A positioning and conveying method for processing pipe fittings of an automotive airbag gas generator

Abstract

The present invention discloses a positioning and conveying method for processing an airbag gas generator pipe fitting of an automobile, which relates to the technical field of positioning and conveying tools for generator pipe fittings, and includes a frame; through the cooperation of an external toothed ring and a gear, the rotation of a positioning clamp is facilitated, thereby improving the installation efficiency of the positioning device; through the cooperation of a supporting block and a supporting table, the electric push rod can quickly push the positioning device into both ends of the pipe fitting, improving the working efficiency; through the data analysis of the control component, during the installation process of the positioning device, the running states 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 operation errors, greatly shortening the processing cycle of a single pipe fitting, improving the overall production efficiency, and meeting the requirements of large-scale production; accurately controlling the installation direction of the positioning device, effectively reducing the processing errors caused by installation direction deviation, improving the consistency and precision of the product, and ensuring the accuracy of the processing process.

Description

Technical Field

[0001] The present invention relates to the technical field of positioning and conveying tools for generator pipe fittings, and particularly relates to a positioning and conveying method for processing pipe fittings of an automotive airbag gas generator. Background Art

[0002] The main function of the airbag gas generator is to rapidly generate a large amount of gas under specific conditions such as a vehicle collision, so that the airbag can be quickly inflated and deployed, providing buffer protection for the vehicle occupants, reducing the impact force on the human body at the moment of collision, and effectively reducing the severity of injuries;

[0003] In the processing link of the gas generator pipe fittings, in the past, it was all operated manually. First, the worker had to pick up the pipe fitting manually, then use the corresponding tool to install the positioning device at both ends of the pipe fitting, and then manually send the pipe fitting with the installed positioning device into the processing area to carry out the subsequent processing work. Throughout the process, since each step relied on manual completion, not only was the work efficiency extremely low, but also a large amount of labor costs were consumed, which was not conducive to the efficient development of production;

[0004] Moreover, the manual operation speed is limited. In the link of installing the positioning device, due to the influence of the worker's proficiency and fatigue, the installation efficiency is low, and it is difficult to meet the requirements of large-scale production; the consistency of manual operation is poor, and there are deviations in the position and direction of the positioning device installed by different workers, which affects the subsequent processing quality, reduces the product qualification rate, increases the scrap rate and rework cost, and is not conducive to the enterprise maintaining an advantage in the market competition; during the process of the pipe fitting being transmitted in position under the action of the transmission roller, due to the complex and changeable transmission environment of the pipe fitting, the transmission belt may have speed fluctuations due to load changes, and the friction between the pipe fitting and the transmission roller is not constant, resulting in an uncertain rotation angle of the pipe fitting when it is transmitted to the specified position, and it is difficult for the positioning device to accurately match with the pipe fitting, affecting the assembly efficiency;

[0005] Therefore, it is necessary to improve and process according to the above problems. Summary of the Invention

[0006] The purpose of the present invention is to solve the deficiencies existing in the prior art, and a positioning and conveying method for processing pipe fittings of an automotive airbag gas generator is proposed.

[0007] To achieve the above purpose, the present invention adopts the following technical solution: A positioning and conveying method for processing pipe fittings of an automotive airbag gas generator, the positioning and conveying method is implemented through a positioning and conveying device, the positioning and conveying device includes a frame, both ends of one side of the frame are provided with supporting brackets, and the front and rear ends of the top surface of the frame are horizontally and fixedly connected with mounting plates, and a plurality of equally spaced transmission rollers are horizontally arranged between the two mounting plates, and both ends of the transmission roller are rotatably connected to the mounting plates;

[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 transmission roller, the installation time of the positioning device, the installation position data at both 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 analysis steps for the processing module to install and locate the positioning device are as follows:

[0012] 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;

[0013] 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;

[0014] Step 3: Calculate the straight-line distance between the detected position and the position of the electric push rod based on the position data of the transmission roller corresponding to the installation position detection moment. Calculate the time when the pipe fitting reaches the corresponding position of the electric push rod according to the straight-line distance data between the detected position and the position of the electric push rod and the rotational speed data of the transmission roller. ; Obtain the installation directions at both ends of the pipe fitting at the detection moment, obtain the circumferential data C and radius data r of the pipe fitting, and the rotational speed of the transmission roller is The rotation time is Then the distance that the pipe fitting needs to rotate to reach the corresponding position of the electric push rod Determine the rotation angle of the pipe fitting from the detected position to the position of the electric push rod If Then perform the calculation of the rotation deflection angle is the largest positive integer that satisfies ;

