Positioning and conveying equipment for automobile safety airbag gas generator pipe fitting machining

Abstract

The invention discloses positioning and conveying equipment for machining of automobile safety airbag gas generator pipe fittings, and relates to the technical field of generator pipe fitting positioning and conveying tools. Through cooperation of the outer gear ring and the gear, rotation of the positioning clamping base is facilitated, and therefore the installation efficiency of the positioning device is improved; through cooperation of the bearing block and the bearing table, the positioning device can be conveniently and rapidly pushed into the two ends of the pipe fitting through the electric push rod, and the working efficiency is improved; through data analysis of the control assembly, in the installation process of the positioning device, the operation states of the transmission roller and the electric push rod are dynamically adjusted according to the installation time and the pipe fitting position, time waste caused by waiting or misoperation is avoided, the machining period of a single pipe fitting is greatly shortened, the overall production efficiency is improved, and the production cost is reduced. The requirement of large-scale production is met; the installation direction of the positioning device is accurately controlled, machining errors caused by deviation of the installation direction are effectively reduced, the consistency and precision of products are improved, and the accuracy of the machining process is ensured.

Description

Technical Field

[0001] The invention relates to the technical field of generator pipe positioning and conveying tools, in particular to a positioning and conveying device for processing automobile safety airbag gas generator pipes. Background Art

[0002] The main function of the airbag gas generator is to quickly generate a large amount of gas in certain situations such as when a car crashes, so that the airbag can be quickly inflated and deployed, providing cushioning protection for the occupants in the car, reducing the impact force on the human body at the moment of collision, and effectively reducing the severity of injuries;

[0003] In the past, the processing of gas generator pipe fittings was done manually. First, the pipe fittings had to be picked up manually, and then the positioning devices had to be installed on both ends of the pipe fittings using the corresponding tools. After that, the pipe fittings with the positioning devices installed had to be manually sent to the processing area before subsequent processing could be carried out. Throughout the entire process, since each step relied on manual work, not only was the work efficiency very low, but it also consumed a lot of manpower costs, which was not conducive to the efficient development of production.

[0004] Moreover, the speed of manual operation is limited. In the process of installing the positioning device, the installation efficiency is low due to the influence of workers' proficiency and fatigue, which makes it difficult to meet the needs of large-scale production. The consistency of manual operation is poor. There are deviations in the position and direction of the positioning device installed by different workers, which affects the quality of subsequent processing, reduces the product qualification rate, increases the scrap rate and rework costs, and is not conducive to enterprises maintaining their advantages in market competition. In the process of position transmission of pipe fittings under the action of transmission rollers, due to the complex and changeable transmission environment of pipe fittings, the speed of the conveyor belt may fluctuate due to load changes, and the friction between the pipe fittings and the transmission rollers is not constant. As a result, when the pipe fittings are transmitted to the specified position, the rotation angle is uncertain, and the positioning device is difficult to accurately match with the pipe fittings, affecting the assembly efficiency.

[0005] Therefore, improvements need to be made based on the above problems. Summary of the invention

[0006] The purpose of the present invention is to solve the shortcomings of the prior art and to propose a positioning and conveying device for processing automobile safety airbag gas generator pipes.

[0007] In order to achieve the above-mentioned object, the present invention adopts the following technical scheme: a positioning and conveying device for processing automobile airbag gas generator pipe fittings, comprising a frame, a support frame is provided at both ends of one side of the frame, and a mounting plate is transversely fixedly connected to the front and rear ends of the top of the frame, and a plurality of equally spaced transmission rollers are transversely provided between the two mounting plates, and the two ends of the transmission roller are rotatably connected to the mounting plate;

[0008] A control box is installed on the rack, and a control component is arranged inside the control box. The control component includes a collection module, a processing module and an alarm module;

[0009] The acquisition module detects the rotation speed data of the transmission roller, the distance data between the pipe fitting and the two sides of the rotating roller, the installation time of the positioning device, the installation position data of the two ends of the pipe fitting, and transmits the detected data to the processing module;

[0010] The processing module analyzes the installation time data to determine whether the installation of the positioning device requires the transmission roller to pause. When it is determined that a pause is required, a pause signal is generated and transmitted to the warning module; the distance data is analyzed to determine the adjustment speed of the electric push rods on both sides; the installation position data and the speed data are analyzed to determine the adjustment direction of the positioning device on the electric push rod, a direction adjustment signal is generated, and the direction adjustment signal is transmitted to the warning module;

[0011] The warning module, upon receiving the pause signal, pauses the rotation of the transmission roller; upon receiving the direction adjustment signal, adjusts the direction of the positioning device according to the rotation angle.

[0012] Preferably, a cavity is provided inside the mounting plate, and a plurality of equidistant sprockets are transversely provided in the cavity. The sprockets at both ends are fixedly connected to drive rollers, and chains are sleeved on the outer sides of the sprockets on both sides of the same end, and the chains are meshed with the sprockets at the same end for transmission.

[0013] Preferably, a reducer is installed at the front end of the other side of the top surface of the frame, a servo motor is provided on one side of the reducer, the output shaft of the servo motor is connected to the driving shaft of the reducer through a coupling, and the servo motor is installed on the top surface of the frame, and the output shaft of the reducer is connected to the transmission roller through a coupling.

[0014] Preferably, a movable cavity is opened at the upper end of the inner part of the support bracket, one side of the movable cavity is rotatably connected to an external gear ring, and the other side of the movable cavity is rotatably connected to a gear, the gear is meshed with the external gear ring for transmission, and a stepper motor is provided directly below the gear, the stepper motor is mounted on the inner top surface of the support bracket, and the output shaft of the stepper motor passes through the support bracket and is connected to the gear.

