A method and system for collet control for collar products

Abstract

This application provides a gripper control method and system for shaft collar products, achieving precise control and feeding of shaft collar products through automated steps. First, a laser positioning module acquires the scanning positioning data of the shaft collar on the incoming material tray, while a barcode scanning module reads the QR code to obtain product specification information. Based on this data, the system determines the shaft collar's size and position, performs a centering operation, and calculates the specification deviation. After centering, the gripping module uses a magnetic suction module to adsorb the shaft collar, while a vacuum adsorption module simultaneously processes the shaft collar's partition. If the specification deviation is less than a preset threshold, the system moves the shaft collar and partition to the next workstation. This method achieves automatic detection and specification comparison of incoming shaft collars, ensuring that only qualified products enter the next process. Simultaneously, the combination of magnetic suction and vacuum adsorption technologies ensures the stability and accuracy of the gripping, improving production efficiency and product quality consistency, and reducing manual operation and errors.

Description

Technical Field

[0001] This application relates to the field of automated assembly, and in particular to a gripper control method and system for collar products. Background Technology

[0002] Bearings, as crucial components in mechanical equipment, require highly precise and stable processing. In traditional bearing manufacturing, bearing collar loading is primarily done manually or semi-automatically. Operators need to remove individual bearing collars from bulk or palletized containers, perform a simple surface inspection, and then place them on a conveyor or directly into the fixtures of the processing equipment. Some modern factories employ a combination of vibratory feeders and robotic arms. The vibratory feeder separates and orients the bearing collars from their mixed state, and then the robotic arm grasps and places them in designated locations.

[0003] The advantages of this feeding method are its relatively simple operation, low equipment investment cost, and flexibility, allowing it to adapt to the processing needs of shaft collars of different specifications. At the same time, the manual feeding process can perform preliminary screening of the shaft collars to some extent, reducing the number of defective products entering subsequent processes.

[0004] However, existing methods for feeding shaft collars have several significant drawbacks. First, manual feeding is inefficient and labor-intensive, requiring workers to repeat the same actions for extended periods, leading to fatigue and decreased concentration, thus affecting feeding quality and speed. Second, the subjectivity and instability of human judgment result in frequent omissions and misjudgments during feeding, sending defective shaft collars into the processing stage, causing resource waste and equipment damage. Third, mechanized feeding devices such as vibratory feeders often experience jamming, stacking, and misalignment during processing, requiring manual intervention and disrupting production continuity. Fourth, existing feeding systems struggle to seamlessly integrate with production management systems; feeding data cannot be recorded and traced in real time, hindering the advancement of intelligent manufacturing. Furthermore, shaft collars are prone to collisions and wear during feeding, affecting part surface quality and even causing microscopic dimensional changes, damage that is often difficult to detect in its early stages. Summary of the Invention

[0005] This application provides a gripper control method for collar products, including the following steps:

[0006] A1, obtains the scanning positioning data of the preset incoming material collar on the preset incoming material tray through the preset laser positioning module;

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

[0008] A3, determine the corresponding incoming material collar size data and collar positioning data based on the scanning and positioning data of the incoming material collar;

[0009] A4. Based on the incoming shaft collar size data and shaft collar positioning data, the centering module of the preset gripping module performs a centering operation on the incoming shaft collar.

[0010] A5, calculate the corresponding specification deviation based on the incoming shaft collar size data and product specification information data;

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

[0012] A7. If the specification deviation is less than the preset deviation threshold, the material receiving collar and the corresponding collar partition are moved to the preset subsequent work station by the gripping module.

[0013] By adopting the above technical solution, the gripper control method for shaft collar products can automatically acquire the size and position data of the incoming shaft collar and compare them with the product specifications to ensure that only products that meet the correct specifications are transferred to the subsequent workstation. The incoming shaft collar and its partition are processed simultaneously. Combined with magnetic attraction and vacuum adsorption technology, the gripping stability and accuracy are guaranteed, which improves production efficiency and product quality consistency, while reducing manual operation and errors.

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

[0015] A301, obtains the corresponding top-view scan image of the collar based on the scanning positioning data;

[0016] A302, determine the corresponding image of the internal space region of the collar and the image of the collar body based on the top-view scan image of the collar;

[0017] A303, determine the corresponding collar center positioning data and collar inner diameter based on the image of the internal space region of the collar;

[0018] A304, determine the corresponding outer diameter of the collar based on the collar body image;

[0019] A305, determine the corresponding collar height and collar bearing surface height based on the scanning positioning data;

[0020] A306, generate incoming shaft collar size data based on the combination of shaft collar inner diameter, shaft collar outer diameter, and shaft collar height;

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

[0022] By adopting the above technical solution, the gripper control method for shaft collar products can extract the internal space region and the ring body image from the top-view scan image, and then estimate the dimensional parameters such as the inner diameter, outer diameter, height, center position and bearing surface height of the shaft collar, so as to ensure the accuracy of subsequent centering operation and gripping process, improve the positioning and gripping accuracy of shaft collar products on automated production lines, and reduce production errors caused by dimensional errors.

