Automatic feeding method and device for reverser of ball screw

Abstract

The application relates to an automatic feeding method and device of a ball screw reverser, and relates to the field of a feeding device, which comprises the following steps: matching a vibration amplitude according to a preset reverser weight; vibrating a preset feeding basket with the vibration amplitude and a preset vibration interval time to adjust the placement state of the reverser in the feeding basket, and acquiring a product stacking image in the feeding basket; screening out the reverser with an upward preset ball slide according to the product stacking image, and defining the reverser as a to-be-picked part; determining a product position of the to-be-picked part according to the product stacking image; controlling a preset picking device to pick the reverser at the product position, moving the reverser to a preset installer operation position, and then controlling a preset installer to install the reverser. The application has the effect of improving the efficiency of reverser feeding.

Description

Technical Field

[0001] This invention relates to the field of feeding devices, and in particular to an automatic feeding method and device for a reversing device for a ball screw. Background Technology

[0002] In mechanical transmission systems, the reverser of the lead screw and nut mechanism is a key component. Its core function is to reverse the direction of the balls in the circulation system, ensuring continuous and efficient transmission.

[0003] In most ball screw manufacturing plants, the process of installing the reverser into the ball screw is usually semi-automated. The reverser has a ball track on one side and a mounting hole on the opposite side. Workers first sort the reversers from the loading basket, then manually install them onto the installer, aligning the mounting hole with the connector of the installer. Finally, the installer automatically installs the reverser into the ball screw. This manual loading process of the reversers by workers is inefficient and needs improvement. Summary of the Invention

[0004] To improve the efficiency of reversing device feeding, this invention provides an automatic feeding method and apparatus for reversing devices used in ball screws.

[0005] In a first aspect, the present invention provides an automatic feeding method for a reversing device for a ball screw, employing the following technical solution: An automatic feeding method for a ball screw reversing device includes: S100: Matches the vibration amplitude according to the preset reverser weight; S101: Vibrate the preset loading basket with the vibration amplitude and the preset vibration interval time to adjust the placement state of the reverser in the loading basket and obtain the product stacking image in the loading basket. S102: Based on the product stacking image, select the pre-set reverser with the ball bearing slide facing upwards and define it as the item to be picked up; S103: Determine the product position of the item to be picked up based on the product stacking image; S104: Control the preset pickup device to pick up the reverser at the product position and move the reverser to the preset installer operation position, and then control the preset installer to install the reverser.

[0006] By adopting the above technical solution, the system controls the vibration device to vibrate the feeding basket at intervals, so that the reversers placed inside can adjust their placement state, resulting in the ball bearing slides facing upwards. Then, during the interval when the feeding basket stops vibrating, the camera performs image recognition inside the feeding basket to identify all the reversers with the ball bearing slides facing upwards, so as to control the picking device to accurately pick up these reversers. After picking them up, they are automatically installed on the installer. The above feeding method greatly improves the efficiency of reverser feeding.

[0007] Optionally, rotating rollers are rotatably installed at intervals on the bottom surface of the feeding basket, and these rollers can rise and fall vertically. Reversing devices are all located above the rotating rollers. The handling method when no part is available for pickup during the vibration interval includes: S200: Determine the concentrated stacking location with the most products based on the product stacking image recognition; S201: Based on the product stacking image, analyze both sides of the concentrated stacking location to determine the side with the least product stacking, and define it as the trending side; S202: Based on the product stacking image, select the rotating rollers located on both sides of the centralized stacking position from all the rotating rollers and define them as rotating rollers to be operated; S203: Select the one furthest from the direction side from the two rotating rollers to be operated as the main operating roller and the other as the auxiliary operating roller; S204: Control the main operating roller to move upward by a preset lifting distance, and synchronously control the rotating roller to be operated to rotate towards the direction side by a preset rotation speed to adjust the stacking state of the reverser at the centralized stacking position.

