Rear end point gluing cover device and method of U-shaped guide vane large-current automatic production line

Abstract

The invention discloses a rear end point gluing cover device of a U-shaped guide vane large-current automatic production line, which is characterized by comprising a cover closing mechanism, a cover opening mechanism and a cover closing mechanism, the first conveying mechanism is arranged below the cover closing mechanism; a drying box body; a second conveying mechanism; the sorting mechanism is arranged above the second conveying mechanism; the cover closing mechanism comprises a cover closing gripper and a cover closing mechanism, a first servo motor base; the first visual recognition mechanism is arranged on the first servo motor base and located on one side of the cover closing gripper; the sorting mechanism comprises a sorting gripper; a second servo motor base; the second visual recognition mechanism is arranged on the second servo motor base and located on one side of the picking gripper; by combining a visual identification system, servo motor control, automatic sorting, drying detection and other technologies, the technical problems of automatic cover closing, quality detection, unqualified product sorting and the like in the U-shaped guide vane production line are effectively solved, the production efficiency and the product quality are improved, manual intervention is reduced, and the production cost is reduced.

Description

Technical Field

[0001] The invention relates to a device and method for gluing a cover at the rear end of a U-shaped guide blade high-current automatic production line. Background Art

[0002] With the continuous advancement of automation in the manufacturing industry, especially in the field of electronic component production, improving production line automation, enhancing production efficiency, and ensuring product quality have become crucial factors in a company's competitiveness. In the production of U-shaped guide blades, capping, gluing, drying, and quality inspection are key process steps. Existing production lines mostly rely on manual operation or semi-automated equipment for capping, drying, and quality inspection. This traditional method presents multiple technical issues that urgently need to be improved and resolved.

[0003] First, during the capping process, traditional methods rely on manual operation or simple robotic arms, which cannot guarantee precision and consistency. Because the U-shaped guide blades may slightly deviate or change position during production, traditional equipment is prone to misalignment, missing caps, or uneven capping. This seriously affects product quality and makes it difficult to achieve the high efficiency and precision required for large-scale production.

[0004] Secondly, existing technologies still have significant deficiencies in quality inspection after the drying process. Because the shape and surface of the U-shaped guides may undergo subtle changes after drying, traditional manual inspection methods are inefficient and prone to errors. This results in unqualified guides not being promptly removed and ultimately moving on to the next process or being shipped. This not only reduces production efficiency but also increases the difficulty and cost of subsequent quality inspections.

[0005] Furthermore, existing conveying and sorting systems present certain challenges. Existing conveying devices often rely on simple conveyor belts or robotic arms to transport the closed guide sheets, and lack intelligent quality control and sorting mechanisms for dried guide sheets. This design easily leads to the mixing of substandard products with qualified ones, impacting the overall production line flow and product quality. Summary of the Invention

[0006] In response to the shortcomings of the existing technology, the present invention provides a rear end point gluing cover device for a U-shaped guide plate high-current automatic production line. By combining visual recognition systems, servo motor control, automatic sorting and drying detection technologies, it effectively solves the technical problems of automatic capping, quality inspection and sorting of defective products in the U-shaped guide plate production line, improves production efficiency and product quality, reduces manual intervention, and reduces production costs.

[0007] The technical solution adopted by the present invention to solve its technical problem is:

[0008] The rear end glue cover device of the U-shaped guide blade high current automatic production line includes:

[0009] A cover closing mechanism, used for closing the U-shaped guide;

[0010] A first conveying mechanism is provided below the lid closing mechanism and is used to convey the closed U-shaped guide piece forward;

[0011] The drying box is used to dry the closed U-shaped guide plate;

[0012] The second conveying mechanism is used to convey the dried U-shaped guide piece out of the drying box;

[0013] A picking mechanism is provided above the second conveying mechanism and is used to pick out the U-shaped guide pieces that fail to meet the drying standards;

[0014] Wherein, the cover closing mechanism includes:

[0015] The cover gripper is used to grab the cover piece and put it on the glued U-shaped guide piece;

[0016] A first servo motor seat is used to drive the lid closing gripper to move;

[0017] A first visual recognition mechanism is provided on the first servo motor base, located on one side of the lid closing gripper, and is used to identify the position and posture of the U-shaped guide;

[0018] The picking mechanism comprises:

[0019] Picking gripper, used to grab the U-shaped guide;

[0020] A second servo motor seat is used to drive the picking gripper to move;

[0021] The second visual recognition mechanism is arranged on the second servo motor base, located on the side of the picking gripper, and is used to identify the U-shaped guide plates that fail the drying process and pick them.

[0022] Preferably, the first conveying mechanism and the second conveying mechanism are both electric conveyor belts with sensors, and the lid closing gripper adopts a pneumatic structure.

[0023] Preferably, the picking mechanism further comprises:

[0024] The picking and identification module is used to determine whether the U-shaped guide is a guide that has failed drying;

[0025] Storage box, used to place U-shaped guides that fail drying.

