Capacitor transportation method, system and terminal

Abstract

The invention relates to a capacitor transportation method and system and a terminal, and relates to the technical field of capacitors, and the method comprises the steps: obtaining placement image information of a placement area; determining a placement direction according to the placement image information and the reference package image; determining a pin packaging direction according to the placement direction and the packaging direction; acquiring a driving speed, a driving position and driving image information; determining an estimated driving fall according to the driving image information and a preset vibration abnormal feature; determining an estimated vibration force according to the estimated driving fall and the driving speed; according to the pin packaging direction and the estimated vibration strength, determining the shaking bearing strength of the capacitor in each packaging box; when the bearing shaking force is greater than the preset reference shaking force, determining an abnormal position according to the placement image information; and detecting and repairing the capacitor through a preset detection method according to the abnormal position when the driving position coincides with the preset transportation position. The method has the effect of improving the yield of the capacitor.

Description

Technical Field

[0001] The present invention relates to the technical field of capacitors, and in particular to a method, a system and a terminal for transporting capacitors. Background Art

[0002] A capacitor is an electronic component that can store electric charge and is widely used in fields such as electronic circuits, power systems, communications, and automotive electronics.

[0003] A capacitor includes components such as electrode plates, an insulating medium disposed between the two electrode plates, a housing, and pins for connecting to an external circuit. When it is necessary to transport the capacitor, an appropriate anti-static plastic film bag is selected to wrap the capacitor, and each packaged capacitor is placed in a suitable paper box or plastic box. Buffer materials are placed in the paper box or plastic box to wrap vulnerable parts such as pins. Finally, the paper box or plastic box containing the capacitor is manually carried into a vehicle or railway and other means of transportation to transport the capacitor.

[0004] During the transportation of the capacitor by the means of transportation, due to depressions, obstacles, speed bumps on the road surface or the track, the means of transportation will vibrate, resulting in the pins wrapped with buffer materials still being bent or broken. And it is not easy for relevant personnel to know the abnormal situation of the pins in time to repair the pins, reducing the yield rate of the capacitor, which needs to be improved. Summary of the Invention

[0005] In order to improve the yield rate of capacitors, the present invention provides a method, a system and a terminal for transporting capacitors.

[0006] In a first aspect, the present invention provides a method for transporting capacitors, adopting the following technical solution: A method for transporting capacitors includes: Obtaining placement image information of a preset placement area; Determining a placement direction according to the placement image information and a preset reference packaging image; Determining a pin packaging direction according to the placement direction and a preset packaging direction; Obtaining the driving speed, driving position and driving image information when transporting the capacitor; Determining an estimated driving drop according to the driving image information and a preset vibration abnormal feature; Determining an estimated vibration force according to the estimated driving drop and the driving speed; Determining the bearing shaking force of the capacitors in each packaging box according to the pin packaging direction and the estimated vibration force; Based on the bearing shaking force being greater than a preset reference shaking force, determining an abnormal position according to the placement image information; When the driving position coincides with the preset transportation position, the capacitor is detected and repaired according to the abnormal position through a preset detection method.

[0007] By adopting the above technical solution, the bearing shaking force is obtained by analyzing the placed image information, the reference packaging image, the packaging direction and the driving situation of the transportation vehicle, and the abnormal position is known by comparing the bearing shaking force with the reference shaking force, so as to repair the capacitor at the abnormal position, enabling relevant personnel to timely know the abnormal situation of the capacitor during transportation, ensuring the subsequent continuous use of the capacitor, and thus improving the yield rate of the capacitor.

[0008] Optionally, the method for determining the bearing shaking force includes: Obtain the packaging weight value of the preset packaging box; Determine the position of the packaging box according to the placed image information; Determine different capacitor positions according to the position of the packaging box and the preset packaging box specifications; Calculate the placement height according to the capacitor position and the preset reference placement position; When the estimated vibration force is not less than the packaging weight value, calculate the difference between the estimated vibration force and the packaging weight value as the vibration deviation value; Determine the stacking quantity of different packaging box positions according to the placement height and the placement direction; Determine the estimated bounce height according to the vibration deviation value, the packaging weight value and the stacking quantity; Determine the impact force according to the estimated bounce height and the packaging weight value, and determine the bearing shaking force according to the impact force and the pin packaging direction.

[0009] By adopting the above technical solution, the vibration deviation value is calculated by comparing the estimated vibration force with the packaging weight value, and the bearing shaking force is obtained by analyzing the vibration deviation value, the packaging weight value, the stacking quantity and the pin packaging direction, thereby improving the accuracy of the bearing shaking force.

[0010] Optionally, the method after determining the bearing shaking force includes: Retrieve the position of the packaging box according to the packaging box specifications; Calculate the vibration offset distance according to the capacitor position and the packaging box position; Determine the marked shaking force according to the vibration offset distance and the bearing shaking force; Determine the buffering force according to the packaging box specifications and the preset buffer material specifications; Calculate the new bearing shaking force according to the marked shaking force and the buffering force.

[0011] By adopting the above technical solution, the buffeting force borne by capacitors at different positions is corrected by the specifications of the packing box and the cushioning material, so as to improve the accuracy of the buffeting force borne by each capacitor.

[0012] Optionally, the preset detection method includes: Control the packing box to move to a preset detection area, control the preset traction device to traction the capacitor at the abnormal position and obtain the traction force value; Select the traction force values exceeding the preset reference traction force value from the traction force values and define them as pin traction force values; Calculate the difference between the pin traction force value and the preset reference traction force value and use it as the force deviation value; When the force deviation value is inconsistent with the preset reference deviation value, control the traction device to traction the capacitor until the pin traction force value is consistent with the preset capacitor weight value, and obtain the traction friction distance value of the traction device; Determine the bending angle and bending position according to the traction friction distance value, the pin traction force value and the preset capacitor specifications; Repair the pins according to the bending angle and bending position through a preset repair method, and update the abnormal position after repair to continue to obtain the traction force value.

