Assembling method of ball screw

Abstract

The invention relates to a ball screw assembly method, which relates to the technical field of screws, and comprises the following steps: collecting the installation number of balls; a preset conveying device is controlled to convey the balls according to the installation number, and pipeline image information of the conveying device is collected; when the pipeline image information does not contain the preset gap characteristics, wire coils preset at the two ends of the pipeline are controlled to rotate, and the detection traction force of the wire coils is collected; and the pipeline blocking position is obtained through the detected traction force, and a wire coil is controlled to operate at the pipeline blocking position and preset extrusion force. The screw rod assembling device has the effect of improving the screw rod assembling efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of screw rods, and in particular to an assembling method of a ball screw. Background Art

[0002] A ball screw is a mechanical transmission component that converts rotary motion into linear motion, or converts linear motion into rotary motion.

[0003] A ball screw consists of a screw, nut, and balls. The screw is a slender rod with a spiral groove. The inner wall of the nut has a raceway that matches the screw, and the balls are located between the raceways of the screw and nut. During the screw assembly process, a certain number of balls are usually manually added between the raceways of the screw and nut.

[0004] During the assembly of the lead screw, manual operation requires placing the balls into the raceways one by one, resulting in low efficiency in installing the balls onto the lead screw, thereby reducing the efficiency of lead screw assembly. Summary of the Invention

[0005] In order to improve the efficiency of screw rod assembly, the present invention provides a ball screw assembly method.

[0006] The present invention provides a method for assembling a ball screw, which adopts the following technical solution:

[0007] A method for assembling a ball screw, comprising:

[0008] S1: collect the number of balls installed;

[0009] S2: Controlling a preset conveying device to convey the balls in the installed quantity, and collecting pipeline image information of the conveying device;

[0010] S3: When the pipeline image information does not include a preset gap feature, controlling the wire drums preset at both ends of the pipeline to rotate, and collecting the detection traction force of the wire drums;

[0011] S4: Obtain the pipeline blockage position by detecting the traction force, and control the wire reel to operate at the pipeline blockage position and the preset extrusion force.

[0012] By adopting the above technical solution, the conveying device is controlled to convey the balls according to the installed quantity, and the pipeline image information and the detected traction force are analyzed to obtain the pipeline blockage position, and the wire drum is controlled to operate according to the pipeline blockage position and extrusion force, so that the balls can be automatically conveyed into the raceway of the screw to improve the efficiency of the screw assembly, and the wire drum is used to dredge the pipeline to reduce the occurrence of steel ball blockage in the pipeline.

[0013] Methods for obtaining the location of pipe blockage include:

[0014] S400: updating the detected traction force at a preset unit time;

[0015] S401: calculating a traction change value in response to the detected traction force;

[0016] S402: generating a traction curve image by detecting the traction force;

[0017] S403: Obtaining a pipeline blockage location in response to the traction curve image and the traction change value.

[0018] By adopting the above technical solution, the detected traction force before and after the update is analyzed to obtain the traction curve image and the traction change value, and then the traction curve image and the traction change value are analyzed to obtain the pipeline blockage position, so that the pipeline can be cleared by using the wire drum and the occurrence of steel ball blockage in the pipeline can be reduced.

[0019] Optionally, the method after obtaining the pipeline blockage position includes:

[0020] S430: Obtaining a reference change value by using the ball specifications and a preset initial traction force;

[0021] S431: When the traction change value is inconsistent with the reference change value, obtaining a scanning range according to the pipeline blockage position and the traction change value;

[0022] S432: Collecting scanning information within the scanning range;

[0023] S433: generating a pipeline model in response to the scanning information;

[0024] S434: Update the pipeline blockage position using the pipeline model.

[0025] By adopting the above technical solution, the consistency between the traction change value and the baseline change value is analyzed to obtain the scanning range, and the scanning range is scanned to obtain scanning information. The pipeline blockage position is obtained through the scanning information, so that the blockage positions at multiple locations in the pipeline can be known, thereby improving the accuracy of pipeline blockage position analysis.

[0026] Optionally, the method for determining the preset extrusion force includes:

[0027] S410: Obtaining the number of gap balls and the detection gap according to the pipeline blockage position and the pipeline model;

[0028] S411: selecting the detection gap that is smaller than the preset reference number of balls from the gaps as the marking gap;

[0029] S412: Retrieving a mark detection position by using the mark gap and the pipeline blockage position;

[0030] S413: generating a target detection position and a target winding number in response to the mark detection position, the preset pipe port position, and the preset delivery position;

[0031] S414: Obtaining a target number of balls according to the target detection position, the mark gap, and the number of balls in the gap;

[0032] S415: Responding to the target number of balls to obtain a squeezing force, and controlling the reel with the target winding number to operate at the target detection position and the squeezing force.

[0033] By adopting the above technical solution, the pipeline blockage position and the pipeline model are analyzed to obtain the number of gap balls and the detection gap, and the number of gap balls and the detection gap are analyzed to obtain the target detection position and the target winding number. The extrusion pressure is then obtained through the target detection position, the target winding number and the number of gap balls, thereby improving the accuracy of the extrusion force analysis.