[0015] Preferably, a supporting platform is fixedly connected to the inner wall of the outer gear ring, a positioning socket is installed on the top surface of the supporting platform, a positioning opening is opened through the positioning socket and the middle part of the supporting platform, a supporting block is provided in the positioning opening, an electric push rod is installed on the top surface of the supporting block, and push plates are installed at the adjacent ends of the output shafts of the two electric push rods.

[0016] Preferably, the lower end of the supporting block passes through the supporting frame, and a fixing plate is fixedly connected to the bottom surface of the supporting block, and the fixing plate is installed on the top surface of the supporting frame.

[0017] A cavity is provided inside the transmission roller, a mounting frame is provided in the cavity, a plurality of electromagnet segments are installed on the top surface of the mounting frame, a wire is connected to the rear end of the electromagnet segment, and a positioning frame is provided on the outer side of the transmission roller at a position corresponding to the mounting frame.

[0018] Preferably, the processing module performs the following steps to determine the installation time:

[0019] Step 1: retrieve the historical installation time data of the positioning device of the electric push rod, calculate the mean a and standard deviation b of the historical installation time data, establish the fluctuation range [a-2b, a+2b] of the historical installation time data with the mean a and standard deviation b, mark the historical installation time data that is no longer within the fluctuation range as an outlier, and after removing the outlier, calculate the mean of the remaining historical installation time data, and use the mean of the historical installation time data as the average installation time t of the positioning device AZ ;

[0020] Step 2: Compare the average installation time with the preset installation time threshold. If the average installation time is greater than the preset installation time threshold, it is determined that the installation of the positioning device takes a long time, and the transmission roller needs to stop rotating to wait for the installation of the positioning device, generate a pause signal, and transmit the pause signal to the warning module; otherwise, it is determined that there is no impact and the transmission roller continues to run.

[0021] Preferably, the analysis module performs the following steps to analyze the installation positioning of the installation device:

[0022] Step 1: Detect the installation direction of the positioning device at both ends of the pipe on the transmission roller, and record the corresponding time data of the detection, grayscale the collected image data at both ends of the pipe, and divide the grayscale processed image according to the 3X3 domain window, so that the grayscale processed image becomes a number of 3X3 domain windows; calculate the mean grayscale value of the 9 pixels in the 3X3 domain window, and use the calculated grayscale mean as the grayscale value of the corresponding 3X3 domain window; mark the grayscale value data at the four corner positions of the positioning device installation position, and record them as corner grayscale value one, corner grayscale value two, corner grayscale value three and corner grayscale value four respectively;

[0023] Step 2: Analyze the installation position image data at both ends of the pipe fitting, and compare the grayscale mean data of the detected 3X3 field window with the corner grayscale value one, corner grayscale value two, corner grayscale value three and corner grayscale value four respectively. If the grayscale mean data of the detected 3X3 field window is the same as one of the four corner grayscale values, determine that the grayscale mean data of the detected 3X3 field window is the corresponding corner grayscale value; after determining that three different corner grayscale values ​​are detected, the detected corner grayscale values ​​are numbered and distinguished, and a contour map at the installation position is constructed, and the corresponding numbered corner grayscale values ​​are matched in a clockwise direction at the four corner positions of the contour map to determine the installation direction of the positioning device; according to the positions corresponding to the three corner grayscale values ​​obtained, the installation position corner corresponding to another corner grayscale value is deduced, and the position of the arrow extending from the center of the installation position to the direction corresponding to the corner grayscale value one is the installation direction;

[0024] Step 3: Calculate the linear distance between the detection position and the electric push rod position for the transmission roller position data corresponding to the installation position detection time. Calculate the time t when the pipe reaches the corresponding position of the electric push rod based on the linear distance data between the detection position and the electric push rod position and the rotation speed data of the transmission roller. DD ; Get the installation direction of both ends of the pipe at the time of detection, get the circumference data C and radius data r of the pipe, and the rotation speed of the transmission roller is v cd , the rotation time is t DD , then the distance L that the pipe needs to rotate to reach the corresponding position of the electric push rod D =v cd *t DD , determine the angle of rotation of the pipe from the detection position to the electric push rod position If θ>360°, calculate the offset angle α, α=θ-n*360°, where n is the largest positive integer satisfying α>0;

[0025] Step 4: Add multiple uniform marks on the outer circumference of the pipe fitting, each mark has a different color and is arranged clockwise. When the pipe fitting rotates and moves under the action of the driving roller 4, the image data of the rotation of the pipe fitting is collected, and then the collected image data is gray-processed; the gray value of each mark on the image after gray-processing is compared with the corresponding preset gray value. If the gray value of the mark is the same as the corresponding preset gray value, the color of the mark is determined to be the color of the corresponding preset corresponding color mark; if no mark of the same color is detected within the detection time period, it is determined that the pipe fitting has rotated one circle. When the pipe fitting reaches the detection position, the image data at the arrival time is analyzed to determine whether there is a mark at the middle position of the image; if there is a mark, the color of the mark is determined, and the rotation deflection angle α of the pipe fitting is obtained according to the product of the arrangement sequence number of the mark color on the pipe fitting and the rotation angle value between adjacent marks; if there is no mark, the color of the marks on both sides of the middle position is determined, and then a secondary mark is set at the middle position of the gray-processed image, and the distance between the secondary mark and the color marks on both sides is calculated to obtain the rotation deflection angle α of the pipe fitting;