[0015] Step 4: Add a plurality of evenly distributed marks on the outer circumference of the pipe fitting. The colors of each mark are different and arranged in a clockwise order. When the pipe fitting rotates and moves under the action of the transmission roller, collect image data of the rotation condition of the pipe fitting, and then perform gray-scale processing on the collected image data; Compare the gray-scale values of each mark on the gray-scale processed image with the corresponding preset gray-scale values. If the gray-scale value of the mark is the same as the corresponding preset gray-scale value, then determine that the color of the mark is the color of the corresponding preset color mark; If no mark of the same color is detected within the detection time period, it is determined that the pipe fitting rotates one circle. When the pipe fitting reaches the detection position, analyze the image data at the arrival moment to determine whether there is a mark at the middle position of the image; If there is a mark, then determine the color of the mark. According to the product of the arrangement serial number of the mark colors on the pipe fitting and the rotation angle value between adjacent marks, obtain the rotation deflection angle of the pipe fitting. ; If there is no mark, then determine the colors of the marks on both sides of the middle position, and then set a secondary mark at the middle position of the gray-scale processed image, calculate the distances between the secondary mark and the color marks on both sides, and obtain the rotation deflection angle of the pipe fitting. ;

[0016] The warning module pauses the rotation of the transmission roller after receiving the pause signal; after receiving the direction adjustment signal, adjusts the direction of the positioning device according to the rotation angle.

[0017] Preferably, the positioning and conveying device further includes a sprocket. A cavity is provided inside the mounting plate. A plurality of equidistant sprockets are horizontally arranged in the cavity. The sprockets at both ends are fixedly connected to the transmission roller. Chains are sleeved outside the sprockets on both sides of the same end, and the chains are meshed and driven with the sprockets at the same end.

[0018] ​​Preferably, the positioning and conveying device further includes a speed reducer. The speed 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 speed reducer. The output shaft of the servo motor is connected to the driving shaft of the speed reducer through a coupling. The servo motor is installed on the top surface of the frame, and the output shaft of the speed reducer is connected to the transmission roller through a coupling.

[0019] Preferably, the positioning and conveying device further includes an external gear ring. An activity cavity is formed at the upper end inside the bearing bracket. An external gear ring is rotatably connected to one side of the activity cavity, and a gear is rotatably connected to the other side of the activity cavity. The gear is in meshing transmission with the external gear ring. A stepping motor is provided directly below the gear. The stepping motor is installed on the inner top surface of the bearing bracket, and the output shaft of the stepping motor penetrates through the bearing bracket and is connected to the gear.

[0020] Preferably, the positioning and conveying device further includes a supporting table. A supporting table is fixedly connected to the inner wall of the external gear ring. A positioning clamping seat is installed on the top surface of the supporting table. Positioning ports are formed through the middle parts of the positioning clamping seat and the supporting table. A supporting block is arranged in the positioning port. An electric push rod is installed on the top surface of the supporting block. The adjacent ends of the output shafts of the two electric push rods are installed with a push plate.

[0021] Preferably, the lower end of the supporting block penetrates through the bearing bracket, and a fixing plate is fixedly connected to the bottom surface of the supporting block. The fixing plate is installed on the inner top surface of the bearing bracket. A cavity is formed inside the transmission roller. An installation frame is arranged in the cavity. A plurality of electromagnet segments are installed on the top surface of the installation frame. Wires are connected to the rear ends of the electromagnet segments. A positioning frame is arranged at the position corresponding to the installation frame on the outer side of the transmission roller.

[0022] Preferably, the determination step of the installation time by the processing module further includes:

[0023] Step 1: Retrieve the historical installation time data of the positioning device of the electric push rod, calculate the mean value a and the standard deviation b of the historical installation time data, and establish the fluctuation range of the historical installation time data with the mean value a and the standard deviation b. Mark the historical installation time data outside the fluctuation range as outliers. After removing the outliers, calculate the mean value of the remaining historical installation time data, and use the mean value of the historical installation time data as the average installation time of the positioning device. , and the historical installation time data outside the fluctuation range is marked as an outlier. After removing the outlier, calculate the mean value of the remaining historical installation time data, and use the mean value of the historical installation time data as the average installation time of the positioning device. ;

[0024] 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 and wait for the installation of the positioning device. A pause signal is generated and the pause signal is transmitted to the warning module; otherwise, it is determined that there is no impact and the transmission roller continues to operate.

[0025] Preferably, the analysis steps for the installation and positioning of the installation device by the processing module are as follows:

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

[0027] Step 2: And perform gray-scale processing on the image data during the rotation of the pipe fitting determined to be abnormal, record the gray-scale values of the pipe fitting and the transmission roller at the corresponding position within the set interval time, and screen out the abnormal values of the gray-scale values; if there are abnormal values in the gray-scale values at the corresponding position of the pipe fitting, it is determined that the pipe fitting is abnormal, and mark the abnormal position; if there are abnormal values in the gray-scale values at the corresponding position of the transmission roller, it is determined that the transmission roller is abnormal, and mark the abnormal position;

[0028] Step 3: Compare the rotation and deflection angles calculated by the two methods. If the rotation and deflection angles are the same, it is determined that the detection is correct; otherwise, it is determined that the detection is incorrect, and the detection is performed again.

