary, this application includes at least the following beneficial technical effects:

[0079] 1. By setting up a system that can simultaneously transport multiple blanks to the loading station, eliminating the need to wait at the unloading station all the time, it greatly saves labor costs and improves the automation of screw nut loading;

[0080] 2. By sequentially determining the position of all lead screw nuts, the robot arm is precisely controlled to grip from the corresponding position, resulting in high recognition accuracy and improved gripping accuracy and stability.

[0081] 3. By swinging the material tray to restore the lead screw nut to a parallel state, the robot arm does not need to turn multiple angles but only needs to maintain one angle, which improves the efficiency of the robot arm. Attached Figure Description

[0082] Figure 1 This is a flowchart of a screw nut feeding method according to an embodiment of this application.

[0083] Figure 2 This is a schematic diagram of the structure of the feed tray and lead screw nut in the embodiments of this application.

[0084] Figure 3 This is a flowchart of a method for determining the clamping position information and the current orientation information in the embodiments of this application, which includes the blank position information and the current orientation information.

[0085] Figure 4 This is a flowchart illustrating the method for deleting the current nut pair region information and the current lead screw region information from the blank region information in this application embodiment.

[0086] Figure 5 This is a flowchart illustrating a method for analyzing blank region information based on elliptical arc information of the nut pair in an embodiment of this application to determine the nut pair region information.

[0087] Figure 6 This is a flowchart illustrating a method for analyzing the blank material region information based on the elliptical arc information of the nut pair to determine the nut pair region information when the material tray is oscillated with the direction of the track straight line information as the axis, according to the oscillation frequency information and oscillation amplitude information within the time corresponding to the preset oscillation duration information, and the straight line boundary line information is still not parallel to the track straight line information.

[0088] Figure 7 This is a flowchart of a method for determining whether the information of a straight line boundary is parallel to the preset information of a straight track in an embodiment of this application.

[0089] Figure 8 This is a flowchart illustrating a method for oscillating a material tray when abnormal straight line boundary information exists and the output abnormal straight line boundary information and track straight line information are not parallel, according to an embodiment of this application.

[0090] Figure 9 This is a system module diagram of a lead screw and nut feeding method according to an embodiment of this application. Detailed Implementation

[0091] To make the purpose, technical solution, and advantages of this application clearer, the following description is provided in conjunction with the appendix. Figure 1-9The present application will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the application.

[0092] This application discloses a method for feeding lead screw nuts. (Refer to...) Figure 1 A method for feeding lead screw nuts includes:

[0093] Step 100: Obtain the feeding signal.

[0094] The feeding signal indicates that the workpiece on the processing equipment has been processed and the next workpiece needs to be delivered. This signal is obtained by detecting changes in the system's internal current. Alternatively, the feeding signal can be an audio signal, which is then received by a microphone.

[0095] Step 101: Upon receiving the feeding signal, acquire the image information of the material tray located at the preset feeding station.

[0096] The loading station refers to the location where the robotic arm can reach and grasp the raw material. The material tray image information is an image of the material tray captured at the loading station. This image is obtained by a camera, such as a camera mounted above the loading station, capturing the image. Figure 2 As shown, when the material tray moves to the loading station, the captured image includes both the material tray and the blank.

[0097] Step 102: Analyze the position information of the blank in the material tray image based on the preset blank feature information.

[0098] The blank material feature information refers to the characteristics of the blank material in the image, such as its appearance color, which is manually input information. The blank material position information refers to the location of the blank material. Color can be used to distinguish between blank materials and stock trays, allowing blank materials to be removed one by one from the trays.

[0099] Step 103: Select one of the blank material position information and define it as the current blank material position information.

[0100] Step 104: The robotic arm clamps the blank corresponding to the current blank position information and moves it to the preset processing station.

[0101] The processing station refers to the station where the raw material is processed.

[0102] Step 105: If the current blank material location information does not exist, move the material tray to the preset recycling station.