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

[0024] A401, the initial spacing of the centering module is determined based on the outer diameter of the collar in the incoming collar size data and the preset initial clearance.

[0025] A402, the centering distance of the centering module is adjusted to the initial distance through the servo adjustment module of the grasping module;

[0026] A403, determine the corresponding spacing midpoint position data based on the initial spacing;

[0027] A404, according to the collar positioning data, move the gripping module to directly above the incoming material collar, and align the midpoint position data of the centering module with the collar center positioning data of the incoming material collar in the vertical direction;

[0028] A405, adjust the horizontal height of the gripping module according to the collar height and the collar bearing surface height, 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, by means of the servo adjustment module, the centering distance of the centering module is reduced to the outer diameter of the collar.

[0030] By adopting the above technical solution, the gripper control method for shaft collar products can calculate the initial spacing of the centering module in advance based on the outer diameter of the shaft collar and the initial play, and combine it with the servo adjustment system to precisely control the position and spacing of the centering mechanism. First, it ensures that the midpoint of the centering module is precisely aligned with the center of the shaft collar in the vertical direction. Then, the height is adjusted to place the centering module in a suitable gripping plane. Finally, the omnidirectional positioning and clamping of the shaft collar is completed by precisely adjusting the centering spacing. This progressive centering method not only improves the stability and accuracy of shaft collar gripping, but also reduces the adaptation and adjustment time when handling shaft collars of different sizes.

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

[0032] A501, generates the corresponding incoming shaft collar dimension vector based on the combination of the inner diameter, outer diameter, and height of the shaft collar in the incoming shaft collar dimension data;

[0033] A502, generate the corresponding specification collar dimension vector based on the combination of specification inner diameter, specification outer diameter and specification height in the product specification information data;

[0034] A503, calculate the corresponding Euclidean distance based on the incoming material collar dimension vector and the specification collar dimension vector, and define it as the specification deviation value;

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

[0036] By adopting the above technical solution, the gripper control method for shaft collar products can compare the actual shaft collar size with the standard specification in vector form, calculate the deviation value using Euclidean distance, and calculate the relative deviation degree by the ratio of the deviation value to the specification vector magnitude. This method can comprehensively consider the combined deviation of multiple parameters, which can better reflect the overall conformity of the product than single parameter comparison. It provides a more scientific and accurate quality control standard, effectively screens out mismatched incoming materials, significantly improves the product consistency and reliability of the production line, and reduces quality problems in 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 3D model data will be obtained from the preset parts database based on the product specification information data.

[0039] A702 generates corresponding standard shaft collar three-dimensional feature data based on the product standard three-dimensional model data using a preset three-dimensional feature extraction algorithm;

[0040] A703, determine the corresponding incoming material collar scanning model data based on the scanning positioning data;

[0041] A704, based on the incoming material collar scanning model data, generates the corresponding three-dimensional feature data of the incoming material collar using a three-dimensional feature extraction algorithm;

[0042] A705, calculate the corresponding cosine similarity based on the standard collar three-dimensional feature data and the incoming collar three-dimensional feature data and define it as the complete matching degree;

[0043] 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 station by the gripping module;

[0044] A707, if the complete matching degree is greater than or equal to the completeness threshold, the incoming material collar and the corresponding collar partition are moved to the subsequent workstation by the gripping module.

[0045] By adopting the above technical solution, the gripper control method for shaft collar products can identify products with matching dimensions but with defects, deformation, or structural abnormalities by acquiring standard three-dimensional models and actual scanning models, generating feature data using feature extraction algorithms, and calculating the complete matching degree using cosine similarity. This improves the accuracy and comprehensiveness of quality inspection, effectively prevents unqualified products from flowing into subsequent processes, avoids the generation of defective products, reduces rework costs, and improves material utilization and production efficiency.

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

[0047] B1, define all incoming shaft collars with a specification deviation less than the deviation threshold as matching shaft collars;

[0048] B2, within the preset quality inspection time window, acquire the complete matching degree corresponding to each matching collar and combine them to generate complete matching degree monitoring data;

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

[0050] B4. If the quality deviation exceeds the preset quality deviation threshold, a quality warning message will be sent to the preset monitoring backend.