[0029] Preferably, the angle adjustment steps of the installation device on the electric push rod by the warning module are as follows:

[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 detection moment, and detect the included angle data between the two directions. If , it is determined that no adjustment is required; otherwise, calculate the angle to be adjusted, and the angle to be adjusted ;

[0031] Step 2: If and is a positive value, it is determined to adjust the direction of the positioning device counterclockwise, and perform a rotational adjustment of the positioning device on the electric push rod counterclockwise by an angle of ; if And 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 by an angle of ;

[0032] Step 3: If and 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 by an angle of ; if and 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 by an angle of .

[0033] Preferably, the steps for the warning module to adjust the friction force are as follows:

[0034] Step 1: Distinguish the adjustment signal at the abnormal position of the mark. If the adjustment signal is a heavy adjustment signal, increase the magnitude of the current supply to the electromagnet segment at the abnormal position of the mark, so that the magnetic attraction force of the electromagnet segment increases to adsorb the pipe fitting downward, thereby increasing the friction force between the pipe body and the transmission roller;

[0035] Step 2: If the adjustment signal is a light adjustment signal, decrease the magnitude of the current supply to the electromagnet segment at the abnormal position of the mark, so that the acting force of the magnetic attraction force of the electromagnet segment to adsorb the pipe fitting downward decreases, thereby decreasing the friction force between the pipe body and the transmission roller.

[0036] Compared with the prior art, the beneficial effects of the present invention are:

[0037] Through the cooperation of the chain and the sprocket, it is convenient for the rotation of the transmission roller, thereby facilitating the transportation of the gas generator pipe fitting and improving the work efficiency; through the cooperation of the external gear ring and the gear, it is convenient for the rotation of the positioning card seat, thereby improving the installation efficiency of the positioning device; through the cooperation of the supporting block and the supporting platform, it is convenient for the electric push rod to quickly push the positioning device into both ends of the pipe fitting, improving the work efficiency; through the cooperation of the electric push rod and the positioning card seat, it is convenient for quickly installing the positioning device, improving the work efficiency and work effect;

[0038] Through the data analysis of the control components, during the installation process of the positioning device, the operating states of the driving 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 operation errors, greatly shortening the processing cycle of a single pipe fitting, improving the overall production efficiency, and meeting the requirements of large-scale production; accurately controlling the installation direction of the positioning device effectively reduces the processing errors caused by the installation direction deviation, improves the consistency and accuracy of the products, ensures the accuracy of the processing process, thereby improving the product quality and reducing the rejection rate; reducing the uncertainty and errors brought by manual operation, further optimizing the production process, and saving production costs for the enterprise;

[0039] Through the judgment combining the transmission time and the rotation angle, even if there is a small error 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 always remains at a high level; adopting the form of combining two methods, no matter how the conveyor belt speed changes, as long as it is monitored that the rotation angle reaches the expected value and the transmission time is also within a reasonable range, the position and installation direction of the pipe fitting can be accurately judged, enabling the equipment to still operate stably under complex working conditions;

[0040] Through the detection of the abnormal positions on the outer side of the driving roller and the pipe fitting by the processing module, and marking the abnormal positions, and then by adjusting the magnitude of the current supplied to the electromagnet section on the inner side of the driving roller, the acting force between the driving roller and the pipe fitting is adjusted to improve the stability of the pipe fitting transmission. Brief Description of the Drawings

[0041] The drawings described herein are used to provide a further understanding of the present invention, form a part of this application, and the schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0042] Figure 1 It is a schematic three-dimensional structure diagram of the whole proposed by the present invention;

[0043] Figure 2 It is a schematic three-dimensional structure diagram of the sprocket and the chain proposed by the present invention;

[0044] Figure 3 It is a schematic bottom-up three-dimensional structure diagram of the support bracket proposed by the present invention;

[0045] Figure 4 It is a schematic three-dimensional structure diagram of the external gear ring and the gear proposed by the present invention;

[0046] Figure 5 It is proposed by the present invention Figure 2 The enlarged schematic diagram of the structure of part A in

[0047] Figure 6 It is the system flow chart of the present invention;

[0048] Figure 7 This is a structural sectional view of the drive roller and the electromagnet section of the present invention.

[0049] Reference numerals in the figure: 1, frame; 2, support bracket; 3, mounting plate; 4, drive roller; 5, sprocket; 6, chain; 7, reducer; 8, servo motor; 9, external gear ring; 10, gear; 11, stepper motor; 12, support table; 13, positioning clamp; 14, support block; 15, electric push rod; 16, fixing plate; 17, push plate; 18, mounting frame; 19, electromagnet section; 20, wire; 21, positioning frame. Specific embodiments