[0103] The recycling station is the station where material trays are recycled and refilled. The movement method can be conveyor belt transport.

[0104] Step 106: When the material tray moves to the recycling station, output a filling signal and when the preset filling completion information is received, move the material tray at the recycling station to the loading station.

[0105] The filling signal is a system notification to the user that filling is required in the material tray, for example, through voice announcement. The filling completion message indicates that the material tray is fully filled and feeding can continue. The user can input this information via a button; when the system receives a trigger signal from the button, it receives the filling completion message and then moves the material tray from the recycling station to the feeding station. This movement can be achieved via conveyor belt transport.

[0106] Reference Figure 3 It also includes blank position information, including clamping position information and current orientation information, and a method for determining the clamping position information and current orientation information, the method including:

[0107] Step 200: Determine the blank area information based on the material tray image information, the preset material tray color information, and the blank color information.

[0108] The material tray color information refers to the color of the material tray. The blank material color information refers to the color of the blank material. In this embodiment, to clearly distinguish between the material tray and the blank material, a contrasting color is applied to the material tray and / or the blank material. The blank material area information refers to the area where the blank material is located.

[0109] Step 201: Analyze the blank area information based on the preset elliptical arc information of the nut pair to determine the nut pair area information and clamping position information.

[0110] The elliptical arc information refers to the elliptical arc information of the screw nut assembly. For example... Figure 2 As shown, when the image is captured from top to bottom and the lead screw and nut are guided by the guide surfaces on both sides, they will be positioned in the direction shown in the figure. However, when... Figure 2 When placed as shown, its tilt angle is constant, so the projection of the nut pair on the horizontal plane due to the tilt is an ellipse, and the shape of the ellipse is fixed. The nut pair area information refers to the area of ​​the nut pair on the lead screw nut. The clamping position information refers to the position where the robot arm clamps, generally set to both sides of the nut pair, which in the horizontal projection are the two sides of the longer side of the ellipse. The analysis here considers the projection of the boundary line and the elliptical arc to be identical.

[0111] Step 202: Select any nut pair region information and define it as the current nut pair region information.

[0112] Step 203: Determine whether there is blank material area information on both sides of the current nut pair area information.

[0113] The purpose of this judgment is to determine whether there are lead screws on both sides of the nut assembly, which would prevent the determination that the nut assembly and the lead screws on both sides belong to the same lead screw nut.

[0114] Step 2031: If yes, then reselect the nut pair area information.

[0115] If so, it means that it is impossible to determine which one on each side is the lead screw from the same part.

[0116] Step 2032: If not, match the blank area information on one side with the preset lead screw frame information to determine the current lead screw area information.

[0117] The lead screw frame information refers to the frame line and area information of the lead screw under normal projection. This information is captured from a single lead screw and nut photograph and used for later reference and positioning. The current lead screw area information refers to the lead screw area on the same lead screw and nut as the current nut pair area information. If there is no such area, it means that the only lead screw adjacent to the current nut pair area information is the lead screw on the same part as the corresponding nut pair. Therefore, the area within the blank area information can be directly sectioned according to the lead screw frame information.

[0118] Step 204: Determine the current orientation information based on the current nut pair area information and the current lead screw area information, and delete the current nut pair area information and the current lead screw area information from the blank area information.

[0119] The current orientation information pertains to the lead screw and nut. Although the orientation of the clamped nut assembly is determined, there are still cases of correct and reverse clamping, so the lead screw is still needed for further judgment. The purpose of deletion is to remove interference from the already determined lead screw and nut. Deletion can be achieved by using a robotic arm to grip and remove it for further processing.

[0120] Step 205: Re-filter the current nut pair area information from the blank area information and determine the current screw area information until there is no nut pair area information.

[0121] Reference Figure 4 Methods for deleting the current nut pair region information and the current lead screw region information from the blank region information include:

[0122] Step 300: Determine whether the current lead screw area information falls within the nut pair area information.