[0026] Step 5: Compare the rotation deflection angle α with the preset rotation deflection angle threshold 1. If the ratio of the rotation deflection angle α to the preset rotation deflection angle threshold 1 is not equal to the preset ratio, it is determined that there is an abnormality between the rotating roller and the pipe fitting; retrieve the corresponding rotation deflection angle data of the pipe fitting at each rotating roller position, and compare the retrieved rotation deflection angle data at the corresponding position with the preset rotation deflection angle threshold 2 at the corresponding position. If the rotation deflection angle data at the corresponding position is less than the preset rotation deflection angle threshold 2 at the corresponding position, it is determined that the corresponding pipe fitting is abnormal, a heavy adjustment signal is generated, and the heavy adjustment signal is transmitted to the warning module; if the rotation deflection angle data at the corresponding position is greater than the preset rotation deflection angle threshold 2 at the corresponding position, it is determined that the corresponding pipe fitting is abnormal, a light adjustment signal is generated, and the light adjustment signal is transmitted to the warning module; while transmitting the adjustment signal, the serial number of the pipe fitting determined to be abnormal is transmitted to the warning module;

[0027] Step 6: grayscale processing is performed on the image data of the pipes judged to be abnormal during the rotation process, and the grayscale values ​​of the pipes and the rotating rollers at the corresponding positions within the set interval are recorded, and the abnormal grayscale values ​​are screened out; if there is an abnormal grayscale value at the corresponding position of the pipe, the pipe is judged to be abnormal, and the abnormal position is marked; if there is an abnormal grayscale value at the corresponding position of the rotating roller, the rotating roller is judged to be abnormal, and the abnormal position is marked;

[0028] Step 7: Compare the rotation deflection angles α calculated by the two methods. If the rotation deflection angles α are the same, it is determined that the detection is correct; otherwise, it is determined that the detection is incorrect and the detection is repeated.

[0029] Preferably, the warning module performs the following steps to adjust the angle of the mounting device on the electric push rod:

[0030] Step 1: Determine the installation direction of the positioning device on the electric push rod, obtain the installation direction of the corresponding end of the pipe fitting at the time of detection, and detect the angle data β between the two directions. If α=β, it is determined that no adjustment is required; otherwise, calculate the angle to be adjusted, and the angle to be adjusted γ=α-β;

[0031] Step 2: If |α-β|>180° and α-β is a positive value, it is determined that the direction of the positioning device is adjusted counterclockwise, and the positioning device on the electric push rod is rotated counterclockwise with an angle of 180°-(α-β); if |α-β|>180° and α-β is a negative value, it is determined that the direction of the positioning device is adjusted clockwise, and the positioning device on the electric push rod is rotated clockwise with an angle of 180°-|α-β|;

[0032] Step 3: If |α-β|<180° and α-β is a positive value, it is determined that the direction of the positioning device is adjusted clockwise, and the positioning device on the electric push rod is rotated clockwise with an angle of α-β; if |α-β|<180° and α-β is a negative value, it is determined that the direction of the positioning device is adjusted counterclockwise, and the positioning device on the electric push rod is rotated counterclockwise with an angle of |α-β|.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] 1. The cooperation of the chain and the sprocket facilitates the rotation of the transmission roller, thereby facilitating the transportation of the gas generator pipe fittings and improving work efficiency; the cooperation of the outer gear ring and the gear facilitates the rotation of the positioning holder, thereby improving the installation efficiency of the positioning device; the cooperation of the supporting block and the supporting platform facilitates the electric push rod to quickly push the positioning device into both ends of the pipe fitting, thereby improving work efficiency; the cooperation of the electric push rod and the positioning holder facilitates the rapid installation of the positioning device, thereby improving work efficiency and work effect;

[0035] 2. Through data analysis of the control components, during the installation of the positioning device, the operating status of the transmission roller and the electric push rod are dynamically adjusted according to the installation time and the position of the pipe fitting, avoiding the time waste caused by waiting or operating errors, greatly shortening the processing cycle of a single pipe fitting, improving the overall production efficiency, and meeting the needs of large-scale production; the installation direction of the positioning device is accurately controlled, effectively reducing the processing error caused by the deviation of the installation direction, improving the consistency and precision of the product, ensuring the accuracy of the processing process, thereby improving product quality and reducing the scrap rate; reducing the uncertainty and errors caused by manual operation, further optimizing the production process, and saving production costs for the enterprise;

[0036] 3. Through the combination of transmission time and rotation angle, even if a small error occurs in one judgment method at a certain moment, the other method can make up for it, avoiding the continuous accumulation of errors and ensuring that the accuracy of the installation position and direction judgment is always maintained at a high level; by combining the two methods, no matter how the conveyor belt speed changes, as long as the rotation angle is monitored to reach the expected level and the transmission time is also within a reasonable range, the pipe position and installation direction can be accurately judged, so that the equipment can still operate stably under complex working conditions;

[0037] 4. The abnormal positions on the rotating roller and the outside of the pipe are detected through the analysis module, and the abnormal positions are marked. Then, the current supplied to the electromagnet section on the inner side of the rotating roller is adjusted to adjust the force between the rotating roller and the pipe, thereby improving the stability of pipe transmission. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0039] Figure 1 It is a schematic diagram of the overall three-dimensional structure proposed by the present invention;

[0040] Figure 2 A schematic diagram of the three-dimensional structure of the sprocket and chain proposed by the present invention;

[0041] Figure 3 This is a bottom-up three-dimensional structural schematic diagram of the support frame proposed by the present invention;

[0042] Figure 4 This is a schematic diagram of the three-dimensional structure of the outer gear ring and the gear proposed by the present invention;

[0043] Figure 5 The present invention proposes Figure 2 A schematic diagram of the enlarged structure of the middle A part;

[0044] Figure 6 is a system flow chart of the present invention;

[0045] Figure 7 It is a cross-sectional view of the transmission roller and electromagnet segment structure of the present invention.

