Electronic pressure release valve production method based on visual inspection technology

Abstract

The invention discloses an electronic pressure release valve production method based on a visual inspection technology. The electronic pressure release valve production method comprises the steps of top view image collection, image comparison and screening, mechanical arm grabbing and moving, secondary image collection, Pin angle analysis, horizontal angle fine adjustment, preheating treatment, injection molding treatment and the like. Based on the visual inspection technology, accurate grabbing, angle adjustment, preheating and injection molding treatment of the magnetic conductive shell are achieved through automatic equipment. The whole process is efficient and accurate, and is suitable for a large-scale production environment.

Description

Technical Field

[0001] The present invention belongs to the technical field of valves, and particularly relates to a production method of an electronic pressure relief valve based on vision detection technology. Background Art

[0002] During the production of an electronic pressure relief valve, the electronic pressure relief valve is processed by injection molding. Before injection molding, the magnetic conductive housing needs to be preheated first, and then transported into the injection molding machine for injection molding. There are Pin pins on the magnetic conductive housing. Before injection molding, it is necessary to manually rotate each magnetic conductive housing to meet the angle requirements, which is complex in operation and low in efficiency. Summary of the Invention

[0003] In order to solve the above technical problems, the present invention proposes a production method of an electronic pressure relief valve based on vision detection technology.

[0004] In order to achieve the above object, the technical solution of the present invention is as follows:

[0005] The present invention discloses a production method of an electronic pressure relief valve based on vision detection technology, including:

[0006] Step S1: Use a first image acquisition device to acquire a top view image of a to-be-tested tray, where the to-be-tested tray carries a number of magnetic conductive housings placed at arbitrary horizontal angles, and each magnetic conductive housing has a Pin pin;

[0007] Step S2: Compare the top view image of the to-be-tested tray with a standard image, and select a number of magnetic conductive housings with high matching degrees as the to-be-grabbed housings based on the angle of the Pin pins;

[0008] Step S3: The robotic arm grabs the corresponding magnetic conductive housing and moves it to the shooting position of the second image acquisition device;

[0009] Step S4: Use a second image acquisition device to acquire an image of the magnetic conductive housing grabbed by the robotic arm;

[0010] Step S5: Use an image detection algorithm to analyze the angle of the Pin pins in the image of the grabbed magnetic conductive housing;

[0011] Step S6: The robotic arm finely adjusts the horizontal angle of the grabbed magnetic conductive housing based on the analysis result of Step S5 to make it meet the requirements;

[0012] Step S7: The robotic arm places the grabbed magnetic conductive housing on a heating rod to preheat it;

[0013] Step S8: After preheating is completed, the robotic arm transports it to the injection molding station for injection molding.

[0014] Based on the above technical solution, the following improvements can be made:

[0015] As a preferred solution, in step S4, when the second image acquisition device is used to acquire the image of the magnetically conductive housing grasped by the robotic arm, the traceability code on the magnetically conductive housing is synchronously recorded.

[0016] As a preferred solution, the production method of the electronic pressure relief valve further includes:

[0017] Step S9: Perform quality inspection on the injection-molded products, place the qualified products on the qualified trays, and export the unqualified products by means of a conveyor belt.

[0018] As a preferred solution, a plurality of bearing notches are provided on the tray to be measured, each magnetically conductive housing is placed in one bearing notch, and the bearing notch can limit the axial direction of the magnetically conductive housing.

[0019] As a preferred solution, the standard image of the tray to be measured is obtained by the following method:

[0020] Each magnetically conductive housing is placed on the tray to be measured at a standard horizontal angle, and the Pin pins of all magnetically conductive housings face one direction.

[0021] As a preferred solution, step S2 includes:

[0022] Step S2.1: Compare the top-down image with the standard image, and calculate the angle difference between the Pin pins of all magnetically conductive housings on the tray to be measured in the top-down image and the corresponding Pin pins in the standard image;

[0023] Step S2.2: Sort the grasping order of the magnetically conductive housings on the tray to be measured according to the magnitude of the angle difference to form a to-be-grasped list.

[0024] As a preferred solution, the to-be-grasped list includes: the magnetically conductive housings sorted according to the grasping order, the positions of the magnetically conductive housings, and the corresponding angle differences.

[0025] As a preferred solution, step S2 further includes:

[0026] Step S2.3: Delete the magnetically conductive housings with angle differences less than the angle threshold from the to-be-grasped list.