[0013] By adopting the above technical solution, the capacitor at the abnormal position is tractioned to obtain the pin traction force value and the force deviation value, and the traction friction distance value is obtained based on the comparison between the force deviation value and the reference deviation value. Then, the bending angle and bending position are obtained through the traction friction distance value and the pin traction force value to repair the pins, so as to improve the yield rate of the capacitors.

[0014] Optionally, the preset detection method further includes: When the force deviation value is inconsistent with the preset reference deviation value, form an abnormal detection profile according to the abnormal position and the position of the packing box; Retrieve the abnormal positions on the profile as marked abnormal positions according to the abnormal detection profile; Obtain image detection information based on the marked abnormal positions; When the image detection information is consistent with the preset reference pin image, eliminate the marked abnormal positions according to the abnormal positions to form new abnormal positions.

[0015] By adopting the above technical solution, the pin image information on the abnormal detection profile is compared with the reference pin image to eliminate the marked abnormal positions, so as to form new abnormal positions for detection, narrow the detection range of the capacitors, and improve the efficiency of capacitor detection and repair.

[0016] Optionally, the preset detection method further includes: When the force deviation value is consistent with the preset reference deviation value, obtain the traction distribution position according to the pin traction force value; Determine the tilt direction based on the traction distribution position and the preset reference pin position; Determine the tilt vector angle according to the preset reference tilt angle and the tilt direction, and tilt and traction the capacitor with the tilt vector angle; Update the pin traction force value and the traction distribution position according to the tilt vector angle; Determine the number of traction coincidences according to the updated traction distribution position and the preset pin tilt position; When the number of traction coincidences is 0, obtain the tilt traction distance value according to the pin traction force value and the preset capacitor weight value; Calculate the target change force value according to the pin traction force values before and after the update; Calculate the difference between the target change force value and the preset reference change force value and use it as the change force deviation value; Determine the bending position and the bending angle according to the change force deviation value, the tilt traction distance value and the capacitor specifications.

[0017] By adopting the above technical solution, when the force deviation value is consistent with the reference deviation value, tilt and traction the capacitor with the tilt vector angle to obtain the tilt traction distance value and the change force deviation value, and analyze the change force deviation value and the tilt traction distance value to obtain the bending position and the bending angle, so that it is not easy to bend the pins to hook the buffer material and make the buffer material traction at the same time, thereby improving the efficiency of traction of the capacitor.

[0018] Optionally, the preset detection method further includes: When the number of traction coincidences is 1, use the updated traction distribution position that coincides with the pin tilt position as the target traction position; Calculate the marked change force value according to the pin traction force values before and after the update corresponding to the target traction position; When the marked change force value is inconsistent with the reference change force value, obtain the change continuous distance according to the marked change force value; When the change continuous distance is less than the preset reference tilt distance, output the preset warning information.

[0019] By adopting the above technical solution, when the number of traction coincidences is 1, there are unbent pins or broken pins on the capacitor. Calculate the marked change force value through the target traction position and the pin traction force value, and output the warning information based on the comparison between the marked change force value and the reference change force value, and the change continuous distance and the reference tilt distance, so as to be able to prompt the operator in time about the situation of the broken capacitor pins.

[0020] Optionally, the preset repair methods include: Controlling the capacitor corresponding to the bending position to move to a preset repair area, and obtaining a pin repair image; Determining the position of the pin end according to the pin repair image and the preset pin features; Retrieving the total pin distance according to the capacitor specifications; Determining the repair position according to the pin repair image and the total pin distance; Determining the heating temperature according to the bending angle and the capacitor specifications and heating the bending position; Controlling a preset repair device to repair the pins at the bending angle and updating the position of the pin end. When the pin end position coincides with the repair position, cooling the pins to complete the repair.

[0021] By adopting the above technical solution, the position of the pin end is obtained by analyzing the pin repair image, and then the bending position is heated at the heating temperature and the pins are repaired until the pin end position coincides with the repair position, so as to facilitate the repair of the capacitor and not easily cause the pins to break during the repair.

[0022] In a second aspect, the present application provides a capacitor transportation system, adopting the following technical solution: A capacitor transportation system includes: An acquisition module, configured to acquire placement image information, driving speed, driving position, driving image information, packaging weight value, traction force value, traction friction distance value, image detection information, traction distribution position, inclined traction force value, inclined pin traction position, inclined traction distance value, change continuous distance, and pin repair image; A memory, configured to store a program of a capacitor transportation method; A processor, configured to load and execute the program stored in the memory.

[0023] In a third aspect, the present application provides an intelligent terminal, adopting the following technical solution: An intelligent terminal includes a memory and a processor, and a computer program capable of being loaded and executed by the processor for a capacitor transportation method is stored on the memory.