[0050] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0051] Embodiment: Refer to Figure 1-7 , a positioning and conveying method for a pipe fitting of an automotive airbag gas generator in the present invention, including a frame 1, support brackets 2 are provided at both ends on one side of the frame 1, and mounting plates 3 are horizontally and fixedly connected to the front and rear ends of the top surface of the frame 1. A plurality of equally spaced drive rollers 4 are horizontally arranged between the two mounting plates 3, and both ends of the drive rollers 4 are rotatably connected to the mounting plates 3; the frame 1 facilitates the installation of the drive rollers 4; the support brackets 2 facilitate the installation of the positioning clamps 13; the mounting plates 3 facilitate the rotation of the drive rollers 4; the drive rollers 4 facilitate the conveying of the generator pipe fittings; a cavity is formed inside the mounting plate 3, and a plurality of equally spaced sprockets 5 are horizontally arranged in the cavity. The sprockets 5 at both ends are fixedly connected to the drive rollers 4, and chains 6 are sleeved on the outer sides of the sprockets 5 on both sides of the same end. The chains 6 are meshed and driven with the sprockets 5 at the same end; the sprockets 5 facilitate the control of the rotation of the drive rollers 4; the chains 6 facilitate the rotation of a plurality of sprockets 5; a reducer 7 is installed at the front end on the other side of the top surface of the frame 1, 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 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 drive roller 4 through a coupling; the reducer 7 and the servo motor 8 facilitate the control of the rotation of the sprockets 5.

[0052] 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 a warning module;

[0053] Retrieve the historical installation time data of the positioning device of the electric push rod 15, calculate the mean value a and the standard deviation b of the historical installation time data, and establish the fluctuation range of the historical installation time data with the mean value a and the standard deviation b , the historical installation time data outside the fluctuation range is marked as an outlier. After removing the outliers, the mean value of the remaining historical installation time data is calculated, and the mean value of the historical installation time data is used as the average installation time of the positioning device. ; 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 driving roller 4 needs to stop rotating and wait for the installation of the positioning device. A pause signal is generated and transmitted to the warning module; otherwise, it is determined that there is no impact, and the driving roller 4 continues to run;

[0054] Detect the rotation speed of the driving roller 4 and detect the position of the pipe fitting on the driving roller 4, and detect the spacing data between both ends of the pipe fitting and the edge of the driving roller 4 and , then the adjustment speeds of the electric push rods 15 on the corresponding sides are respectively and , and the adjustment speed of the electric push rod 15 is adjusted according to the calculated adjustment speed data.

[0055] Detect the installation direction of the positioning device at both ends of the pipe fitting on the driving roller 4, and record the corresponding moment data of the detection. Gray-scale process the image data of both ends of the pipe fitting collected. Divide the gray-scale processed image according to a 3X3 neighborhood window, so that the gray-scale processed image becomes several 3X3 neighborhood windows; Calculate the mean value of the gray-scale values of the 9 pixels in the 3X3 neighborhood window, and use the calculated gray-scale mean value as the gray-scale value of the corresponding 3X3 neighborhood window; Mark the gray-scale value data at the four corner positions of the installation position of the positioning device, and record them as corner gray-scale value one, corner gray-scale value two, corner gray-scale value three, and corner gray-scale value four respectively;

[0056] When positioning the installation position of the positioning device, analyze the installation position image data at both ends of the pipe fitting, and compare the detected gray-scale mean value data of the 3X3 neighborhood window with corner gray-scale value one, corner gray-scale value two, corner gray-scale value three, and corner gray-scale value four respectively. If the detected gray-scale mean value data of the 3X3 neighborhood window is the same as one of the four corner gray-scale values, it is determined that the detected gray-scale mean value data of the 3X3 neighborhood window is the corresponding corner gray-scale value; After determining that three different corner gray-scale values are detected, distinguish the numbers of the detected corner gray-scale values, construct a contour map of the installation position, and correspond the corresponding numbered corner gray-scale values in the 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 gray-scale values, deduce the installation position corner corresponding to the other corner gray-scale value, and use the arrow position extending from the center of the installation position to the direction corresponding to corner gray-scale value one as the installation direction;

[0057] For the position data of the transmission roller 4 corresponding to the installation position detection moment, 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 rotational speed data of the transmission roller 4, calculate the time when the pipe fitting reaches the corresponding position of the electric push rod 15 ; Obtain the installation directions at both ends of the pipe fitting at the detection moment, obtain the circumferential data C and radius data r of the pipe fitting, and the rotational speed of the transmission roller 4 is , and the rotation time is , then the distance that the pipe fitting needs to rotate to reach the corresponding position of the electric push rod 15 , determine the rotation angle of the pipe fitting from the detection position to the position of the electric push rod 15 , if , then perform the calculation of the rotation deflection angle , , is the largest positive integer that satisfies ;