[0051] By adopting the above technical solution, the gripper control method for shaft collar products can collect complete matching data of all qualified products of all sizes within a specific time window, calculate its standard deviation as a quality deviation index, evaluate the quality of individual products, and 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 detect and intervene in potential systemic quality problems, prevent the generation of large quantities of non-conforming products, and significantly reduce quality risks and production costs.

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

[0053] C1. If the specification deviation is greater than or equal to the deviation threshold, the estimated volume of the incoming shaft collar is calculated based on the inner diameter, outer diameter, and height of the shaft collar in the incoming shaft collar size data.

[0054] C2, calculate the corresponding estimated mass of the incoming shaft ring based on the estimated volume of the incoming shaft ring and the preset standard shaft ring material density, and determine the reference adsorption force of the magnetic adsorption module based on the estimated mass of the incoming shaft ring;

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

[0056] C4, calculates the corresponding adsorption force based on the baseline adsorption force and the preset adsorption anti-detachment coefficient;

[0057] C5, the magnetic adsorption module is used to perform magnetic adsorption of the incoming material collar.

[0058] By adopting the above technical solution, the gripper control method for shaft collar products can intelligently adjust the magnetic attraction force and use different attraction forces for different situations. For products with excessive specification deviations, the system calculates and estimates the volume and mass based on the size data to determine the required benchmark attraction force. For products that meet the specifications, the standard specification mass data is used directly. Based on the consideration of product weight changes and safety factors, an anti-detachment coefficient is introduced to calculate the actual attraction force, ensuring the safety and reliability of the gripping process. This can effectively prevent the shaft collar from falling or the gripping from being unstable. At the same time, it improves the system's adaptability to shaft collars of different specifications and materials, and reduces product damage and production interruptions caused by improper gripping force.

[0059] This application also provides a gripper control system for collar products, including:

[0060] Laser positioning module;

[0061] QR code scanning module;

[0062] Crawling module;

[0063] Processing control module;

[0064] The laser positioning module, the barcode scanning module, and the grasping module are communicatively connected to the processing and control module.

[0065] The grasping module includes a centering module, a magnetic attraction module, a vacuum adsorption module, and a servo adjustment module. The magnetic attraction 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, comprising the following steps:

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

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

[0069] D3, based on the scanning and positioning data of the incoming shaft collar, the corresponding incoming shaft collar size data and shaft collar positioning data are determined by the processing control module;

[0070] D4. Based on the incoming shaft collar size data and shaft collar positioning data, the centering module of the gripping module performs a centering operation on the incoming shaft collar.

[0071] D5, the corresponding specification deviation is calculated by the processing control module based on the incoming shaft collar size data and product specification information data;

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

[0073] 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 work station by the gripping module.

[0074] By adopting the above technical solution, the gripper control system for shaft collar products can automatically acquire the size and position data of the incoming shaft collar and compare them with the product specifications to ensure that only products that meet the correct specifications are transferred to the subsequent workstation. It also processes the incoming shaft collar and its partitions simultaneously. Combined with magnetic attraction and vacuum adsorption technology, it ensures gripping stability and accuracy, improves production efficiency and product quality consistency, and reduces manual operation and errors.

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

[0076] 1. By automatically acquiring the size and position data of the incoming shaft collar and comparing it with the product specifications, it ensures that only products that meet the correct specifications are conveyed to the subsequent workstations. The incoming shaft collar and its partition are processed simultaneously. Combined with magnetic attraction and vacuum adsorption technology, it ensures the stability and accuracy of gripping, improves production efficiency and product quality consistency, and reduces manual operation and errors.

[0077] 2. By extracting the internal space region and ring body image from the top-view scan image, the dimensional parameters of the collar, such as the inner diameter, outer diameter, height, center position, and bearing surface height, can be estimated to ensure the accuracy of subsequent centering operations and gripping processes. This improves the positioning and gripping accuracy of the collar product on the automated production line and reduces production errors caused by dimensional errors.

[0078] 3. The initial spacing of the centering module can be calculated in advance based on the outer diameter of the collar and the initial play. Combined with the servo adjustment system, the position and spacing of the centering mechanism can be precisely controlled. First, ensure that the midpoint of the centering module is precisely aligned with the center of the collar in the vertical direction. Then, adjust the height to place the centering module in a suitable gripping plane. Finally, complete the all-round positioning and clamping of the collar by precisely 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 handling collars of different sizes. Attached Figure Description

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

[0080] Figure 2 This is a schematic diagram of the gripper control system for shaft collar products according to the present invention.