[0123] The purpose of this judgment is to determine whether the object is mounted on another nut assembly of a lead screw nut, and whether the area on the other nut assembly was removed during the deletion process, thus making it unrecognizable.

[0124] Step 3001: If so, the information of the nut pair region that falls into the interference nut pair region is defined as the interference nut pair region information.

[0125] The interference nut pair region information is caused by the presence of another lead screw nut on the nut pair, resulting in a non-elliptical nut pair region information when deleted.

[0126] Step 3002: If not, directly delete the current nut pair area information and the current lead screw area information from the blank area information.

[0127] If not, it means that the current nut pair area information and the current lead screw area information are relatively isolated from other lead screws and nuts. Deleting them will not affect the projection and differentiation of other lead screws and nuts, so they can be deleted directly.

[0128] Step 301: Determine the overlapping area information based on the current lead screw area information and the interference nut pair area information.

[0129] The overlapping area information refers to the region where the current lead screw area information and the interference nut pair area information overlap. This is determined by placing two samples in their corresponding positions and then analyzing the overlapping areas.

[0130] Step 302: After deleting the current nut pair area information and the current lead screw area information from the blank area information, the overlapping area information is recompensated.

[0131] The purpose of compensation is to ensure that the areas of adjacent nut pairs still maintain a complete shape, thus facilitating identification.

[0132] Reference Figure 5 Methods for analyzing the blank region information based on the elliptical arc information of the nut pair to determine the nut pair region information include:

[0133] Step 400: Determine the straight boundary line information based on the blank material area information.

[0134] The straight boundary line information refers to the information of the straight boundary line within the region corresponding to the blank material area information. It is determined by selecting the endpoints, forming a straight line, and then selecting multiple intermediate points to see if they fall within the formed straight line. Since the straight boundary line information is parallel to the overall orientation of the lead screw and nut, it can be determined by defining the straight boundary.

[0135] Step 401: Determine whether the straight line boundary information is parallel to the preset track straight line information.

[0136] The track alignment information refers to the information of the straight line on which the material tray is placed. For example... Figure 2 The image shows information about the straight lines of the indentation. The purpose of this judgment is to determine whether the material trays are all uniformly placed. Since all areas within the material trays are inclined towards the center of the track, all raw materials will be placed facing or have a direction towards the length of the track.

[0137] Step 4011: If so, analyze the blank area information based on the elliptical arc information of the nut pair to determine the nut pair area information.

[0138] If so, it means that all the lead screws and nuts are placed correctly, so the information of the nut pair area can be directly analyzed.

[0139] Step 4012: If not, calculate the horizontal axis tilt angle information based on the straight boundary line information and the track straight line information.

[0140] The horizontal axis tilt angle information is the angle between the projection of the straight boundary line information and the track straight line information onto the horizontal plane. If not, then to eliminate the need for the robot arm to rotate during the clamping process, the lead screw nut can be aligned, thus requiring the calculation of the angle between them. Due to the weight of the nut, the nut assembly must be at the bottom of the tray's track.

[0141] Step 402: Perform matching analysis based on the frequency information, amplitude information and horizontal axis tilt angle information stored in the preset alignment database to determine the swing frequency and swing amplitude of the material tray corresponding to the horizontal axis tilt angle information for aligning the tilted lead screw nut. Define the swing frequency as the swing frequency information and the swing amplitude as the swing amplitude information.

[0142] The oscillation frequency information refers to the frequency at which the material tray oscillates to correct for the horizontal axis tilt angle. The oscillation amplitude information refers to the amplitude at which the material tray oscillates to correct for the horizontal axis tilt angle. The database stores the mapping relationship between frequency, amplitude, and horizontal axis tilt angle information. This mapping is obtained by those skilled in the art through actual operation, selecting the frequency and amplitude that minimizes interference with other normal lead screws and nuts. When the system receives the corresponding horizontal axis tilt angle information, it automatically retrieves the corresponding frequency and amplitude from the database and outputs them as oscillation frequency and amplitude information.