[0026] Preferably, the first servo motor seat includes a first bracket mounted on one side of the first conveying mechanism, and a first longitudinal movable seat installed on the first bracket, and a first transverse movable seat installed on the first longitudinal movable seat, and a first vertical movable seat installed on the first transverse movable seat, and a first longitudinal servo motor for driving the first transverse movable seat to move longitudinally on the first longitudinal movable seat, and a first transverse servo motor for driving the first vertical movable seat to move transversely on the first transverse movable seat, and a first vertical servo motor for driving the closing gripper to move vertically on the first vertical movable seat.

[0027] Preferably, the second servo motor seat includes a second bracket mounted on one side of the second conveying mechanism, and a second longitudinal movable seat installed on the second bracket, and a second transverse movable seat installed on the second longitudinal movable seat, and a second vertical movable seat installed on the second transverse movable seat, and a second longitudinal servo motor for driving the second transverse movable seat to move longitudinally on the second longitudinal movable seat, and a second transverse servo motor for driving the second vertical movable seat to move transversely on the second transverse movable seat, and a second vertical servo motor for driving the picking gripper to move vertically on the second vertical movable seat.

[0028] Another technical problem to be solved by the present invention is to provide a method for gluing a cap at the rear end of a U-shaped guide plate high current automatic production line, comprising the following steps:

[0029] The first visual recognition mechanism acquires a real-time image of the U-shaped guide through the image acquisition system, and analyzes the edge, position, and angle of the U-shaped guide through an image processing algorithm. It automatically adjusts the position and angle of the lid closing gripper, and uses the lid closing mechanism to accurately cover the lid closing piece on the glued U-shaped guide.

[0030] The closed U-shaped guide is conveyed forward by the first conveying mechanism so as to enter the drying box;

[0031] Send the closed U-shaped guide into the drying box for drying;

[0032] The dried U-shaped guide pieces are sent out of the drying box by the second conveying mechanism for subsequent processing;

[0033] The second visual recognition mechanism scans the dried U-shaped guides through an image acquisition system and uses a machine vision algorithm to compare the drying status, including the detection of color changes and surface cracks, to automatically identify and sort out unqualified U-shaped guides.

[0034] The picking mechanism is used to pick out the unqualified U-shaped guides from the conveyor belt according to the identification results and place them in the storage box.

[0035] Preferably, the first visual recognition mechanism obtains a real-time image of the U-shaped guide through an image acquisition system, and analyzes the edge, position and angle of the U-shaped guide through an image processing algorithm, and automatically adjusts the position and angle of the lid closing gripper in the following manner:

[0036] Use a camera or image acquisition system to obtain a real-time image of the U-shaped guide, and perform image preprocessing, including noise removal, grayscale conversion, and binarization;

[0037] Use Canny edge detection to identify the edge of the U-shaped guide;

[0038]

[0039] Where E(x,y) is the edge intensity, I(x,y) is the pixel value of the image, and the gradient of the image is calculated to find the area with the most dramatic change, thereby identifying the edge;

[0040] Morphological processing and contour analysis are used to identify the center position and angle of the U-shaped guide blade, and the rotation angle of the guide blade is obtained through the minimum circumscribed rectangle;

[0041] Given an edge image, find the four corner points of the minimum bounding rectangle through contour extraction.

[0042] Calculate the angle of a rectangle:

[0043] θ=atan2(y2-y1,x2-x1)

[0044] Where (x1, y1) and (x2, y2) are the two corner points of the rectangle, and θ is the rotation angle of the rectangle;

[0045] Based on the image processing results, the position and angle of the lid closing gripper are adjusted through displacement and rotation algorithms;

[0046] Δx=x target -x current

[0047] Δy=y target -y current

[0048] Where (xtarget, ytarget) is the target position of the U-shaped guide, (xcurrent, ycurrent) is the current position of the closing gripper, and Δx and Δy are the displacements that need to be adjusted.

[0049] Δθ=θ target -θ current

[0050] Where θtarget is the target angle of the U-shaped guide, θcurrent is the current angle of the closing gripper, and Δθ is the rotation angle to be adjusted;

[0051] According to the adjustment of position and angle, the cover closing mechanism is controlled to accurately place the cover closing piece on the U-shaped guide piece;

[0052] F grip =k grip Δx+c grip

[0053] Among them, Fgrip is the gripping force, kgrip and cgrip are control parameters, and Δx is the displacement that needs to be adjusted for the lid closing gripper to ensure that the lid closing piece accurately covers the U-shaped guide piece.