[0046] Serial numbers in the figure: 1. frame; 2. support frame; 3. mounting plate; 4. transmission roller; 5. sprocket; 6. chain; 7. reducer; 8. servo motor; 9. outer gear ring; 10. gear; 11. stepper motor; 12. support platform; 13. positioning card seat; 14. support block; 15. electric push rod; 16. fixing plate; 17. push plate; 18. mounting frame; 19. electromagnet segment; 20. wire; 21. positioning frame. DETAILED DESCRIPTION

[0047] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0048] Example: See Figure 1-7 The present invention provides a positioning and conveying device for processing automobile airbag gas generator pipe fittings, comprising a frame 1, a support frame 2 is provided at both ends of one side of the frame 1, and a mounting plate 3 is transversely fixedly connected to the front and rear ends of the top of the frame 1, and a plurality of equally spaced transmission rollers 4 are transversely provided between the two mounting plates 3, and the two ends of the transmission roller 4 are rotatably connected to the mounting plate 3; the transmission roller 4 is conveniently installed through the frame 1; the positioning card seat 13 is conveniently installed through the support frame 2; the rotation of the transmission roller 4 is convenient through the mounting plate 3; the transmission roller 4 is conveniently transported through the transmission roller 4; a cavity is opened inside the mounting plate 3, and a plurality of equally spaced chain rollers are transversely provided in the cavity. Wheel 5, sprocket wheels 5 at both ends are fixedly connected to the transmission roller 4, and chains 6 are sleeved on the outer sides of the sprocket wheels 5 on the same end, and the chain 6 is meshed with the sprocket wheels 5 at the same end for transmission; the sprocket wheel 5 is convenient for controlling the rotation of the transmission roller 4; the chain 6 is convenient for the rotation of multiple sprocket wheels 5; a reducer 7 is installed at the front end on the other side of the top surface of the frame 1, and a servo motor 8 is provided on one side of the reducer 7, and the output shaft of the servo motor 8 is connected to the driving shaft of the reducer 7 through a coupling, and the servo motor 8 is installed on the top surface of the frame 1, and the output shaft of the reducer 7 is connected to the transmission roller 4 through a coupling; the rotation of the sprocket wheel 5 is convenient for controlling the rotation of the servo motor 8 through the reducer 7 and the servo motor 8.

[0049] A control box is installed on the rack 1, and a control component is arranged inside the control box. The control component includes a collection module, a processing module and an alarm module;

[0050] The historical installation time data of the positioning device of the electric push rod 15 is retrieved, and the mean a and standard deviation b of the historical installation time data are calculated. The fluctuation range [a-2b, a+2b] of the historical installation time data is established with the mean a and standard deviation b. The historical installation time data that is no longer within the fluctuation range is marked as an abnormal value. After removing the abnormal value, the mean of the remaining historical installation time data is calculated, and the mean of the historical installation time data is taken as the average installation time t of the positioning device. AZ ; Compare the average installation time with the preset installation time threshold. If the average installation time is greater than the preset installation time threshold, it is determined that the installation of the positioning device takes a long time, and the transmission roller 4 needs to stop rotating to wait for the installation of the positioning device, generate a pause signal, and transmit the pause signal to the warning module; otherwise, it is determined that there is no impact, and the transmission roller 4 continues to operate;

[0051] The rotation speed v of the transmission roller 4 cdDetect the position of the pipe on the transmission roller 4 and the distance data L between the two ends of the pipe and the edge of the transmission roller 4. Z and L Y , then the adjustment speeds of the electric push rods 15 on the corresponding sides are and The adjustment speed of the electric push rod 15 is adjusted according to the calculated adjustment speed data.

[0052] The installation direction of the positioning device at both ends of the pipe on the driving roller 4 is detected, and the corresponding time data of the detection is recorded, the collected image data at both ends of the pipe is grayed, and the grayed image is divided according to the 3X3 domain window, so that the grayed image is changed into a number of 3X3 domain windows; the gray values ​​of the 9 pixels in the 3X3 domain window are averaged, and the calculated gray mean is the gray value of the corresponding 3X3 domain window; the gray value data at the four corner positions of the positioning device installation position are marked, and are recorded as corner gray value one, corner gray value two, corner gray value three and corner gray value four respectively;

[0053] When locating the installation position of the positioning device, the installation position image data at both ends of the pipe are analyzed, and the grayscale mean data of the detected 3X3 field window are compared with the corner grayscale value one, the corner grayscale value two, the corner grayscale value three and the corner grayscale value four respectively. If the grayscale mean data of the detected 3X3 field window is the same as one of the four corner grayscale values, the grayscale mean data of the detected 3X3 field window is determined to be the corresponding corner grayscale value; after determining that three different corner grayscale values ​​are detected, the detected corner grayscale values ​​are numbered and distinguished, and a contour map at the installation position is constructed, and the corresponding numbered corner grayscale values ​​are matched in a clockwise direction at the four corner positions of the contour map to determine the installation direction of the positioning device; according to the positions corresponding to the three obtained corner grayscale values, the installation position corner corresponding to another corner grayscale value is deduced, and the position of the arrow extending from the center of the installation position to the direction corresponding to the corner grayscale value one is the installation direction;