[0024] In summary, the present application includes at least one of the following beneficial technical effects: 1. By knowing the abnormal position through the placement image information, reference packaging image, packaging direction, and the situation during the vehicle driving, and performing repairs, relevant personnel can timely know the abnormal situation of the capacitor during transportation, and repair the capacitor for subsequent continued use, thereby improving the yield rate of the capacitor; 2. Traction is performed on the capacitor at the abnormal position to obtain the pin traction force value and the traction friction distance value, and then the bending angle and the bending position are obtained through the traction friction distance value and the pin traction force value to repair the pins, so as to improve the yield rate of the capacitor; 3. The capacitor is tilted and traction is performed through the tilt vector angle to obtain the bending position and the bending angle, so that it is not easy to bend the pins to hook the buffer material and make the buffer material traction simultaneously, so as to improve the efficiency of traction of the capacitor. Description of the Drawings

[0025] Figure 1 is the flowchart of a capacitor transportation method according to an embodiment of the present invention; Figure 2 is the flowchart of the method for determining the bearing shaking force according to an embodiment of the present invention; Figure 3 is the flowchart of the method after determining the bearing shaking force according to an embodiment of the present invention; Figure 4 is the flowchart of the preset detection method according to an embodiment of the present invention Figure 1 ; Figure 5 is the flowchart of the preset detection method according to an embodiment of the present invention Figure 2 ; Figure 6 is the flowchart of the preset detection method according to an embodiment of the present invention Figure 3 ; Figure 7 is the flowchart of the preset detection method according to an embodiment of the present invention Figure 4 ; Figure 8 is the flowchart of the preset repair method according to an embodiment of the present invention. Detailed Embodiments

[0026] The present invention will be further described in detail below with reference to the drawings and embodiments.

[0027] Referring to Figure 1 , an embodiment of the present application discloses a capacitor transportation method, including the following steps: Step S100: Obtain the placement image information of the preset placement area.

[0028] The placement area is the area on the vehicle set by the technician for placing the packaging box containing the capacitor. The placement image information refers to the image of the packaging box in the placement area, and the image of the packaging box in the placement area is captured by a camera. A plurality of cavities for placing capacitors are provided in the packaging box, and a buffer material for wrapping the upper pins of the capacitor is provided in the cavity, and the buffer material is in mutual contact with the inner wall of the cavity. The buffer material can be sponge or foam, etc.

[0029] Step S101: Determine the placement direction based on the placed image information and a preset reference packaging image.

[0030] The reference packaging image is an image of the packaging box placed normally in the placement area set by the technician. The placement direction refers to the direction of rotation of the packaging box in the placement area compared with the reference packaging image. By comparing the image lines corresponding on the placed image information and the reference packaging image, the direction of rotation corresponding to the image lines is the placement direction.

[0031] Step S102: Determine the pin packaging direction based on the placement direction and a preset packaging direction.

[0032] The packaging direction is the direction in which the pins of the capacitor are placed in the normally placed packaging box set by the technician. The pin packaging direction refers to the direction in which the pins of the capacitor are placed in the packaging box in the placement area. For example, when the packaging box is placed normally, the pins of the capacitor inside face the ground. When the side wall of the packaging box is closely attached to the ground for placement, the pins of the capacitor inside are parallel to the ground.

[0033] Step S103: Obtain the traveling speed, traveling position, and traveling image information when transporting the capacitor.

[0034] The traveling speed refers to the speed of the vehicle transporting the capacitor when it is traveling. The vehicle can be an automobile or a railway, etc. The traveling position refers to the position where the vehicle transporting the capacitor is located when it is traveling. Through real-time positioning by a GPS preset on the vehicle transporting the capacitor, the positioned position is used as the traveling position, and the traveling speed is retrieved in real time from the system of the vehicle as the traveling speed.

[0035] The traveling image information refers to the image of the road surface taken by the vehicle transporting the capacitor when it is traveling. When the vehicle is traveling, the image corresponding to the road surface taken by a camera preset on the vehicle is used as the traveling image information.

[0036] Step S104: Determine the estimated traveling drop based on the traveling image information and a preset vibration anomaly feature.

[0037] The vibration anomaly feature is the feature corresponding to the vibration generated when the vehicle travels due to depressions, speed bumps on the road surface, or stones on the track set by the technician.

[0038] The estimated driving drop refers to the height drop of the road surface corresponding to the vibration generated by the vehicle transporting the capacitor during driving. The abnormal type corresponding to the vibration abnormal feature is selected through the driving image information and input into the preset vibration database to match the vibration abnormal feature. The vibration database stores the height drop on the road surface corresponding to the abnormal type that causes the vehicle to vibrate. The vibration database is a database set by humans and will not be elaborated here.

[0039] Step S105: Determine the estimated vibration force based on the estimated driving drop and the driving speed.

[0040] The estimated vibration force refers to the force that the vibrating vehicle during driving is estimated to generate on the capacitor. The estimated vibration force is input into the vibration database through the estimated driving drop and the driving speed to match the estimated vibration force. The vibration database also stores the estimated vibration forces corresponding to different estimated driving drops and driving speeds, which will not be elaborated here.

[0041] Step S106: Determine the shaking force that each capacitor in the packaging box can withstand based on the pin packaging direction and the estimated vibration force.

[0042] The shaking force that can be withstood refers to the force corresponding to the shaking of each capacitor in the packaging box when the vehicle vibrates. The shaking force that can be withstood is obtained by analyzing the pin packaging direction and the estimated vibration force. Different pin packaging directions correspond to different shaking forces that can be withstood. For the specific analysis steps, refer to Step S200 to Step S304.

[0043] Step S107: When the shaking force that can be withstood is greater than the preset reference shaking force, determine the abnormal position based on the placement image information.

[0044] The reference shaking force is the maximum shaking force that the pins of the capacitor set by the technician can withstand when the pins are in the pin packaging direction and not bent. Different pin packaging directions have different reference shaking forces.

[0045] The abnormal position refers to the position of the capacitor with bent or broken pins in the packaging box within the placement area. When the shaking force that can be withstood is not greater than the reference shaking force, it indicates that the capacitor pins are not bent, so continue to obtain the shaking force that can be withstood. When the shaking force that can be withstood is greater than the reference shaking force, it indicates that the capacitor pins are bent. Therefore, mark the position of the capacitor in the packaging box corresponding to the shaking force that can be withstood greater than the reference shaking force in the placement image information as the abnormal position.

