Gripper control method and system for collar product

Abstract

The invention provides a gripper control method and system for shaft ring products. Accurate control feeding of the shaft ring products is achieved through the automation step. Firstly, the laser positioning module is used for obtaining scanning positioning data of a shaft ring on an incoming material tray, and meanwhile the code scanning module is used for reading a two-dimensional code to obtain product specification information. The system determines the collar size and position based on these data, performs centering operations, and calculates a specification deviation. And after centering is completed, the grabbing module adsorbs the collar through the magnetic adsorption module, and the vacuum adsorption module treats the collar partition plate at the same time. And if the specification deviation degree is smaller than a preset threshold value, the system moves the shaft ring and the partition plate to a subsequent station. According to the method, automatic detection and specification comparison of incoming material shaft rings are achieved, it is ensured that only qualified products enter the next working procedure, meanwhile, the grabbing stability and precision are ensured by combining the magnetic attraction technology and the vacuum attraction technology, the production efficiency and the product quality consistency are improved, and manual operation and errors are reduced.

Description

Technical Field

[0001] The present application relates to the field of automated assembly, and in particular to a gripper control method and system for a shaft collar product. Background Art

[0002] As an important component of mechanical equipment, the processing of bearings requires high precision and stability. In traditional bearing processing technology, the feeding of shaft rings is mainly carried out by manual assistance or semi-automatic methods. The operator needs to take out the shaft rings from bulk or pallets, place them on the conveyor or directly feed them into the fixture of the processing equipment after a simple surface inspection. Some modern factories use a vibration plate in combination with a manipulator to separate and orient the shaft rings from the mixed state through the vibration plate, and then the manipulator grabs and places them in the specified position.

[0003] The advantages of this feeding method are that the operation is relatively simple, the equipment investment cost is low, and it has a certain degree of flexibility and can adapt to the processing requirements of different specifications of shaft rings. At the same time, the manual feeding process can perform preliminary screening of the shaft rings to a certain extent, reducing the number of unqualified products entering the subsequent process.

[0004] However, the existing collar feeding methods have many shortcomings that cannot be ignored. First, manual feeding is inefficient and labor-intensive. Workers need to repeat the same action for a long time, which can easily lead to fatigue and inattention, affecting the quality and speed of feeding. Secondly, the subjectivity and instability of manual judgment lead to frequent missed inspections and misjudgments during the feeding process, and unqualified collars are sent to the processing link, resulting in waste of resources and equipment loss. Third, mechanized feeding devices such as vibration plates often have problems such as jamming, stacking, and direction confusion during the processing process, which requires manual intervention and interrupts production continuity. Fourth, the existing feeding system is difficult to achieve seamless docking with the production management system, and the feeding data cannot be recorded and traced in real time, which restricts the in-depth promotion of intelligent manufacturing. In addition, the collar is prone to collision and wear during the feeding process, which affects the surface quality of the parts and even causes microscopic dimensional changes, and these damages are often difficult to detect in the early stages. Summary of the invention

[0005] The present application provides a gripper control method for a collar product, comprising the following steps:

[0006] A1, obtaining scanning positioning data of a preset incoming material shaft ring on a preset incoming material tray through a preset laser positioning module;

[0007] A2, scanning the QR code image of the incoming shaft ring by a preset code scanning module to obtain product specification information data;

[0008] A3, determining the corresponding incoming material shaft ring size data and shaft ring positioning data according to the scanning positioning data of the incoming material shaft ring;

[0009] A4, performing a centering operation on the incoming shaft ring through a centering module of a preset grabbing module according to the size data of the incoming shaft ring and the shaft ring positioning data;

[0010] A5, calculate the corresponding specification deviation according to the incoming shaft ring size data and product specification information data;

[0011] A6, after the centering operation, the incoming material shaft ring is adsorbed by the magnetic adsorption module of the grabbing module, and the shaft ring partition corresponding to the incoming material shaft ring is adsorbed by the vacuum adsorption module of the grabbing module;

[0012] A7: If the specification deviation is less than the preset deviation threshold, the incoming material shaft ring and the corresponding shaft ring partition are moved to the preset subsequent station by the grabbing module.

[0013] By adopting the above-mentioned technical scheme, the gripper control method for shaft ring products can automatically obtain the size data and position data of the incoming shaft ring, and compare them with the product specifications, to ensure that only products that meet the correct specifications are transmitted to the subsequent workstations, and simultaneously process the incoming shaft rings and their partitions, and combine magnetic suction and vacuum adsorption technology to ensure grasping stability and accuracy, thereby improving production efficiency and product quality consistency, and reducing manual operations and errors.

[0014] Optionally, step A3 includes the following steps:

[0015] A301, acquiring a corresponding top-view scanning image of the collar according to the scanning positioning data;

[0016] A302, determining a corresponding internal space region image of the collar and a ring body image of the collar according to the top-view scanning image of the collar;

[0017] A303, determining the corresponding collar center positioning data and collar inner diameter size according to the collar internal space area image;

[0018] A304, determining the corresponding outer diameter of the shaft collar according to the shaft collar body image;

[0019] A305, determining the corresponding collar height and collar bearing surface height according to the scanned positioning data;

[0020] A306, generates the incoming material shaft ring size data according to the shaft ring inner diameter size, shaft ring outer diameter size and shaft ring height combination;

[0021] A307, the combined shaft collar center positioning data and shaft collar bearing surface height are the shaft collar positioning data.

[0022] By adopting the above-mentioned technical scheme, the gripper control method for the shaft ring product can extract the internal space area and the ring body image from the top-view scanning image respectively, and then estimate the dimensional parameters such as the inner diameter, outer diameter, height, center position and bearing surface height of the shaft ring to ensure the accuracy of subsequent centering operations and grasping processes, thereby improving the positioning and grasping accuracy of the shaft ring products on the automated production line and reducing production errors caused by dimensional errors.