[0058] Add multiple evenly distributed marks on the outer circumference of the pipe fitting, and the colors of each mark are different and arranged clockwise. When the pipe fitting rotates and moves under the action of the transmission roller 4, collect the image data of the rotation situation of the pipe fitting, and then perform gray-scale processing on the collected image data; Compare the gray-scale values of each mark on the gray-scale processed image with the corresponding preset gray-scale values. If the gray-scale value of the mark is the same as the corresponding preset gray-scale value, then determine that the color of the mark is the color of the corresponding preset color mark; If no mark of the same color is detected within the detection time period, then determine that the pipe fitting rotates one circle. When the pipe fitting reaches the detection position, analyze the image data at the arrival moment to determine whether there is a mark at the middle position of the image; If there is a mark, then determine the color of the mark, and obtain the rotation deflection angle of the pipe fitting according to the product of the arrangement serial number of the mark color on the pipe fitting and the rotation angle value between adjacent marks ; If there is no mark, then determine the colors of the marks on both sides of the middle position, and then set a secondary mark at the middle position of the gray-scale processed image, calculate the distance between the secondary mark and the color marks on both sides, and obtain the rotation deflection angle of the pipe fitting ;

[0059] Compare the rotation deflection angle with a preset rotation deflection angle threshold one. If the rotation deflection angle If the ratio to the first preset rotation and deflection angle threshold is not equal to the preset ratio, it is determined that there is an abnormality between the transmission roller 4 and the pipe fitting; retrieve the corresponding rotation and deflection angle data of the pipe fitting at each position of the transmission roller 4, and compare the retrieved rotation and deflection angle data at the corresponding position with the second preset rotation and deflection angle threshold at the corresponding position. If the rotation and deflection angle data at the corresponding position is less than the second preset rotation and deflection angle threshold at the corresponding position, it is determined that the corresponding pipe fitting is abnormal, generate a heavy adjustment signal, and transmit the heavy adjustment signal to the warning module; if the rotation and deflection angle data at the corresponding position is greater than the second preset rotation and deflection angle threshold at the corresponding position, it is determined that the corresponding pipe fitting is abnormal, generate a light adjustment signal, and transmit the light adjustment signal to the warning module; while transmitting the adjustment signal, transmit the serial number of the pipe fitting determined to be abnormal to the warning module;

[0060] And during the rotation of the pipe fitting determined to be abnormal, perform grayscale processing on the image data, record the grayscale values of the pipe fitting and the transmission roller 4 at the corresponding position within the set interval time, and screen out the abnormal values of the grayscale values; if there are abnormal values in the grayscale values at the corresponding position of the pipe fitting, it is determined that the pipe fitting is abnormal, and mark the abnormal position; if there are abnormal values in the grayscale values at the corresponding position of the transmission roller 4, it is determined that the transmission roller 4 is abnormal, and mark the abnormal position;

[0061] Compare the rotation and deflection angles calculated by the two methods If the rotation and deflection angles are the same, it is determined that the detection is error-free; otherwise, it is determined that the detection is incorrect and re-detection is performed;

[0062] 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 detection moment, and detect the included angle data between the two directions. If , it is determined that no adjustment is required; otherwise, calculate the angle to be adjusted. The angle to be adjusted . If and is a positive value, it is determined to adjust the direction of the positioning device counterclockwise, and perform a rotational adjustment of the positioning device on the electric push rod 15 counterclockwise by an angle of ; if and is a negative value, it is determined to adjust the direction of the positioning device clockwise, and perform a rotational adjustment of the positioning device on the electric push rod 15 clockwise by an angle of ; if and is a positive value, it is determined to adjust the direction of the positioning device clockwise, and perform a rotational adjustment of the positioning device on the electric push rod 15 clockwise by an angle of ; if and If it is negative, it is determined that the orientation of the positioning device is adjusted counterclockwise, and the positioning device on the electric push rod 15 is rotated counterclockwise by an angle of .

[0063] In the present invention, an activity cavity is provided at the upper end inside the supporting bracket 2. An external tooth ring 9 is rotatably connected to one side of the activity cavity, and a gear 10 is rotatably connected to the other side of the activity cavity. The gear 10 is meshed and driven with the external tooth ring 9, and a stepping motor 11 is provided directly below the gear 10. The stepping motor 11 is installed on the inner top surface of the supporting bracket 2, and the output shaft of the stepping motor 11 penetrates through the supporting bracket 2 and is connected to the gear 10; the rotation of the supporting table 12 is facilitated by the external tooth ring 9; the rotation of the external tooth ring 9 is facilitated by the gear 10; the rotation of the gear 10 is facilitated by the stepping motor 11; a supporting table 12 is fixedly connected to the inner wall of the external tooth ring 9, a positioning clamping seat 13 is installed on the top surface of the supporting table 12, and positioning ports are respectively penetrated through the middle parts of the positioning clamping seat 13 and the supporting table 12. A supporting block 14 is arranged inside the positioning ports, 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 adjacent ends of the output shafts of the two electric push rods 15; the installation of the positioning clamping seat 13 is facilitated by the supporting table 12; the installation of the positioning device is facilitated by the positioning clamping seat 13; the installation of the electric push rod 15 is facilitated by the supporting block 14; the positioning device is facilitated to be installed at both ends of the pipe fitting by the electric push rod 15; the lower end of the supporting block 14 penetrates through the supporting bracket 2, and a fixing plate 16 is fixedly connected to the bottom surface of the supporting block 14. The fixing plate 16 is installed on the inner top surface of the supporting bracket 2; the fixing of the supporting block 14 is facilitated by the fixing plate 16; a cavity is provided inside the driving roller 4, an installation frame 18 is arranged inside the cavity, and a plurality of electromagnet segments 19 are installed through the installation frame 18. An electromagnet segment 19 is installed on the top surface of the installation frame 18. The generation of magnetic attraction force on the gas generator pipe fitting passing through the driving roller 4 is facilitated by the electromagnet segment 19. By changing the magnetic attraction force, the friction force between the driving roller 4 and the pipe body can be increased or decreased, which plays a role in facilitating the stable conveying of different gas generator pipe fittings with different friction forces; a wire 20 is connected to the rear end of the electromagnet segment 19, and the energization of the electromagnet segment 19 is facilitated by the wire 20.