[0143] Step 403: The material tray is oscillated with the direction of the track straight line information as the axis, according to the oscillation frequency information and oscillation amplitude information within the time corresponding to the preset oscillation duration information, and the straight line boundary information is re-determined to see if it is parallel to the track straight line information.

[0144] Here, we take the direction of the track's straight line information as the axis around the middle as an example, but it can also be any position.

[0145] Reference Figure 6 It also includes a method for analyzing the blank material area information based on the elliptical arc information of the nut pair when the material tray is oscillated with the direction of the track straight line information as the axis, according to the oscillation frequency information and oscillation amplitude information within the time corresponding to the preset oscillation duration information, and the straight line boundary line information is still not parallel to the track straight line information. This method includes:

[0146] Step 500: Define the straight line boundary information that is not parallel to the straight line information of the track before the material tray swings as the inclined straight line boundary information.

[0147] Step 501: After the material tray swings, reacquire the horizontal axis tilt angle information of the straight line corresponding to the tilted straight line boundary line information, and define the horizontal axis tilt angle information as the swing tilt angle information.

[0148] Step 502: Calculate the absolute value of the difference between the swing tilt angle information and the preset vertical angle information. Define this absolute value as the swing tilt amplitude information.

[0149] The vertical angle information is the angle information on the horizontal plane that is perpendicular to the track straight line information.

[0150] Step 503: Calculate the absolute value of the difference between the horizontal axis tilt angle information and the vertical angle information, and define the absolute value as the horizontal axis tilt amplitude information.

[0151] Step 504: Determine whether the value corresponding to the swing tilt amplitude information is greater than the value corresponding to the horizontal axis tilt amplitude information.

[0152] The purpose of this judgment is to determine which is further away from the information about the straight line of the orbit, and then to determine in reverse whether it is closer to the information about the straight line of the orbit.

[0153] Step 5041: If it is greater than, then continue to oscillate the tray with the direction of the track straight line information as the axis, according to the oscillation frequency information and oscillation amplitude information within the time corresponding to the oscillation duration information.

[0154] If the value is greater than the value, it means that the swing is closer to the straight line of the track, indicating that the swing is effective and can continue.

[0155] Step 5042: If equal, then record the number of times the oscillation duration information of the material tray is recorded.

[0156] If the value is equal to the value, it means that simply oscillating is ineffective. It is possible that the lead screw of the lead screw nut is stuck between the lead screw and the wall of the material tray, preventing it from oscillating. Further, more vigorous operations are required.

[0157] Step 5043: When the number of times information is greater than the preset critical number of times information, the material tray is oscillating with the direction of the track straight line information as the axis, and vibrating according to the preset vibration frequency information within the time corresponding to the oscillation duration information according to the oscillation frequency information and the oscillation amplitude information.

[0158] Reference Figure 7 Methods for determining whether the boundary line information of a straight line is parallel to the preset track straight line information include:

[0159] Step 600: Determine whether there is a straight boundary line information perpendicular to the track straight line information.

[0160] Step 6001: If it exists, define the straight line boundary information that is perpendicular to the track straight line information as the abnormal straight line boundary information.

[0161] If this is the case, one possibility is that the lead screw is horizontally mounted on another nut assembly, causing the nut assembly itself to be in an upright position. This results in the nut assembly appearing as a straight line when viewed from above. Another possibility is that the lead screw is vertically mounted on the raised edges on both sides of the material tray track. The main purpose of this assessment is to determine if it is the first scenario. In the first scenario, if the nut assembly is upright and the lead screw is not horizontally mounted, uneven force would cause the nut assembly to wobble, thus preventing it from being non-parallel.

[0162] Step 6002: If it does not exist, directly determine whether the straight line boundary information is parallel to the track straight line information.

[0163] If it does not exist, it means that it is not one of the two cases in step 6001, and a judgment can be made directly.