[0054] Preferably, the second visual recognition mechanism scans the dried U-shaped guide sheets through an image acquisition system and uses a machine vision algorithm to compare the drying status, including the detection of color changes and surface cracks, to automatically identify and sort out unqualified U-shaped guide sheets as follows:

[0055] An image acquisition system is used to obtain an image of the dried U-shaped guide, and the image is preprocessed, including grayscale conversion, denoising, and filtering;

[0056] Compare the color changes of the U-shaped guide in the image to determine the drying status. Use color space conversion to analyze color changes;

[0057] Convert an RGB image to HSV color space:

[0058] HSV(I)=f RGB to HSV (I raw )

[0059] Calculate the color difference:

[0060]

[0061] Where Cinitial is the color value of the U-shaped guide before drying, Cfinal is the color value after drying, and ΔC is the color change;

[0062] Determine whether the color change is within the qualified range:

[0063] ifΔC>T color then Defective

[0064] Among them, Tcolor is the set color change threshold. If it exceeds the threshold, the U-shaped guide is considered unqualified.

[0065] Use Canny edge detection to detect cracks on the surface of the U-shaped guide blade;

[0066]

[0067] Among them, E(x,y) is the edge intensity of the image, I(x,y) is the pixel intensity of the image, and the edge intensity reflects the severity of the image change;

[0068] Perform morphological processing on the edge image to extract cracks, and use contour detection method to determine the length and shape characteristics of the cracks;

[0069]

[0070] Where Ci is the i-th crack profile, Lcrack is the total length of all cracks;

[0071] N cracks =count(C i )

[0072] Where Ncracks is the number of cracks and Ci is the profile of each crack;

[0073] Judging by the length and number of cracks:

[0074] if N cracks >T cracks or L crack >T length then Defective

[0075] Among them, Tcracks and Tlength are the set crack number and length thresholds. If the thresholds are exceeded, the U-shaped guide blade is considered to have cracks;

[0076] The defects of the U-shaped guide blades are classified based on the results of color change and crack detection;

[0077] Determine whether the product is qualified based on the color difference and the number or length of cracks;

[0078] Defective=if(ΔC>T color or N cracks >T cracks )then 1 else 0

[0079] Among them, 1 means unqualified and 0 means qualified;

[0080] According to the defect classification results, unqualified U-shaped guide plates are sorted.

[0081] Another technical problem to be solved by the present invention is to provide an electronic device, including a memory, a processor and a computer program stored in the memory and run on the processor. When the processor executes the program, it implements the rear end point gluing cover method of the U-shaped guide plate high current automatic production line as described above.

[0082] Another technical problem to be solved by the present invention is to provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method for gluing the rear end point of the U-shaped guide plate high-current automatic production line as described above.

[0083] The beneficial effects of the present invention are:

[0084] Precise control of the automated lid closing process

[0085] The lid closing gripper and the first visual recognition mechanism work together to identify the position and posture of the U-shaped guide in real time, ensuring precise lid closing. Simultaneously, the first servo motor drive ensures the lid closing gripper's quick and precise closing operation. Assisted by the second visual recognition mechanism, the dried U-shaped guides are accurately identified for quality standards (e.g., color changes, surface cracks, etc.). This mechanism automatically sorts out unqualified guides, avoiding manual errors and missed inspections.

[0086] The coordination of the first and second conveying mechanisms ensures the smooth and rapid forward conveyance of U-shaped guides after lidding and drying. Furthermore, the second picking mechanism uses automated picking grippers to remove unqualified guides, enabling fully automated and efficient production. Combining the first and second visual recognition mechanisms with a servo motor base system, the machine vision system accurately identifies the position, posture, and quality status of the guides, while the servo motors achieve high-precision mechanical control, ensuring an automated and efficient production process. BRIEF DESCRIPTION OF THE DRAWINGS

[0087] Figure 1 This is a schematic diagram of the three-dimensional structure of a rear end glued cover device of a U-shaped guide blade high current automatic production line of the present invention;

[0088] Figure 2 This is a front structural schematic diagram of a rear end glued cover device of a U-shaped guide blade high current automatic production line of the present invention;

[0089] Figure 3 This is a schematic diagram of the assembly state of a rear end glued cover device of a U-shaped guide blade high current automatic production line of the present invention; Figure 4 This is a schematic structural diagram of a picking mechanism for a rear end glued cover device of a U-shaped guide blade high current automatic production line of the present invention; Figure 5 This is a structural schematic diagram of the second servo motor base of the rear end point glued cover device of a U-shaped guide blade high current automatic production line of the present invention. Specific implementation methods

[0090] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only used to explain the present invention and are not intended to limit the scope of the present invention. The following paragraphs describe the present invention in more detail by way of example with reference to the accompanying drawings. The advantages and features of the present invention will become more apparent from the following description and claims. It should be noted that the drawings are all in a very simplified form and are not in exact proportions. They are only used to facilitate and clearly illustrate the purpose of the embodiments of the present invention.

[0091] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be internal communication between two elements.

