Taper thread workpiece assembling method and system, industrial personal computer, equipment and medium

Abstract

The invention discloses a taper thread workpiece assembling method and system, an industrial personal computer, equipment and a medium. The method comprises the following steps: acquiring a first image of an external thread workpiece and a second image of an internal thread workpiece shot by a machine vision acquisition device; determining pose and size data of the external thread workpiece based on the first image, and controlling a workpiece clamping device to clamp the external thread workpiece based on the pose and size data; the hole center of the internal thread workpiece is recognized and positioned based on the second image, and the hole center position is obtained; and controlling a workpiece assembling device to assemble the external thread workpiece and the internal thread workpiece based on the hole center position. According to the scheme of the embodiment of the invention, the problems that manual observation and positioning and high-repeatability operation are needed in taper thread workpiece assembly can be solved, and the efficiency of taper thread workpiece assembly is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of equipment manufacturing, and in particular to a tapered thread workpiece assembly method, system, industrial control computer, equipment and medium. Background Art

[0002] Tapered threads are used for connections requiring high self-sealing properties and are a fundamental means of connecting pipes to fittings, pipe clamps, valves, pumps, and cylinders. With oil drilling and production equipment now fully integrated with mechatronics, tapered threads are widely used in hydraulic, pneumatic, lubrication, and cooling circuits. Sealing issues are often accompanied by hazardous factors such as high temperatures, high pressures, and flammability and explosiveness. Therefore, the assembly quality and sealing performance of tapered threads play a decisive role in the safe operation of the entire system.

[0003] In the oil and gas industry, the widely used sealing tapered thread assembly still cannot rely on existing equipment to replace manual labor. For manual operation, not only is the labor intensity and action repetition high, but the efficiency and standardization of assembly cannot be guaranteed.

[0004] In summary, based on the problems existing in the current assembly of tapered thread workpieces, such as the need for manual observation and positioning and high repetitive operations, a more efficient tapered thread workpiece assembly method is needed. Summary of the Invention

[0005] The present invention provides a tapered thread workpiece assembly method, system, industrial control computer, equipment and medium to improve the efficiency of tapered thread workpiece assembly.

[0006] According to one aspect of the present invention, a method for assembling a tapered thread workpiece is provided, which is applied to an industrial computer and comprises:

[0007] Acquire a first image of the externally threaded workpiece and a second image of the internally threaded workpiece captured by a machine vision acquisition device;

[0008] determining the position and size data of the externally threaded workpiece based on the first image, and controlling a workpiece clamping device to clamp the externally threaded workpiece based on the position and size data;

[0009] Identifying and locating the hole center of the internally threaded workpiece based on the second image to obtain a hole center position;

[0010] A workpiece assembling device is controlled to assemble the externally threaded workpiece and the internally threaded workpiece based on the hole center position.

[0011] Optionally, determining the position information and size data of the externally threaded workpiece based on the first image includes:

[0012] Obtaining the size data by pixel positioning on the first image;

[0013] performing preprocessing and rough edge positioning on the first image;

[0014] Divide the edge of the external thread workpiece into regions with a minimum matrix, and use a region-based adaptive threshold selection method to select thresholds for each divided region to be tested;

[0015] The position information is determined by a sub-pixel line cluster fitting method of the least squares method.

[0016] Optionally, the identifying and locating the hole center of the internally threaded workpiece based on the second image to obtain the hole center position includes:

[0017] Detecting the second image using Hough transform to determine a geometric circle in the second image;

[0018] The center of the geometric circle is located to obtain the hole center position.

[0019] Optionally, after controlling the workpiece clamping device to clamp the externally threaded workpiece based on the posture and size data, the method further comprises:

[0020] The quality of the external thread workpiece is detected by a process sensor.

[0021] Optionally, controlling the workpiece clamping device to clamp the externally threaded workpiece based on the posture and size data includes:

[0022] determining at least one movement parameter of the workpiece holding device according to the posture and size data of the externally threaded workpiece and the position of the workpiece clamping device;

[0023] The workpiece clamping device is controlled to execute the movement parameters so as to move to the externally threaded workpiece and clamp the externally threaded workpiece.

[0024] Optionally, the method further includes:

[0025] Acquiring at least one execution parameter of the workpiece clamping device and / or the workpiece assembly device;

[0026] Generate and display a graphic report based on the execution parameters.