[0023] Optionally, the gripper control method for a collar product includes the following steps for performing a centering operation:

[0024] A401, determining the initialization spacing of the centering module according to the outer diameter of the shaft collar in the incoming shaft collar size data and the preset initialization clearance;

[0025] A402, adjusting the centering distance of the centering module to an initialization distance through the servo adjustment module of the grabbing module;

[0026] A403, determining the corresponding interval midpoint position data according to the initialization interval;

[0027] A404, moving the grabbing module to the top of the incoming material shaft ring according to the shaft ring positioning data, and aligning the spacing midpoint position data of the centering module with the shaft ring circle center positioning data of the incoming material shaft ring in the vertical direction;

[0028] A405, adjusting the horizontal height of the grabbing module according to the height of the collar and the height of the collar bearing surface, so that the horizontal height of the centering module is lower than the horizontal height of the top surface of the incoming collar;

[0029] A406, reducing the centering distance of the centering module to the outer diameter of the shaft ring through the servo adjustment module.

[0030] By adopting the above technical scheme, the gripper control method for the collar product can calculate the initial spacing of the centering module according to the outer diameter of the collar and the initialization clearance in advance, and accurately control the position and spacing of the centering mechanism in combination with the servo adjustment system. First, ensure that the midpoint of the centering module is accurately aligned with the center of the collar in the vertical direction, and then adjust the height to make the centering module located in a suitable gripping plane. Finally, the all-round positioning and clamping of the collar is completed by accurately adjusting the centering spacing. This progressive centering method not only improves the stability and accuracy of the collar gripping, but also reduces the adaptation and adjustment time when processing collars of different sizes.

[0031] Optionally, step A4 includes the following steps:

[0032] A501, generates the corresponding incoming material shaft ring dimension vector according to the shaft ring inner diameter dimension, shaft ring outer diameter dimension and shaft ring height combination in the incoming material shaft ring dimension data;

[0033] A502, generating a corresponding specification collar dimension vector according to the specification inner diameter dimension, specification outer diameter dimension and specification height combination in the product specification information data;

[0034] A503, calculates the corresponding Euclidean distance according to the incoming material shaft ring dimension vector and the specification shaft ring dimension vector and defines it as the specification deviation value;

[0035] A504 calculates the corresponding specification deviation degree based on the quotient of the specification deviation value and the specification collar dimension vector.

[0036] By adopting the above technical scheme, the gripper control method for the collar product can convert the actual collar size into vector form for comparison with the standard specification, use Euclidean distance to calculate the deviation value, and calculate the relative deviation by the ratio with the specification vector modulus. It can comprehensively consider the comprehensive deviation of multi-dimensional parameters, better reflect the overall conformity of the product than single parameter comparison, provide more scientific and accurate quality control standards, effectively screen out unmatched incoming materials, significantly improve the product consistency and reliability of the production line, and reduce quality problems in the subsequent processes.

[0037] Optionally, step A7 includes the following steps:

[0038] A701, if the specification deviation is less than the deviation threshold, the corresponding product standard three-dimensional model data is obtained from the preset parts database according to the product specification information data;

[0039] A702, generating corresponding standard shaft collar 3D feature data according to the product standard 3D model data using a preset 3D feature extraction algorithm;

[0040] A703, determining the corresponding incoming material shaft ring scanning model data according to the scanning positioning data;

[0041] A704, generating corresponding three-dimensional feature data of the incoming shaft ring by using a three-dimensional feature extraction algorithm according to the scanning model data of the incoming shaft ring;

[0042] A705, calculating the corresponding cosine similarity based on the three-dimensional feature data of the standard shaft ring and the three-dimensional feature data of the incoming shaft ring and defining it as a complete matching degree;

[0043] A706, if the complete matching degree is less than a preset completeness threshold, the incoming material collar and the corresponding collar partition are moved to a preset return material station by the grab module;

[0044] A707: If the complete matching degree is greater than or equal to the completeness threshold, the incoming material shaft ring and the corresponding shaft ring partition are moved to the subsequent workstation through the grabbing module.

[0045] By adopting the above technical scheme, the gripper control method for shaft ring products can obtain the standard three-dimensional model and the actual scanning model, use the feature extraction algorithm to generate feature data, and use the cosine similarity to calculate the complete matching degree. It can identify products with matching size but defects, deformation or structural abnormalities, improve the accuracy and comprehensiveness of quality inspection, effectively prevent unqualified products from flowing into subsequent processes, avoid the production of defective products, reduce rework costs, and improve material utilization and production efficiency.

[0046] Optionally, the gripper control method for a collar product further comprises the following steps:

[0047] B1, defining all the incoming shaft rings whose specification deviation is less than the deviation threshold as matching shaft rings;

[0048] B2, obtaining the complete matching degree corresponding to each matching shaft ring within a preset quality inspection time window and combining them to generate complete matching degree monitoring data;

[0049] B3, calculate the corresponding standard deviation based on the complete matching monitoring data and define it as the quality deviation;

[0050] B4, if the quality deviation is greater than the preset quality deviation threshold, a quality warning message is sent to the preset monitoring background.

[0051] By adopting the above technical solution, the gripper control method for shaft ring products can collect the complete matching data of all qualified products in a specific time window, calculate its standard deviation as a quality deviation indicator, and while evaluating the quality of a single product, it can also monitor the stability and consistency of the overall production process. When the quality fluctuation of a batch of products exceeds the threshold, the system will automatically send an early warning message. Through process monitoring, the controllability of the production process is improved, enabling managers to promptly discover and intervene in potential systemic quality problems, prevent the generation of large quantities of defective products, and significantly reduce quality risks and production costs.

[0052] Optionally, the gripper control method for the collar product includes the following steps for the magnetic suction module to absorb the incoming collar:

[0053] C1, if the specification deviation is greater than or equal to the deviation threshold, the estimated volume of the corresponding incoming shaft ring is calculated according to the shaft ring inner diameter, shaft ring outer diameter and shaft ring height in the incoming shaft ring size data;

[0054] C2, calculating the estimated mass of the corresponding incoming shaft ring according to the estimated volume of the incoming shaft ring and the preset standard shaft ring material density, and determining the reference adsorption force of the magnetic attraction module according to the estimated mass of the incoming shaft ring;

[0055] C3, if the specification deviation is less than the preset deviation threshold, determining the reference adsorption force of the magnetic module according to the product specification quality in the product specification information data;

[0056] C4, calculating the corresponding execution adsorption force according to the reference adsorption force and the preset adsorption anti-detachment coefficient;

[0057] C5, using the magnetic attraction module to perform adsorption force to magnetically adsorb the incoming material shaft ring.