[0008] Optional, also includes: S300: Determine the concentrated stacking height of the concentrated stacking location and the directional stacking height of the directional side based on the product stacking image; S301: Calculate the height difference between the concentrated stacking height and the trending stacking height; S302: If and only if the sum of the height difference and the lifting distance is less than a preset reference trend height difference, calculate the sum of the lifting distance and the reference trend height difference and replace the lifting distance to obtain the correction height; S303: The height layout position of the rotating roller is obtained by taking the correction height as the highest point of the curve and using a preset exponential curve as the path. S304: Control the main operating roller to move upward with the correction height, control the auxiliary operating roller and the rotating roller below the trending side to move upward with the height layout position, and control all the rotating rollers to rotate toward the trending side to drive the reverser to roll toward the trending side along an exponential curve to adjust the stacking state.

[0009] Optionally, the mounter has multiple placement positions for the reversers, and the pickup device has multiple sliding grippers. The pickup device can simultaneously pick up and feed multiple reversers. Multi-product synchronous feeding methods include: S400: When the picking device picks up the reverser, the product position of the reverser with all the ball bearing slides facing upward in the feeding basket is identified to form a product planar distribution map; S401: Determine the location coordinates of each product based on the product layout diagram; S402: Determine the quantity of products to be picked up based on the product layout diagram; S403: Based on the fact that the number of products is not greater than the preset number of grippers, adjust the position of the grippers on the picking device according to the position coordinates so that the vertical coordinate of the grippers corresponds to the vertical coordinate of the item to be picked up. S404: Control the picking device to move along the horizontal axis of the product plan distribution map and pick up the item to be picked up.

[0010] Optional, also includes: S500: Based on the fact that the number of products is greater than the number of grippers, select the item to be picked up from all the position coordinates that has the same number of grippers, and mark it as the item to be picked up; S501: Randomly select from the remaining items to be picked up half the number of the fixing claws preset on the picking device, and mark them as pre-fixed items; S502: Control the picking device to move along the horizontal axis of the product plan distribution map and pick up the clamping part, and control the picking device to launch the fixing claw at the product position of the pre-fixed part to fix the pre-fixed part to the loading basket. S503: When the picking device picks up the reverser in the next round, the pre-fixed member is preferentially picked up as the clamping member.

[0011] Optionally, the pickup device is equipped with a toggle plate, which is used to toggle the inverter when the pickup device picks up the inverter; the toggle plate control method includes: S600: Determine the product stacking height distribution information based on the product stacking image; S601: Determine the average height distribution information of the product in the horizontal axis direction based on the product stacking height distribution information; S602: Match the extension length of the toggle plate according to the average height distribution information; S6031: Based on the absence of the pre-fixed component, control the picking device to move along the horizontal axis of the product plan distribution map and pick up the clamping component. After picking up, control the toggle plate to extend from the picking device by the extension length and toggle the reverser on the surface. S6032: Based on the presence of the pre-fixed member, the actuating plate does not extend when the picking device moves to the product position of the pre-fixed member.

[0012] Optionally, the selection method for the gripper includes: S700: Determine the product spacing between adjacent items to be picked up based on the position coordinates of the product location; S701: Mark adjacent items to be picked up with a product spacing less than a preset collision width as a cluster of products, and determine the number of clustered product clusters and the number of non-clustered products. S7021: When the number of non-centralized products is not less than the number of grippers, randomly select a piece to be picked up from the number of non-centralized products that matches the number of grippers as a gripper. S7022: When the number of non-centralized products is less than the number of grippers, calculate the difference between the number of grippers and the number of non-centralized products, and define it as the remaining number that needs to be selected from the centralized product pile; S70221: Based on the fact that the number of centralized product piles is less than the remaining number, select all the items to be picked up from the non-centralized product piles, and randomly select one item to be picked up from each centralized product pile; S70222: Based on the fact that the number of centralized product piles is not less than the remaining number, select all the items to be picked up from the non-centralized product piles, randomly select the remaining number of centralized product piles from all the centralized product piles, and randomly select one item to be picked up from each selected centralized product pile.