[0027] According to another aspect of the present invention, there is provided an industrial computer, comprising:

[0028] An acquisition unit, configured to acquire a first image of the externally threaded workpiece and a second image of the internally threaded workpiece taken by a machine vision acquisition device;

[0029] a first control unit, configured to determine the position and size data of the externally threaded workpiece based on the first image, and control a workpiece clamping device to clamp the externally threaded workpiece based on the position and size data;

[0030] an identification unit, configured to identify and locate the hole center of the internally threaded workpiece based on the second image to obtain a hole center position;

[0031] The second control unit is configured to control the workpiece assembling device to assemble the externally threaded workpiece and the internally threaded workpiece based on the hole center position.

[0032] According to another aspect of the present invention, there is provided a tapered thread assembly system, comprising:

[0033] A machine vision acquisition device, used to capture a first image of the externally threaded workpiece and a second image of the internally threaded workpiece;

[0034] a workpiece clamping device, used for clamping the externally threaded workpiece;

[0035] A workpiece assembly device, used for assembling the externally threaded workpiece and the internally threaded workpiece;

[0036] An industrial computer is used to execute the tapered thread workpiece assembly method described in any embodiment of the present invention.

[0037] According to another aspect of the present invention, an electronic device is provided, comprising:

[0038] At least one processor; and a memory in communication with the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the tapered thread workpiece assembly method described in any embodiment of the present invention.

[0039] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the tapered thread workpiece assembly method according to any embodiment of the present invention when executed.

[0040] The technical solution of an embodiment of the present invention involves acquiring a first image of an externally threaded workpiece and a second image of an internally threaded workpiece taken by a machine vision acquisition device; determining the position and dimensional data of the externally threaded workpiece based on the first image, and controlling a workpiece clamping device to clamp the externally threaded workpiece based on the position and dimensional data; identifying and locating the hole center of the internally threaded workpiece based on the second image to obtain the hole center position; and controlling a workpiece assembly device to assemble the externally threaded and internally threaded workpieces based on the hole center position. The solution of an embodiment of the present invention can solve the problem of manual observation and positioning, a highly repetitive operation, in the assembly of tapered threaded workpieces, thereby improving the efficiency of tapered threaded workpiece assembly.

[0041] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0043] Figure 1 This is a flow chart of a method for assembling a tapered thread workpiece according to a first embodiment of the present invention;

[0044] Figure 2 This is a flow chart of the construction of a tapered thread assembly method applicable to the first embodiment of the present invention;

[0045] Figure 3 This is a schematic diagram of an industrial computer algorithm flow applicable to the first embodiment of the present invention;

[0046] Figure 4 This is a structural diagram of an industrial computer provided by Embodiment 2 of the present invention;

[0047] Figure 5 This is a structural diagram of a tapered thread assembly system provided by the third embodiment of the present invention;

[0048] Figure 6 It is a structural schematic diagram of an electronic device for implementing the tapered thread workpiece assembly method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0049] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0050] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0051] Example 1

[0052] Figure 1 This is a flow chart of a method for assembling a tapered thread workpiece provided by the first embodiment of the present invention. This embodiment is applicable to the case of assembling a tapered thread workpiece. The method can be executed by an industrial computer, which can be implemented in the form of hardware and / or software. The industrial computer can be configured in an electronic device. Figure 1 As shown, the method includes:

[0053] S110 , obtaining a first image of the externally threaded workpiece and a second image of the internally threaded workpiece captured by a machine vision acquisition device.

[0054] The visual acquisition device can be a visual recognition camera that can capture a first image of an externally threaded workpiece and a second image of the hole center of an internally threaded workpiece. After acquiring the first image, edge detection and image filtering with processing algorithms can be used to facilitate subsequent processing. After acquiring the second image, edge detection and image processing can be used to obtain the basic information of the threaded hole, facilitating subsequent hole center location.

[0055] S120 , determining the position and size data of the externally threaded workpiece based on the first image, and controlling a workpiece clamping device to clamp the externally threaded workpiece based on the position and size data.

[0056] Among them, the workpiece clamping device can be a multi-axis robotic arm, preferably, equipped with an adaptive clamping jaw that can be adjusted within a certain range to achieve the grasping of externally threaded workpieces in random positions, and integrate the mechanism and function of tightening power output.

[0057] For the posture and size data of the external threaded workpiece, a visual recognition camera is set to obtain image data about the external threaded workpiece (i.e., the first image). First, edge detection and filtering of the image and processing algorithm are completed, and then the posture and size of the workpiece are obtained through model optimization.