[0081] Figure 3 This is a schematic diagram of the gripping module of a gripper control system for shaft collar products according to the present invention. Detailed Implementation

[0082] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0083] The embodiments of this application will now be described in further detail with reference to the accompanying drawings.

[0084] refer to Figure 1 and Figure 2 This invention provides a gripper control method for bearing collar products, used for loading bearing collars by moving them with a robotic arm during the bearing assembly process, comprising the following steps:

[0085] A1, the preset laser positioning module 10 acquires the scanning positioning data of the preset incoming material collar on the preset incoming material tray;

[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 the corresponding three-dimensional camera;

[0087] The incoming material pallet serves as the container for the incoming material collar;

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

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

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

[0091] The QR code image is a QR code printed on or pasted on the incoming material collar;

[0092] Product specification information is the data contained in the QR code image.

[0093] A3, determine the corresponding incoming material collar size data and collar positioning data based on the scanning and positioning data of the incoming material collar;

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

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

[0096] A4. Based on the incoming shaft collar size data and shaft collar positioning data, the centering module 31 of the preset gripping module 30 performs a centering operation on the incoming shaft collar.

[0097] The gripping module 30 is mainly used to grip the incoming material collar and perform the feeding action;

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

[0099] A5, calculate the corresponding specification deviation based on the incoming shaft collar size data and product specification information data;

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

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

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

[0103] The vacuum adsorption module 33 is mainly used to generate suction by drawing a vacuum to adsorb the shaft ring partition.

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

[0105] Meanwhile, the shaft collar partition can serve as a carrier when the incoming shaft collar is moved. By vacuum adsorbing the shaft collar partition, additional stable suction can be indirectly provided to the incoming shaft collar.

[0106] A7. If the specification deviation is less than the preset deviation threshold, the material receiving collar and the corresponding collar partition are moved to the preset subsequent work station by the gripping module 30.

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

[0108] The subsequent workstation is the processing workstation for the next step. Only incoming shaft collars with qualified dimensional deviations can enter the subsequent processing steps.

[0109] Through the above steps, the gripper control method for shaft collar products can automatically acquire the size and position data of the incoming shaft collar and compare them with the product specifications to ensure that only products that meet the correct specifications are transferred to the subsequent workstation. It also synchronously processes the incoming shaft collar and its partition, and combines magnetic attraction and vacuum adsorption technology to ensure gripping stability and accuracy, thereby improving production efficiency and product quality consistency, while reducing manual operation and errors.

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

[0111] A301, obtains the corresponding top-view scan image of the collar based on the scanning positioning data;

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

[0113] A302, determine the corresponding image of the internal space region of the collar and the image of the collar body based on the top-view scan image of the collar;

[0114] The image of the internal space region of the collar is a large circular image area in the top-view scan 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 uniform depth and the bottom is the surface of the partition plate. Therefore, it is a uniform color in the scanned image. Thus, the corresponding image of the internal space region of the collar can be easily separated from the top-view scan image of the collar.

[0115] The ring body image is the image of the corresponding ring body in the top-view scan image of the ring. The ring is usually at the same height everywhere, so the corresponding ring image can be separated based on the color at the same height.

[0116] A303, determine the corresponding collar center positioning data and collar inner diameter based on the image of the internal space region of the collar;

[0117] The collar center positioning data is the position data of the center of the circle corresponding to the image of the internal spatial region of the collar, 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 region of the collar. The radius can be determined from the image of the internal space region of the collar based on the positioning data of the collar center.

[0119] A304, determine the corresponding outer diameter of the collar based on the collar body image;

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

[0121] A305, determine the corresponding collar height and collar bearing surface height based on the scanning positioning data;

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

[0123] The height of the bearing surface of the collar 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 gripping module 30.

[0124] A306, generate incoming shaft collar size data based on the combination of shaft collar inner diameter, shaft collar outer diameter, and shaft collar height;

[0125] The incoming collar size data is a collection of data on the collar's inner diameter, outer diameter, and height.

[0126] A307, the combined collar center positioning data and the collar bearing surface height are the collar positioning data;

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

[0128] Through the above steps, the gripper control method for shaft collar products can extract the internal space region and the ring body image from the top-view scan image, and then estimate the dimensional parameters such as the inner diameter, outer diameter, height, center position, and bearing surface height of the shaft collar. This ensures the accuracy of subsequent centering operations and gripping processes, improves the positioning and gripping accuracy of shaft collar products on automated production lines, and reduces production errors caused by dimensional errors.

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

[0130] A401, the initial spacing of the centering module 31 is determined based on the outer diameter of the collar in the incoming collar size data and the preset initial clearance.

[0131] The initial clearance is a preset margin used to adjust the wheelbase of the centering module before the centering operation.