[0034] Optionally, also include:

[0035] S4150: Obtaining a torsion angle in response to the ball specification and the target detection position;

[0036] S4151: Responding to the torsion angle and the extrusion force to obtain an extrusion traction force;

[0037] S4152: Control the reel with the target winding number to run according to the target detection position, the torsion angle, and the extrusion traction force, and update the target detection position.

[0038] By adopting the above technical solution, the target detection position and ball specifications are analyzed to obtain the torsion angle, and then the torsion angle and extrusion force are analyzed to obtain the extrusion traction force to control the operation of the wire drum, so that the operation method of the wire drum can be known and the accuracy of removing the blockage position can be improved.

[0039] Optionally, also include:

[0040] S41550: Obtaining a reference reel angle in response to the torsion angle and the target detection position;

[0041] S41551: collecting the target detection angle of the reel with the target winding number;

[0042] S41552: Calculate the difference between the target detection angle and the reference line disk angle as an angle deviation value;

[0043] S41553: updating the extrusion traction force according to the angle deviation value;

[0044] S41554: When the target detection position is toward the output position, generating a vibration transmission distance in response to the target detection position and the output position;

[0045] S41555: Generate a detection vibration parameter in response to the vibration transmission distance and the extrusion traction force, and control the vibration device preset at the output position to operate with the detection vibration parameter.

[0046] By adopting the above technical solution, the target detection angle and the baseline disk angle are analyzed to obtain the angle deviation value, and the target detection position and the angle deviation value are used to control the operation of the vibration device, so that the offset thin wire can be moved to the target detection position through vibration, thereby improving the accuracy of removing the blockage position.

[0047] Optionally, also include:

[0048] S415520: When the target detection position is toward the pipe opening position, generating a target transfer distance in response to the target detection position and the pipe opening position;

[0049] S415521: Obtaining pipeline vibration parameters by using the target transmission distance and the extrusion traction force;

[0050] S415522: Collect and store image information;

[0051] S415523: generating a storage model using the stored image information and preset ball specifications;

[0052] S415524: Responding to the stored model and the pipeline vibration parameters to generate a replenishment speed and a replenishment interval time, and controlling a preset replenishment device to output balls at the replenishment speed and the replenishment interval time.

[0053] By adopting the above technical solution, the stored image information and the target detection position are analyzed to obtain the replenishment speed and replenishment interval time, and the replenishment device is controlled to output steel balls, so that the thin wire can be vibrated while replenishing the balls.

[0054] Optionally, also include:

[0055] S30: generating a blockage location in response to the pipeline image information and a preset gap feature;

[0056] S31: collecting the stored image information;

[0057] S32: Generate a storage model using the stored image information;

[0058] S33: Identifying the average height of the balls through the stored model;

[0059] S34: obtaining the offset suction force of the balls at the pipe opening in response to the average height of the balls and the specifications of the balls;

[0060] S35: Generate an electric field strength value through the offset suction force, and control a preset electric field device to operate alternately with the electric field strength value.

[0061] By adopting the above technical solution, the storage model is analyzed to obtain the offset suction force, and the electric field device is controlled to operate alternately with the electric field strength value corresponding to the offset suction force, so that the balls blocked at the pipe mouth can be offset, and the pipe can be unblocked to continue to output the balls.

[0062] Optionally, the method of controlling the preset electric field device to operate alternately at the electric field intensity value includes:

[0063] S3510: Obtaining the center position of the ball through the pipeline image information and the preset ball characteristics;

[0064] S3511: Calculating the straight-line distance between the center position of each ball and the preset axis of the pipe opening, and selecting the center position of the ball with the smallest straight-line distance as the mark center position;

[0065] S3512: Selecting a priority start number and a mark start number according to the mark center position;

[0066] S3513: generating a charge distribution time in response to the ball specification and the electric field strength value;

[0067] S3514: Control the electric field device of the priority start-up number to operate at the electric field strength value, and collect the operating time of the priority start-up number;

[0068] S3515: When the running time is consistent with the charge distribution time, the electric field device with the priority start-up number is controlled to stop running, and the electric field device with the marked start-up number is controlled to run at the electric field strength value.

[0069] Optionally, the method of controlling the electric field device to operate alternately at the electric field intensity value further includes:

[0070] S3520: When the electric field strength value exceeds a preset reference strength value, updating the offset suction force and the charge distribution time in response to the reference strength value;

[0071] S3521: Calculating the difference between the offset suction forces before and after the update as a suction force deviation value;

[0072] S3522: Obtaining an offset direction by comparing the center position of the mark with the axis of the pipe opening;

[0073] S3523: Obtaining a stress propagation point in response to the offset direction and the stored model;

[0074] S3524: Obtain the supplementary force and supplementary angle through the suction deviation value and the stress propagation point, and control the supplementary device to output the steel balls with the supplementary force, the supplementary angle and the stress propagation point.