[0058] Optionally, in an embodiment of the present invention, determining the posture information and size data of the externally threaded workpiece based on the first image includes:

[0059] Obtaining the size data by pixel positioning on the first image;

[0060] performing preprocessing and rough edge positioning on the first image;

[0061] Divide the edge of the external thread workpiece into regions with a minimum matrix, and use a region-based adaptive threshold selection method to select thresholds for each divided region to be tested;

[0062] The position information is determined by a sub-pixel line cluster fitting method of the least squares method.

[0063] The workpiece dimensions are determined using a Zernike moment sub-pixel precision positioning method based on an adaptive threshold. After image preprocessing and rough edge positioning, the workpiece edge is divided into regions with a minimum matrix. A region-by-region adaptive threshold selection method is used to dynamically select thresholds for each region to be measured, eliminating the inefficiency and poor stability of manual setting and enhancing the robustness of sub-pixel edge positioning. A sub-pixel line cluster fitting method using the least squares method is used to determine the angular posture of externally threaded workpieces.

[0064] S130 : Identify and locate the hole center of the internally threaded workpiece based on the second image to obtain a hole center position.

[0065] For the hole center identification and positioning of internal threaded workpieces, a visual recognition camera is set up to obtain the internal threaded hole center image data (i.e., the second image) at the same time. First, the basic situation of the threaded hole is obtained through edge detection and image processing, and the occlusion, axis center offset and other conditions are judged through the optimization algorithm to achieve hole center positioning.

[0066] Optionally, identifying and locating the hole center of the internally threaded workpiece based on the second image to obtain the hole center position includes:

[0067] Detecting the second image using Hough transform to determine a geometric circle in the second image;

[0068] The center of the geometric circle is located to obtain the hole center position.

[0069] Among them, Hough transform is used to detect curves in the image such as straight lines, circles, parabolas, ellipses, etc. that can be described by a certain functional relationship, transform the curves (including straight lines) in the image space into the parameter space, and determine the description parameters of the curve by detecting the extreme points in the parameter space, thereby extracting regular curves in the image.

[0070] The center of the internal thread hole is approximately a geometric circle. The image captured by the camera is preprocessed and the circle detection algorithm is used to achieve identification and positioning. The Hough transform circle detection algorithm is used to detect the internal thread. The circle curve formula in the Hough transform detection image space is (Xa) 2 +(Xb) 2 =r 2 , where X represents the coordinate vector, r is the inner hole radius, and (a, b) are the coordinates of the center of the circle. During the inspection process, the distance between the camera and the internal thread workpiece is fixed. At this time, the internal thread aperture is set (r min ,r max ) maximum value range, the calculation complexity can be reduced and the calculation speed can be increased.

[0071] S140 , controlling a workpiece assembly device to assemble the externally threaded workpiece and the internally threaded workpiece based on the hole center position.

[0072] Specifically, the industrial computer deploys two key algorithms for workpiece position recognition and gripping, and internal hole positioning, which simultaneously control the assembly system. During operation, the industrial computer is powered on and the visual recognition system runs. The system detects the position and shape of externally threaded workpieces and drives a multi-axis robotic arm to grip them. The visual recognition system also locates the center of the internally threaded hole. After these two key recognition steps are completed, the actuators perform adaptive assembly of the internally and externally threaded workpieces.

[0073] In addition, an automatic feeding system for internal threaded workpieces can be set up to realize automatic replacement and supply of materials.

[0074] In an embodiment of the present invention, the method may further include the following steps: performing quality inspection on the external thread workpiece by using a process sensor.

[0075] After the external threaded workpiece is clamped and before assembly, it is detected by the process sensor and the workpiece without quality problems is carried out for the next assembly operation.

[0076] In an embodiment of the present invention, the method may further include the following steps:

[0077] The controlling workpiece clamping device to clamp the externally threaded workpiece based on the posture and size data comprises:

[0078] determining at least one movement parameter of the workpiece holding device according to the posture and size data of the externally threaded workpiece and the position of the workpiece clamping device;

[0079] The workpiece clamping device is controlled to execute the movement parameters so as to move to the externally threaded workpiece and clamp the externally threaded workpiece.

[0080] In an embodiment of the present invention, the method may further include the following steps:

[0081] Acquiring at least one execution parameter of the workpiece clamping device and / or the workpiece assembly device;

[0082] Generate and display a graphic report based on the execution parameters.