[0092] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this invention pertains. The terms used in this specification of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items. Example

[0093] See Figure 1-3 As shown, the rear end glue cover device of the U-shaped guide plate high current automatic production line includes:

[0094] Cover closing mechanism 1, used for closing the U-shaped guide plate;

[0095] The first conveying mechanism 2 is provided below the lid closing mechanism 1 and is used to convey the closed U-shaped guide piece forward;

[0096] The drying box 3 is used to dry the closed U-shaped guide plate;

[0097] The second conveying mechanism 4 is used to convey the dried U-shaped guide sheet out of the drying box 3;

[0098] The picking mechanism 5 is arranged above the second conveying mechanism 4 and is used to pick out the U-shaped guide pieces that fail to meet the drying standards;

[0099] Wherein, the cover closing mechanism 1 comprises:

[0100] The cover closing gripper 11 is used to grab the cover closing piece and cover it on the glued U-shaped guide piece;

[0101] A first servo motor base 12 is used to drive the lid closing gripper 11 to move;

[0102] The first visual recognition mechanism 13 is provided on the first servo motor base 12 and is located on one side of the lid closing gripper 11, and is used to identify the position and posture of the U-shaped guide;

[0103] The picking mechanism 5 includes:

[0104] A picking gripper 51 is used to grab the U-shaped guide piece;

[0105] A second servo motor base 52 is used to drive the picking gripper 51 to move;

[0106] The second visual recognition mechanism 53 is provided on the second servo motor base 52 and is located on one side of the picking gripper 51 , and is used to identify and pick the U-shaped guides that fail the drying process.

[0107] The first and second visual recognition mechanisms 13 and 53 intelligently identify the position, posture, and post-drying quality of the U-shaped guides, enabling precise positioning and quality screening of the U-shaped guides. The introduction of visual recognition reduces human intervention, improves the accuracy of lid closing and sorting, and ensures the accuracy and quality consistency of each guide, thereby improving overall production efficiency.

[0108] By integrating a servo motor drive system and visual recognition technology, this solution achieves a high degree of automation on the production line, reducing the impact of manual operations on production quality. The automated control of the lid closing gripper 11 and the picking gripper 51 not only improves operational efficiency but also avoids product defects caused by human fatigue or operational errors, further enhancing the stability and consistency of the production line.

[0109] The picking mechanism 5, combined with the second visual recognition technology, can sort and remove unqualified U-shaped guides in real time after drying, ensuring that unqualified products do not enter subsequent processes or the final product. This automated process significantly reduces the risk of missed inspections, ensures product quality and pass rates, and improves production line reliability and product market competitiveness.

[0110] The first conveying mechanism 2 and the second conveying mechanism 4 are both electric conveyor belts with sensors, and the closing gripper 11 adopts a pneumatic structure; the picking mechanism 5 further includes: a picking identification module for determining whether the U-shaped guide is a guide that has failed drying; and a storage box for placing U-shaped guides that have failed drying.

[0111] Through a sensor-equipped electric conveyor belt, the system monitors the status and position of the U-shaped guides in real time, ensuring precise control of every step in the conveying process. Furthermore, a picking and identification module automatically determines the quality of the dried U-shaped guides, identifying any defective products and ensuring their timely removal from the next production stage, effectively improving product quality control.

[0112] The pneumatically operated lid closing gripper 11 enables efficient and stable lid closing operations, not only improving lid closing accuracy and consistency but also adapting to different types of U-shaped guides, reducing mechanical failures and errors. The combination of a motorized conveyor belt and sensors makes the conveying process more intelligent, further improving the level of automation, and reducing manual intervention and the possibility of human error, thereby improving the overall stability and efficiency of the production line.

[0113] By providing a storage box for the U-shaped guides that hold unqualified products after drying, unqualified products can be effectively separated from qualified products, preventing them from being mixed into subsequent processes or the final product. This not only improves the efficiency of the production process, but also optimizes the management of unqualified products, facilitating their subsequent processing and traceability, reducing rework and waste caused by unqualified products, and ensuring that the quality of the production line is always maintained at a high standard.

[0114] The first servo motor seat 12 includes a first bracket 121 mounted on one side of the first conveying mechanism 2, and a first longitudinal moving seat 122 installed on the first bracket 121, and a first transverse moving seat 123 installed on the first longitudinal moving seat 122, and a first vertical moving seat 124 installed on the first transverse moving seat 123, and a first longitudinal servo motor 125 for driving the first transverse moving seat 123 to move longitudinally on the first longitudinal moving seat 122, and a first transverse servo motor 126 for driving the first vertical moving seat 124 to move transversely on the first transverse moving seat 123, and a first vertical servo motor 127 for driving the closing gripper 11 to move vertically on the first vertical moving seat 124.

[0115] The second servo motor seat 52 includes a second bracket 521 mounted on one side of the second conveying mechanism 4, and a second longitudinal moving seat 522 installed on the second bracket 521, and a second transverse moving seat 523 installed on the second longitudinal moving seat 522, and a second vertical moving seat 524 installed on the second transverse moving seat 523, and a second longitudinal servo motor 525 for driving the second transverse moving seat 523 to move longitudinally on the second longitudinal moving seat 522, and a second transverse servo motor 526 for driving the second vertical moving seat 524 to move transversely on the second transverse moving seat 523, and a second vertical servo motor 527 for driving the picking gripper 51 to move vertically on the second vertical moving seat 524.