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

[0076] 1. By controlling the conveying device to deliver the balls according to the installation quantity, and controlling the wire drum to operate according to the pipe blocking position and extrusion force, the balls can be automatically delivered to the ball raceway of the screw to improve the efficiency of the screw assembly, and the wire drum can be used to dredge the pipe to reduce the occurrence of steel ball blockage in the pipe;

[0077] 2. By analyzing the pipe blockage location and pipe model to obtain the number of gap balls and the detection gap, and then analyzing the number of gap balls and the detection gap to obtain the target detection location and target winding number, the extrusion force is obtained based on the target detection location, target winding number, and number of gap balls, thereby improving the accuracy of the extrusion force analysis;

[0078] 3. By analyzing the stored image information and the target detection position to obtain the replenishment speed and replenishment interval time, and controlling the replenishment device to output steel balls, it is possible to vibrate the thin wire while replenishing the balls. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] Figure 1 This is a method flow of a ball screw assembly method according to an embodiment of the present invention. Figure 1 ;

[0080] Figure 2 This is a schematic diagram of a conveying device according to an embodiment of the present invention when a blockage occurs;

[0081] Figure 3 is a flow chart of a method for determining a preset extrusion force according to an embodiment of the present invention;

[0082] Figure 4 is a flow chart of a method for controlling the target winding numbered reel to operate at the target detection position and the extrusion force according to an embodiment of the present invention;

[0083] Figure 5 This is a method flow of a ball screw assembly method according to an embodiment of the present invention. Figure 2 .

[0084] The names of the parts indicated by the numerical labels in the above drawings are as follows: 1. Storage bin; 2. Pipeline; 3. Wire reel; 4. Installation device; 5. Pipe opening; 6. Electric field device; 7. Fine wire. DETAILED DESCRIPTION

[0085] The present invention is further described in detail below with reference to the accompanying drawings and embodiments.

[0086] Reference Figure 1 and Figure 2 , the embodiment of the present application discloses a method for assembling a ball screw, comprising the following steps:

[0087] S1: Collect the number of installed balls.

[0088] The installation quantity refers to the number of balls required to assemble a screw, which can be obtained by pre-entry by the operator.

[0089] S2: Control the preset conveying device to convey the balls according to the installed quantity, and collect pipeline image information of the conveying device.

[0090] The conveying device includes a storage bin 1 for storing balls and a pipe 2 mounted on the bin 1 for conveying the balls. One end of the pipe 2 is connected to the bin 1 via a cable drum 3, while the other end of the pipe 2 is connected to a mounting device 4 via the cable drum 3 to facilitate ball installation. The mounting device 4 is used to place the balls on the raceway and includes a valve for controlling ball transport. The pipe 2 is a flexible hose, and the balls are steel balls.

[0091] Storage bin 1 has a pipe opening 5 for connecting to pipe 2. Electrified field devices 6 are symmetrically mounted on pipe opening 5. These devices consist of positive and negative electrodes for outputting an electric field. Storage bin 1 is equipped with a track for circumferential movement of a wire drum 3 along the central axis of pipe 2. A gap is defined between pipe 2 and storage bin 1 for passing a thin wire 7 on the wire drum 3. A gap is also defined between pipe 2 and mounting device 4. A thin wire 7 connects storage bin 1 to the wire drum 3 of mounting device 4, and this thin wire 7 runs through pipe 2.

[0092] The pipeline image information refers to the image of the pipeline opening 5. The conveying device is controlled to convey the balls in the installed quantity, and the image of the pipeline opening 5 is captured by a camera as the pipeline image information.

[0093] S3: When the pipeline image information does not include the preset gap feature, the wire drum 3 preset at both ends of the pipeline 2 is controlled to rotate, and the detection traction force of the wire drum 3 is collected.

[0094] The gap feature is the shape characteristic of the gap between the balls at the pipe opening 5, as determined by technicians. Detecting traction refers to detecting the traction of the thin wire 7 on the wire reel 3. If the pipeline image information does not contain the gap feature, indicating a ball blockage within the pipe 2, the wire reel 3 is controlled to rotate along the track, and the traction sensor pre-set on the wire reel 3 detects the parameters of the thin wire 7 as the traction force.

[0095] S4: The pipeline blockage position is obtained by detecting the traction force, and the wire drum 3 is controlled to operate at the pipeline blockage position and the preset extrusion force.

[0096] The pipe blockage location refers to the point in pipe 2 where the balls become blocked. This location is determined by analyzing the detected traction force, and the wire reel 3 is controlled to clear pipe 2 at the blocked location. In this embodiment, the pipe blockage location occurs when increased friction against the inner wall of pipe 2 causes the two balls to become obliquely blocked within pipe 2. The extrusion force refers to the horizontal force used to squeeze the balls stuck in pipe 2.

[0097] Methods for obtaining the location of pipe blockage include:

[0098] S400: updating the detected traction force at a preset unit time.

[0099] The unit time is a time length value set by a technician for detecting changes in the detection traction force. New detection traction forces are continuously collected through the unit time.

[0100] S401: Calculating a traction change value in response to detecting traction.

[0101] The traction change value refers to the change value of the detected traction force per unit time, and is obtained by calculating the difference between the detected traction forces before and after the update.

[0102] S402: Generate a traction curve image by detecting the traction force.

[0103] The traction curve image refers to an image of traction force variations, and is generated by analyzing each detected traction force. The method for generating the traction curve image is common knowledge to those skilled in the art and will not be elaborated herein.