[0058] By adopting the above technical scheme, the gripper control method for collar products can adjust the magnetic suction force intelligently and adopt different adsorption forces for different situations. For products with specification deviation exceeding the standard, the system calculates the estimated volume and mass through dimensional data to determine the required baseline adsorption force; for products that meet the specifications, the standard specification quality data is directly used, and the anti-dropping coefficient is introduced to calculate the actual adsorption force based on the consideration of product weight changes and safety factors, thereby ensuring the safety and reliability of the grasping process, effectively preventing the collar from falling or unstable grasping, and at the same time improving the system's adaptability to collars of different specifications and materials, reducing product damage and production interruptions caused by improper grasping force.

[0059] The present application also provides a gripper control system for a collar product, comprising:

[0060] Laser positioning module;

[0061] Scan code module;

[0062] Grab the module;

[0063] Processing control module;

[0064] Wherein, the laser positioning module, the code scanning module and the grabbing module are communicatively connected to the processing control module;

[0065] Wherein, the grabbing module comprises a centering module, a magnetic suction module, a vacuum adsorption module and a servo adjustment module, the magnetic suction module and the vacuum adsorption module are connected to the centering module, and the centering module is connected to the servo adjustment module;

[0066] The gripper control system for the collar product further includes a collar feeding strategy, including the following steps:

[0067] D1, obtaining scanning positioning data of a preset incoming material collar on a preset incoming material tray through the laser positioning module;

[0068] D2, scanning the QR code image of the incoming material collar by the code scanning module to obtain product specification information data;

[0069] D3, determining the corresponding incoming material shaft collar size data and shaft collar positioning data through the processing control module according to the scanning positioning data of the incoming material shaft collar;

[0070] D4, performing a centering operation on the incoming material shaft ring through the centering module of the grabbing module according to the incoming material shaft ring size data and shaft ring positioning data;

[0071] D5, calculating the corresponding specification deviation through the processing control module according to the incoming shaft ring size data and product specification information data;

[0072] D6, after the centering operation, the incoming material shaft ring is adsorbed by the magnetic adsorption module of the grabbing module, and the shaft ring partition corresponding to the incoming material shaft ring is adsorbed by the vacuum adsorption module of the grabbing module;

[0073] D7, if the specification deviation is less than the preset deviation threshold, the incoming material shaft ring and the corresponding shaft ring partition are moved to the preset subsequent station by the grabbing module.

[0074] By adopting the above-mentioned technical scheme, the gripper control method system for shaft ring products can automatically obtain the size data and position data of the incoming shaft ring, and compare them with the product specifications, to ensure that only products that meet the correct specifications are transmitted to the subsequent workstations, and simultaneously process the incoming shaft rings and their partitions, and combine magnetic suction and vacuum adsorption technology to ensure gripping stability and accuracy, thereby improving production efficiency and product quality consistency, and reducing manual operations and errors.

[0075] In summary, the present application includes at least one of the following beneficial technical effects:

[0076] 1. The size and position data of the incoming shaft ring can be automatically obtained and compared with the product specifications to ensure that only products that meet the correct specifications are delivered to the subsequent workstations, and the incoming shaft ring and its partitions are processed simultaneously. The magnetic suction and vacuum adsorption technology are combined to ensure the grasping stability and accuracy, improve production efficiency and product quality consistency, and reduce manual operations and errors.

[0077] 2. The internal space area and the ring body image can be extracted from the top-down scan image respectively, and then the inner diameter, outer diameter, height, center position, bearing surface height and other dimensional parameters of the shaft ring can be estimated to ensure the accuracy of subsequent centering operations and grasping processes, improve the positioning and grasping accuracy of shaft ring products on the automated production line, and reduce production errors caused by dimensional errors.

[0078] 3. The initial spacing of the centering modules can be calculated in advance based on the outer diameter of the collar and the initial clearance, and the position and spacing of the centering mechanism can be accurately controlled in combination with the servo adjustment system. First, ensure that the midpoint of the centering module is accurately aligned with the center of the collar in the vertical direction, and then adjust the height to make the centering module located in the appropriate grasping plane. Finally, the centering spacing is accurately adjusted to complete the all-round positioning and clamping of the collar. This progressive centering method not only improves the stability and accuracy of the collar grasping, but also reduces the adaptation and adjustment time when handling collars of different sizes. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] Figure 1 It is a process schematic diagram of a gripper control method for a shaft collar product of the present invention.

[0080] Figure 2 The present invention is a schematic diagram of the principle of a gripper control system for a shaft collar product.

[0081] Figure 3 It is a structural schematic diagram of a gripping module of a gripper control system for a shaft collar product according to the present invention. DETAILED DESCRIPTION

[0082] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0083] The embodiments of the present application are further described in detail below in conjunction with the drawings in the specification.

[0084] refer to Figure 1 and Figure 2 The present invention provides a gripper control method for a collar product, which is used to move the collar by a mechanical arm to perform a loading operation during the assembly and production process of a bearing, and includes the following steps:

[0085] A1, obtaining scanning positioning data of a preset incoming material collar on a preset incoming material tray through a preset laser positioning module 10;

[0086] The laser positioning module 10 is mainly used to obtain the three-dimensional scanning data of the incoming material collar based on laser scanning and in combination with a corresponding three-dimensional camera;

[0087] The incoming material tray is a carrying container for the incoming material collar;

[0088] The scanning positioning data is the three-dimensional scanning data of the incoming material shaft ring on the incoming material pallet, which can be three-dimensional model data, depth data, point cloud data, etc.

[0089] A2, scanning the QR code image of the incoming material collar by a preset code scanning module 20 to obtain product specification information data;

[0090] The code scanning module 20 is mainly used to scan the QR code or bar code of the incoming material ring to identify and obtain corresponding information;

[0091] The two-dimensional code image is a two-dimensional code printed on or pasted on the incoming material shaft ring;

[0092] The product specification information data is the data information contained in the two-dimensional code image.