[0046] Step S108: When the driving position coincides with the preset transportation position, detect and repair the capacitor according to the abnormal position through the preset detection method.

[0047] The transportation position is the position to which the capacitors set by the technician need to be transported, and the capacitors are inspected and repaired at the transportation position. The inspection method refers to the method of inspecting and repairing the pins of the capacitors. When the driving position coincides with the preset transportation position, it indicates that the transportation of the capacitors is completed. Therefore, the capacitors are inspected and repaired through the abnormal position and the inspection method. For the specific steps, refer to step S400 to step S805.

[0048] Refer to Figure 2 , the method for determining the degree of shaking force resistance includes the following steps: Step S200: Obtain the packaging weight value of the preset packaging box.

[0049] The packaging weight value refers to the weight value corresponding to the packaging box containing the capacitors. By scanning the barcode of the packaging box to obtain the weight of the packaging box and the number of capacitors that can be placed inside the packaging box, and then scanning the barcode of the capacitors to obtain the weight of the capacitors and calculating the product of the weight of the capacitors and the number of capacitors as the total weight, and calculating the sum of the total weight and the weight of the packaging box as the packaging weight value. In this embodiment, a packaging box only packs capacitors of the same specification.

[0050] Step S201: Determine the position of the packaging box according to the placement image information.

[0051] The position of the packaging box refers to the position where the center point of the packaging box is located in the placement area. By comparing the contour size of the packaging box in the placement image information with the preset reference packaging box contour to obtain the changed proportional value, and then inputting the proportional value into the preset positioning database to match the position of the center point of the packaging box. The reference packaging box contour is the reference contour of the packaging box set by the technician to assist in knowing the position of the packaging box.

[0052] The positioning database stores the positions of the center points of the packaging boxes corresponding to the proportional values of the packaging boxes with different contours in the placement image information under the condition of being photographed by a fixed camera. The positioning database is a database set by humans and will not be elaborated here.

[0053] Step S202: Determine different capacitor positions according to the position of the packaging box and the preset packaging box specifications.

[0054] The packaging box specifications are the specifications of the shape, size, position for placing capacitors, and buffering force that can be buffered, etc., of the packaging box set by the technician. The capacitor position refers to the position of the center point of the capacitor inside the packaging box corresponding to the position of the packaging box. By retrieving the position of the center point for placing the capacitor from the packaging box specifications and combining it with the position of the packaging box for positioning to obtain the capacitor position.

[0055] Step S203: Calculate the placement height according to the capacitor position and the preset reference placement position.

[0056] The reference placement position is the position of the platform corresponding to the placement area set by the technician. The reference placement position can be the position of the bottom of the carriage where the automobile places the packing box. The placement height refers to the height value corresponding to the capacitor perpendicular to the placement area, and the linear distance corresponding to the capacitor position and the reference placement position perpendicular to the placement platform is calculated as the placement height.

[0057] Step S204: When the estimated vibration force is not less than the packing weight value, calculate the difference between the estimated vibration force and the packing weight value as the vibration deviation value.

[0058] When the estimated vibration force is less than the packing weight value, it indicates that the packing box will not bounce during the vibration of the transportation vehicle. Therefore, the force value matched from the preset shaking database according to the pin packing direction and the estimated vibration force is used as the force to withstand shaking. The shaking database stores the corresponding relationships between different pin packing directions, estimated vibration forces, the forces of the packing box impact, and the forces of the capacitor shaking. The shaking database is a database set by humans and will not be elaborated here.

[0059] The vibration deviation value refers to the deviation value between the estimated vibration force and the packing weight value. When the estimated vibration force is not less than the packing weight value, it indicates that the packing box bounces during the vibration of the transportation vehicle. Therefore, calculate the difference between the estimated vibration force and the packing weight value as the vibration deviation value.

[0060] Step S205: Determine the stacking quantity of different packing box positions according to the placement height and the placement direction.

[0061] The stacking quantity refers to the number of packing boxes stacked on each packing box. By taking the maximum placement height as the stacking height, the placement height corresponding to the capacitor position is retrieved at the stacking height. When the placement directions of the stacked packing images are inconsistent, calculate the difference between the stacking height and the retrieved placement height, and then retrieve the number of the remaining packing box positions in the linear direction corresponding to the difference as the stacking quantity. The stacking quantity can be 0.

[0062] Step S206: Determine the estimated bounce height according to the vibration deviation value, the packing weight value, and the stacking quantity.

[0063] The estimated bounce height refers to the height that the packing box at the corresponding packing box position is estimated to bounce during the operation of the transportation vehicle. Calculate the product of the packing weight value and the stacking quantity as the total stacking weight, and then input the total stacking weight and the vibration deviation value into the preset bounce database to match the estimated bounce height. The bounce database stores the estimated bounce heights corresponding to different vibration deviation values and total stacking weights. The bounce database is a database set by humans and will not be elaborated here.

[0064] Step S207: Determine the impact force based on the estimated bounce height and the packaging weight value, and determine the tolerable shaking force based on the impact force and the pin packaging direction.

[0065] The impact force refers to the force generated by the stacked packaging boxes when they bounce and impact the lower packaging boxes. The impact force is matched by inputting the estimated bounce height and the packaging weight value into a preset impact database. The impact database stores the impact forces corresponding to different estimated bounce heights and packaging weight values. The impact database is a database set by humans and will not be elaborated here.

[0066] The tolerable shaking force is matched by inputting the impact force and the pin packaging direction into the shaking database.

[0067] Refer to Figure 3 , the method after determining the tolerable shaking force includes the following steps: Step S300: Calculate the vibration offset distance based on the capacitor position and the packaging box position.