[0132] The centering module 31 may include a fixed part and a movable part. The movable part can be adjusted according to the servo motor to change its distance from the fixed plate to adapt to collars with different outer diameters.

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

[0134] A402, the centering distance of the centering module 31 is adjusted to the initial distance by the servo adjustment module 34 of the grasping module 30;

[0135] The servo adjustment module 34 adjusts the distance between the fixed part and the moving part of the centering module 31 to the initial spacing.

[0136] A403, determine the corresponding spacing midpoint position data based on the initial spacing;

[0137] The midpoint position data of the spacing is the midpoint position of the initial spacing, that is, the position data of the midpoint between the fixed part and the moving part of the centering module 31. It can be calculated and determined by the position information of the grasping module 30 itself and the initial spacing.

[0138] A404, according to the collar positioning data, move the gripping module 30 to directly above the incoming material collar, and align the midpoint position data of the spacing of the centering module 31 with the collar center positioning data of the incoming material collar in the vertical direction;

[0139] That is, by moving the gripping module 30, the midpoint of the spacing of the centering module 31 and the center of the collar of the incoming material collar are aligned in the vertical direction.

[0140] A405, adjust the horizontal height of the gripping module 30 according to the collar height and the collar bearing surface height, 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 be lower than the top surface of the incoming material collar, the movable part of the centering module 31 can extend and retract to abut against the outer ring surface of the incoming material collar, thereby enabling it to drive the incoming material collar to move slightly and abut against the fixed part, and then abut against both the movable part and the fixed part simultaneously to complete the positioning operation.

[0142] A406, by means of the servo adjustment module, the centering distance of the centering module 31 is reduced to the outer diameter of the collar.

[0143] By reducing the centering distance, the moving part and the fixed part simultaneously abut against the outer ring surface of the incoming material collar from two directions, thereby completing the centering operation.

[0144] Through the above steps, the gripper control method for the shaft collar product can calculate the initial spacing of the centering module in advance based on the outer diameter of the shaft collar and the initial play, and combine the servo adjustment system to precisely control the position and spacing of the centering mechanism. First, it ensures that the midpoint of the centering module is precisely aligned with the center of the shaft collar in the vertical direction. Then, the height is adjusted to place the centering module in a suitable gripping plane. Finally, the omnidirectional positioning and clamping of the shaft collar is completed by precisely adjusting the centering spacing. This progressive centering method not only improves the stability and accuracy of the shaft collar gripping, but also reduces the adaptation and adjustment time when handling shaft collars of different sizes.

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

[0146] A501, generates the corresponding incoming shaft collar dimension vector based on the combination of the inner diameter, outer diameter, and height of the shaft collar in the incoming shaft collar dimension data;

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

[0148] A502, generate the corresponding specification collar dimension vector based on the combination of specification inner diameter, specification outer diameter and specification height in the product specification information data;

[0149] The inner diameter dimension of the specification is the standard inner diameter dimension of the corresponding model collar in the product specification information data;

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

[0151] The specified height refers to the standard height of the corresponding model collar in the product specification information data.

[0152] The specification collar dimension vector is a vectorized data set of specification inner diameter, specification outer diameter, and specification height.

[0153] A503, calculate the corresponding Euclidean distance based on the incoming material collar dimension vector and the specification collar dimension vector, and define it as the specification deviation value;

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

[0155] A504, calculate the corresponding specification deviation based on the quotient of the specification deviation value and the specification collar dimension vector;

[0156] Specification deviation refers to the degree of deviation of the incoming shaft collar from the standard specification. The incoming shaft collar size data obtained by scanning will have a certain error compared with the corresponding standard specification size, so there will be a certain degree of specification deviation. However, if the model correspondence is incorrect, a larger specification deviation will occur. Therefore, the specification deviation can be used to identify incoming shaft collars with mismatched models and prevent them from entering the next processing step.

[0157] Through the above steps, the gripper control method for shaft collar products can compare the actual shaft collar size with the standard specification in vector form, calculate the deviation value using Euclidean distance, and calculate the relative deviation degree by the ratio of the deviation value to the specification vector magnitude. This method can comprehensively consider the combined deviation of multiple parameters, which can better reflect the overall conformity of the product than single parameter comparison. It provides a more scientific and accurate quality control standard, effectively screens out mismatched incoming materials, significantly improves the product consistency and reliability of the production line, and reduces 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 3D model data will be obtained from the preset parts database based on the product specification information data.

[0160] The component database is a pre-defined database used to store relevant data on various specifications of collars and related components;

[0161] The product standard 3D model data is the 3D model data of the standard collar corresponding to the product specification information data pre-stored in the parts database.