[0104] S403: Obtaining a pipeline blockage location in response to the traction curve image and the traction change value.

[0105] When the wire drum 3 rotates circumferentially on the track along the central axis of the pipeline, the thin wire 7 in the pipeline 2 rotates circumferentially along the ball in the pipeline 2. When the thin wire 7 touches the blockage position, the thin wire 7 will remain at the blockage position and continue to rotate. At this time, the change value of the traction force will change. The pipeline blockage position is obtained based on the corresponding changes between the traction curve image and the traction change value. The analysis method of the pipeline blockage position is common knowledge among technicians in this field and will not be elaborated here.

[0106] The methods after obtaining the location of the pipe blockage include:

[0107] S430: Obtain a baseline change value based on the ball specifications and the preset initial traction force.

[0108] The initial traction force is the initial traction force of the thin wire 7 when the wire drum 3 rotates, which is set by the technician. When the wire drum 3 is not rotating, the thin wire 7 does not generate any traction force, so that the thin wire 7 sticks to the inner wall of the pipe 2 due to gravity. When the wire drum 3 starts to rotate, it is pulled with the initial traction force, so that the thin wire 7 can rotate circumferentially around the ball in the pipe 2.

[0109] The baseline change value refers to the change in traction force experienced when the fine wire 7 abuts a blocked location in the pipe. This baseline change value is determined by matching the ball specifications and initial traction force with a preset traction comparison table. The traction comparison table stores baseline change values ​​corresponding to different ball specifications and initial traction forces. The parameters in the traction comparison table are pre-determined by those skilled in the art based on actual experimental conditions and are not detailed here.

[0110] S431: When the traction change value is inconsistent with the reference change value, the scanning range is obtained by the pipeline blockage position and the traction change value.

[0111] The scanning range refers to the range in which pipeline 2 needs to be scanned. When the traction change value is inconsistent with the baseline change value, it means that there are multiple pipeline blockage positions that cause the traction change value to change. The scanning range is obtained by analyzing the pipeline blockage position and the traction change value. The scanning range is obtained by referring to the preset scanning comparison table based on the pipeline blockage position and the traction change value.

[0112] The scanning comparison table stores the scanning ranges corresponding to different pipeline blockage positions and traction change values. The larger the traction change value, the closer the pipeline blockage position is to the wire drum 3. The parameters in the scanning comparison table are set in advance by technicians in this field based on actual conditions and will not be described in detail here.

[0113] S432: Collect scanning information within the scanning range.

[0114] The scanning information is parameter information of scanning a scanning range by an infrared device.

[0115] S433: Generate a pipeline model in response to the scanning information.

[0116] The pipeline model refers to a three-dimensional model of the pipeline 2 corresponding to the scanning range, and is generated by analyzing the scanning information. The method of generating the pipeline model is common knowledge to those skilled in the art and will not be described in detail here.

[0117] S434: Update the pipeline blockage position through the pipeline model.

[0118] The position where the pipe 2 is blocked due to the tilt is retrieved from the pipe model and used as the new pipe blocking position.

[0119] Reference Figure 2 and Figure 3 , the method for determining the preset extrusion force includes:

[0120] S410: Obtain the number of gap balls and the detection gap through the pipeline blockage position and pipeline model.

[0121] The number of gap balls refers to the number of balls between each pipe blockage position, and the detection gap refers to the gap between each pipe blockage position. The gap between each pipe blockage position is retrieved from the pipe model as the detection gap, and the number of balls in the detection gap is used as the number of gap balls.

[0122] S411: A detection gap that is smaller than a preset reference number of balls is selected from the number of gap balls and defined as a marking gap.

[0123] The reference number of balls is the number set by technicians to prioritize clearing pipe blockages. The marking gap is the test gap corresponding to the number of gap balls less than the reference number of balls. The marking gap is defined as the test gap corresponding to the number of gap balls less than the reference number of balls.

[0124] S412: The mark detection position is retrieved by the mark gap and the pipeline blockage position.

[0125] The mark detection position refers to the pipe blockage position below the mark gap, which is obtained from various pipe blockage positions and defined as the mark detection position.

[0126] S413: generating a target detection position and a target winding number in response to the mark detection position, the preset pipe opening position, and the preset delivery position.

[0127] The pipe opening position is the position of the pipe opening 5 on the storage bin 1 set by the technician. The delivery position is the position where the pipe 2 is connected to the installation device 4 set by the technician.

[0128] The target detection position refers to the mark detection position closest to the pipe opening or the delivery position. In this embodiment, if two mark detection positions are the same (the positions abutting the inner wall of the pipe 2 are the same), the mark detection position closest to the pipe opening or the delivery position is used as the target detection position. The target winding number refers to the number of the reel 3 close to the target detection position. The target detection position and the target winding number are obtained by analyzing the distance between the mark detection position, the pipe opening position, and the delivery position. The above distance refers to the distance extending along the pipe 2, not the straight-line distance.

[0129] The analysis method of the target detection position and the target winding number is common knowledge to those skilled in the art and will not be described in detail here.

[0130] S414: Obtain the target number of balls through the target detection position, the marked gap, and the number of balls in the gap.