[0083] Figure 2 This is a flowchart for constructing a tapered thread assembly method applicable to the first embodiment of the present invention. The tapered thread tightening system obtains images of the external thread workpiece and the internal thread workpiece respectively through the image acquisition function of machine vision; after the target image is detected by the key recognition and positioning algorithm, the robotic arm positions and clamps the workpiece based on the posture and size data of the external thread workpiece; at this time, the center of the internal thread hole is also identified and positioned; after the external thread workpiece is clamped and before assembly, it is detected by the process sensor and the next assembly operation is carried out on the workpiece without quality problems; the robotic arm drives the external thread workpiece and the internal thread workpiece fixed by the automatic feeding to perform adaptive assembly; the torque, rotation number and other parameters involved in the assembly process are returned in real time by the actuator sensor, and finally the quality status is output on the display in the form of an image report. Preferably, the workpiece status identification, assembly parameter feedback and other contents involved in the assembly process are fed back by 6 sensors, and abnormal conditions are output through sound and light alarms, display alarms, diagnostic reports and other methods.

[0084] Figure 3 This is a schematic diagram of the algorithm flow of the industrial computer applicable to the first embodiment of the present invention. After the system performs image acquisition, the posture and size detection of the external threaded workpiece and the identification and positioning of the internal threaded hole center are realized through algorithm one (for the posture and size positioning of the external threaded workpiece) and algorithm two (for the identification and positioning of the hole center of the internal threaded workpiece); after the identification and positioning of the key objects are completed, the assembly model parameters are automatically retrieved, and the adaptive assembly mechanism performs automatic assembly according to the parameter model.

[0085] The solution of the embodiment of the present invention can fill the technical gap in the intelligent assembly of tapered threads in the domestic oil and gas equipment manufacturing industry, solve the problem that tapered thread assembly requires manual observation and positioning and high-repetitive operations, and at the same time, through automated tightening parameter detection, eliminate the quality randomness caused by manual tightening without parameter feedback, and provide method and equipment technical support for intelligent manufacturing, green manufacturing, and high-quality development.

[0086] Example 2

[0087] Figure 4 This is a structural diagram of an industrial computer provided by the second embodiment of the present invention. Figure 4 As shown, the industrial computer includes:

[0088] An acquisition unit 410 is configured to acquire a first image of an externally threaded workpiece and a second image of an internally threaded workpiece captured by a machine vision acquisition device;

[0089] a first control unit 420, configured to determine the position and size data of the externally threaded workpiece based on the first image, and control a workpiece clamping device to clamp the externally threaded workpiece based on the position and size data;

[0090] an identification unit 430 for identifying and locating the hole center of the internally threaded workpiece based on the second image to obtain a hole center position;

[0091] The second control unit 440 is configured to control the workpiece assembly device to assemble the externally threaded workpiece and the internally threaded workpiece based on the hole center position.

[0092] Optionally, when determining the position and size data of the externally threaded workpiece based on the first image, the first control unit 420 specifically performs:

[0093] Obtaining the size data by pixel positioning on the first image;

[0094] performing preprocessing and rough edge positioning on the first image;

[0095] Divide the edge of the external thread workpiece into regions with a minimum matrix, and use a region-based adaptive threshold selection method to select thresholds for each divided region to be tested;

[0096] The position information is determined by a sub-pixel line cluster fitting method of the least squares method.

[0097] Optionally, the identification unit 430 is specifically configured to perform:

[0098] Detecting the second image using Hough transform to determine a geometric circle in the second image;

[0099] The center of the geometric circle is located to obtain the hole center position.

[0100] Optionally, the first control unit 420 is further configured to execute:

[0101] The quality of the external thread workpiece is detected by a process sensor.

[0102] Optionally, the first control unit 420, when controlling the workpiece clamping device to clamp the externally threaded workpiece based on the posture and size data, specifically performs:

[0103] determining at least one movement parameter of the workpiece holding device according to the posture and size data of the externally threaded workpiece and the position of the workpiece clamping device;

[0104] The workpiece clamping device is controlled to execute the movement parameters so as to move to the externally threaded workpiece and clamp the externally threaded workpiece.

[0105] Optionally, the industrial computer further includes: a display unit 450;

[0106] The display unit 450 is used to obtain at least one execution parameter of the workpiece clamping device and / or the workpiece assembly device; generate and display an image report according to the execution parameter.