[0116] The first servo motor base 12 and the second servo motor base 52 are both equipped with longitudinal, transverse, and vertical motion bases. Combined with the longitudinal, transverse, and vertical servo motors, they enable precise three-dimensional motion control along multiple axes. This flexible motion control enables the equipment to efficiently and accurately complete various handling, assembly, or picking tasks, improving operational accuracy and efficiency.

[0117] By combining servo motors with a multi-degree-of-freedom mobile base, the system can automatically complete complex object handling, grasping, and placement operations, reducing manual intervention and increasing the automation level of the production line. This not only effectively saves labor costs, but also speeds up the work pace and significantly improves production efficiency.

[0118] The independent design of the first and second servo motor mounts 52 in this solution provides the system with high flexibility and scalability. Different movable mounts and servo motors can be adjusted or replaced according to different needs, adapting to different product or process requirements. This modular design facilitates future maintenance, upgrades, and customized configuration, ensuring high adaptability and long-term value.

[0119] A method for gluing a cap on the rear end of a U-shaped guide blade high-current automatic production line comprises the following steps:

[0120] The first visual recognition mechanism 13 obtains a real-time image of the U-shaped guide through the image acquisition system, and analyzes the edge, position, and angle of the U-shaped guide through the image processing algorithm, automatically adjusts the position and angle of the cover closing gripper 11, and accurately covers the cover closing piece on the glued U-shaped guide through the cover closing mechanism 1;

[0121] The closed U-shaped guide is conveyed forward by the first conveying mechanism 2 so as to enter the drying box 3;

[0122] The closed U-shaped guide is sent into the drying box 3 for drying;

[0123] The dried U-shaped guide pieces are sent out of the drying box 3 by the second conveying mechanism 4 and are ready for subsequent processing;

[0124] The second visual recognition mechanism 53 scans the dried U-shaped guide sheets through an image acquisition system and uses a machine vision algorithm to compare the drying status, including the detection of color changes and surface cracks, to automatically identify and sort out unqualified U-shaped guide sheets.

[0125] The U-shaped guide pieces that fail to pass the drying process are picked out from the conveyor belt by the picking mechanism 5 according to the recognition result and placed in a storage box.

[0126] Through the first visual recognition mechanism 13 and image processing algorithms, the system can accurately analyze the edge, position, and angle of the U-shaped guide and automatically adjust the operation of the lid closing gripper 11. This automated and precise control greatly reduces manual operation errors, improves the efficiency and accuracy of the lid closing process, and thus enhances the efficiency of the entire production line.

[0127] After drying, the second visual recognition mechanism 53 uses a machine vision algorithm to scan the U-shaped guides, detecting color changes and surface cracks, and automatically identifying defective products. Automatically sorting and selecting defective U-shaped guides prevents them from flowing into the next stage, ensuring the stability and consistency of the final product quality and effectively reducing the defective rate.

[0128] The use of visual recognition and automated sorting technologies not only increases the flexibility of the production line, enabling it to adapt to the production needs of different batches of products, but also enhances the traceability of the production process. Image acquisition and analysis at every stage ensures real-time monitoring of each product, facilitating the tracing and timely resolution of quality issues, and improving the overall reliability and management level of the production line.

[0129] The first visual recognition mechanism 13 obtains a real-time image of the U-shaped guide through an image acquisition system, and analyzes the edge, position, and angle of the U-shaped guide through an image processing algorithm. The method for automatically adjusting the position and angle of the lid closing gripper 11 is as follows:

[0130] Use a camera or image acquisition system to obtain a real-time image of the U-shaped guide, and perform image preprocessing, including noise removal, grayscale conversion, and binarization;

[0131] Use Canny edge detection to identify the edge of the U-shaped guide;

[0132]

[0133] Where E(x,y) is the edge intensity, I(x,y) is the pixel value of the image, and the gradient of the image is calculated to find the area with the most dramatic change, thereby identifying the edge;

[0134] Morphological processing and contour analysis are used to identify the center position and angle of the U-shaped guide blade, and the rotation angle of the guide blade is obtained through the minimum circumscribed rectangle;

[0135] Given an edge image, find the four corner points of the minimum bounding rectangle through contour extraction.