[0131] The target number of balls refers to the number of gap balls in the marked gap above the target detection position. The gap above the target detection position is retrieved from the marked gap and defined as the target gap. The number of gap balls in the target gap is used as the target number of balls.

[0132] S415: Responding to the target number of balls to obtain the squeezing force, and controlling the reel 3 with the target winding number to operate at the target detection position and squeezing force.

[0133] The target number of balls is referenced against a preset extrusion comparison table to match the extrusion force, and the target winding numbered reel 3 is controlled to operate at the target detection position and extrusion force. The extrusion comparison table stores the extrusion forces corresponding to different target numbers of balls. The parameters in the extrusion comparison table are pre-set by those skilled in the art based on actual conditions and are not further described here.

[0134] The method for controlling the target winding numbered reel 3 to operate at the target detection position and extrusion force includes:

[0135] S4150: Respond to the ball specifications and the target detection position to obtain the torsion angle.

[0136] The initial position is set by the technician to zero the rotation angle of the wire drum 3. The torsion angle refers to the angle that the steel ball on the wire drum 3 needs to rotate to clear the blockage. The maximum angle based on the target detection position is matched by the ball specifications and the preset torsion comparison table. The angle between the target detection position and the preset initial position is calculated, and the sum of the included angle and the maximum angle is calculated as the torsion angle.

[0137] The torsion comparison table stores the maximum angles corresponding to different ball specifications. The parameters in the torsion comparison table are set by those skilled in the art in advance based on actual conditions through experiments and will not be described in detail here.

[0138] S4151: Responding to the torsion angle and the extrusion force to obtain the extrusion traction force.

[0139] The extrusion traction force refers to the traction force required for the thin wire 7 to clear the target detection position. The extrusion traction force is matched by referring to the traction comparison table through the torsion angle and the extrusion force. The traction comparison table also stores the extrusion traction force corresponding to different torsion angles and extrusion forces, which will not be described in detail here.

[0140] S4152: Control the reel 3 with the target winding number to run with the target detection position, torsion angle and extrusion traction, and update the target detection position.

[0141] The target winding numbered reel 3 is controlled to run at the target detection position, torsion angle and extrusion traction force, and the target detection position is reselected after the reel 3 runs.

[0142] Reference Figure 2 and Figure 4 , the method for controlling the target winding numbered reel 3 to operate with the target detection position and extrusion force also includes:

[0143] S41550: Responding to the torsion angle and the target detection position to obtain the baseline reel angle.

[0144] The baseline reel angle refers to the angle presented by the thin wire 7 of the reel 3 with the target winding number when the reel 3 rotates at a torsion angle. The baseline reel angle is matched by referring to the torsion comparison table through the torsion angle and the target detection position. The torsion comparison table also stores the baseline reel angles corresponding to different torsion angles and target detection positions, which will not be elaborated here.

[0145] S41551: Collect the target detection angle of the target winding numbered reel 3.

[0146] The target detection angle refers to the angle at which the thin wire 7 of the target winding numbered reel 3 is offset, and the parameter obtained by detecting the angle sensor preset on the reel 3 is used as the target detection angle.

[0147] S41552: Calculate the difference between the target detection angle and the reference line disk angle as the angle deviation value.

[0148] The angle deviation value refers to the deviation value between the target detection angle and the reference line disk angle. The difference between the target detection angle and the reference line disk angle is calculated as the angle deviation value.

[0149] S41553: Update extrusion traction by angle deviation value.

[0150] When the angle deviation value is not 0, it means that the position where the thin wire 7 is squeezed and pulled is not located at the target detection position. When the angle deviation value is positive, the position where the thin wire 7 is squeezed and pulled is far away from the wire drum 3 with the target winding number. The extrusion and pulling force is controlled to remain unchanged and the position needs to be changed through vibration.

[0151] When the angle deviation value is not positive, the position where the thin wire 7 is extruded and pulled is close to the wire drum 3 with the target winding number, so the extrusion traction force is controlled to become smaller and vibration is needed to assist the position change. The new extrusion traction force is retrieved from the traction comparison table through the angle deviation value. The traction comparison table also stores the extrusion traction forces corresponding to different angle deviation values, which will not be elaborated here.

[0152] S41554: When the target detection position is toward the output position, generate a vibration transmission distance in response to the target detection position and the output position.

[0153] The vibration device is a vibration motor. The vibration transmission distance refers to the distance between the target detection position facing the output position and the output position. When the target detection position faces the output position, it indicates that the fine wire 7 needs to be vibrated by the vibration device preset on the mounting device 4. The vibration transmission distance is determined by analyzing the target detection position and the output position. The vibration transmission distance is not a straight-line distance. The analysis method of the vibration transmission distance is common knowledge to those skilled in the art and will not be elaborated here.

[0154] S41555: Generate a detection vibration parameter in response to the vibration transmission distance and the extrusion traction force, and control a vibration device preset at an output position to operate according to the detection vibration parameter.