[0068] The vibration offset distance refers to the distance by which each capacitor offsets under vibration in the packaging box. The vibration offset distance is calculated as the straight-line distance between the capacitor position and the packaging box position.

[0069] Step S301: Determine the marked shaking force based on the vibration offset distance and the tolerable shaking force.

[0070] The marked shaking force refers to the force of the capacitor shaking corresponding to the vibration offset distance. Capacitors with different vibration offset distances are subject to different tolerable shaking forces. The marked shaking force is matched from the shaking database based on the vibration offset distance and the tolerable shaking force. The shaking database also stores the marked shaking forces corresponding to different vibration offset distances and tolerable shaking forces, which will not be elaborated here.

[0071] Step S302: Determine the buffering force based on the packaging box specification and the preset buffer material specification.

[0072] The buffer material specification is the shape, size, and buffering force that can be provided by the buffer material set by technicians. The buffering force refers to the force that the packaging box and the buffer material can buffer vibration and impact. The buffering force is calculated by retrieving the buffering force from the packaging box specification, retrieving the buffering force from the buffer material specification, and calculating the sum of the two buffering forces as the buffering force.

[0073] Step S303: Calculate the new tolerable shaking force based on the marked shaking force and the buffering force.

[0074] The new tolerable shaking force is calculated by taking the difference between the marked shaking force and the buffering force.

[0075] Reference Figure 4 , the preset detection method includes the following steps: Step S400: Control the packaging box to move to a preset detection area, and control a preset traction device to traction the capacitor at an abnormal position and obtain a traction force value.

[0076] The detection area is an area set by technicians for detecting capacitors, and the pins of the capacitors are detected in this area. The traction device is a robotic arm provided with a plurality of jaws. The traction force value refers to the force value corresponding to the traction of the capacitor at an abnormal position by the traction device, and the parameter detected by a strain gauge sensor preset on the jaw is used as the traction force value.

[0077] Step S401: Select the traction force values that exceed the preset reference traction force value from the traction force values, and define them as pin traction force values.

[0078] The reference traction force value is the force value corresponding to the traction of the unbent pins by the traction device when the technicians set it. The pin traction force value refers to the force value corresponding to the friction between the bent pins and the buffer material when the traction device tractions the capacitor. By selecting the traction force values that exceed the reference traction force value from the traction force values, and defining them as pin traction force values.

[0079] Step S402: Calculate the difference between the pin traction force value and the preset reference traction force value and use it as the force deviation value.

[0080] The force deviation value refers to the deviation value between the pin traction force value and the reference traction force value. By calculating the difference between the pin traction force value and the reference traction force value and using it as the force deviation value.

[0081] Step S403: When the force deviation value is inconsistent with the preset reference deviation value, control the traction device to traction the capacitor until the pin traction force value is consistent with the preset capacitor weight value, and obtain the traction friction distance value of the traction device.

[0082] The reference deviation value is the deviation value corresponding to the traction when the pins of the capacitor hook the buffer material and lift synchronously with the buffer material when the technicians set it. The capacitor weight value is the weight value of the capacitor set by the technicians.

[0083] The traction friction distance value refers to the distance value corresponding to the end of the pin leaving the buffer material when the traction device tractions the capacitor. When the pin of the capacitor is bent, the vertical distance between the end of the pin and the capacitor changes.

[0084] When the force deviation value is inconsistent with the reference deviation value, it indicates that the pin does not hook the buffer material. Therefore, the traction device is controlled to traction the capacitor and the distance tractioned by the traction device is recorded until the pin traction force value is consistent with the capacitor weight value, and then the recording is stopped. The recorded distance value is used as the traction friction distance value.

[0085] Step S404: Determine the bending angle and bending position according to the traction friction distance value, the pin traction force value, and the preset capacitor specifications.

[0086] The capacitor specifications are the model, size, and temperature required for pin bending of the capacitor to be transported set by the technician and other specification parameters.

[0087] The bending angle is the angle of pin bending, and the bending position is the position point where the bending occurs on the pin. The straight-line distance perpendicular to the non-bent part of the pin corresponding to the pin bending and abutting against the buffer material is matched from the preset bending database through the pin traction force value, and then the total length of the pin in the capacitor specifications is retrieved, and the difference between the traction friction distance value and the total length of the pin is calculated. According to the Pythagorean theorem, the length of the hypotenuse is calculated through the difference and the straight-line distance, and then the angle obtained by calculating the difference, the straight-line distance, and the length of the hypotenuse through trigonometric functions is used as the bending angle. The difference between the total length and the hypotenuse is calculated, and the position corresponding to the extended difference at the end of the pin close to the capacitor is used as the bending position.

[0088] Step S405: Repair the pin according to the bending angle and bending position through the preset repair method, and update the abnormal position after repair to continue obtaining the traction force value.

[0089] The repair method refers to the method for repairing the bent pin. For the specific method, refer to steps S800 to S805. The pin is repaired through the bending angle, bending position, and repair method, and the repaired abnormal position is removed to obtain a new abnormal position and continue to obtain the traction force value.

[0090] Refer to Figure 5 , the preset detection method further includes the following steps: Step S500: When the force deviation value is inconsistent with the preset reference deviation value, form an abnormal detection profile according to the abnormal position and the packaging box position.

[0091] The abnormal detection profile refers to the profile that needs to detect the abnormal position. The corresponding shape is formed by directly connecting the abnormal position and the packaging box position, and the profile of this shape is used as the abnormal detection profile. In this embodiment, the abnormal detection profile is the profile formed on a packaging box.

[0092] Step S501: According to the anomaly detection profile, retrieve the anomaly positions on the profile as marked anomaly positions.