[0164] Step 601: Determine whether the line segment corresponding to the blank area information that intersects with the abnormal straight line boundary information is parallel to the track straight line information.

[0165] The purpose of this judgment is to further determine whether it falls under the first scenario in step 6001.

[0166] In this embodiment, the lead screw is not horizontal when it is vertically mounted on the raised edges on both sides of the material tray track. Therefore, the nut pair will still be tilted. Thus, it can be determined whether the intersecting blank material area information is the nut pair or the lead screw by judging whether the line segment corresponding to the blank material area information intersecting with the abnormal straight line boundary information is parallel to the track straight line information.

[0167] Step 6011: If yes, define the abnormal straight boundary line information as the vertical boundary line information of the nut pair and remove it from the straight boundary line information. Define the straight boundary line information corresponding to the blank area information that intersects with the abnormal straight boundary line information as the flat straight boundary line information.

[0168] If so, it means that it is the first case described in step 6001, which means that it is not a tilted case, and the abnormal straight line boundary line information can be removed from the straight line boundary line information.

[0169] Step 6012: If not, output the abnormal straight line boundary line information and the track straight line information as not parallel.

[0170] If not, it means that it is not the first case described in step 6001 but the second case, which means that the lead screw and the track straight line information are perpendicular, so the abnormal straight line boundary line information and the track straight line information can be directly output as not parallel.

[0171] Step 602: Output the straight line boundary information and the track straight line information. When the output straight line boundary line information is parallel to the current lead screw area information and the corresponding lead screw area information is the current lead screw area information, output the current lead screw area information that falls within the nut pair area information.

[0172] Since this is the first case described in step 6001, the lead screw is parallel to the track straight line information, and it can be directly proven that the lead screw is mounted on another nut pair. Therefore, the current lead screw area information can be directly output to fall within the nut pair area information.

[0173] Reference Figure 8 It also includes a method for oscillating the pallet when abnormal straight line boundary information exists and the output abnormal straight line boundary information and track straight line information are not parallel, including:

[0174] Step 700: Determine whether there are any straight line boundary lines that are not parallel to the track straight line information, in addition to the abnormal straight line boundary line information.

[0175] Step 7001: If it exists, rotate the tray around the abnormal straight line boundary information by a preset vertical axis tilt angle, then rotate the tray around the track straight line information direction as the axis, and swing it within the time corresponding to the preset swing duration information according to the swing frequency information and swing amplitude information, and re-determine whether the abnormal straight line boundary information exists.

[0176] The vertical axis tilt angle information refers to the angle of rotation around the boundary line of the abnormal straight line, specifically a forward or backward rotation. When a vertical straight line exists, simple left-right swaying will not cause the vertical lead screw nut to rotate. Therefore, the material tray needs to be tilted forward or backward so that the lead screw perpendicular to the material tray track tends to move downward, thus aligning all the lead screws as much as possible.

[0177] Step 7002: If it does not exist, the tray is oscillated around the abnormal straight line boundary information as the axis according to the vertical axis tilt angle information and the preset shaking frequency information, and the existence of the abnormal straight line boundary information is re-evaluated.

[0178] The wobbling frequency information is a manually set frequency of wobbling around the abnormal straight line boundary line information as an axis and tilted at the vertical axis angle information. When there is no tilted straight line, it means there is only a vertical straight line. In this case, left and right wobbling will not have any effect. Although simply rotating around the abnormal straight line boundary line information as an axis can make the screw perpendicular to the material tray track tend to move downward, increasing the frequency of wobbling at this angle will make the screw nut rotate more effectively.

[0179] Based on the same inventive concept, embodiments of the present invention provide a lead screw and nut feeding system.

[0180] Reference Figure 9 A screw nut feeding system, comprising:

[0181] The acquisition module is used to acquire the feeding signal, the tray image information, and the position information of the blank.