[0027] As a preferred solution, step S3 is further: the robotic arm grasps the corresponding magnetically conductive housing and moves it to the shooting position of the second image acquisition device, and the horizontal angle of the magnetically conductive housing remains unchanged during the movement;

[0028] Step S4 is further: the second image acquisition device is used to acquire the image of the magnetically conductive housing grasped by the robotic arm;

[0029] Step S5 further includes: taking the angular difference between the Pin pins of the magnetic conductive housing and the corresponding Pin pins on the standard image as a priori knowledge, and using an image detection algorithm to analyze the angles of the Pin pins in the captured image of the magnetic conductive housing.

[0030] As a preferred solution, step S3 further includes: the robotic arm grabs the corresponding magnetic conductive housing and moves it to the shooting position of the second image acquisition device. During the movement, taking the angular difference between the Pin pins of the magnetic conductive housing and the corresponding Pin pins on the standard image as the rotation angle, the horizontal angle of the magnetic conductive housing is adjusted.

[0031] The present invention discloses a production method of an electronic pressure relief valve based on vision detection technology, which has the following beneficial effects:

[0032] First, based on vision detection technology, the present invention uses a robotic arm to automatically adjust the horizontal angle of the magnetic conductive housing, realizing dynamic grasping of materials without manual operation, and improving production efficiency.

[0033] Second, the present invention uses the first image acquisition device to take pictures of the tray to be measured, and sorts the grasping order of the magnetic conductive housings based on the angles of the Pin pins of the magnetic conductive housings, without pre-organizing the magnetic conductive housings in the tray to be measured, saving time and improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the embodiments. It should be understood that the following drawings only show some embodiments of the present invention, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0035] Figure 1 It is a schematic structural diagram of the electronic pressure relief valve production equipment provided by the embodiment of the present invention.

[0036] Figure 2 It is a flowchart of the production method of the electronic pressure relief valve provided by the embodiment of the present invention.

[0037] Figure 3 It is a real-time top view image of the tray to be measured provided by the embodiment of the present invention.

[0038] Figure 4 It is a standard image of the tray to be measured provided by the embodiment of the present invention.

[0039] Figure 5 It is an actual diagram of the real-time top view image of the tray to be measured provided by the embodiment of the present invention.

[0040] Wherein: 11 - the first image acquisition device, 12 - the second image acquisition device, 2 - the tray to be measured, 21 - the bearing notch, 3 - the magnetic conductive housing, 4 - the Pin needle, 5 - the robotic arm, 6 - the heating rod, 7 - the fill light. Detailed implementation manners

[0041] The preferred implementation manners of the present invention will be described in detail below with reference to the accompanying drawings.

[0042] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0043] Using ordinal numbers such as "first", "second", "third", etc. to describe ordinary objects only represents different instances of similar objects, and does not intend to imply that the objects so described must have a given order in terms of time, space, sorting, or any other way.

[0044] In addition, the expression of "including" elements is an "open-ended" expression. This "open-ended" expression only means that there are corresponding components or steps, and should not be construed as excluding additional components or steps.

[0045] In order to achieve the purpose of the present invention, in some embodiments of the production method of the electronic pressure relief valve based on the vision detection technology, it is produced by using the electronic pressure relief valve production equipment as shown in Figure 1 As shown. As shown in Figure 2 The production method of the electronic pressure relief valve includes:

[0046] Step S101: Use the first image acquisition device 11 (such as: the upper camera) to collect the top view image of the tray 2 to be measured. The tray 2 to be measured carries 35 magnetic conductive housings 3 placed at any horizontal angle, and each magnetic conductive housing 3 has a Pin needle 4;

[0047] Step S102: Compare the top view image of the tray 2 to be measured (as shown in Figure 3 ), with the standard image (as shown in Figure 4 ), and select a number of (such as: 2, or it can also be 1, 3, etc., which is not limited here) magnetic conductive housings 3 with high matching degree as the housings to be grabbed based on the angle of the Pin needle 4;

[0048] Step S103: The robotic arm 5 grabs the corresponding magnetic conductive housing 3 and moves it to the shooting position of the second image acquisition device 12;

[0049] Step S104: Use the second image acquisition device 12 (e.g., the lower camera) to acquire an image of the magnetic conductive housing 3 grasped by the robotic arm 5;

[0050] Step S105: Use an image detection algorithm to analyze the angles of the Pin pins 4 in the image of the grasped magnetic conductive housing 3;

[0051] Step S106: The robotic arm 5 finely adjusts the horizontal angle of the grasped magnetic conductive housing 3 based on the analysis result of Step S105 to make it meet the requirements;

[0052] Step S107: The robotic arm 5 places the grasped magnetic conductive housing 3 on the heating rod 6 for preheating;

[0053] Step S108: After the preheating is completed, the robotic arm 5 transports it to the injection molding station for injection molding.