[0093] The marked anomaly positions refer to the anomaly positions on the anomaly detection profile, which are obtained by taking the anomaly positions on the anomaly detection profile as the marked anomaly positions.

[0094] Step S502: Obtain image detection information based on the marked anomaly positions.

[0095] The image detection information refers to the image corresponding to the capacitor pins at the marked anomaly positions. The image of the preset pin features corresponding to the marked anomaly positions is captured by a camera preset on the traction device as the image detection information. The pin features are features such as the color and shape of the capacitor pins set by technicians.

[0096] Step S503: When the image detection information is consistent with the preset reference pin image, eliminate the marked anomaly positions according to the anomaly positions to form new anomaly positions.

[0097] The reference pin image is the image of the normal capacitor pins set by technicians. When the image detection information is inconsistent with the preset reference pin image, it indicates that the pin is bent, so the pin continues to be repaired. When the image detection information is consistent with the preset reference pin image, it indicates that the pin is not bent and the buffer material is squeezed, resulting in an increase in the friction coefficient. Also, since the capacitor pins on the profile are not bent, the vibration near the center of the packaging box is not likely to bend the capacitor pins. Therefore, eliminate the anomaly positions within the anomaly detection profile corresponding to the marked anomaly positions to form new anomaly positions, and re - execute steps S500 to S503 through the new anomaly positions.

[0098] Refer to Figure 6 , the preset detection method further includes the following steps: Step S600: When the force deviation value is consistent with the preset reference deviation value, obtain the traction distribution position according to the pin traction force value.

[0099] The traction distribution position refers to the position corresponding to the pin traction force value generated on the traction device. When the force deviation value is consistent with the reference deviation value, it indicates that the pin is bent and there is a situation of being hooked on the buffer material. Therefore, retrieve the position clamped by the jaws corresponding to the pin traction force value from the traction device as the traction distribution position. The position clamped by the jaws is set by technicians in advance and will not be elaborated here.

[0100] Step S601: Determine the tilt direction according to the traction distribution position and the preset reference pin position.

[0101] The reference pin position is the position of the jaw that generates the maximum traction force value for the traction device to traction the normal pin set by the technician. The tilt direction refers to the orientation in which the traction device needs to tilt. Based on the reference pin position, the orientation corresponding to the straight line between the traction distribution position and the reference pin position is calculated as the tilt direction.

[0102] Step S602: Determine the tilt vector angle according to the preset reference tilt angle and tilt direction, and tilt and traction the capacitor with the tilt vector angle.

[0103] The reference tilt angle is the angle at which the pin can normally tilt in the buffer material set by the technician. The tilt vector angle refers to the vector angle of tilting in the tilt direction. By combining the reference tilt angle and the tilt direction to form the tilt vector angle, and tilting while lifting the capacitor upward in the direction parallel to the normal pin, and still lifting upward in the direction parallel to the normal pin after the traction device tilts. In this embodiment, when the traction device tilts, the force on the jaw becomes uneven, and there is still the maximum traction force value when the pin rubs against the buffer material.

[0104] Step S603: Update the pin traction force value and the traction distribution position according to the tilt vector angle.

[0105] The tilt vector angle and the pin traction force value are input into the preset traction database to match the new traction force values corresponding to the positions clamped by each jaw, and the maximum new traction force value is used as the new pin traction force value, and the position clamped by the jaw corresponding to the new pin traction force value is used as the traction distribution position. Different tilt vector angles and new traction force values corresponding to the pin traction force values are stored in the traction database. The traction database is a database set by humans and will not be elaborated here.

[0106] Step S604: Determine the traction coincidence number according to the updated traction distribution position and the preset pin tilt position.

[0107] The pin tilt position is the reference pin position after the traction device tilts set by the technician. The traction coincidence number refers to the number of coincidences between the updated traction distribution position and the pin tilt position. By counting the coincident updated traction distribution position and the pin tilt position, the counting result is used as the traction coincidence number. In this embodiment, 2 are set for the pin tilt position and the reference pin position.

[0108] Step S605: When the traction coincidence number is 0, obtain the tilt traction distance value according to the pin traction force value and the preset capacitor weight value.

[0109] The tilt traction distance value refers to the distance value corresponding to the end of the pin leaving the buffer material when the traction device performs tilt traction on the capacitor. When the traction coincidence number is 0, it indicates that the pins on the capacitor are all bent. Therefore, the distance recorded by the traction device during the re - execution of step S403 with the pin traction force value is used as the tilt traction distance value.

[0110] Step S606: Calculate the target change force value based on the pin traction force values before and after the update.

[0111] The target change force value refers to the force value that changes when the traction device performs tilt traction. The difference between the pin traction force values before and after the update is calculated as the target change force value.

[0112] Step S607: Calculate the difference between the target change force value and the preset reference change force value and use it as the change force deviation value.

[0113] The reference change force value is the traction force value corresponding to the normal friction between the pin and the buffer material when the traction device performs tilt traction, which is set by the technician. The change force deviation value refers to the deviation value between the target change force value and the reference change force value. The difference between the target change force value and the reference change force value is calculated as the change force deviation value.

[0114] Step S608: Determine the bending position and bending angle based on the change force deviation value, the tilt traction distance value, and the capacitor specifications.

[0115] The straight - line distance perpendicular to the non - bent part of the pin corresponding to the pin bending and abutting against the buffer material is matched from the bending database through the change force deviation value. Then, the total length of the pin in the capacitor specifications is retrieved, and the difference between the tilt traction distance value and the total length of the pin is calculated. According to the Pythagorean theorem, the length of the hypotenuse is calculated using the difference and the straight - line distance. Then, the angle obtained by calculating the difference, the straight - line distance, and the length of the hypotenuse through trigonometric functions is used as the bending angle, and the position corresponding to the extension of the difference near the capacitor end of the pin is used as the bending position. Different straight - line distances perpendicular to the non - bent part of the pin corresponding to different change force deviation values are also stored in the bending database, which will not be elaborated here.