[0093] A3, determining the corresponding incoming material shaft ring size data and shaft ring positioning data according to the scanning positioning data of the incoming material shaft ring;

[0094] The incoming shaft ring size data is the size data of the incoming shaft ring calculated and determined based on the scanning positioning data, including the inner diameter, outer diameter, height and other dimensions;

[0095] The shaft ring positioning data is the relative position data of the incoming shaft ring relative to the laser positioning module 10 or other known fixed points calculated based on the scanning positioning data. The incoming shaft ring can be positioned based on the laser positioning module 10 or other known fixed points so that the robot arm can accurately move to the incoming shaft ring.

[0096] A4, performing a centering operation on the incoming shaft ring through a preset centering module 31 of a grabbing module 30 according to the incoming shaft ring size data and shaft ring positioning data;

[0097] The grabbing module 30 is mainly used to grab the incoming material collar and perform the loading action;

[0098] The centering module 31 mainly performs a centering operation before grabbing the incoming material collar, so as to accurately grab the incoming material collar.

[0099] A5, calculate the corresponding specification deviation according to the incoming shaft ring size data and product specification information data;

[0100] The specification deviation degree is the degree of deviation between the incoming shaft ring size data obtained by scanning and measuring the incoming shaft ring and the product specification information data read from the QR code, and is used to determine whether the incoming shaft ring is consistent with the corresponding specification information.

[0101] A6, after the centering operation, the incoming material shaft ring is adsorbed by the magnetic adsorption module 32 of the grabbing module 30, and the shaft ring partition corresponding to the incoming material shaft ring is adsorbed by the vacuum adsorption module 33 of the grabbing module 30;

[0102] The magnetic module 32 is mainly used to controllably adsorb the incoming material shaft ring. Since the shaft ring of the bearing is usually made of steel, it can be adsorbed by magnetic attraction, and through a controllable electromagnet, it can adsorb and detach the incoming material shaft ring as needed;

[0103] The vacuum adsorption module 33 is mainly used to generate suction force by vacuuming to adsorb the collar partition;

[0104] The collar spacer is a spacer between two adjacent collars, used to separate adjacent collars, and is usually made of plastic, so it can be adsorbed by vacuum adsorption;

[0105] At the same time, the collar partition can be used as a carrier when the incoming collar is moved. By vacuum adsorbing the collar partition, additional stable suction can be indirectly provided for the incoming collar.

[0106] A7: If the specification deviation is less than the preset deviation threshold, the incoming material shaft ring and the corresponding shaft ring partition are moved to the preset subsequent station by the grabbing module 30.

[0107] The deviation threshold is a preset reference value used to determine whether the specification deviation of the incoming shaft ring is qualified;

[0108] The subsequent workstation is the subsequent processing station, and only the incoming shaft rings with qualified specification deviation can enter the subsequent processing process.

[0109] Through the above steps, the gripper control method for shaft ring products can automatically obtain the size data and position data of the incoming shaft ring, and compare them with the product specifications, to ensure that only products that meet the correct specifications are transmitted to subsequent workstations, and simultaneously process the incoming shaft ring and its partitions, and combine magnetic suction and vacuum adsorption technology to ensure grasping stability and accuracy, thereby improving production efficiency and product quality consistency, while reducing manual operations and errors.

[0110] Further, step A3 includes the following steps:

[0111] A301, acquiring a corresponding top-view scanning image of the collar according to the scanning positioning data;

[0112] The top-down scanning image of the collar is a planar image obtained from a top-down perspective in the scanning positioning data.

[0113] A302, determining a corresponding internal space region image of the collar and a ring body image of the collar according to the top-view scanning image of the collar;

[0114] The image of the internal space area of ​​the collar is a large circular image area in the top view scanning image of the collar. When the incoming collar is placed horizontally, different colors are usually used to represent different heights or depths of different parts of the scanned object during three-dimensional scanning. The internal space of the collar is a hollow area with a consistent depth, and the bottom is the surface of the partition. Therefore, it is a uniform color in the scanning image. Therefore, the corresponding internal space area image of the collar can be separated from the top view scanning image of the collar more conveniently.

[0115] The collar body image is an image of the corresponding collar body in the collar top-down scan image. The collar is usually of equal height at all locations, so the corresponding annular image can be separated based on the color at the same height.

[0116] A303, determining the corresponding collar center positioning data and collar inner diameter size according to the collar internal space area image;

[0117] The center positioning data of the shaft ring is the position data of the center of the circle corresponding to the image of the internal space area of ​​the shaft ring, which can be determined by setting a corresponding algorithm;

[0118] The inner diameter of the collar is the radius corresponding to the image of the internal space area of ​​the collar. The corresponding radius can be determined in the image of the internal space area of ​​the collar based on the collar center positioning data.

[0119] A304, determining the corresponding outer diameter of the shaft collar according to the shaft collar body image;

[0120] The outer diameter of the collar is the radius determined based on the image of the collar annulus.

[0121] A305, determining the corresponding collar height and collar bearing surface height according to the scanned positioning data;

[0122] The height of the collar is the height of the collar itself, that is, the thickness of the collar. The height relative to the collar partition in the scanning positioning data can be identified as the collar height;

[0123] The height of the collar bearing surface is the relative height of the surface of the collar partition relative to the laser positioning module 10 or other known fixed points, and is used for the accurate movement of the grabbing module 30 .

[0124] A306, generates the incoming material shaft ring size data according to the shaft ring inner diameter size, shaft ring outer diameter size and shaft ring height combination;

[0125] The incoming shaft collar dimension data is a collection of shaft collar inner diameter dimension, shaft collar outer diameter dimension and shaft collar height data.

[0126] A307, the combination of the shaft collar center positioning data and the shaft collar bearing surface height is the shaft collar positioning data;

[0127] The shaft collar positioning data is a collection of shaft collar center positioning data and shaft collar bearing surface height data.

[0128] Through the above steps, the gripper control method for the shaft ring product can extract the internal space area and the ring body image from the overhead scanning image respectively, and then estimate the dimensional parameters such as the inner diameter, outer diameter, height, center position and bearing surface height of the shaft ring to ensure the accuracy of subsequent centering operations and grasping processes, improve the positioning and grasping accuracy of the shaft ring products on the automated production line, and reduce production errors caused by dimensional errors.