[0054] There are 35 (5 rows and 7 columns) bearing notches 21 on the above-mentioned tray 2 to be measured, and each magnetic conductive housing 3 is placed in a bearing notch 21, and the bearing notch 21 can limit the axial direction of the magnetic conductive housing 3.

[0055] It should be noted that the bearing notch 21 cannot limit the circumferential rotation of the magnetic conductive housing 3.

[0056] In some embodiments, the standard image of the tray 2 to be measured can be obtained by the following method:

[0057] Place each magnetic conductive housing 3 on the tray 2 to be measured at a standard horizontal angle, and the Pin pins 4 of all magnetic conductive housings 3 face in one direction.

[0058] Furthermore, the above-mentioned Step S102 includes:

[0059] Step S102.1: Compare the top-down image with the standard image, and calculate the angle difference between the Pin pins 4 of all magnetic conductive housings 3 on the tray 2 to be measured in the top-down image and the corresponding Pin pins 4 in the standard image;

[0060] Step S102.2: Sort the grasping order of the magnetic conductive housings 3 on the tray 2 to be measured according to the magnitude of the angle difference to form a to-be-grasped list.

[0061] The to-be-grasped list includes: the magnetic conductive housing 3 sorted according to the grasping order, the position of the magnetic conductive housing 3, and the corresponding angle difference, as shown in Table 1.

[0062] Table 1 Grasping Table

[0063] Grasping sequence Position of the magnetic conductive housing Angle difference (°) 1 Row 1, Column 4 2 2 Row 5, Column 1 4.5 3 Row 1, Column 3 5.1 4 Row 3, Column 5 6.7 ... ... ...

[0064] It should be noted that the robotic arm 5 will preferentially grasp the magnetic conductive housing 3 with a small angle difference (i.e., a high matching degree), and then the robotic arm 5 will perform grasping according to the to-be-grasped list. The actual top view image of the tray 2 to be measured is as shown in Figure 5 as follows.

[0065] In some other embodiments, step S102 further includes:

[0066] Step S102.3: Delete the magnetic conductive housing 3 with an angle difference less than the angle threshold from the to-be-grasped list.

[0067] The magnetic conductive housing 3 with an angle higher than the angle threshold will be successively grasped by the robotic arm 5 from the tray 2 to be measured to the next station, while the magnetic conductive housing 3 with an angle lower than the angle threshold will remain in the tray 2 to be measured. Finally, when the last magnetic conductive housing 3 with an angle higher than the angle threshold is grasped, the tray 2 to be measured is directly sent away by the conveyor belt, and the next tray 2 to be measured is transported to the image acquisition station of the first image acquisition device 11 to continue the production steps of the present invention.

[0068] Next, two production methods of the present invention with different adjustment methods are introduced:

[0069] Method 1:

[0070] Step S101: Use the first image acquisition device 11 to acquire the top view image of the tray 2 to be measured. The tray 2 to be measured carries 35 magnetic conductive housings 3 placed at arbitrary horizontal angles, and each magnetic conductive housing 3 has a Pin pin 4;

[0071] Step S102: Compare the top view image of the tray 2 to be measured with the standard image. Based on the angle of the Pin pin 4, calculate the angle difference between the Pin pins 4 of all the magnetic conductive housings 3 on the tray 2 to be measured in the top view image and the corresponding Pin pins 4 in the standard image, and generate a to-be-grasped list;

[0072] Step S103: The robotic arm 5 grasps the corresponding 2 magnetic conductive housings 3 according to the grasping order in the to-be-grasped list and moves them to the shooting position of the second image acquisition device 12. During the movement, the horizontal angle of the magnetic conductive housing 3 remains unchanged;

[0073] Step S104: Use the second image acquisition device 12 to acquire the image of the magnetic conductive housing 3 grasped by the robotic arm 5;

[0074] Step S105: Using the angle difference between the Pin pin 4 of the magnetic conductive housing 3 and the corresponding Pin pin 4 in the standard image as a priori knowledge, use an image detection algorithm to analyze the angle of the Pin pin 4 in the image of the grasped magnetic conductive housing 3;

[0075] Step S106: The robotic arm 5 finely adjusts the horizontal angle of the grasped magnetic conductive housing 3 based on the analysis result of Step S105 to meet the requirements;

[0076] Step S107: The robotic arm 5 places the grasped magnetic conductive housing 3 on the heating rod 6 for preheating;

[0077] Step S108: After the preheating is completed, the robotic arm 5 transports it to the injection molding station for injection molding.