[0116] Refer to Figure 7 The preset detection method further includes the following steps: Step S700: When the traction coincidence number is 1, use the updated traction distribution position that coincides with the pin tilt position as the target traction position.

[0117] The target traction position refers to the jaw clamping position corresponding to the unbent pins beyond the reference traction force value when the traction device performs inclined traction. When the number of traction coincidences is 1 or not 0, it indicates that at least one pin on the capacitor is not bent. Therefore, the updated traction distribution position that coincides with the inclined position of the pin is used as the target traction position.

[0118] Step S701: Calculate the marked change force value based on the pin traction force values before and after the update corresponding to the target traction position.

[0119] The marked change force value refers to the changed traction force value when the target traction position is inclined and tractioned by the traction device. The difference between the pin traction force values before and after the update corresponding to the target traction position is calculated as the marked change force value.

[0120] Step S702: When the marked change force value is inconsistent with the reference change force value, obtain the change continuous distance based on the marked change force value.

[0121] The change continuous distance refers to the distance corresponding to the traction when the marked change force value is inclined and tractioned by the traction device. When the marked change force value is inconsistent with the reference change force value, it indicates that the pin is broken. Therefore, the distance corresponding to the movement of the traction device when tractioning the marked change force value is recorded. When the traction force value corresponding to the jaw clamping position of the marked change force value of the traction device changes, the recording stops and the distance corresponding to the recording result is used as the change continuous distance.

[0122] Step S703: When the change continuous distance is less than the preset reference inclination distance, output the preset warning message.

[0123] The reference inclination distance is the reference change continuous distance corresponding to the normal pins set by the technician when the traction device performs inclined traction. The warning message is the information set by the technician to prompt relevant personnel about the broken pins of the capacitor. When the change continuous distance is less than the preset reference inclination distance, the warning message is output to the terminal held by relevant personnel.

[0124] Refer to Figure 8 , the preset repair method includes the following steps: Step S800: Control the capacitor corresponding to the bending position to move to the preset repair area and obtain the pin repair image.

[0125] The repair area is the area set by the technician for repairing the bent pins. The pin repair image refers to the image of the pins in the repair area. The capacitor corresponding to the bending position is moved to the repair area through the traction device, and the image corresponding to the pin features is captured by the camera preset in the repair area as the pin repair image.

[0126] Step S801: Determine the position of the end of the pin according to the pin-repaired image and the preset pin characteristics.

[0127] The position of the end of the pin refers to the position corresponding to the end of the pin away from the capacitor after being bent. The position of the end away from the capacitor corresponding to the pin characteristics is identified from the pin-repaired image as the position of the end of the pin.

[0128] Step S802: Retrieve the total pin distance according to the capacitor specifications.

[0129] The total pin distance refers to the total distance of the pins on the capacitor, and the total pin distance is retrieved from the capacitor specifications.

[0130] Step S803: Determine the repair position according to the pin-repaired image and the total pin distance.

[0131] The repair position refers to the position of the end of the pin corresponding to after the pin is repaired. The position where the pin characteristics correspond to the straight-line extension of the total pin distance is identified from the pin-repaired image as the repair position.

[0132] Step S804: Determine the heating temperature according to the bending angle and the capacitor specifications and heat the bending position.

[0133] The heating temperature refers to the temperature required to heat the bending position. The heating temperature is matched from the preset heating database according to the bending angle and the capacitor specifications, and the preset heating device is controlled to heat the bending position. Different bending angles require different heating temperatures for heating, which can reduce energy consumption when facilitating the repair of the pins.

[0134] The heating device can be a hot air gun or an electric soldering iron. The heating database stores the heating temperatures corresponding to different bending angles and capacitor specifications. The heating database is a database set by humans and will not be elaborated here.

[0135] Step S805: Control the preset repair device to repair the pin at the bending angle and update the position of the end of the pin. When the position of the end of the pin coincides with the repair position, cool the pin to complete the repair.

[0136] The repair device is a manipulator used to clamp the pin to repair the pin. The repair device is controlled to repair the pin at the bending angle and update the position of the end of the pin in real time. When the position of the end of the pin coincides with the repair position, the preset blowing device is controlled to cool the pin to complete the repair. The blowing device can be a fan.

[0137] Based on the same inventive concept, an embodiment of the present invention provides a capacitor transportation system, including: An acquisition module for acquiring placement image information, traveling speed, traveling position, traveling image information, package weight value, traction force value, traction friction distance value, image detection information, traction distribution position, inclined traction force value, inclined pin traction position, inclined traction distance value, change duration distance, and pin repair image; A memory for storing a program of a capacitor transportation method; A processor for loading and executing the program stored in the memory.

[0138] Based on the same inventive concept, an embodiment of the present invention provides an intelligent terminal including a memory and a processor, and a computer program capable of being loaded and executed by the processor for a capacitor transportation method is stored on the memory.

[0139] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the above division of each functional module is used as an example. In actual applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working processes of the above-described system, device, and unit can refer to the corresponding processes in the foregoing method embodiments and will not be repeated here.

[0140] The above is only the preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions falling within the concept of the present invention belong to the protection scope of the present invention. It should be noted that for those of ordinary skill in the art, several improvements and refinements made without departing from the principle of the present invention should also be regarded as within the protection scope of the present invention.