[0182] A memory for storing a program for controlling a lead screw and nut feeding method;

[0183] A processor is a control method for a lead screw and nut feeding method that allows programs in memory to be loaded and executed by the processor.

[0184] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0185] This invention provides a computer-readable storage medium storing a computer program that can be loaded and executed by a processor for a lead screw and nut feeding method.

[0186] Computer storage media include, for example, USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media that can store program code.

[0187] Based on the same inventive concept, embodiments of the present invention provide a smart terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded and executed by the processor for a screw nut feeding method.

[0188] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features unless specifically stated otherwise. That is, unless specifically stated otherwise, each feature is only one example of a series of equivalent or similar features.

Claims

1. A method for feeding lead screw nuts, characterized in that, include: Obtain the feeding signal; Upon receiving a feeding signal, acquire image information of the material tray located at the preset feeding station; The position information of the blank in the material tray image is analyzed based on the preset blank feature information; Select one of the blank material location information to define the current blank material location information; The robotic arm clamps the blank corresponding to the current blank position information and moves it to the preset processing station. If the current blank material location information is not available, move the material tray to the preset recycling station; When the material tray moves to the recycling station, it outputs a filling signal and moves the material tray at the recycling station to the loading station when it receives the preset filling completion information; It also includes blank position information, including clamping position information and current orientation information, and a method for determining the clamping position information and current orientation information, the method including: The blank area information is determined based on the image information of the material tray, the preset color information of the material tray, and the color information of the blank material; The blank area information is analyzed based on the preset elliptical arc information of the nut pair to determine the nut pair area information and clamping position information; Arbitrarily select a nut pair region information and define it as the current nut pair region information; Determine whether there is blank material area information on both sides of the current nut pair area information; If so, then reselect the nut pair area information; If not, the information of the blank area on one side is matched with the preset lead screw frame information to determine the current lead screw area information; Determine the current orientation information based on the current nut pair area information and the current lead screw area information, and then delete the current nut pair area information and the current lead screw area information from the blank area information. Re-filter the current nut pair area information from the blank area information and determine the current screw area information until there is no nut pair area information.

2. The method for feeding a lead screw nut according to claim 1, characterized in that, Methods for deleting the current nut pair region information and the current lead screw region information from the blank region information include: Determine whether the current lead screw region information falls within the nut pair region information; If so, the information of the nut pair region into which the interference occurs is defined as the information of the nut pair region. The overlapping area information is determined based on the current information of the lead screw region and the interference nut pair region. After deleting the current nut pair area information and the current lead screw area information from the blank area information, the overlapping area information is recompensated. If not, then directly delete the current nut pair area information and the current lead screw area information from the blank area information.

3. The method for feeding a lead screw nut according to claim 2, characterized in that, Methods for analyzing the blank region information based on the elliptical arc information of the nut pair to determine the nut pair region information include: Determine the straight boundary line information based on the information of the raw material area; Determine whether the straight line boundary information is parallel to the preset track straight line information; If so, the blank area information is analyzed based on the elliptical arc information of the nut pair to determine the nut pair area information; If not, the horizontal axis tilt angle is calculated based on the straight boundary line information and the track straight line information; Matching analysis is performed based on the frequency information, amplitude information and horizontal axis tilt angle information stored in the preset alignment database to determine the swing frequency and swing amplitude of the material tray corresponding to the horizontal axis tilt angle information, which will straighten the tilted screw nut. The swing frequency is defined as the swing frequency information and the swing amplitude is defined as the swing amplitude information. The material tray is oscillated around the direction of the track line information as an axis, according to the oscillation frequency information and oscillation amplitude information within the time corresponding to the preset oscillation duration information, and the straight line boundary information is re-determined to see if it is parallel to the track line information.