[0129] Further, the gripper control method for the collar product includes the following steps for performing the centering operation:

[0130] A401, determining the initialization spacing of the centering module 31 according to the outer diameter of the shaft collar in the incoming shaft collar size data and the preset initialization clearance;

[0131] The initialization clearance is a preset clearance, which is used to adjust the wheelbase of the centering module before the centering operation;

[0132] The centering module 31 may include a fixed portion and a movable portion, and the movable portion may adjust its wheelbase from the fixed plate according to the servo motor to adapt to the shaft rings of different outer diameters;

[0133] The initialization spacing is the wheelbase of the centering module 31 before the centering operation, that is, the distance between the fixed part and the movable part, which is usually the outer diameter of the collar plus the initialization clearance.

[0134] A402, adjusting the centering distance of the centering module 31 to the initialization distance through the servo adjustment module 34 of the grabbing module 30;

[0135] The distance between the fixed part and the movable part of the centering module 31 is adjusted to an initialization distance by the servo adjustment module 34 .

[0136] A403, determining the corresponding interval midpoint position data according to the initialization interval;

[0137] The midpoint position data of the spacing is the midpoint position of the initialization spacing, that is, the position data of the midpoint between the fixed part and the movable part of the centering module 31, which can be calculated and determined through the position information of the grabbing module 30 itself and the initialization spacing.

[0138] A404, moving the grabbing module 30 to the top of the incoming material shaft ring according to the shaft ring positioning data, and aligning the spacing midpoint position data of the centering module 31 with the shaft ring circle center positioning data of the incoming material shaft ring in the vertical direction;

[0139] That is, the grabbing module 30 is moved so that the midpoint of the spacing of the centering module 31 and the center of the shaft ring of the incoming material overlap in the vertical direction.

[0140] A405, adjusting the horizontal height of the grabbing module 30 according to the height of the collar and the height of the collar bearing surface, so that the horizontal height of the centering module 31 is lower than the horizontal height of the top surface of the incoming collar;

[0141] By adjusting the horizontal height of the centering module 31 to a horizontal height lower than the top surface of the incoming material shaft ring, the movable part of the centering module 31 can be extended and retracted to contact the outer ring surface of the incoming material shaft ring, so that it can drive the incoming material shaft ring to move slightly and contact the fixed part, and then contact the movable part and the fixed part at the same time to complete the positioning operation.

[0142] A406, reducing the centering distance of the centering module 31 to the outer diameter of the shaft collar through the servo adjustment module.

[0143] By reducing the centering distance, the movable part and the fixed part are allowed to contact the outer ring surface of the incoming material collar from two directions at the same time, thereby completing the centering operation.

[0144] Through the above steps, the gripper control method for the collar product can calculate the initial spacing of the centering module according to the outer diameter of the collar and the initialization clearance in advance, and accurately control the position and spacing of the centering mechanism in combination with the servo adjustment system. First, ensure that the midpoint of the centering module is accurately aligned with the center of the collar in the vertical direction, and then adjust the height to make the centering module located in a suitable gripping plane. Finally, the all-round positioning and clamping of the collar is completed by accurately adjusting the centering spacing. This progressive centering method not only improves the stability and accuracy of the collar gripping, but also reduces the adaptation and adjustment time when processing collars of different sizes.

[0145] Further, step A4 includes the following steps:

[0146] A501, generates the corresponding incoming material shaft ring dimension vector according to the shaft ring inner diameter dimension, shaft ring outer diameter dimension and shaft ring height combination in the incoming material shaft ring dimension data;

[0147] The incoming shaft collar dimension vector is a collection of vectorized data of the shaft collar inner diameter dimension, shaft collar outer diameter dimension and shaft collar height.

[0148] A502, generating a corresponding specification collar dimension vector according to the specification inner diameter dimension, specification outer diameter dimension and specification height combination in the product specification information data;

[0149] The specification inner diameter size is the standard inner diameter size of the corresponding model shaft ring in the product specification information data;

[0150] The outer diameter of the specification is the standard outer diameter of the corresponding model collar in the product specification information data;

[0151] The specification height is the standard height of the corresponding model collar in the product specification information data;

[0152] The specification shaft ring dimension vector is a vectorized data collection of specification inner diameter dimension, specification outer diameter dimension and specification height.

[0153] A503, calculates the corresponding Euclidean distance according to the incoming material shaft ring dimension vector and the specification shaft ring dimension vector and defines it as the specification deviation value;

[0154] The specification deviation value is the Euclidean distance between the incoming shaft ring dimension vector and the specification shaft ring dimension vector, reflecting the gap between the incoming shaft ring and the standard specification.

[0155] A504, calculates the corresponding specification deviation degree according to the quotient of the specification deviation value and the specification collar dimension vector;

[0156] The specification deviation is the degree of deviation of the incoming shaft ring compared to the standard specification. The incoming shaft ring size data obtained based on scanning will have a certain error compared to the corresponding standard specification size, so there will be a certain degree of specification deviation. However, if there is a model correspondence error, a larger specification deviation will occur. Therefore, the incoming shaft ring with mismatched model can be found based on the specification deviation to prevent it from entering the next processing step.

[0157] Through the above steps, the gripper control method for the collar product can convert the actual collar size into a vector form for comparison with the standard specification, use the Euclidean distance to calculate the deviation value, and calculate the relative deviation by the ratio with the specification vector modulus. It can comprehensively consider the comprehensive deviation of multi-dimensional parameters, better reflect the overall conformity of the product than a single parameter comparison, provide a more scientific and accurate quality control standard, effectively screen out unmatched incoming materials, significantly improve the product consistency and reliability of the production line, and reduce quality problems in subsequent processes.

[0158] Further, step A7 includes the following steps:

[0159] A701, if the specification deviation is less than the deviation threshold, the corresponding product standard three-dimensional model data is obtained from the preset parts database according to the product specification information data;

[0160] The parts database is a pre-set database used to store data on various specifications of shaft collars and related parts;

[0161] The product standard three-dimensional model data is the three-dimensional model data of the standard shaft ring corresponding to the product specification information data pre-stored in the parts database.

[0162] A702, generating corresponding standard shaft collar 3D feature data according to the product standard 3D model data using a preset 3D feature extraction algorithm;

[0163] The three-dimensional feature extraction algorithm is a pre-set algorithm used to extract feature data of a three-dimensional model;

[0164] The standard shaft collar three-dimensional feature data is the feature data corresponding to the product standard three-dimensional model data.