[0064] Working principle: When the present invention is in use, first connect all electrical devices to wires and power them on, then start the servo motor 8. The servo motor 8 is connected to the driving roller 4 through a speed reducer 7, and then meshes and drives with a plurality of sprocket wheels 5 through a chain 6. When the servo motor 8 is started, one of the driving rollers 4 is controlled to rotate, and then the chain 6 is controlled to rotate, thereby controlling the rotation of a plurality of sprocket wheels 5, and further controlling the rotation of a plurality of driving rollers 4; then place the gas generator pipe fitting on the other side of the frame 1, that is, on the other driving roller 4. The rotation of the driving roller 4 drives the pipe fitting to move. When it is necessary to increase the friction between the pipe body and the driving roller 4, increase the current supply magnitude to the electromagnet segment 19, so that the magnetic attraction force of the electromagnet segment 19 increases to adsorb the pipe fitting downward, thereby increasing the friction force between the pipe body and the driving roller 4, or reduce the magnetic attraction force by reducing the current supply to reduce the friction force acting between the driving roller 4 and the gas generator pipe fitting; when the pipe fitting moves to the specified position, start the stepping motor 11, control the rotation of the gear 10 through the stepping motor 11, and drive the outer gear ring 9 through the meshing of the gear 10 and the outer gear ring 9, thereby controlling the rotation of the outer gear ring 9, and further controlling the rotation of the supporting table 12. The positioning card seat 13 is installed on the top surface of the supporting table 12, so as to control the rotation of the positioning card seat 13. Then, the electric push rod 15 is installed on the supporting block 14, and the supporting block 14 is fixedly connected to the supporting bracket 2 through the fixing plate 16. At this time, the positioning card seat 13 is rotating, while the electric push rod 15 is fixed. When the positioning card seat 13 rotates, the side 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, thereby installing the positioning device at both ends of the pipe fitting, which is convenient for subsequent processing; when the positioning devices at both ends of the pipe fitting are installed, power off all devices.

[0065] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent replacements or changes, and all should be covered within the protection scope of the present invention.