Claims

1. A method for transporting capacitors, characterized in that: include: Obtain placement image information of a preset placement area; Determine the placement direction according to the placement image information and a preset reference packaging image; Determine the pin packaging direction according to the placement direction and the preset packaging direction; Obtaining driving speed, driving position and driving image information when transporting capacitors; Determine the estimated driving drop based on driving image information and preset vibration abnormality characteristics; Determine the estimated vibration intensity based on the estimated driving height and driving speed; Determine the shaking strength of the capacitors in each packaging box based on the pin packaging direction and estimated vibration intensity; When the shaking intensity is greater than a preset reference shaking intensity, the abnormal position is determined according to the placement image information; When the driving position coincides with the preset transport position, the capacitor is inspected and repaired according to the abnormal position through a preset detection method.

2. A capacitor transportation method according to claim 1, characterized in that: Methods for determining the intensity of shaking include: Get the preset packaging weight value of the packaging box; Determine the location of the packaging box according to the placement image information; Determine different capacitor positions according to the packaging box position and preset packaging box specifications; Calculate the placement height according to the capacitor position and the preset reference placement position; When the estimated vibration intensity is not less than the package weight value, the difference between the estimated vibration intensity and the package weight value is calculated as the vibration deviation value; Determine the stacking quantity of different packaging box positions according to the placement height and placement direction; Determine the estimated bounce height based on the vibration deviation value, package weight value and stacking quantity; The impact force is determined based on the estimated bounce height and packaging weight, and the shaking force is determined based on the impact force and the pin packaging direction.

3. A capacitor transportation method according to claim 2, characterized in that: Methods for determining the degree of shaking include: Calculate the vibration offset distance based on the capacitor position and the packaging box position; Determine the marking shaking intensity based on the vibration displacement distance and the shaking intensity; Determine the cushioning strength based on the packaging box specifications and the preset cushioning material specifications; The new shaking intensity is calculated based on the marked shaking intensity and buffering force.

4. A capacitor transportation method according to claim 1, characterized in that: The preset detection methods include: Control the packaging box to move to the preset detection area, control the preset traction device to pull the capacitor at the abnormal position and obtain the traction force value; A traction force value exceeding a preset reference traction force value is selected from the traction force values ​​and defined as a pin traction force value; Calculate the difference between the pin pulling force value and the preset reference pulling force value and use it as the force deviation value; When the force deviation value is inconsistent with the preset reference deviation value, the traction device is controlled to pull the capacitor until the pin traction force value is consistent with the preset capacitor weight value, and the traction friction distance value of the traction device is obtained; Determine the bending angle and bending position according to the pulling friction distance value, the pin pulling force value and the preset capacitor specifications; The pin is repaired by a preset repair method according to the bending angle and the bending position, and the abnormal position is updated after the repair to continue to obtain the traction force value.

5. A capacitor transportation method according to claim 4, characterized in that: The preset detection methods also include: When the force deviation value is inconsistent with the preset reference deviation value, an abnormal detection profile is formed according to the abnormal position and the packaging box position; According to the abnormal detection contour, the abnormal position on the contour is retrieved as the marked abnormal position; Obtaining image detection information based on marked abnormal locations; When the image detection information is consistent with the preset reference pin image, the abnormal position is removed and marked according to the abnormal position to form a new abnormal position.

6. A capacitor transportation method according to claim 4, characterized in that: The preset detection methods also include: When the force deviation value is consistent with the preset reference deviation value, the traction distribution position is obtained according to the pin traction force value; Determine the tilt direction according to the traction distribution position and the preset reference pin position; Determine a tilt vector angle according to a preset reference tilt angle and tilt direction, and tilt the capacitor at the tilt vector angle; Update the pin traction force value and traction distribution position according to the tilt vector angle; Determine the traction overlap quantity according to the updated traction distribution position and the preset pin tilt position; When the pulling overlap number is 0, the inclined pulling distance value is obtained according to the pin pulling force value and the preset capacitor weight value; Calculate the target change force value based on the pin pulling force values ​​before and after the update; Calculate the difference between the target change force value and the preset reference change force value and use it as the change force deviation value; The bending position and bending angle are determined according to the changing force deviation value, the tilt pulling distance value and the capacitor specifications.

7. A capacitor transportation method according to claim 6, characterized in that: The preset detection methods also include: When the pull overlap number is 1, the updated pull distribution position that overlaps with the pin tilt position is used as the target pull position; Calculate the mark change force value according to the pin pulling force values ​​before and after the update corresponding to the target pulling position; When the marker-based change force value is inconsistent with the baseline change force value, the change duration distance is obtained according to the marker change force value; When the continuous distance of the change is less than the preset reference tilt distance, a preset alarm message is output.

8. A capacitor transportation method according to claim 6, characterized in that: The preset repair methods include: Control the capacitor corresponding to the bending position to move to a preset repair area, and obtain a pin repair image; Determine the pin end position according to the pin repair image and the preset pin features; Determine the total pin distance based on the capacitor specifications; Determine the repair position according to the pin repair image and the total distance between the pins; Determine the heating temperature according to the bending angle and capacitor specifications and heat the bending position; The preset repair device is controlled to repair the pin at a bending angle and update the pin end position. When the pin end position coincides with the repair position, the pin is cooled to complete the repair.

9. A capacitor transportation system, characterized in that: include: An acquisition module is used to acquire placement image information, driving speed, driving position, driving image information, packaging weight value, traction force value, traction friction distance value, image detection information, traction distribution position, tilt traction force value, tilt pin traction position, tilt traction distance value, change duration distance and pin repair image; A memory for storing a program of a capacitor transportation method according to any one of claims 1 to 8; The processor is used to load, execute and implement the program stored in the memory.

10. An intelligent terminal, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and executes a capacitor transportation method according to any one of claims 1 to 8.

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