4. The method for feeding a lead screw nut according to claim 3, characterized in that, It also includes a method for analyzing the blank material region information based on the elliptical arc information of the nut pair when the material tray is oscillated with the direction of the track straight line information as the axis, according to the oscillation frequency information and oscillation amplitude information within the time corresponding to the preset oscillation duration information, and the straight line boundary line information is still not parallel to the track straight line information. This method includes: The straight line boundary information that is not parallel to the straight line information of the track before the material tray swings is defined as the inclined straight line boundary information. After the material tray swings, the horizontal axis tilt angle information of the straight line corresponding to the tilted straight line boundary line information is re-acquired, and the horizontal axis tilt angle information is defined as the swing tilt angle information. The absolute value of the difference between the swing tilt angle information and the preset vertical angle information is calculated and defined as the swing tilt amplitude information. The absolute value of the difference between the horizontal axis tilt angle information and the vertical angle information is calculated, and this absolute value is defined as the horizontal axis tilt amplitude information. Determine whether the value corresponding to the swing tilt amplitude information is greater than the value corresponding to the horizontal axis tilt amplitude information; If it is greater than that, the tray will continue to swing around the direction of the track straight line information as the axis, according to the swing frequency information and swing amplitude information within the time corresponding to the swing duration information. If equal, then the cumulative number of times the oscillation duration information of the material tray is recorded corresponds to the oscillation duration information; When the number of cycles exceeds the preset critical number of cycles, the material tray will swing along the direction of the track straight line information as the axis, and vibrate according to the preset vibration frequency information within the duration corresponding to the swing duration information, according to the swing frequency information and swing amplitude information.

5. The method for feeding a lead screw nut according to claim 3, characterized in that, Methods for determining whether the boundary line information of a straight line is parallel to the straight line information of the track include: Determine if there is a straight boundary line information perpendicular to the track straight line information; If it exists, then define the straight line boundary line information that is perpendicular to the track straight line information as the abnormal straight line boundary line information; Determine whether the line segment corresponding to the blank material area information that intersects with the abnormal straight line boundary information is parallel to the track straight line information; If so, the abnormal straight boundary line information is defined as the vertical boundary line information of the nut pair and removed from the straight boundary line information. The straight boundary line information corresponding to the blank area information that intersects with the abnormal straight boundary line information is defined as the flat straight boundary line information. When the output straight line boundary information is parallel to the track straight line information and the corresponding lead screw area information is the current lead screw area information, the output current lead screw area information falls within the nut pair area information; If not, output the abnormal straight line boundary line information and the track straight line information as not being parallel; If it does not exist, then directly determine whether the information of the straight line boundary line is parallel to the information of the straight line on the track.

6. The method for feeding a lead screw nut according to claim 5, characterized in that, This also includes a method for oscillating the pallet when abnormal straight line boundary information exists and the output abnormal straight line boundary information and track straight line information are not parallel: Determine whether there are any straight line boundary lines that are not parallel to the track straight line information, in addition to the abnormal straight line boundary line information; If it exists, the tray will be rotated around the abnormal straight line boundary information by a preset vertical axis tilt angle information, and then the tray will be rotated around the direction of the track straight line information by an axis according to the swing frequency information and swing amplitude information within the time corresponding to the preset swing duration information, and the existence of the abnormal straight line boundary information will be re-determined. If it does not exist, the tray will be oscillated around the abnormal straight line boundary information as an axis according to the vertical axis tilt angle information and the preset shaking frequency information, and the existence of the abnormal straight line boundary information will be re-evaluated.

7. A lead screw and nut feeding system, characterized in that, include: The acquisition module is used to acquire the feeding signal, the tray image information, and the position information of the blank. A memory for storing a program of a control method for a lead screw nut feeding method as described in any one of claims 1 to 6; The processor and the program in the memory can be loaded and executed by the processor to implement the control method for the lead screw nut feeding method as described in any one of claims 1 to 6.

8. A smart terminal, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as claimed in any one of claims 1 to 6, for a screw nut feeding method.

9. A computer-readable storage medium, characterized in that, The computer program is stored and can be loaded by a processor and executed as described in any one of claims 1 to 6, which is a method for feeding a lead screw nut.

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