Claims

1. A positioning and conveying method for processing an airbag gas generator pipe fitting of an automobile, and the positioning and conveying method is implemented by a positioning and conveying device. The positioning and conveying device includes a frame (1), and is characterized in that: At both ends of one side of the frame (1), there are support brackets (2), and at the front and rear ends of the top surface of the frame (1), mounting plates (3) are fixedly connected horizontally. Between the two mounting plates (3), a plurality of equally spaced driving rollers (4) are arranged horizontally, and both ends of the driving 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 a warning module. The collection module detects the rotation speed data of the driving roller (4), detects the distance data between the pipe fitting and both sides of the driving roller (4), detects the installation time of the positioning device, detects the installation position data of both 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 suspension of the driving roller (4). When it is determined that suspension is required, a suspension signal is generated and transmitted to the warning module. It analyzes the distance data to determine the adjustment speed of the two side electric push rods (15). It 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 analysis steps for the processing module to install and position the positioning device are as follows: Step 1: Detect the installation directions of the positioning devices at both ends of the pipe fitting on the driving roller (4), and record the corresponding moment data of the detection. Gray-scale process the image data of both ends of the pipe fitting collected. Divide the gray-scale processed image according to a 3X3 neighborhood window, so that the gray-scale processed image becomes several 3X3 neighborhood windows. Calculate the average value of the gray-scale values of the 9 pixels within the 3X3 neighborhood window, and use the calculated gray-scale average value as the gray-scale value of the corresponding 3X3 neighborhood window. Mark the gray-scale value data at the four corner positions of the installation position of the positioning device, and record them as corner gray-scale value one, corner gray-scale value two, corner gray-scale value three, and corner gray-scale value four respectively. Step 2: Analyze the image data of the installation positions at both ends of the pipe fitting. Compare the detected gray-scale average value data of the 3X3 neighborhood window with corner gray-scale value one, corner gray-scale value two, corner gray-scale value three, and corner gray-scale value four respectively. If the detected gray-scale average value data of the 3X3 neighborhood window is the same as one of the four corner gray-scale values, determine that the detected gray-scale average value data of the 3X3 neighborhood window is the corresponding corner gray-scale value. After determining that three different corner gray-scale values are detected, distinguish the numbers of the detected corner gray-scale values, construct a contour map of the installation position, and correspond the corresponding numbered corner gray-scale values 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 gray-scale values, calculate the installation position corner corresponding to the other corner gray-scale value, and use the arrow position extending from the center of the installation position to the direction corresponding to corner gray-scale value one as the installation direction. Step 3: Calculate the straight-line distance between the position of the drive roller (4) corresponding to the installation position detection moment 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 rotational speed data of the drive roller (4), calculate the time when the pipe fitting reaches the corresponding position of the electric push rod (15). ; Obtain the installation directions at both ends of the pipe fitting at the detection moment, obtain the circumferential data C and radius data r of the pipe fitting, and the rotational speed of the drive roller (4) is , and the rotation time is , then the distance that the pipe fitting needs to rotate to reach the corresponding position of the electric push rod (15) is , determine the rotation angle of the pipe fitting from the detection position to the position of the electric push rod (15). , if , then calculate the rotation deflection angle . , is the largest positive integer that satisfies ; Step 4: Add a plurality of evenly distributed 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), image data of the rotation of the pipe fitting is collected, and then the collected image data is subjected to gray-scale processing. Compare the gray-scale values of the marks on the image after gray-scale processing with the corresponding preset gray-scale values. If the gray-scale value of the mark is the same as the corresponding preset gray-scale value, it is determined that the color of the mark is the color of the corresponding preset color mark. If no mark of the same color is detected within the detection time period, it is determined that the pipe fitting rotates one circle. When the pipe fitting reaches the detection position, analyze the image data at the arrival moment and determine whether there is a mark at the middle position of the image. If there is a mark, determine the color of the mark, and obtain the rotational deflection angle of the pipe fitting according to the product of the arrangement serial number of the mark colors on the pipe fitting and the rotational angle value between adjacent marks. ; If there is no mark, determine the colors of the marks on both sides of the middle position, then set a secondary mark at the middle position of the grayscale processed image, calculate the distances between the secondary mark and the color marks on both sides, and obtain the rotation and deflection angle of the pipe fitting ; The warning module pauses the rotation of the driving roller (4) after receiving the pause signal. After receiving the direction adjustment signal, adjust the direction of the positioning device according to the rotation angle.

2. A positioning and conveying method for processing a pipe fitting of an automotive airbag gas generator according to claim 1, characterized in that: The positioning and conveying device further includes a sprocket (5). A cavity is provided inside the mounting plate (3). A plurality of equidistant sprockets (5) are horizontally arranged in the cavity. The two end sprockets (5) are fixedly connected to the driving roller (4). Chains (6) are sleeved on the outer sides of the sprockets (5) on both sides of the same end. The chains (6) are engaged and driven with the sprockets (5) at the same end.

3. A positioning and conveying method for processing an automotive airbag gas generator pipe fitting according to claim 1, characterized in that: The positioning and conveying device further includes a reducer (7). The reducer (7) is installed at the front end of the other side of the top surface of the frame (1). 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) through a coupling. The servo motor (8) is installed on the top surface of the frame (1). The output shaft of the reducer (7) is connected to the driving roller (4) through a coupling.

4. A positioning and conveying method for processing an automotive airbag gas generator pipe fitting according to claim 1, characterized in that: The positioning and conveying device further includes an external gear ring (9). An activity cavity is provided at the upper end inside the support bracket (2). An external gear ring (9) is rotatably connected to one side of the activity cavity. A gear (10) is rotatably connected to the other side of the activity cavity. The gear (10) is meshed and driven with the external gear ring (9). A stepping motor (11) is provided directly below the gear (10). The stepping motor (11) is installed on the inner top surface of the support bracket (2). The output shaft of the stepping motor (11) penetrates the support bracket (2) and is connected to the gear (10).

5. A positioning and conveying method for processing an automotive airbag gas generator pipe fitting according to claim 4, characterized in that: The positioning and conveying device further includes a support table (12). A support table (12) is fixedly connected to the inner wall of the external gear ring (9). A positioning card seat (13) is installed on the top surface of the support table (12). Positioning ports are respectively provided through the middle parts of the positioning card seat (13) and the support table (12). A support block (14) is provided in the positioning port. An electric push rod (15) is installed on the top surface of the support block (14). The adjacent ends of the output shafts of the two electric push rods (15) are installed with a push plate (17).

6. A positioning and conveying method for processing an automotive airbag gas generator pipe fitting according to claim 5, characterized in that: The positioning and conveying device further includes a fixing plate (16). The lower end of the supporting block (14) penetrates through the supporting bracket (2), and a fixing plate (16) is fixedly connected to the bottom surface of the supporting block (14). The fixing plate (16) is installed on the inner top surface of the supporting bracket (2). A cavity is formed inside the driving roller (4), and an installation frame (18) is arranged inside the cavity. A plurality of electromagnet segments (19) are installed on the top surface of the installation frame (18). A wire (20) is connected to the rear end of the electromagnet segment (19). A positioning frame (21) is arranged at a position corresponding to the installation frame (18) on the outer side of the driving roller (4).