[0155] The detection vibration parameters refer to the parameters that can vibrate the thin wire 7 at the target detection position. The detection vibration parameters include amplitude and vibration frequency. The detection vibration parameters are matched from a preset vibration comparison table based on the vibration transmission distance and the extrusion traction force. The greater the extrusion traction force, the greater the detection vibration parameter. The greater the vibration transmission distance, the greater the detection vibration parameter.

[0156] The vibration comparison table stores the detection vibration parameters corresponding to different vibration transmission distances and extrusion traction forces. The parameters in the vibration comparison table are set by those skilled in the art in advance according to actual conditions and will not be described in detail here.

[0157] The method of controlling the target winding numbered reel 3 to operate at the target detection position and extrusion force also includes:

[0158] S415520: When the target detection position is toward the pipe opening position, generate a target transfer distance in response to the target detection position and the pipe opening position.

[0159] The target transfer distance refers to the distance between the target detection position and the pipe mouth position. When the target detection position is toward the pipe mouth position, it means that the target detection position is close to the storage bin 1. Then, the target transfer distance is obtained by referring to S41554 through the pipe mouth position.

[0160] S415521: Obtain pipeline vibration parameters through target transfer distance and extrusion traction.

[0161] The pipeline vibration parameter refers to the parameter by which the storage bin 1 can vibrate the thin wire 7 at the target detection position. Refer to S41555 to obtain the pipeline vibration parameter through the target transmission distance and the extrusion traction force.

[0162] S415522: Collect and store image information.

[0163] The stored image information is an image of the storage bin 1 captured by a camera. The stored image information includes images of the surroundings and interior of the storage bin 1.

[0164] S415523: Generate a storage model by storing image information and preset ball specifications.

[0165] The storage model is a three-dimensional model of the storage bin 1, generated by analyzing the stored image information and the ball specifications. The storage model includes the arrangement of the balls within the storage bin 1. The storage model is common knowledge to those skilled in the art and will not be described in detail here.

[0166] S415524: Responding to the stored model and the pipeline vibration parameters to generate a supplementary speed and a supplementary interval time, and controlling the preset supplementary device to output the balls at the supplementary speed and the supplementary interval time.

[0167] The replenishing device is a pneumatic tube-type ball replenishing device that replenishes balls into storage bin 1. The replenishing speed is the speed at which the replenishing device delivers balls, and the replenishing interval is the length of time between balls delivered. The replenishing speed and interval are matched from a preset replenishment comparison table using a storage model and pipeline vibration parameters. The replenishing device is then controlled to deliver balls at the replenishing speed and interval. The storage model includes parameters such as the average height of the balls.

[0168] The supplementation comparison table contains the supplementation speed and supplementation interval corresponding to the average height of the balls and the pipeline vibration parameters of different storage models. The parameters in the supplementation comparison table are set by those skilled in the art based on actual conditions and are not described in detail here.

[0169] Reference Figure 2 and Figure 5 , a ball screw assembly method further comprising:

[0170] S30: generating a blockage location in response to the pipeline image information and a preset gap feature.

[0171] The blocking position refers to the position where the pipe opening 5 is blocked by the steel ball, and the position corresponding to the gap feature is identified through the pipeline image information as the blocking position.

[0172] S31: Collect and store image information.

[0173] Same as S415522.

[0174] S32: Generate a storage model by storing image information.

[0175] Same as S415523.

[0176] S33: Identify the average height of the balls by storing the model.

[0177] The average height of the balls refers to the average height of the balls in the storage bin 1. The average height of the balls is obtained by analyzing the storage model. The analysis method of the average height of the balls is common knowledge to those skilled in the art and will not be elaborated here.

[0178] S34: Obtaining the offset suction force of the balls at the conduit port 5 in response to the average height of the balls and the specifications of the balls.

[0179] The offset suction force is the suction force required to offset the steel balls at the pipe opening 5. This offset suction force is determined by matching the average ball height and ball specifications from a preset suction comparison table. The table stores the offset suction forces corresponding to different average ball heights and ball specifications. The parameters in the table are pre-set by those skilled in the art based on actual experimental conditions and are not detailed here.

[0180] S35: Generate an electric field strength value by offsetting the suction force, and control the preset electric field device 6 to operate alternately with the electric field strength value.

[0181] The electric field strength value refers to the strength of the electric field output by electric field device 6. The offset suction force is referenced against a preset electric field comparison table to match the electric field strength value, and electric field device 6 is controlled to operate alternately at the electric field strength value. The electric field comparison table stores the electric field strength values ​​corresponding to different offset suction forces. The parameters in the electric field comparison table are pre-set by those skilled in the art based on actual experimental conditions and are not further described here.

[0182] The method of controlling the preset electric field device 6 to operate alternately with the electric field intensity value includes:

[0183] S3510: Obtain the center position of the ball through the pipeline image information and the preset ball features.

[0184] The ball characteristics are the shape and color characteristics of the ball, as determined by a technician. The ball center position refers to the center position of the ball at the pipe opening 5. This position is determined by analyzing the pipe image information and the ball characteristics. The method for analyzing the ball center position is well known to those skilled in the art and will not be elaborated on here.

[0185] S3511: Calculate the straight-line distance between the center position of each ball and the preset pipe opening axis, and select the center position of the ball with the smallest straight-line distance as the mark center position.