[0078] It should be noted that in Method 1, during the transfer of the magnetic conductive housing 3 by the robotic arm 5, the horizontal angle of the magnetic conductive housing 3 will not be adjusted.

[0079] Method 2:

[0080] Step S101: Use the first image acquisition device 11 to acquire the top view image of the tray 2 to be measured. The tray 2 to be measured carries 35 magnetic conductive housings 3 placed at arbitrary horizontal angles, and each magnetic conductive housing 3 has a Pin needle 4;

[0081] Step S102: Compare the top view image of the tray 2 to be measured with the standard image. Taking the angle of the Pin needle 4 as the reference, calculate the angle difference between the Pin needles 4 of all the magnetic conductive housings 3 on the tray 2 to be measured in the top view image and the corresponding Pin needles 4 in the standard image, and generate a table of objects to be grasped;

[0082] Step S103: The robotic arm 5 grasps the corresponding 2 magnetic conductive housings 3 according to the grasping order in the table of objects to be grasped, and moves them to the shooting position of the second image acquisition device 12. During the movement, taking the angle difference between the Pin needle 4 of the magnetic conductive housing 3 and the corresponding Pin needle 4 in the standard image as the rotation angle, adjust the horizontal angle of the magnetic conductive housing 3;

[0083] Step S104: Use the second image acquisition device 12 to acquire the image of the magnetic conductive housing 3 grasped by the robotic arm 5;

[0084] Step S105: Use an image detection algorithm to analyze the angle of the Pin needle 4 in the image of the grasped magnetic conductive housing 3;

[0085] Step S106: The robotic arm 5 finely adjusts the horizontal angle of the grasped magnetic conductive housing 3 based on the analysis result of Step S105 to meet the requirements;

[0086] Step S107: The robotic arm 5 places the grasped magnetic conductive housing 3 on the heating rod 6 for preheating;

[0087] Step S108: After the preheating is completed, the robotic arm 5 transports it to the injection molding station for injection molding.

[0088] It should be noted that in step S103 of the second method, during the process of the robotic arm 5 transferring the magnetic conductive housing 3, the horizontal angle of the magnetic conductive housing 3 is preliminarily adjusted. Subsequently, fine adjustment is performed in combination with the image captured by the second image acquisition device 12 to make the final horizontal angle of the magnetic conductive housing 3 more in line with the requirements.

[0089] To further optimize the implementation effect of the present invention, in some other embodiments, the remaining characteristic technologies are the same, and the difference lies in that in step S104, when the second image acquisition device 12 is used to acquire the image of the magnetic conductive housing 3 grasped by the robotic arm 5, the fill light 7 can be used for fill light.

[0090] Using the fill light 7 for fill light can effectively ensure the effective acquisition of the image of the magnetic conductive housing 3.

[0091] To further optimize the implementation effect of the present invention, in some other embodiments, the remaining characteristic technologies are the same, and the difference lies in that in step S104, when the second image acquisition device 12 is used to acquire the image of the magnetic conductive housing 3 grasped by the robotic arm 5, the traceability code on the magnetic conductive housing 3 is synchronously entered.

[0092] Entering the traceability code on the magnetic conductive housing 3 into the system is convenient for later traceability.

[0093] To further optimize the implementation effect of the present invention, in some other embodiments, the remaining characteristic technologies are the same, and the difference lies in that the production method of the electronic pressure relief valve further includes:

[0094] Step S109: Perform quality inspection on the injection-molded product, place the qualified products in the qualified trays, and export the unqualified products using the conveyor belt.

[0095] The present invention discloses a production method of an electronic pressure relief valve based on vision detection technology, which has the following beneficial effects:

[0096] First, based on vision detection technology, the present invention uses a robotic arm to automatically adjust the horizontal angle of the magnetic conductive housing, realizing dynamic grasping of materials, without manual operation, and improving production efficiency.

[0097] Second, the present invention uses the first image acquisition device to take pictures of the trays to be tested, and sorts the grasping order of the magnetic conductive housings based on the angle of the pins of the magnetic conductive housings. There is no need to pre-arrange the magnetic conductive housings in the trays to be tested, saving time and improving production efficiency.