[0054] The position data of the transmission roller 4 corresponding to the installation position detection time is used to calculate the straight-line distance between the detection position and the position of the electric push rod 15. According to the straight-line distance data between the detection position and the position of the electric push rod 15 and the rotation speed data of the transmission roller 4, the time t when the pipe reaches the corresponding position of the electric push rod 15 is calculated. DD ; Get the installation direction of both ends of the pipe at the time of detection, get the circumference data C and radius data r of the pipe, the rotation speed of the drive roller 4 is v cd , the rotation time is t DD , then the distance L that the pipe needs to rotate to reach the corresponding position of the electric push rod 15 D =vcd *t DD , determine the angle of rotation of the pipe from the detection position to the position of the electric push rod 15 If θ>360°, calculate the offset angle α, α=θ-n*360°, where n is the largest positive integer satisfying α>0;

[0055] A plurality of uniform marks are added on the outer circumference of the pipe fitting, each mark has a different color and is arranged clockwise. When the pipe fitting rotates and moves under the action of the driving roller 4, the image data of the rotation of the pipe fitting is collected, and then the collected image data is gray-processed; the gray value of each mark on the image after gray-processing is compared with the corresponding preset gray value. If the gray value of the mark is the same as the corresponding preset gray value, the color of the mark is determined to be the color of the corresponding preset corresponding color mark; if no mark of the same color is detected within the detection time period, it is determined that the pipe fitting has rotated one circle. When the pipe fitting reaches the detection position, the image data at the arrival time is analyzed to determine whether there is a mark at the middle position of the image; if there is a mark, the color of the mark is determined, and the rotation deflection angle α of the pipe fitting is obtained according to the product of the arrangement sequence number of the mark color on the pipe fitting and the rotation angle value between adjacent marks; if there is no mark, the color of the marks on both sides of the middle position is determined, and then a secondary mark is set at the middle position of the gray-processed image, and the distance between the secondary mark and the color marks on both sides is calculated to obtain the rotation deflection angle α of the pipe fitting;

[0056] The rotation deflection angle α is compared with the preset rotation deflection angle threshold 1. If the ratio of the rotation deflection angle α to the preset rotation deflection angle threshold 1 is not equal to the preset ratio, it is determined that there is an abnormality between the rotating roller 4 and the pipe fitting; the corresponding rotation deflection angle data of the pipe fitting at each rotating roller 4 position is retrieved, and the retrieved rotation deflection angle data at the corresponding position is compared with the preset rotation deflection angle threshold 2 at the corresponding position. If the rotation deflection angle data at the corresponding position is less than the preset rotation deflection angle threshold 2 at the corresponding position, it is determined that the corresponding pipe fitting is abnormal, a heavy adjustment signal is generated, and the heavy adjustment signal is transmitted to the warning module; if the rotation deflection angle data at the corresponding position is greater than the preset rotation deflection angle threshold 2 at the corresponding position, it is determined that the corresponding pipe fitting is abnormal, a light adjustment signal is generated, and the light adjustment signal is transmitted to the warning module; while transmitting the adjustment signal, the serial number of the pipe fitting determined to be abnormal is transmitted to the warning module;

[0057] And the grayscale processing of the image data during the rotation process is performed on the pipes whose corresponding pipes are judged to be abnormal, and the grayscale values ​​of the pipes and the rotating roller 4 at the corresponding positions within the set interval time are recorded, and the abnormal values ​​of the grayscale values ​​are screened out; if there is an abnormal value in the grayscale value at the corresponding position of the pipe, the pipe is judged to be abnormal, and the abnormal position is marked; if there is an abnormal value in the grayscale value at the corresponding position of the rotating roller 4, the rotating roller 4 is judged to be abnormal, and the abnormal position is marked;

[0058] The rotation deflection angles α calculated by the two methods are compared. If the rotation deflection angles α are the same, it is determined that the detection is correct; otherwise, it is determined that the detection is incorrect and the detection is repeated;

[0059] The installation direction of the positioning device on the electric push rod 15 is determined, the installation direction of the corresponding end of the pipe fitting at the detection time is obtained, and the angle data β between the two directions is detected. If α=β, it is determined that no adjustment is required; otherwise, the angle to be adjusted is calculated, and the angle to be adjusted γ=α-β. If |α-β|>180° and α-β is a positive value, it is determined that the direction of the positioning device is adjusted counterclockwise, and the positioning device on the electric push rod 15 is rotated counterclockwise with an angle of 180°-(α-β); if |α-β|>180° and α-β is a negative value, it is determined that the direction of the positioning device is adjusted counterclockwise. The direction of the positioning device is adjusted clockwise, and the positioning device on the electric push rod 15 is rotated clockwise with an angle of 180°-|α-β|; if |α-β|<180° and α-β is a positive value, it is determined that the direction of the positioning device is adjusted clockwise, and the positioning device on the electric push rod 15 is rotated clockwise with an angle of α-β; if |α-β|<180° and α-β is a negative value, it is determined that the direction of the positioning device is adjusted counterclockwise, and the positioning device on the electric push rod 15 is rotated counterclockwise with an angle of |α-β|.