[0186] The pipe opening axis is the central axis of pipe 2 set by the technician. The marking center position refers to the ball center position closest to the pipe opening axis. The horizontal straight-line distance between each ball center position and the pipe opening axis is calculated, and the ball center position with the smallest straight-line distance is selected as the marking center position.

[0187] S3512: Select the priority start number and mark the start number by marking the center position.

[0188] The priority start-up number refers to the number of the electric field device 6 that is started first, and the mark start-up number refers to the number of the electric field device 6 that is not the priority start-up number. The distances between the two electric field devices 6 and the center positions of the marks are calculated respectively, and the number of the electric field device 6 closest to the distance is used as the priority start-up number, and the number of the other electric field device 6 is used as the mark start-up number.

[0189] S3513: Generate charge distribution time in response to ball specifications and electric field strength values.

[0190] The charge distribution time refers to the length of time required for the charge to be distributed on the ball. The charge distribution time is matched from the electric field comparison table through the ball specifications and electric field strength values. The electric field comparison table also stores the charge distribution time corresponding to different ball specifications and electric field strength values, which will not be repeated here.

[0191] S3514: Control the electric field device 6 with the priority start-up number to operate at the electric field strength value, and collect the operating time of the priority start-up number.

[0192] The running time refers to the running time of the electric field device 6 with the priority starting number. When the electric field device 6 with the priority starting number runs at the electric field strength value, the electric field device 6 with the priority starting number is timed, and the timing result is used as the running time.

[0193] S3515: When the operation time is consistent with the charge distribution time, the electric field device 6 with the priority start-up number is controlled to stop running, and the electric field device 6 with the marked start-up number is controlled to run at the electric field strength value.

[0194] When the running time is consistent with the charge distribution time, it means that the ball at the marked center position is fully charged, then the electric field device 6 with the priority start number is controlled to stop running, and the electric field device 6 with the marked start number is controlled to run at the electric field strength value.

[0195] The method of controlling the electric field device 6 to operate alternately with the electric field intensity value further includes:

[0196] S3520: When the electric field strength value exceeds a preset reference strength value, update the offset suction force and the charge distribution time in response to the reference strength value.

[0197] The baseline strength value is the maximum strength value set by the technician for the operation of the electric field device 6. When the electric field strength value exceeds the baseline strength value, it indicates that the steel ball cannot be attracted to the axis of the center of the pipe 2 to clear the pipe opening 5. The baseline strength value is then used to refer to S34 and S3513 to obtain a new offset suction force and charge distribution time.

[0198] S3521: Calculate the difference between the offset suction before and after the update as the suction deviation value.

[0199] The suction deviation value refers to the change in the offset suction before and after the update, and the difference in the offset suction before and after the update is calculated as the suction deviation value.

[0200] S3522: Obtain the offset direction by marking the center position and the axis of the pipe mouth.

[0201] The offset direction refers to the linear direction that the ball at the center of the mark needs to be offset to move to the axis of the pipe opening, and the horizontal direction of the straight line between the center of the mark and the axis of the pipe opening is used as the offset direction.

[0202] S3523: Responding to the offset direction and the stored model to obtain stress propagation points.

[0203] The stress propagation point refers to the position point where the stress propagates through the steel balls on the top layer of storage bin 1. By analyzing the stress propagation path of the marked center position on the storage model, the marked stress path associated with the marked center position is selected, and then the shortest path that causes the balls to propagate stress in the offset direction is used as the target propagation path, and the position of the steel balls on the top layer corresponding to the target propagation path is used as the stress propagation point.

[0204] S3524: The supplementary force and supplementary angle are obtained through the suction deviation value and the stress propagation point, and the supplementary device is controlled to output the steel balls with the supplementary force, supplementary angle and stress propagation point.

[0205] The supplementary angle refers to the angle at which the supplementary device delivers the ball to the stress propagation point, and the supplementary force refers to the impact force exerted by the supplementary device on the stress propagation point. The supplementary force and supplementary angle are matched from a supplementary comparison table using the suction deviation value and the stress propagation point. The supplementary device is then controlled to deliver the ball at the supplementary force, supplementary angle, and stress propagation point. The supplementary comparison table also stores the supplementary forces and supplementary angles corresponding to different suction deviation values ​​and stress propagation points on the pipe's central axis, which are not detailed here.

[0206] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiment. All technical solutions based on the concept of the present invention are within the scope of protection of the present invention. It should be noted that for those skilled in the art, various improvements and modifications that do not depart from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A method for assembling a ball screw, characterized in that: include: S1: collect the number of balls installed; S2: Controlling a preset conveying device to convey the balls in the installed quantity, and collecting pipeline image information of the conveying device; S3: When the pipeline image information does not contain a preset gap feature, controlling the wire drum (3) preset at both ends of the pipeline (2) to rotate, and collecting the detection traction force of the wire drum (3); S4: The pipeline blocking position is obtained by detecting the pulling force, and the wire drum (3) is controlled to operate at the pipeline blocking position and the preset extrusion force.

2. The method for assembling a ball screw according to claim 1, wherein: Methods for obtaining the location of pipe blockage include: S400: updating the detected traction force at a preset unit time; S401: calculating a traction change value in response to the detected traction force; S402: generating a traction curve image by detecting the traction force; S403: Obtaining a pipeline blockage location in response to the traction curve image and the traction change value.