[0107] The industrial control computer provided in the embodiment of the present invention can execute the tapered thread workpiece assembly method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0108] Example 3

[0109] Figure 5 This is a structural diagram of a tapered thread assembly system provided by the third embodiment of the present invention. Figure 5 As shown, the system includes:

[0110] A machine vision acquisition device 510 is used to capture a first image of an externally threaded workpiece and a second image of an internally threaded workpiece;

[0111] a workpiece clamping device 520 for clamping the externally threaded workpiece;

[0112] A workpiece assembly device 530, used for assembling the externally threaded workpiece and the internally threaded workpiece;

[0113] The industrial computer 540 is used to execute the tapered thread workpiece assembly method described in any of the above embodiments.

[0114] Example 4

[0115] Figure 6A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0116] like Figure 6 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is communicatively connected to the at least one processor 11. The memory stores a computer program that can be executed by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. Various programs and data required for the operation of the electronic device 10 can also be stored in the RAM 13. The processor 11, ROM 12, and RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0117] Multiple components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0118] The processor 11 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any other suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the tapered thread workpiece assembly method.

[0119] In some embodiments, the tapered thread workpiece assembly method can be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the tapered thread workpiece assembly method described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to execute the tapered thread workpiece assembly method in any other suitable manner (e.g., via firmware).

[0120] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0121] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0122] In the context of the present invention, computer-readable storage media can be tangible media that can contain or store a computer program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage media can include but are not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage media can be machine-readable signal media. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0123] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0124] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0125] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0126] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0127] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A method for assembling a tapered thread workpiece, characterized in that: Applied to industrial computers, including: Acquire a first image of the externally threaded workpiece and a second image of the internally threaded workpiece captured by a machine vision acquisition device; determining the position and size data of the externally threaded workpiece based on the first image, and controlling a workpiece clamping device to clamp the externally threaded workpiece based on the position and size data; Identifying and locating the hole center of the internally threaded workpiece based on the second image to obtain a hole center position; A workpiece assembling device is controlled to assemble the externally threaded workpiece and the internally threaded workpiece based on the hole center position.

2. The method according to claim 1, characterized in that The determining of the position information and size data of the externally threaded workpiece based on the first image includes: Obtaining the size data by pixel positioning on the first image; performing preprocessing and rough edge positioning on the first image; Divide the edge of the external thread workpiece into regions with a minimum matrix, and use a region-based adaptive threshold selection method to select thresholds for each divided region to be tested; The position information is determined by a sub-pixel line cluster fitting method of the least squares method.

3. The method according to claim 1, characterized in that The identifying and locating the hole center of the internally threaded workpiece based on the second image to obtain the hole center position includes: Detecting the second image using Hough transform to determine a geometric circle in the second image; The center of the geometric circle is located to obtain the hole center position.

4. The method according to claim 1, wherein After the workpiece clamping device is controlled to clamp the externally threaded workpiece based on the posture and size data, the method further includes: The quality of the external thread workpiece is detected by a process sensor.

5. The method according to claim 1, characterized in that The controlling workpiece clamping device to clamp the externally threaded workpiece based on the posture and size data comprises: determining at least one movement parameter of the workpiece holding device according to the posture and size data of the externally threaded workpiece and the position of the workpiece clamping device; The workpiece clamping device is controlled to execute the movement parameters so as to move to the externally threaded workpiece and clamp the externally threaded workpiece.

6. The method according to claim 1, characterized in that Further including: Acquiring at least one execution parameter of the workpiece clamping device and / or the workpiece assembly device; Generate and display a graphic report based on the execution parameters.

7. Industrial computer, characterized in that, include: An acquisition unit, configured to acquire a first image of the externally threaded workpiece and a second image of the internally threaded workpiece taken by a machine vision acquisition device; a first control unit, configured to determine the position and size data of the externally threaded workpiece based on the first image, and control a workpiece clamping device to clamp the externally threaded workpiece based on the position and size data; an identification unit, configured to identify and locate the hole center of the internally threaded workpiece based on the second image to obtain a hole center position; The second control unit is configured to control the workpiece assembling device to assemble the externally threaded workpiece and the internally threaded workpiece based on the hole center position.

8. Tapered thread assembly system, characterized in that, include: A machine vision acquisition device, used to capture a first image of the externally threaded workpiece and a second image of the internally threaded workpiece; a workpiece clamping device, used for clamping the externally threaded workpiece; A workpiece assembly device, used for assembling the externally threaded workpiece and the internally threaded workpiece; An industrial computer is used to execute the tapered thread workpiece assembly method described in any one of claims 1 to 6.

9. An electronic device, characterized in that: The electronic device comprises: At least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to perform the tapered thread workpiece assembly method according to any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the tapered thread workpiece assembly method according to any one of claims 1 to 6 when executed.

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