[0060] In the present invention, a movable cavity is provided at the upper end of the inner part of the support frame 2, one side of the movable cavity is rotatably connected to an outer gear ring 9, and the other side of the movable cavity is rotatably connected to a gear 10, the gear 10 is meshed with the outer gear ring 9 for transmission, and a stepper motor 11 is provided directly below the gear 10, the stepper motor 11 is mounted on the inner top surface of the support frame 2, and the output shaft of the stepper motor 11 passes through the support frame 2 and is connected to the gear 10; the rotation of the support platform 12 is facilitated by the outer gear ring 9; the rotation of the outer gear ring 9 is facilitated by the gear 10 The gear ring 9 rotates; the stepper motor 11 facilitates the rotation of the gear 10; the inner wall of the outer gear ring 9 is fixedly connected to a support platform 12, and a positioning card seat 13 is installed on the top surface of the support platform 12. The positioning card seat 13 and the middle of the support platform 12 are penetrated by a positioning opening, and a supporting block 14 is provided in the positioning opening. An electric push rod 15 is installed on the top surface of the supporting block 14, and a push plate 17 is installed at the proximal end of the output shaft of the two electric push rods 15; the positioning card seat 13 is conveniently installed through the support platform 12; through the positioning card seat 13 is convenient for installing the positioning device; the electric push rod 15 is convenient for installing the supporting block 14; the positioning device is conveniently installed at both ends of the pipe fitting through the electric push rod 15; the lower end of the supporting block 14 passes through the supporting bracket 2, and the bottom surface of the supporting block 14 is fixedly connected to a fixing plate 16, and the fixing plate 16 is installed on the top surface of the supporting bracket 2; the supporting block 14 is conveniently fixed by the fixing plate 16; a cavity is opened inside the transmission roller 4, and a mounting frame 18 is provided in the cavity, and a plurality of electromagnet segments 19 are installed through the mounting frame 18, and an electromagnet segment 19 is installed on the top surface of the mounting frame 18, and the electromagnet segment 19 is conveniently used to generate a magnetic attraction force on the gas generator pipe fitting passing through the transmission roller 4, and the friction force between the transmission roller 4 and the pipe body can be increased or reduced by changing the magnetic attraction force, so as to facilitate the stable transportation of different gas generator pipe fittings with different friction forces; the rear end of the electromagnet segment 19 is connected to a wire 20, and the electromagnet segment 19 is conveniently energized through the wire 20.

[0061] Working principle: When the present invention is used, firstly, all electrical equipment are connected to the wires and powered on, then the servo motor 8 is started, and the servo motor 8 is connected to the transmission roller 4 through the reducer 7, and then the chain 6 is meshed with multiple sprockets 5 for transmission. When the servo motor 8 is started, one of the transmission rollers 4 is controlled to rotate, and then the chain 6 is controlled to rotate, thereby controlling the rotation of multiple sprockets 5, and then controlling the rotation of multiple transmission rollers 4; then the gas generator pipe is placed on the other side of the frame 1, that is, on the transmission roller 4 on the other side, and the pipe is driven to move by the rotation of the transmission roller 4. When it is necessary to increase the friction between the pipe body and the transmission roller 4, the current supply to the electromagnet segment 19 is increased, so that the magnetic attraction of the electromagnet segment 19 is increased to adsorb the pipe downward, thereby increasing the friction between the pipe body and the transmission roller 4, or reducing the magnetic attraction by reducing the current supply to reduce the effect on the transmission roller 4. The friction strength between the pipe fitting and the gas generator pipe fitting; when the pipe fitting moves to the specified position, the stepper motor 11 is started, and the gear 10 is controlled to rotate by the stepper motor 11, and the gear 10 and the outer gear ring 9 are meshed and transmitted to control the rotation of the outer gear ring 9, thereby controlling the rotation of the support platform 12, and the positioning card seat 13 is installed on the top surface of the support platform 12, so as to control the rotation of the positioning card seat 13, and then installed on the support block 14 through the electric push rod 15, and the support block 14 is fixed to the support bracket 2 through the fixing plate 16. At this time, the positioning card seat 13 is rotating, and the electric push rod 15 is fixed. When the positioning card seat 13 rotates, the side equipped with the positioning device is rotated to the position of the output shaft of the electric push rod 15, and the electric push rod 15 is started to push the positioning device to both ends of the pipe fitting, so that the positioning device is installed on both ends of the pipe fitting, so as to facilitate subsequent processing; when the positioning devices at both ends of the pipe fitting are installed, all devices are powered off.

[0062] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A positioning and conveying device for processing automobile airbag gas generator pipes, comprising a frame (1), characterized in that: Support frames (2) are provided at both ends of one side of the frame (1), and mounting plates (3) are transversely fixedly connected to the front and rear ends of the top of the frame (1), and a plurality of equally spaced transmission rollers (4) are transversely provided between the two mounting plates (3), and both ends of the transmission rollers (4) are rotatably connected to the mounting plates (3); A control box is installed on the frame (1), and a control component is arranged inside the control box. The control component includes a collection module, a processing module and an alarm module; The acquisition module detects the rotation speed data of the transmission roller (4), detects the distance data between the pipe fitting and the two sides of the rotating roller (4), detects the installation time of the positioning device, detects the installation position data of the two ends of the pipe fitting, and transmits the detected data to the processing module; The processing module analyzes the installation time data to determine whether the installation of the positioning device requires the transmission roller (4) to pause, and when it is determined that a pause is required, generates a pause signal, and transmits the pause signal to the warning module; analyzes the distance data to determine the adjustment speed of the electric push rods (15) on both sides; analyzes the installation position data and the rotation speed data to determine the adjustment direction of the positioning device on the electric push rod (15), generates a direction adjustment signal, and transmits the direction adjustment signal to the warning module; The warning module, upon receiving the pause signal, pauses the rotation of the transmission roller (4); upon receiving the direction adjustment signal, adjusts the direction of the positioning device according to the rotation angle.

2. The positioning and conveying equipment for processing automobile airbag gas generator pipes according to claim 1 is characterized in that: A cavity is provided inside the mounting plate (3), and a plurality of equidistant sprockets (5) are transversely provided in the cavity. The sprockets (5) at both ends are fixedly connected to the transmission rollers (4), and chains (6) are sleeved on the outer sides of the sprockets (5) at both sides of the same end. The chains (6) are meshed with the sprockets (5) at the same end for transmission.