3. The ball screw assembly method according to claim 2, characterized in that: The methods after obtaining the location of the pipe blockage include: S430: Obtaining a reference change value by using the ball specifications and a preset initial traction force; S431: When the traction change value is inconsistent with the reference change value, obtaining a scanning range according to the pipeline blockage position and the traction change value; S432: Collecting scanning information within the scanning range; S433: generating a pipeline model in response to the scanning information; S434: Update the pipeline blockage position using the pipeline model.

4. The method for assembling a ball screw according to claim 3, wherein: Methods for determining the preset extrusion force include: S410: Obtaining the number of gap balls and the detection gap according to the pipeline blockage position and the pipeline model; S411: selecting the detection gap that is smaller than the preset reference number of balls from the gap number as the marking gap; S412: Retrieving a mark detection position by using the mark gap and the pipeline blockage position; S413: generating a target detection position and a target winding number in response to the mark detection position, the preset pipe port position, and the preset delivery position; S414: Obtaining a target number of balls according to the target detection position, the mark gap, and the number of balls in the gap; S415: Responding to the target number of balls to obtain a squeezing force, and controlling the reel (3) with the target winding number to operate at the target detection position and the squeezing force.

5. The method for assembling a ball screw according to claim 4, wherein: The method for controlling the target winding numbered reel (3) to operate at the target detection position and the extrusion force comprises: S4150: Obtaining a torsion angle in response to the ball specification and the target detection position; S4151: Responding to the torsion angle and the extrusion force to obtain an extrusion traction force; S4152: Control the reel (3) with the target winding number to operate according to the target detection position, the torsion angle, and the extrusion traction force, and update the target detection position.

6. The method for assembling a ball screw according to claim 5, wherein: Also includes: S41550: Obtaining a reference reel angle in response to the torsion angle and the target detection position; S41551: collecting the target detection angle of the target winding numbered reel (3); S41552: Calculate the difference between the target detection angle and the reference line disk angle as an angle deviation value; S41553: updating the extrusion traction force according to the angle deviation value; S41554: When the target detection position is toward the output position, generating a vibration transmission distance in response to the target detection position and the output position; S41555: Generate a detection vibration parameter in response to the vibration transmission distance and the extrusion traction force, and control the vibration device preset at the output position to operate with the detection vibration parameter.

7. The method for assembling a ball screw according to claim 5, wherein: Also includes: S415520: When the target detection position is toward the pipe opening position, generating a target transfer distance in response to the target detection position and the pipe opening position; S415521: Obtaining pipeline vibration parameters by using the target transmission distance and the extrusion traction force; S415522: Collect and store image information; S415523: generating a storage model using the stored image information and preset ball specifications; S415524: Responding to the stored model and the pipeline vibration parameters to generate a replenishment speed and a replenishment interval time, and controlling a preset replenishment device to output balls at the replenishment speed and the replenishment interval time.

8. The method for assembling a ball screw according to claim 1, wherein: Also includes: S30: generating a blockage location in response to the pipeline image information and a preset gap feature; S31: collecting the stored image information; S32: Generate a storage model using the stored image information; S33: Identifying the average height of the balls through the stored model; S34: obtaining the offset suction force of the balls at the pipe opening (5) in response to the average height of the balls and the specifications of the balls; S35: generating an electric field strength value through the offset suction, and controlling the preset electric field device (6) to operate alternately with the electric field strength value.

9. The ball screw assembly method according to claim 8, characterized in that: The method of controlling the preset electric field device (6) to perform alternating operation at the electric field intensity value comprises: S3510: Obtaining the center position of the ball through the pipeline image information and the preset ball characteristics; S3511: Calculating the straight-line distance between the center position of each ball and the preset axis of the pipe opening, and selecting the center position of the ball with the smallest straight-line distance as the mark center position; S3512: Selecting a priority start number and a mark start number according to the mark center position; S3513: generating a charge distribution time in response to the ball specification and the electric field strength value; S3514: controlling the electric field device (6) of the priority start-up number to operate at the electric field strength value, and collecting the operating time of the priority start-up number; S3515: When the operation time is consistent with the charge distribution time, the electric field device (6) with the priority start-up number is controlled to stop operating, and the electric field device (6) with the marked start-up number is controlled to operate at the electric field intensity value.

10. The ball screw assembly method according to claim 9, characterized in that: The method for controlling the electric field device (6) to perform alternating operation at the electric field intensity value further comprises: S3520: When the electric field strength value exceeds a preset reference strength value, updating the offset suction force and the charge distribution time in response to the reference strength value; S3521: Calculating the difference between the offset suction forces before and after the update as a suction force deviation value; S3522: Obtaining an offset direction by comparing the center position of the mark with the axis of the pipe opening; S3523: Obtaining a stress propagation point in response to the offset direction and the stored model; S3524: Obtain the supplementary force and supplementary angle through the suction deviation value and the stress propagation point, and control the supplementary device to output the steel balls with the supplementary force, the supplementary angle and the stress propagation point.

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