[0165] A703, determining the corresponding incoming material shaft ring scanning model data according to the scanning positioning data;

[0166] The incoming material shaft ring scanning model data is the three-dimensional model data corresponding to the incoming material shaft ring described in the scanning positioning data.

[0167] A704, generating corresponding three-dimensional feature data of the incoming shaft ring by using a three-dimensional feature extraction algorithm according to the scanning model data of the incoming shaft ring;

[0168] The three-dimensional feature data of the incoming shaft collar is the feature data corresponding to the scanning model data of the incoming shaft collar.

[0169] A705, calculating the corresponding cosine similarity based on the three-dimensional feature data of the standard shaft ring and the three-dimensional feature data of the incoming shaft ring and defining it as a complete matching degree;

[0170] The complete matching degree is the cosine similarity between the 3D feature data of the standard shaft ring and the 3D feature data of the incoming shaft ring;

[0171] The difference between the incoming shaft ring and the corresponding standard shaft ring model can be compared through cosine similarity, and obvious defects can be found to prevent the defective shaft ring from entering the next process.

[0172] A706, if the complete matching degree is less than the preset completeness threshold, the incoming material collar and the corresponding collar partition are moved to the preset return material station by the grab module 30;

[0173] The completeness threshold is a pre-set reference value used to determine whether the completeness of the match meets the requirements;

[0174] The return station is a pre-set station area used to return incoming shaft rings with quality defects.

[0175] A707, if the complete matching degree is greater than or equal to the completeness threshold, the incoming material shaft ring and the corresponding shaft ring partition are moved to the subsequent station by the grabbing module 30;

[0176] The incoming shaft ring with a complete matching degree greater than or equal to the completeness threshold is identified as a qualified product and can enter the next process.

[0177] Through the above steps, the gripper control method for shaft ring products can obtain the standard three-dimensional model and the actual scanning model, use the feature extraction algorithm to generate feature data, and use the cosine similarity to calculate the complete matching degree. It can identify products with matching size but defects, deformation or structural abnormalities, improve the accuracy and comprehensiveness of quality inspection, effectively prevent unqualified products from flowing into subsequent processes, avoid the production of defective products, reduce rework costs, and improve material utilization and production efficiency.

[0178] Furthermore, the gripper control method for the collar product further comprises the following steps:

[0179] B1, defining all the incoming shaft rings whose specification deviation is less than the deviation threshold as matching shaft rings;

[0180] The matching shaft ring is the incoming shaft ring whose specification deviation is less than the deviation threshold, that is, the incoming shaft ring whose size data matches the corresponding product specification information data.

[0181] B2, obtaining the complete matching degree corresponding to each matching shaft ring within a preset quality inspection time window and combining them to generate complete matching degree monitoring data;

[0182] The quality inspection time window is a pre-set time window used to obtain data within a specific time window;

[0183] The complete matching degree monitoring data is a collection of complete matching degree data corresponding to each matching shaft ring within the quality detection time window.

[0184] B3, calculate the corresponding standard deviation based on the complete matching monitoring data and define it as the quality deviation;

[0185] The quality deviation is the standard deviation of the complete matching monitoring data, which reflects the fluctuation of the complete matching and can be used to reflect the quality fluctuation of each of the incoming shaft rings.

[0186] B4, if the quality deviation is greater than the preset quality deviation threshold, a quality warning message is sent to the preset monitoring background;

[0187] The quality deviation threshold is a preset reference value used to determine the quality fluctuation of each incoming shaft ring;

[0188] If the quality deviation is greater than the preset quality deviation threshold, that is, the quality fluctuation of each incoming shaft ring is too large, it means that there may be abnormalities in the previous processing link, and the staff should be reminded to pay attention and handle it.

[0189] Through the above steps, the gripper control method for shaft ring products can collect the complete matching data of all qualified products in a specific time window, calculate its standard deviation as a quality deviation indicator, and while evaluating the quality of a single product, monitor the stability and consistency of the overall production process. When the quality fluctuation of a batch of products exceeds a threshold, the system will automatically send an early warning message. Through process monitoring, the controllability of the production process is improved, enabling managers to promptly discover and intervene in potential systemic quality problems, prevent the generation of large quantities of defective products, and significantly reduce quality risks and production costs.

[0190] Furthermore, the gripper control method for the collar product includes the following steps for the magnetic suction module to absorb the incoming collar:

[0191] C1, if the specification deviation is greater than or equal to the deviation threshold, the estimated volume of the corresponding incoming shaft ring is calculated according to the shaft ring inner diameter, shaft ring outer diameter and shaft ring height in the incoming shaft ring size data;

[0192] The estimated volume of the incoming material collar is the estimated volume of the incoming material collar calculated based on the collar inner diameter, collar outer diameter and collar height.

[0193] C2, calculating the estimated mass of the corresponding incoming shaft ring according to the estimated volume of the incoming shaft ring and the preset standard shaft ring material density, and determining the reference adsorption force of the magnetic attraction module 32 according to the estimated mass of the incoming shaft ring;

[0194] The standard collar material density is the pre-set density of the incoming collar material, which is set according to the specific material;

[0195] The estimated mass of the incoming shaft ring is the estimated mass of the incoming shaft ring;

[0196] The reference adsorption force is a set reference value of the adsorption force of the magnetic adsorption module 32 .

[0197] C3, if the specification deviation is less than the preset deviation threshold, determining the reference adsorption force of the magnetic module 32 according to the product specification quality in the product specification information data;

[0198] If the specification deviation is less than the preset deviation threshold, it means that the incoming shaft ring is consistent with the corresponding product specification, so the reference adsorption force of the magnetic module 32 can be determined according to the product specification quality in the product specification information data.

[0199] C4, calculating the corresponding execution adsorption force according to the reference adsorption force and the preset adsorption anti-detachment coefficient;

[0200] The adsorption anti-detachment coefficient is a preset coefficient used to adjust the adsorption force of the magnetic module 32 to prevent the shaft ring from detaching during movement, and is a value greater than 1, for example, it can be set to 1.2;

[0201] The execution adsorption force is the adsorption force required to be generated when the magnetic adsorption module 32 adsorbs the incoming material shaft ring, and the magnetic adsorption force can be adjusted by changing the magnitude of the current;

[0202] The effective adsorption force can be calculated by multiplying the reference adsorption force and the adsorption anti-detachment coefficient.