[0136] Calculate the angle of a rectangle:

[0137] θ=atan2(y2-y1,x2-x1)

[0138] Where (x1, y1) and (x2, y2) are the two corner points of the rectangle, and θ is the rotation angle of the rectangle;

[0139] Based on the image processing results, the position and angle of the lid closing gripper 11 are adjusted through displacement and rotation algorithms;

[0140] Δx=x target -x current

[0141] Δy=y target -y current

[0142] Wherein, (xtarget, ytarget) is the target position of the U-shaped guide, (xcurrent, ycurrent) is the current position of the closing gripper 11, and Δx and Δy are the displacements that need to be adjusted;

[0143] Δθ=θ target -θ current

[0144] Wherein, θtarget is the target angle of the U-shaped guide, θcurrent is the current angle of the closing gripper 11, and Δθ is the rotation angle to be adjusted;

[0145] According to the adjustment of position and angle, the cover closing mechanism 1 is controlled to accurately place the cover closing piece on the U-shaped guide piece;

[0146] F grip =k grip △x+c grip

[0147] Wherein, Fgrip is the gripping force, kgrip and cgrip are control parameters, and Δx is the displacement that needs to be adjusted by the lid closing gripper 11 to ensure that the lid closing piece accurately covers the U-shaped guide piece.

[0148] The image acquisition system and precise image processing algorithms enable accurate recognition and analysis of the edges, position, and angle of the U-shaped guide. Specifically, through Canny edge detection, morphological processing, and contour analysis, the system can quickly and accurately determine the precise position and rotation angle of the U-shaped guide, enabling precise adjustment of the lid closing gripper 11. This makes the lid closing operation more precise, reduces errors, and ensures that each U-shaped guide is accurately placed on the lid closing piece.

[0149] This solution enables fully automated control, from image acquisition to automatic adjustment of the lid closing gripper 11, significantly improving production line efficiency. Automated displacement and rotation algorithms adjust the position and angle of the lid closing gripper 11 in real time, reducing manual intervention and improving work efficiency. The system automatically identifies and adjusts the status of each U-shaped guide, eliminating errors and delays caused by manual operation and significantly increasing production line processing speed and output.

[0150] Through sophisticated image processing algorithms, the cover sheet accurately covers the U-shaped guide, preventing loose covers or misalignment. Precise control of gripping force (adjusted via the kgrip and cgrip parameters) further enhances contact stability between the cover sheet and the U-shaped guide, ensuring the quality of every product. This high-precision operation effectively reduces defective products, improves product consistency and quality stability, and enhances overall production line reliability.

[0151] The second visual recognition mechanism 53 scans the dried U-shaped guide sheets through an image acquisition system and uses a machine vision algorithm to compare the drying status, including the detection of color changes and surface cracks. The method for automatically identifying and sorting out unqualified U-shaped guide sheets is as follows:

[0152] An image acquisition system is used to obtain an image of the dried U-shaped guide, and the image is preprocessed, including grayscale conversion, denoising, and filtering;

[0153] Compare the color changes of the U-shaped guide in the image to determine the drying status. Use color space conversion to analyze color changes;

[0154] Convert an RGB image to HSV color space:

[0155] HSV(I)=f RGB to HSV (I raw )

[0156] Calculate the color difference:

[0157]

[0158] Where Cinitial is the color value of the U-shaped guide before drying, Cfinal is the color value after drying, and ΔC is the color change;

[0159] Determine whether the color change is within the qualified range:

[0160] ifΔC>T color then Defective

[0161] Among them, Tcolor is the set color change threshold. If it exceeds the threshold, the U-shaped guide is considered unqualified.

[0162] Use Canny edge detection to detect cracks on the surface of the U-shaped guide blade;

[0163]

[0164] Among them, E(x,y) is the edge intensity of the image, I(x,y) is the pixel intensity of the image, and the edge intensity reflects the severity of the image change;

[0165] Perform morphological processing on the edge image to extract cracks, and use contour detection method to determine the length and shape characteristics of the cracks;

[0166]

[0167] Where Ci is the i-th crack profile, Lcrack is the total length of all cracks;

[0168] N cracks =count(C i )

[0169] Where Ncracks is the number of cracks and Ci is the profile of each crack;

[0170] Judging by the length and number of cracks:

[0171] if N cracks >T cracks or L crack >T length then Defective

[0172] Among them, Tcracks and Tlength are the set crack number and length thresholds. If the thresholds are exceeded, the U-shaped guide blade is considered to have cracks;

[0173] The defects of the U-shaped guide blades are classified based on the results of color change and crack detection;

[0174] Determine whether the product is qualified based on the color difference and the number or length of cracks;

[0175] Defective=if(△C>T color or N cracks>T cracks )then 1 else 0

[0176] Among them, 1 means unqualified and 0 means qualified;

[0177] According to the defect classification results, unqualified U-shaped guide plates are sorted.

[0178] By combining color change and crack detection, the solution accurately determines the drying status and surface quality of U-shaped guide blades. Color difference analysis effectively determines uniform drying, while Canny edge detection and crack analysis promptly identify surface cracks. By combining these two test results, defects in U-shaped guide blades can be efficiently and accurately classified, ensuring that each product meets quality standards.

[0179] This solution fully automates image acquisition, image processing, defect detection, and sorting, significantly reducing manual intervention. Automatically sorting unqualified U-shaped guides significantly improves production line efficiency, reduces labor costs, and avoids errors or omissions caused by human intervention. Real-time defect identification and sorting ensures that unqualified products do not enter downstream production processes, improving overall production efficiency.