[0162] A702 generates corresponding standard shaft collar three-dimensional feature data based on the product standard three-dimensional model data using a preset three-dimensional feature extraction algorithm;

[0163] The 3D feature extraction algorithm is a pre-defined algorithm used to extract feature data from a 3D model;

[0164] The standard collar 3D feature data is the feature data corresponding to the product standard 3D model data.

[0165] A703, determine the corresponding incoming material collar scanning model data based on the scanning positioning data;

[0166] The incoming material collar scanning model data is the three-dimensional model data corresponding to the incoming material collar mentioned in the scanning positioning data.

[0167] A704, based on the incoming material collar scanning model data, generates the corresponding three-dimensional feature data of the incoming material collar using a three-dimensional feature extraction algorithm;

[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, calculate the corresponding cosine similarity based on the standard collar three-dimensional feature data and the incoming collar three-dimensional feature data and define it as the complete matching degree;

[0170] The complete matching degree is the cosine similarity between the standard shaft collar three-dimensional feature data and the incoming shaft collar three-dimensional feature data;

[0171] By comparing the differences between the incoming shaft collar and the corresponding standard shaft collar model using cosine similarity, obvious defects can be identified, thus preventing defective shaft collars 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 station by the gripping module 30;

[0173] The completeness threshold is a preset 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 collars that have quality defects.

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

[0176] The incoming shaft collar with a complete matching degree greater than or equal to the completeness threshold is considered a qualified product and can proceed to the next process.

[0177] Through the above steps, the gripper control method for collar products can identify products with matching dimensions but with defects, deformation, or structural abnormalities by acquiring standard 3D models and actual scanning models, generating feature data using feature extraction algorithms, and calculating the complete matching degree using cosine similarity. This improves the accuracy and comprehensiveness of quality inspection, effectively prevents unqualified products from flowing into subsequent processes, avoids the generation of defective products, reduces rework costs, and improves material utilization and production efficiency.

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

[0179] B1, define all incoming shaft collars with a specification deviation less than the deviation threshold as matching shaft collars;

[0180] The matching collar is the incoming collar whose specification deviation is less than the deviation threshold, that is, the incoming collar size data and the corresponding product specification information data match.

[0181] B2, within the preset quality inspection time window, acquire the complete matching degree corresponding to each matching collar and combine them to generate complete matching degree monitoring data;

[0182] The quality inspection time window is a pre-set time window used to acquire 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 collar within the quality inspection time window.

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

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

[0186] B4. If the quality deviation exceeds the preset quality deviation threshold, a quality warning message will be sent to the preset monitoring backend.

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

[0188] If the quality deviation exceeds the preset quality deviation threshold, that is, if the quality fluctuation of each incoming shaft collar is too large, it indicates that there may be an abnormality in the previous processing stage, and the staff should be reminded to pay attention and handle it.

[0189] Through the above steps, the gripper control method for collar products can collect complete matching data of all qualified products of all sizes within a specific time window, calculate its standard deviation as a quality deviation index, evaluate the quality of individual products, and 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 identify and intervene in potential systemic quality problems, prevent the generation of large quantities of non-conforming products, and significantly reduce quality risks and production costs.

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

[0191] C1. If the specification deviation is greater than or equal to the deviation threshold, the estimated volume of the incoming shaft collar is calculated based on the inner diameter, outer diameter, and height of the shaft collar in the incoming shaft collar size data.

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

[0193] C2, calculate the corresponding estimated mass of the incoming shaft collar based on the estimated volume of the incoming shaft collar and the preset standard shaft collar material density, and determine the reference adsorption force of the magnetic adsorption module 32 based on the estimated mass of the incoming shaft collar;

[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 collar is the estimated mass of the incoming shaft collar;

[0196] The reference adsorption force is the 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, the reference adsorption force of the magnetic module 32 is determined 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 indicates that the incoming material collar matches the corresponding product specifications. Therefore, the reference adsorption force of the magnetic adsorption module 32 can be determined based on the product specification quality in the product specification information data.

[0199] C4, calculates the corresponding adsorption force based on the baseline 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 adsorption module 32 to prevent the collar from detaching during movement. It is a value greater than 1, for example, it can be set to 1.2.

[0201] The magnetic adsorption force required for the magnetic adsorption module 32 to adsorb the incoming shaft ring can be adjusted by changing the magnitude of the current.