3. The positioning and conveying equipment for processing automobile airbag gas generator pipes according to claim 1, characterized in that: A reducer (7) is installed at the front end of the other side of the top surface of the frame (1), and a servo motor (8) is provided on one side of the reducer (7). The output shaft of the servo motor (8) is connected to the drive shaft of the reducer (7) via a coupling. The servo motor (8) is installed on the top surface of the frame (1), and the output shaft of the reducer (7) is connected to the transmission roller (4) via a coupling.

4. The positioning and conveying equipment for processing automobile airbag gas generator pipes according to claim 1, characterized in that: An active cavity is provided at the upper end of the support frame (2), one side of the active cavity is rotatably connected to an external gear ring (9), and the other side of the active cavity is rotatably connected to a gear (10), the gear (10) is meshed with the external gear ring (9) for transmission, and a stepper motor (11) is provided directly below the gear (10), the stepper motor (11) is mounted on the inner top surface of the support frame (2), and the output shaft of the stepper motor (11) passes through the support frame (2) and is connected to the gear (10).

5. The positioning and conveying equipment for processing automobile airbag gas generator pipes according to claim 4, characterized in that: A support platform (12) is fixedly connected to the inner wall of the outer gear ring (9), a positioning seat (13) is installed on the top surface of the support platform (12), a positioning opening is opened through the middle of the positioning seat (13) and the support platform (12), a supporting block (14) is arranged in the positioning opening, an electric push rod (15) is installed on the top surface of the supporting block (14), and push plates (17) are installed at the adjacent ends of the output shafts of the two electric push rods (15).

6. The positioning and conveying equipment for processing automobile airbag gas generator pipes according to claim 5, characterized in that: The lower end of the supporting block (14) passes through the supporting frame (2), and a fixing plate (16) is fixedly connected to the bottom surface of the supporting block (14), and the fixing plate (16) is installed on the inner top surface of the supporting frame (2).

7. The positioning and conveying equipment for processing automobile airbag gas generator pipes according to claim 6, characterized in that: A cavity is provided inside the transmission roller (4), a mounting frame (18) is provided in the cavity, a plurality of electromagnet segments (19) are mounted on the top surface of the mounting frame (18), a lead wire (20) is connected to the rear end of the electromagnet segment (19), and a positioning frame (21) is provided on the outside of the transmission roller (4) at a position corresponding to the mounting frame (18).

8. The positioning and conveying equipment for processing automobile airbag gas generator pipes according to claim 7, characterized in that: The steps for determining the installation time of the processing module are as follows: Step 1: retrieve the historical installation time data of the positioning device of the electric push rod (15), calculate the mean a and standard deviation b of the historical installation time data, establish the fluctuation range [a-2b, a+2b] of the historical installation time data with the mean a and standard deviation b, mark the historical installation time data that is no longer within the fluctuation range as an abnormal value, and after removing the abnormal value, calculate the mean of the remaining historical installation time data, and use the mean of the historical installation time data as the average installation time t of the positioning device AZ ; Step 2: Compare the average installation time with a preset installation time threshold. If the average installation time is greater than the preset installation time threshold, it is determined that the installation of the positioning device takes a long time, and the transmission roller (4) needs to stop rotating to wait for the installation of the positioning device, generate a pause signal, and transmit the pause signal to the warning module; otherwise, it is determined that there is no impact and the transmission roller (4) continues to operate.