[0098] In summary, the present invention realizes the precise grasping, angle adjustment, preheating and injection molding of the magnetic conductive housing through automated equipment (such as robotic arms and image acquisition devices). The whole process is efficient and accurate, and is suitable for large-scale production environments.

[0099] The foregoing has shown and described the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and the descriptions in the specification are only used to illustrate the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of the present invention claimed is defined by the appended claims and their equivalents.

Claims

1. The production method of electronic pressure relief valve based on visual inspection technology is characterized in that: include: Step S1: using a first image acquisition device to acquire a top view image of a tray to be tested, wherein the tray to be tested carries a plurality of magnetic conductive shells placed at any horizontal angle, each of which has a pin; Step S2: Compare the top view image of the pallet to be tested with the standard image, and select several magnetic conductive shells with high matching degree as the shells to be grasped based on the pin angle; Step S3: the robot arm grabs the corresponding magnetic conductive shell and moves it to the shooting position of the second image acquisition device; Step S4: using a second image acquisition device to acquire an image of the magnetic conductive shell grasped by the robotic arm; Step S5: using an image detection algorithm to perform angle analysis on the pin in the captured magnetic shell image; Step S6: The robot arm finely adjusts the horizontal angle of the grasped magnetic conductive shell based on the analysis result of step S5 to make it meet the requirements; Step S7: the robot arm places the grasped magnetic conductive shell onto the heating rod to preheat it; Step S8: After preheating is completed, the robot arm transports it to the injection molding station for injection molding.

2. The method for producing an electronic pressure relief valve according to claim 1, characterized in that: In step S4, when the second image acquisition device is used to acquire the image of the magnetic shell grasped by the robot arm, the traceability code on the magnetic shell is simultaneously entered.

3. The method for producing an electronic pressure relief valve according to claim 1, characterized in that: The electronic pressure relief valve production method also includes: Step S9: Perform quality inspection on the injection molded products, place qualified products in qualified trays, and export unqualified products using a conveyor belt.

4. The method for producing an electronic pressure relief valve according to claim 1, characterized in that: The tray to be tested is provided with a plurality of bearing slots, each of the magnetic conductive shells is placed in a bearing slot, and the bearing slots can limit the axial direction of the magnetic conductive shell.

5. The method for producing an electronic pressure relief valve according to claim 4, characterized in that: Obtain a standard image of the pallet to be tested by the following method: Place each magnetic housing on the test tray at a standard horizontal angle, with all the pins of the magnetic housing facing in one direction.

6. The method for producing an electronic pressure relief valve according to any one of claims 1 to 5, characterized in that: The step S2 comprises: Step S2.1: Compare the top view image with the standard image, and calculate the angle difference between the pins of all the magnetic conductive shells on the pallet to be tested in the top view image and the corresponding pins in the standard image; Step S2.2: sort the order of grabbing the magnetic conductive shells on the pallet to be tested according to the size of the angle difference to form a table to be grabbed.

7. The method for producing an electronic pressure relief valve according to claim 6, characterized in that: The to-be-grabbed table includes: magnetically conductive shells sorted in a grasping order, positions of the magnetically conductive shells, and corresponding angle differences.

8. The method for producing an electronic pressure relief valve according to claim 6, characterized in that: The step S2 further comprises: Step S2.3: Delete the magnetically conductive shells whose angle difference is less than the angle threshold from the to-be-grabbed table.

9. The method for producing an electronic pressure relief valve according to claim 6, characterized in that: The step S3 further comprises: the robot arm grabs the corresponding magnetic conductive shell and moves it to the shooting position of the second image acquisition device, and the horizontal angle of the magnetic conductive shell remains unchanged during the movement; The step S4 further comprises: using a second image acquisition device to acquire an image of the magnetic conductive shell grasped by the robot arm; The step S5 further includes: taking the angle difference between the Pin pin of the magnetic shell and the corresponding Pin pin on the standard image as prior knowledge, and using the image detection algorithm to perform angle analysis on the Pin pin in the captured magnetic shell image.

10. The method for producing an electronic pressure relief valve according to claim 6, characterized in that: The step S3 further comprises: the robot arm grabs the corresponding magnetic shell and moves it to the shooting position of the second image acquisition device. During the movement, the horizontal angle of the magnetic shell is adjusted by taking the angle difference between the Pin pin of the magnetic shell and the corresponding Pin pin on the standard image as the rotation angle.

Images