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

[0203] C5, the magnetic adsorption module 32 is used to perform magnetic adsorption of the incoming material collar;

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

[0205] Through the above steps, the gripper control method for shaft collar products can intelligently adjust the magnetic attraction force and adopt different adsorption forces for different situations. For products with excessive specification deviations, the system calculates the estimated volume and mass based on the size data to determine the required benchmark adsorption force. For products that meet the specifications, the standard specification mass data is used directly. Based on the consideration of product weight changes and safety factors, an anti-detachment coefficient is introduced to calculate the actual adsorption force, ensuring the safety and reliability of the gripping process. This effectively prevents shaft collars from falling or unstable gripping, while improving the system's adaptability to shaft collars of different specifications and materials, and reducing product damage and production interruptions caused by improper gripping force.

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

[0207] Laser positioning module 10;

[0208] 20 QR code scanning modules;

[0209] Capture module 30;

[0210] Processing control module 40;

[0211] The laser positioning module 10, the barcode scanning module 20, and the grasping module 30 are communicatively connected to the processing and control module 40.

[0212] The grasping module 30 includes a centering module 31, a magnetic attraction module 32, a vacuum adsorption module 33, and a servo adjustment module 34. The magnetic attraction 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 the corresponding three-dimensional camera;

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

[0215] The gripping module 30 is mainly used to grip the incoming material collar and perform the feeding action;

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

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

[0218] The magnetic module 32 is mainly used to controllably attract the incoming material shaft ring. Through a controllable electromagnet, it can attract and detach the incoming material shaft ring as needed.

[0219] The vacuum adsorption module 33 is mainly used to generate suction by drawing a vacuum to adsorb the shaft ring partition.

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

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

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

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

[0224] D3, based on the scanning and positioning data of the incoming shaft collar, the corresponding incoming shaft collar size data and shaft collar positioning data are determined by the processing control module 40;

[0225] D4. Based on the incoming shaft collar size data and shaft collar positioning data, the centering module 31 of the gripping module 30 performs a centering operation on the incoming shaft collar.

[0226] D5, based on the incoming shaft collar size data and product specification information data, the corresponding specification deviation is calculated by the processing control module 40;

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

[0228] D7. If the specification deviation is less than the preset deviation threshold, the material receiving collar and the corresponding collar partition are moved to the preset subsequent work station by the gripping module 30.

[0229] Through the above technical solutions, the gripper control system for shaft collar products can automatically acquire the size and position data of the incoming shaft collar and compare them with the product specifications to ensure that only products that meet the correct specifications are conveyed to the subsequent workstation. It also processes the incoming shaft collar and its partitions simultaneously. Combined with magnetic attraction and vacuum adsorption technology, it ensures gripping stability and accuracy, improves production efficiency and product quality consistency, and reduces manual operation and errors.

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

Claims

1. A gripper control method for collar products, characterized in that, Includes the following steps: A1, obtains the scanning positioning data of the preset incoming material collar on the preset incoming material tray through the preset laser positioning module; A2, scan the QR code image of the incoming shaft collar using a preset scanning module to obtain product specification information data; A3, determine the corresponding incoming material collar size data and collar positioning data based on the scanning and positioning data of the incoming material collar; A4. Based on the incoming shaft collar size data and shaft collar positioning data, the centering module of the preset gripping module performs a centering operation on the incoming shaft collar. A5, calculate the corresponding specification deviation based on the incoming shaft collar size data and product specification information data; A6, after the centering operation, the incoming shaft ring is adsorbed by the magnetic suction module of the gripping module, and the shaft ring partition corresponding to the incoming shaft ring is adsorbed by the vacuum adsorption module of the gripping module. A7. If the specification deviation is less than the preset deviation threshold, the material receiving collar and the corresponding collar partition are moved to the preset subsequent work station by the gripping module.

2. The gripper control method for collar products according to claim 1, characterized in that, Step A3 includes the following steps: A301, obtains the corresponding top-view scan image of the collar based on the scanning positioning data; A302, determine the corresponding image of the internal space region of the collar and the image of the collar body based on the top-view scan image of the collar; A303, determine the corresponding collar center positioning data and collar inner diameter based on the image of the internal space region of the collar; A304, determine the corresponding outer diameter of the collar based on the collar body image; A305, determine the corresponding collar height and collar bearing surface height based on the scanning positioning data; A306, generate incoming shaft collar size data based on the combination of shaft collar inner diameter, shaft collar outer diameter, and shaft collar height; A307, the combined collar center positioning data and the collar bearing surface height are the collar positioning data.