7. A positioning and conveying method for processing an automotive airbag gas generator pipe fitting according to claim 1, characterized in that: The determination steps of the installation time by 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 value a and the standard deviation b of the historical installation time data, and establish the fluctuation range of the historical installation time data with the mean value a and the standard deviation b , mark the historical installation time data that is not within the fluctuation range as outliers, and after removing the outliers, calculate the mean value of the remaining historical installation time data, and use the mean value of the historical installation time data as the average installation time of the positioning device ; 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 driving roller (4) needs to stop rotating and wait for the installation of the positioning device. A pause signal is generated and transmitted to the warning module; otherwise, it is determined that there is no impact, and the driving roller (4) continues to run.

8. A positioning and conveying method for processing an automotive airbag gas generator pipe fitting according to claim 7, characterized in that: The analysis steps of the processing module for the installation and positioning of the positioning device further include: Step 1: Compare the rotational deflection angle with a first preset rotational deflection angle threshold. If the ratio of the rotational deflection angle to the first preset rotational deflection angle threshold is not equal to a preset ratio, it is determined that there is an abnormality between the drive roller (4) and the pipe fitting. Retrieve the corresponding rotational deflection angle data of the pipe fitting at the position of each drive roller (4), and compare the retrieved rotational deflection angle data at the corresponding position with a second preset rotational deflection angle threshold at the corresponding position. If the rotational deflection angle data at the corresponding position is less than the second preset rotational deflection angle threshold at the corresponding position, it is determined that the corresponding pipe fitting is abnormal, generate a heavy adjustment signal, and transmit the heavy adjustment signal to the warning module; if the rotational deflection angle data at the corresponding position is greater than the second preset rotational deflection angle threshold at the corresponding position, it is determined that the corresponding pipe fitting is abnormal, generate a light adjustment signal, and transmit the light adjustment signal to the warning module; while transmitting the adjustment signal, transmit the serial number of the pipe fitting determined to be abnormal to the warning module; Step 2: Perform gray-scale processing on the image data during the rotation of the pipe fittings determined to be abnormal, record the gray-scale values of the pipe fittings and the driving roller (4) at corresponding positions within a set interval time, and screen out the abnormal values of the gray-scale values; if there are abnormal values in the gray-scale values at the corresponding positions of the pipe fittings, it is determined that the pipe fittings are abnormal, and the abnormal positions are marked; if there are abnormal values in the gray-scale values at the corresponding positions of the driving roller (4), it is determined that the driving roller (4) is abnormal, and the abnormal positions are marked. Step 3: Compare the rotation and deflection angles calculated by the two methods If the rotation and deflection angles are the same, it is determined that the detection is correct; otherwise, it is determined that the detection is incorrect and the detection is performed again.

9. A positioning and conveying method for processing an airbag gas generator pipe fitting of an automobile according to claim 8, characterized in that: The angle adjustment steps of the positioning device on the electric push rod (15) by the warning module 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 detection moment, and obtain the included angle data between the two directions for detection. If , it is determined that no adjustment is required; otherwise, calculate the angle to be adjusted, and the angle to be adjusted ; Step 2: If and is a positive value, it is determined that the positioning device is adjusted counterclockwise, and the positioning device on the electric push rod (15) is rotated counterclockwise by an angle of ; If and is a negative value, it is determined that the positioning device is adjusted clockwise, and the positioning device on the electric push rod (15) is rotated clockwise by an angle of ; Step 3: If and is positive, it is determined that the orientation of the positioning device is adjusted clockwise, and the positioning device on the electric push rod (15) is rotated clockwise by an angle of ; if and is negative, it is determined that the orientation of the positioning device is adjusted counterclockwise, and the positioning device on the electric push rod (15) is rotated counterclockwise by an angle of for rotation adjustment.

10. According to a positioning and conveying method for pipe fittings processing of an automotive airbag gas generator described in claim 9, the steps of the warning module for friction adjustment are as follows: Step 1: Distinguish the adjustment signal at the marked abnormal position. If the adjustment signal is a heavy adjustment signal, increase the magnitude of the current supply to the electromagnet segment (19) at the marked abnormal position, so that the magnetic attraction force of the electromagnet segment (19) increases to adsorb the pipe fitting downward, thereby increasing the friction force between the pipe body and the driving roller (4). Step 2: If the adjustment signal is a light adjustment signal, decrease the magnitude of the current supply to the electromagnet segment (19) at the marked abnormal position, so that the acting force of the magnetic attraction force of the electromagnet segment (19) to adsorb the pipe fitting downward decreases, thereby decreasing the friction force between the pipe body and the driving roller (4).

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