9. The positioning and conveying equipment for processing automobile airbag gas generator pipes according to claim 8, characterized in that: The analysis steps for the analysis module to perform installation positioning of the installation device are as follows: Step 1: Detect the installation direction of the positioning device at both ends of the pipe on the transmission roller (4), and record the corresponding time data of the detection, grayscale the collected image data at both ends of the pipe, and divide the grayscale processed image according to the 3×3 domain window, so that the grayscale processed image becomes a plurality of 3×3 domain windows; calculate the average grayscale value of 9 pixels in the 3×3 domain window, and use the calculated grayscale average as the grayscale value of the corresponding 3×3 domain window; mark the grayscale value data at the four corner positions of the positioning device installation position, and record them as corner grayscale value one, corner grayscale value two, corner grayscale value three and corner grayscale value four respectively; Step 2: Analyze the installation position image data at both ends of the pipe fitting, and compare the grayscale mean data of the detected 3X3 field window with the corner grayscale value one, corner grayscale value two, corner grayscale value three and corner grayscale value four respectively. If the grayscale mean data of the detected 3X3 field window is the same as one of the four corner grayscale values, determine that the grayscale mean data of the detected 3X3 field window is the corresponding corner grayscale value; after determining that three different corner grayscale values ​​are detected, the detected corner grayscale values ​​are numbered and distinguished, and a contour map at the installation position is constructed, and the corresponding numbered corner grayscale values ​​are matched in a clockwise direction at the four corner positions of the contour map to determine the installation direction of the positioning device; according to the positions corresponding to the three corner grayscale values ​​obtained, the installation position corner corresponding to another corner grayscale value is deduced, and the position of the arrow extending from the center of the installation position to the direction corresponding to the corner grayscale value one is the installation direction; Step 3: For the position data of the transmission roller (4) corresponding to the installation position detection time, calculate the straight-line distance between the detection position and the position of the electric push rod (15), and calculate the time t when the pipe reaches the corresponding position of the electric push rod (15) based on the straight-line distance data between the detection position and the position of the electric push rod (15) and the rotation speed data of the transmission roller (4). DD ; Obtain the installation direction of both ends of the pipe at the time of detection, obtain the circumference data C and radius data r of the pipe, and the rotation speed of the drive roller (4) is v cd , the rotation time is t DD , then the distance L that the pipe needs to rotate to reach the corresponding position of the electric push rod (15) D =v cd *t DD , determine the angle of rotation of the pipe from the detection position to the position of the electric push rod (15) If θ>360°, calculate the offset angle α, α=θ-n*360°, where n is the largest positive integer satisfying α>0; Step 4: Add multiple uniform marks on the outer circumference of the pipe, each mark has a different color and is arranged clockwise. When the pipe rotates and moves under the action of the drive roller 4, collect image data of the rotation of the pipe, and then perform grayscale processing on the collected image data; compare the grayscale value of each mark on the image after grayscale processing with the corresponding preset grayscale value. If the grayscale value of the mark is the same as the corresponding preset grayscale value, the color of the mark is determined to be the color of the corresponding preset corresponding color mark; if no mark of the same color is detected within the detection time period, it is determined that the pipe rotates one circle. When the pipe reaches the detection position, analyze the image data at the arrival time to determine whether there is a mark in the middle of the image; If there is a mark, the color of the mark is determined, and the rotation deflection angle α of the pipe fitting is obtained according to the product of the arrangement sequence number of the mark color on the pipe fitting and the rotation angle value between adjacent marks; if there is no mark, the color of the marks on both sides of the middle position is determined, and then a secondary mark is set at the middle position of the grayscale processed image, and the distance between the secondary mark and the color marks on both sides is calculated to obtain the rotation deflection angle α of the pipe fitting; Step 5: comparing the rotation deflection angle α with a preset rotation deflection angle threshold value 1; if the ratio of the rotation deflection angle α to the preset rotation deflection angle threshold value 1 is not equal to a preset ratio, it is determined that an abnormality exists between the rotating roller (4) and the pipe fitting; Retrieving the corresponding rotational deflection angle data of the pipe at each rotating roller (4) position, and comparing the retrieved rotational deflection angle data at the corresponding position with the preset rotational deflection angle threshold value 2 at the corresponding position; if the rotational deflection angle data at the corresponding position is less than the preset rotational deflection angle threshold value 2 at the corresponding position, the corresponding pipe is judged to be abnormal, a heavy adjustment signal is generated, and the heavy adjustment signal is transmitted to the warning module; if the rotational deflection angle data at the corresponding position is greater than the preset rotational deflection angle threshold value 2 at the corresponding position, the corresponding pipe is judged to be abnormal, a light adjustment signal is generated, and the light adjustment signal is transmitted to the warning module; while transmitting the adjustment signal, the serial number of the pipe judged to be abnormal is transmitted to the warning module; Step 6: grayscale processing is performed on the image data of the pipes judged to be abnormal during the rotation process, and the grayscale values ​​of the pipes and the rotating rollers (4) at the corresponding positions within the set interval are recorded, and abnormal grayscale values ​​are screened out; if there are abnormal grayscale values ​​at the corresponding positions of the pipes, the pipes are judged to be abnormal, and the abnormal positions are marked; If the grayscale value at the corresponding position of the rotating roller (4) has an abnormal value, it is determined that the rotating roller (4) is abnormal, and the abnormal position is marked; Step 7: Compare the rotation deflection angles α calculated by the two methods. If the rotation deflection angles α are the same, it is determined that the detection is correct; otherwise, it is determined that the detection is incorrect and the detection is repeated.

10. The positioning and conveying equipment for processing automobile airbag gas generator pipes according to claim 9, characterized in that: The steps for the warning module to adjust the angle of the mounting device on the electric push rod (15) are as follows: Step 1: Determine the installation direction of the positioning device on the electric push rod (15), obtain the installation direction of the corresponding end of the pipe fitting at the time of detection, detect the angle data β between the two directions, if α=β, it is determined that no adjustment is required; otherwise, calculate the angle to be adjusted, and the angle to be adjusted γ=α-β; Step 2: If |α-β|>180° and α-β is a positive value, it is determined that the direction of the positioning device is adjusted counterclockwise, and the positioning device on the electric push rod (15) is rotated counterclockwise with an angle of 180°-(α-β); if |α-β|>180° and α-β is a negative value, it is determined that the direction of the positioning device is adjusted clockwise, and the positioning device on the electric push rod (15) is rotated clockwise with an angle of 180°-|α-β|; Step 3: If |α-β|<180° and α-β is a positive value, it is determined that the direction of the positioning device is adjusted clockwise, and the positioning device on the electric push rod (15) is rotated clockwise with an angle of α-β; if |α-β|<180° and α-β is a negative value, it is determined that the direction of the positioning device is adjusted counterclockwise, and the positioning device on the electric push rod (15) is rotated counterclockwise with an angle of |α-β|.

11. According to the positioning and conveying equipment for processing automobile airbag gas generator pipes as claimed in claim 9, the steps of adjusting the friction force of the warning module are as follows: Step 1: distinguishing the adjustment signal at the abnormal position of the mark, if the adjustment signal is a heavy adjustment signal, increasing the current supply size of the electromagnet segment (19) at the abnormal position of the mark, so that the magnetic attraction of the electromagnet segment (19) is increased to attract the pipe downward, thereby increasing the friction between the pipe body and the driving roller (4); Step 2: If the adjustment signal is a light adjustment signal, the current supply size of the electromagnet segment (19) at the abnormal position of the mark is reduced, so that the magnetic attraction of the electromagnet segment (19) reduces the force of the pipe fitting to be attracted downward, thereby reducing the friction between the pipe body and the transmission roller (4).

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