[0180] By setting color change thresholds and criteria for crack length and number, this solution ensures that each U-shaped guide blade undergoes rigorous quality control, reducing the outflow of substandard products. Automated algorithms determine product conformity, ensuring consistent quality across batches and improving production line stability. This precise quality control enhances the quality and market competitiveness of the final product, preventing quality fluctuations caused by human error.

[0181] This embodiment also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and runnable on the processor. When the processor executes the program, the rear end point gluing cover method of the U-shaped guide plate high current automatic production line as described above is implemented.

[0182] This embodiment also provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, the method for gluing the rear end cap of the U-shaped guide plate high-current automatic production line as described above is implemented.

[0183] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0184] Those skilled in the art will clearly understand that for the sake of convenience and brevity in description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the system can be divided into different functional units or modules to complete all or part of the functions described above.

[0185] The above embodiments of the present invention are not intended to limit the scope of protection of the present invention, and the implementation methods of the present invention are not limited thereto. All other modifications, replacements or changes made to the above structures of the present invention based on the above contents of the present invention, in accordance with common technical knowledge and customary means in this field, without departing from the above basic technical ideas of the present invention, should fall within the scope of protection of the present invention.

Claims

1. The rear end glue cover device of the U-shaped guide plate high current automatic production line is characterized by: Includes: A cover closing mechanism, used for closing the U-shaped guide; A first conveying mechanism is provided below the lid closing mechanism and is used to convey the closed U-shaped guide piece forward; The drying box is used to dry the closed U-shaped guide plate; The second conveying mechanism is used to convey the dried U-shaped guide piece out of the drying box; A picking mechanism is provided above the second conveying mechanism and is used to pick out the U-shaped guide pieces that fail to meet the drying standards; Wherein, the cover closing mechanism includes: The cover gripper is used to grab the cover piece and put it on the glued U-shaped guide piece; A first servo motor seat is used to drive the lid closing gripper to move; A first visual recognition mechanism is provided on the first servo motor base, located on one side of the lid closing gripper, and is used to identify the position and posture of the U-shaped guide; The picking mechanism comprises: Picking gripper, used to grab the U-shaped guide; A second servo motor seat is used to drive the picking gripper to move; The second visual recognition mechanism is arranged on the second servo motor base, located on the side of the picking gripper, and is used to identify the U-shaped guide plates that fail the drying process and pick them.

2. The rear end glue cover device of the U-shaped guide plate high current automatic production line according to claim 1 is characterized in that: The first conveying mechanism and the second conveying mechanism are both electric conveyor belts with sensors, and the lid closing gripper adopts a pneumatic structure.

3. The rear end glue cover device of the U-shaped guide plate high current automatic production line according to claim 1 is characterized in that: The picking mechanism further comprises: The picking and identification module is used to determine whether the U-shaped guide is a guide that has failed drying; Storage box, used to place U-shaped guides that fail drying.

4. The rear end glue cover device of the U-shaped guide plate high current automatic production line according to claim 1 is characterized in that: The first servo motor seat includes a first bracket mounted on one side of the first conveying mechanism, and a first longitudinal movable seat installed on the first bracket, and a first transverse movable seat installed on the first longitudinal movable seat, and a first vertical movable seat installed on the first transverse movable seat, and a first longitudinal servo motor for driving the first transverse movable seat to perform longitudinal movement on the first longitudinal movable seat, and a first transverse servo motor for driving the first vertical movable seat to perform transverse movement on the first transverse movable seat, and a first vertical servo motor for driving the closing gripper to perform vertical movement on the first vertical movable seat.

5. The rear end glued cover device of the U-shaped guide plate high current automatic production line according to claim 1 is characterized in that: The second servo motor seat includes a second bracket mounted on one side of the second conveying mechanism, and a second longitudinal movable seat installed on the second bracket, and a second transverse movable seat installed on the second longitudinal movable seat, and a second vertical movable seat installed on the second transverse movable seat, and a second longitudinal servo motor for driving the second transverse movable seat to move longitudinally on the second longitudinal movable seat, and a second transverse servo motor for driving the second vertical movable seat to move transversely on the second transverse movable seat, and a second vertical servo motor for driving the picking gripper to move vertically on the second vertical movable seat.

6. A method for gluing a cap at the rear end of a U-shaped guide plate high current automatic production line, characterized in that: The following steps are involved: The first visual recognition mechanism acquires a real-time image of the U-shaped guide through the image acquisition system, and analyzes the edge, position, and angle of the U-shaped guide through an image processing algorithm. It automatically adjusts the position and angle of the lid closing gripper, and uses the lid closing mechanism to accurately cover the lid closing piece on the glued U-shaped guide. The closed U-shaped guide is conveyed forward by the first conveying mechanism so as to enter the drying box; Send the closed U-shaped guide into the drying box for drying; The dried U-shaped guide pieces are sent out of the drying box by the second conveying mechanism for subsequent processing; The second visual recognition mechanism scans the dried U-shaped guides through an image acquisition system and uses a machine vision algorithm to compare the drying status, including the detection of color changes and surface cracks, to automatically identify and sort out unqualified U-shaped guides. The picking mechanism is used to pick out the unqualified U-shaped guides from the conveyor belt according to the identification results and place them in the storage box.