3. The gripper control method for collar products according to claim 2, characterized in that, The following steps are included in performing the centering operation: A401, the initial spacing of the centering module is determined based on the outer diameter of the collar in the incoming collar size data and the preset initial clearance; A402, the centering distance of the centering module is adjusted to the initial distance through the servo adjustment module of the grasping module; A403, determine the corresponding spacing midpoint position data based on the initial spacing; A404, according to the collar positioning data, move the gripping module to directly above the incoming material collar, and align the midpoint position data of the centering module with the collar center positioning data of the incoming material collar in the vertical direction; A405, adjust the horizontal height of the gripping module according to the collar height and the collar bearing surface height, so that the horizontal height of the centering module is lower than the horizontal height of the top surface of the incoming collar; A406, by means of the servo adjustment module, the centering distance of the centering module is reduced to the outer diameter of the collar.

4. The gripper control method for collar products according to claim 3, characterized in that, Step A5 includes the following steps: A501, generates the corresponding incoming shaft collar dimension vector based on the combination of the inner diameter, outer diameter, and height of the shaft collar in the incoming shaft collar dimension data; A502, generate the corresponding specification collar dimension vector based on the combination of specification inner diameter, specification outer diameter and specification height in the product specification information data; A503, calculate the corresponding Euclidean distance based on the incoming material collar dimension vector and the specification collar dimension vector, and define it as the specification deviation value; A504, calculate the corresponding specification deviation based on the quotient of the specification deviation value and the specification collar dimension vector.

5. The gripper control method for collar products 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 3D model data will be obtained from the preset parts database based on the product specification information data. A702 generates corresponding standard shaft collar three-dimensional feature data based on the product standard three-dimensional model data using a preset three-dimensional feature extraction algorithm; A703, determine the corresponding incoming material collar scanning model data based on the scanning positioning data; A704, based on the incoming material collar scanning model data, generates the corresponding three-dimensional feature data of the incoming material collar using a three-dimensional feature extraction algorithm; A705, calculate the corresponding cosine similarity based on the standard collar three-dimensional feature data and the incoming collar three-dimensional feature data and define it as the complete matching degree; 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 station by the gripping module; A707, if the complete matching degree is greater than or equal to the completeness threshold, the incoming material collar and the corresponding collar partition are moved to the subsequent workstation by the gripping module.

6. The gripper control method for collar products according to claim 5, characterized in that, Further steps include: B1, define all incoming shaft collars with a specification deviation less than the deviation threshold as matching shaft collars; B2, within the preset quality inspection time window, acquire the complete matching degree corresponding to each matching collar and combine them to generate complete matching degree monitoring data; B3, calculate the corresponding standard deviation based on the complete matching degree monitoring data and define it as the quality deviation degree; B4. If the quality deviation exceeds the preset quality deviation threshold, a quality warning message will be sent to the preset monitoring backend.

7. The gripper control method for collar products according to claim 6, characterized in that, The magnetic module is used to attract the incoming material collar in the following steps: C1. If the specification deviation is greater than or equal to the deviation threshold, the estimated volume of the incoming shaft collar is calculated based on the inner diameter, outer diameter, and height of the shaft collar in the incoming shaft collar size data. C2, calculate the corresponding estimated mass of the incoming shaft ring based on the estimated volume of the incoming shaft ring and the preset standard shaft ring material density, and determine the reference adsorption force of the magnetic adsorption module based on the estimated mass of the incoming shaft ring; C3. If the specification deviation is less than the preset deviation threshold, the reference adsorption force of the magnetic module is determined according to the product specification quality in the product specification information data. C4, calculates the corresponding adsorption force based on the baseline adsorption force and the preset adsorption anti-detachment coefficient; C5, the magnetic adsorption module is used to perform magnetic adsorption of the incoming material collar.

8. A gripper control system for shaft collar products, characterized in that, include: Laser positioning module; QR code scanning module; Crawling module; Processing control module; The laser positioning module, the barcode scanning module, and the grasping module are communicatively connected to the processing and control module. The grasping module includes a centering module, a magnetic attraction module, a vacuum adsorption module, and a servo adjustment module. The magnetic attraction 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, comprising the following steps: D1, the laser positioning module acquires the scanning positioning data of the preset incoming material collar on the preset incoming material tray; D2, scan the QR code image of the incoming shaft collar using the scanning module to obtain product specification information data; D3, based on the scanning and positioning data of the incoming shaft collar, the corresponding incoming shaft collar size data and shaft collar positioning data are determined by the processing control module; D4. Based on the incoming shaft collar size data and shaft collar positioning data, the centering module of the gripping module performs a centering operation on the incoming shaft collar. D5, the corresponding specification deviation is calculated by the processing control module based on the incoming shaft collar size data and product specification information data; D6, after the centering operation, the incoming shaft ring is adsorbed by the magnetic suction module of the gripping module, and the shaft ring partition corresponding to the incoming shaft ring is adsorbed by the vacuum adsorption module of the gripping module. 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 work station by the gripping module.

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