[0203] C5, using the magnetic attraction module 32 to magnetically attract the incoming material collar by applying an adsorption force;

[0204] The incoming material collar is adsorbed by an adsorption force so that the grabbing module 30 can move the incoming material collar.

[0205] Through the above steps, the gripper control method for collar products can intelligently adjust the magnetic suction force and adopt different adsorption forces for different situations. For products with specification deviation exceeding the standard, the system calculates the estimated volume and mass through dimensional data to determine the required baseline adsorption force; for products that meet the specifications, the standard specification quality data is directly used. Based on the consideration of product weight changes and safety factors, an anti-slip coefficient is introduced to calculate the actual adsorption force, thereby ensuring the safety and reliability of the grasping process, effectively preventing the collar from falling or unstable grasping, and at the same time improving the system's adaptability to collars of different specifications and materials, reducing product damage and production interruptions caused by improper grasping force.

[0206] refer to Figure 2 and Figure 3 The present application also provides a gripper control method system for a collar product, comprising:

[0207] Laser positioning module 10;

[0208] Scanning module 20;

[0209] Grab module 30;

[0210] Processing control module 40;

[0211] Wherein, the laser positioning module 10, the code scanning module 20 and the grabbing module 30 are communicatively connected to the processing control module 40;

[0212] The grabbing module 30 includes a centering module 31 , a magnetic module 32 , a vacuum adsorption module 33 and a servo adjustment module 34 . The magnetic module 32 and the vacuum adsorption module 33 are connected to the centering module 31 , and the centering module 31 is connected to the servo adjustment module 34 .

[0213] The laser positioning module 10 is mainly used to obtain the three-dimensional scanning data of the incoming material collar based on laser scanning and in combination with a corresponding three-dimensional camera;

[0214] The code scanning module 20 is mainly used to scan the QR code or bar code of the incoming material ring to identify and obtain corresponding information;

[0215] The grabbing module 30 is mainly used to grab the incoming material collar and perform the loading action;

[0216] The processing control module 40 is mainly used to process data of each module and control each module.

[0217] The centering module 31 mainly performs a centering operation before grabbing the incoming material collar, so as to accurately grab the incoming material collar.

[0218] The magnetic attraction module 32 is mainly used to controllably attract the incoming material collar, and can attract and detach the incoming material collar as needed through a controllable electromagnet;

[0219] The vacuum adsorption module 33 is mainly used to generate suction force by vacuuming to adsorb the collar partition;

[0220] The servo adjustment module 34 is mainly used to adjust the spacing of the centering modules 31 to perform a centering operation.

[0221] The gripper control system for the collar product further includes a collar feeding strategy, including the following steps:

[0222] D1, obtaining scanning positioning data of a preset incoming material collar on a preset incoming material tray through the laser positioning module 10;

[0223] D2, scanning the QR code image of the incoming material collar by the code scanning module 20 to obtain product specification information data;

[0224] D3, determining the corresponding incoming material shaft ring size data and shaft ring positioning data through the processing control module 40 according to the scanning positioning data of the incoming material shaft ring;

[0225] D4, performing a centering operation on the incoming shaft ring through the centering module 31 of the grabbing module 30 according to the incoming shaft ring size data and shaft ring positioning data;

[0226] D5, calculating the corresponding specification deviation through the processing control module 40 according to the incoming material shaft ring size data and product specification information data;

[0227] D6, after the centering operation, the incoming material shaft ring is adsorbed by the magnetic adsorption module 32 of the grabbing module 30, and the shaft ring partition corresponding to the incoming material shaft ring is adsorbed by the vacuum adsorption module 33 of the grabbing module 30;

[0228] D7, if the specification deviation is less than the preset deviation threshold, the incoming material collar and the corresponding collar partition are moved to the preset subsequent station by the grabbing module 30.

[0229] Through the above technical scheme, the gripper control method system for shaft ring products can automatically obtain the size data and position data of the incoming shaft ring, and compare them with the product specifications, to ensure that only products that meet the correct specifications are transmitted to subsequent workstations, and simultaneously process the incoming shaft rings and their partitions, and combine magnetic suction and vacuum adsorption technology to ensure gripping stability and accuracy, thereby improving production efficiency and product quality consistency, while reducing manual operations and errors.

[0230] The above are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. Any feature disclosed in this specification (including the abstract and drawings), unless otherwise stated, can be replaced by other equivalent or alternative features with similar purposes. That is, unless otherwise stated, each feature is only an example of a series of equivalent or similar features.

Claims

1. A gripper control method for a collar product, characterized in that: The following steps are involved: A1, obtaining scanning positioning data of a preset incoming material shaft ring on a preset incoming material tray through a preset laser positioning module; A2, scanning the QR code image of the incoming shaft ring by a preset code scanning module to obtain product specification information data; A3, determining the corresponding incoming material shaft ring size data and shaft ring positioning data according to the scanning positioning data of the incoming material shaft ring; A4, performing a centering operation on the incoming shaft ring through a centering module of a preset grabbing module according to the size data of the incoming shaft ring and the shaft ring positioning data; A5, calculate the corresponding specification deviation according to the incoming shaft ring size data and product specification information data; A6, after the centering operation, the incoming material shaft ring is adsorbed by the magnetic adsorption module of the grabbing module, and the shaft ring partition corresponding to the incoming material shaft ring is adsorbed by the vacuum adsorption module of the grabbing module; A7: If the specification deviation is less than the preset deviation threshold, the incoming material shaft ring and the corresponding shaft ring partition are moved to the preset subsequent station by the grabbing module.