7. The method for gluing a cap at the rear end of a U-shaped guide plate high current automatic production line according to claim 1, characterized in that: The first visual recognition mechanism obtains a real-time image of the U-shaped guide through the image acquisition system, and analyzes the edge, position, and angle of the U-shaped guide through the image processing algorithm. The method for automatically adjusting the position and angle of the lid closing gripper is as follows: Use a camera or image acquisition system to obtain a real-time image of the U-shaped guide, and perform image preprocessing, including noise removal, grayscale conversion, and binarization; Use Canny edge detection to identify the edge of the U-shaped guide; Where E(x, y) is the edge intensity, I(x, y) is the pixel value of the image, and the gradient of the image is calculated to find the area with the most dramatic change, thereby identifying the edge; Morphological processing and contour analysis are used to identify the center position and angle of the U-shaped guide blade, and the rotation angle of the guide blade is obtained through the minimum circumscribed rectangle; Given an edge image, find the four corner points of the minimum bounding rectangle through contour extraction. Calculate the angle of a rectangle: θ=atan2(y2-y1,x2-x1) Where (x1, y1) and (x2, y2) are the two corner points of the rectangle, and θ is the rotation angle of the rectangle; Based on the image processing results, the position and angle of the lid closing gripper are adjusted through displacement and rotation algorithms; Δx=x target -x current Δy=y target -y current Where (xtarget, ytarget) is the target position of the U-shaped guide, (xcurrent, ycurrent) is the current position of the closing handle, and Δx and Δy are the displacements that need to be adjusted; Δθ=θ target -θ current Where θtarget is the target angle of the U-shaped guide, θcurrent is the current angle of the closing gripper, and Δθ is the rotation angle to be adjusted; According to the adjustment of position and angle, the cover closing mechanism is controlled to accurately place the cover closing piece on the U-shaped guide piece; F grip =k grip ·Δx+c grip Among them, Fgrip is the gripping force, kgrip and cgrip are control parameters, and Δx is the displacement that needs to be adjusted for the lid closing gripper to ensure that the lid closing piece accurately covers the U-shaped guide piece.

8. The method for gluing a cap at the rear end of a U-shaped guide plate high current automatic production line according to claim 1, characterized in that: The second visual recognition mechanism scans the dried U-shaped guides through the image acquisition system and uses a machine vision algorithm to compare the drying status, including the detection of color changes and surface cracks. The method for automatically identifying and sorting out unqualified U-shaped guides is as follows: An image acquisition system is used to obtain an image of the dried U-shaped guide, and the image is preprocessed, including grayscale conversion, denoising, and filtering; Compare the color changes of the U-shaped guide in the image to determine the drying status. Use color space conversion to analyze color changes; Convert an RGB image to HSV color space: HSV(I)=f RGB to HSV (I raw ) Calculate the color difference: Where Cinitial is the color value of the U-shaped guide before drying, Cfinal is the color value after drying, and ΔC is the color change; Determine whether the color change is within the qualified range: ifΔC>T color then Defective Among them, Tcolor is the set color change threshold. If it exceeds the threshold, the U-shaped guide is considered unqualified. Use Canny edge detection to detect cracks on the surface of the U-shaped guide blade; Among them, E(x, y) is the edge intensity of the image, I(x, y) is the pixel intensity of the image, and the edge intensity reflects the severity of the image change; Perform morphological processing on the edge image to extract cracks, and use contour detection method to determine the length and shape characteristics of the cracks; Where Ci is the i-th crack profile, Lcrack is the total length of all cracks; N cracks =count(C i ) Where Ncracks is the number of cracks and Ci is the profile of each crack; Judging by the length and number of cracks: if N cracks >T cracks or L crack >T length then Defective Among them, Tcracks and Tlength are the set crack number and length thresholds. If the thresholds are exceeded, the U-shaped guide blade is considered to have cracks; The defects of the U-shaped guide blades are classified based on the results of color change and crack detection; Determine whether the product is qualified based on the color difference and the number or length of cracks; Defective=if(ΔC>T color or N cracks >T cracks )then 1 else 0 Among them, 1 means unqualified and 0 means qualified; According to the defect classification results, unqualified U-shaped guide plates are sorted.

9. An electronic device, characterized in that: It includes a memory, a processor and a computer program stored in the memory and capable of running on the processor. When the processor executes the program, it implements the rear end point gluing cover method of the U-shaped guide plate high current automatic production line as described in any one of claims 6-8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the rear end point gluing cover method of the U-shaped guide plate high current automatic production line as described in any one of claims 6-8 is implemented.

Images