2. The gripper control method for a collar product according to claim 1, characterized in that: Step A3 includes the following steps: A301, acquiring a corresponding top-view scanning image of the collar according to the scanning positioning data; A302, determining a corresponding internal space region image of the collar and a ring body image of the collar according to the top-view scanning image of the collar; A303, determining the corresponding collar center positioning data and collar inner diameter size according to the collar internal space area image; A304, determining the corresponding outer diameter of the shaft collar according to the shaft collar body image; A305, determining the corresponding collar height and collar bearing surface height according to the scanned positioning data; A306, generates the incoming material shaft ring size data according to the shaft ring inner diameter size, shaft ring outer diameter size and shaft ring height combination; A307, the combined shaft collar center positioning data and shaft collar bearing surface height are the shaft collar positioning data.

3. The gripper control method for a collar product according to claim 2, characterized in that: The following steps are included to perform the centering operation: A401, determining the initialization spacing of the centering module according to the outer diameter of the shaft collar in the incoming shaft collar size data and the preset initialization clearance; A402, adjusting the centering distance of the centering module to an initialization distance through the servo adjustment module of the grabbing module; A403, determining the corresponding interval midpoint position data according to the initialization interval; A404, moving the grabbing module to the top of the incoming material shaft ring according to the shaft ring positioning data, and aligning the spacing midpoint position data of the centering module with the shaft ring circle center positioning data of the incoming material shaft ring in the vertical direction; A405, adjusting the horizontal height of the grabbing module according to the height of the collar and the height of the collar bearing surface, so that the horizontal height of the centering module is lower than the horizontal height of the top surface of the incoming collar; A406, reducing the centering distance of the centering module to the outer diameter of the shaft ring through the servo adjustment module.

4. The gripper control method for a collar product according to claim 3, characterized in that: Step A4 includes the following steps: A501, generates the corresponding incoming material shaft ring dimension vector according to the shaft ring inner diameter dimension, shaft ring outer diameter dimension and shaft ring height combination in the incoming material shaft ring dimension data; A502, generating a corresponding specification collar dimension vector according to the specification inner diameter dimension, specification outer diameter dimension and specification height combination in the product specification information data; A503, calculates the corresponding Euclidean distance according to the incoming material shaft ring dimension vector and the specification shaft ring dimension vector and defines it as the specification deviation value; A504 calculates the corresponding specification deviation degree based on the quotient of the specification deviation value and the specification collar dimension vector.

5. The gripper control method for a collar product according to claim 4, characterized in that: Step A7 includes the following steps: A701, if the specification deviation is less than the deviation threshold, the corresponding product standard three-dimensional model data is obtained from the preset parts database according to the product specification information data; A702, generating corresponding standard shaft collar 3D feature data according to the product standard 3D model data using a preset 3D feature extraction algorithm; A703, determining the corresponding incoming material shaft ring scanning model data according to the scanning positioning data; A704, generating corresponding three-dimensional feature data of the incoming shaft ring by using a three-dimensional feature extraction algorithm according to the scanning model data of the incoming shaft ring; A705, calculating the corresponding cosine similarity based on the three-dimensional feature data of the standard shaft ring and the three-dimensional feature data of the incoming shaft ring and defining it as a complete matching degree; A706, if the complete matching degree is less than a preset completeness threshold, the incoming material collar and the corresponding collar partition are moved to a preset return material station by the grabbing module; A707: If the complete matching degree is greater than or equal to the completeness threshold, the incoming material shaft ring and the corresponding shaft ring partition are moved to the subsequent workstation through the grabbing module.

6. The gripper control method for a collar product according to claim 5, characterized in that: Further comprising the steps of: B1, defining all the incoming shaft rings whose specification deviation is less than the deviation threshold as matching shaft rings; B2, obtaining the complete matching degree corresponding to each matching shaft ring within a preset quality inspection time window and combining them to generate complete matching degree monitoring data; B3, calculate the corresponding standard deviation based on the complete matching monitoring data and define it as the quality deviation; B4, if the quality deviation is greater than the preset quality deviation threshold, a quality warning message is sent to the preset monitoring background.

7. The gripper control method for a collar product according to claim 6, characterized in that: The following steps are included for the magnetic suction module to absorb the incoming material shaft ring: C1, if the specification deviation is greater than or equal to the deviation threshold, the estimated volume of the corresponding incoming shaft ring is calculated according to the shaft ring inner diameter, shaft ring outer diameter and shaft ring height in the incoming shaft ring size data; C2, calculating the estimated mass of the corresponding incoming shaft ring according to the estimated volume of the incoming shaft ring and the preset standard shaft ring material density, and determining the reference adsorption force of the magnetic attraction module according to the estimated mass of the incoming shaft ring; C3, if the specification deviation is less than the preset deviation threshold, determining the reference adsorption force of the magnetic module according to the product specification quality in the product specification information data; C4, calculating the corresponding execution adsorption force according to the reference adsorption force and the preset adsorption anti-detachment coefficient; C5, using the magnetic attraction module to magnetically attract the incoming material shaft ring with an adsorption force.

8. A gripper control system for a collar product, characterized in that: include: Laser positioning module; Scan code module; Grab the module; Processing control module; Wherein, the laser positioning module, the code scanning module and the grabbing module are communicatively connected to the processing control module; Wherein, the grabbing module includes a centering module, a magnetic suction module, a vacuum adsorption module and a servo adjustment module, the magnetic suction module and the vacuum adsorption module are connected to the centering module, and the centering module is connected to the servo adjustment module; The gripper control system for the collar product further includes a collar feeding strategy, including the following steps: D1, obtaining scanning positioning data of a preset incoming material shaft ring on a preset incoming material tray through the laser positioning module; D2, scanning the QR code image of the incoming material collar by the code scanning module to obtain product specification information data; D3, determining the corresponding incoming material shaft collar size data and shaft collar positioning data through the processing control module according to the scanning positioning data of the incoming material shaft collar; D4, performing a centering operation on the incoming material shaft ring through the centering module of the grabbing module according to the incoming material shaft ring size data and shaft ring positioning data; D5, calculating the corresponding specification deviation through the processing control module according to the incoming shaft ring size data and product specification information data; D6, after the centering operation, the incoming material shaft ring is adsorbed by the magnetic adsorption module of the grabbing module, and the shaft ring partition corresponding to the incoming material shaft ring is adsorbed by the vacuum adsorption module of the grabbing module; D7, if the specification deviation is less than the preset deviation threshold, the incoming material shaft ring and the corresponding shaft ring partition are moved to the preset subsequent station by the grabbing module.

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