[0013] Optionally, the reverser has a mounting hole on the opposite side of the ball track, the mounter has a connector that mates with the mounting hole at the placement position, and the mounter is equipped with an air pump for suction or blowing air through the connector; the control method for the pickup device to pick up the reverser and move it to the mounter includes: S800: Determine the relative position of the gripper on the pickup device after the gripper picks up the reverser according to the preset connector spacing distance; S801: Match the installation angle when the pickup device connects the inverter to the connector according to the operating position of the installer. S802: After the pickup device picks up the reverser, the position of all the grippers holding the reverser is adjusted according to the relative position of the grippers, and then the pickup device is adjusted to the installation position of the installer according to the installation angle. S803: Control the pickup device to rotate to the side at a preset rotation angle so that the inlet of the ball slide of the reverser faces the connector, and control the air pump to blow air into the ball slide through the connector; S804: Control the pickup device to reset so that the mounting hole of the reverser faces the connector, and control the air pump to draw air through the connector to the mounting hole to remove the reverser from the pickup device and attach it to the connector.

[0014] Secondly, this application provides an automatic feeding device for a reversing device for ball screws, which adopts the following technical solution: An automatic feeding device for a ball screw reversing device, controlled by an automatic feeding mechanism for a ball screw reversing device, includes: A feeding basket is used to hold the reverser and to vibrate and flip the reverser. A picking device for picking up the reverser from the loading basket; An installer is used to install the reverser picked up by the pickup device and to install the reverser into the ball screw.

[0015] In summary, this application includes at least one of the following beneficial technical effects: The system controls a vibration device to vibrate the feeding basket at intervals, allowing the reversers placed inside to adjust their position so that the ball bearing tracks face upwards. Then, during the interval when the feeding basket stops vibrating, a camera performs image recognition inside the feeding basket to identify all the reversers with the ball bearing tracks facing upwards. This allows the picking device to accurately pick up these reversers and automatically install them onto the mounting device. The above feeding method greatly improves the efficiency of reverser feeding. When vibration fails to bring the correct orientation of the reverser into the loading basket, in order to prevent the picking device from missing, the system controls the rotating roller on the bottom of the loading basket to move up and down and rotate, so that the reverser can flip inside the loading basket, thereby greatly increasing the probability of the ball track facing upwards; and the rotating roller controls the reverser to roll in the direction of sparse distribution, which helps to rearrange the reversers in the loading basket to distribute them evenly and reduce stacking, so as to further increase the probability of the ball track facing upwards when the loading basket vibrates. When multiple reversers with their ball bearing tracks facing upwards appear in the feeding basket and the picking device cannot pick them all up at once, the picking device can launch a fixing claw to fix a portion of the remaining reversers during the picking process, so that they always keep their ball bearing tracks facing upwards and are not easily changed when the feeding basket vibrates. This allows the picking device to pick them up directly in the next picking process, thereby improving the feeding efficiency. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of an automatic feeding device for a ball screw reversing device in an embodiment of the present invention; Figure 2 This is a flowchart of an automatic feeding method for a ball screw reversing device according to an embodiment of the present invention; Figure 3 This is a method flow diagram of the handling method when there is no object to be picked up by the picking device during the vibration interval time in the embodiments of the present invention. Figure 1 ; Figure 4 This is a method flow diagram of the handling method when there is no object to be picked up by the picking device during the vibration interval time in the embodiments of the present invention. Figure 2 ; Figure 5 This is the method flow of the multi-product synchronous feeding method in the embodiments of the present invention. Figure 1 ; Figure 6 This is the method flow of the multi-product synchronous feeding method in the embodiments of the present invention. Figure 2 .

[0017] The parts referred to by the numbers in the above attached diagrams are as follows: 1. Feeding basket; 2. Pick-up device; 3. Installer; 4. Rotating roller; 5. Placement position; 6. Gripper; 7. Fixing gripper. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0019] This application discloses an automatic feeding device for a reversing device for ball screws.

[0020] Reference Figure 1 An automatic feeding device for a reversing device for a ball screw includes a feeding basket 1, a picking device 2, and an installer 3. The feeding basket 1 is used to hold the reversing device and vibrate it to flip it over. The picking device 2 is used to pick up the reversing device from the feeding basket 1. The installer 3 is used to install the reversing device and insert it into the ball screw.

[0021] The intermittent vibration of the feeding basket 1 causes the reverser inside to flip over, resulting in a reverser with the ball track facing upwards. Then, the picking device 2 clamps the reverser facing the correct direction and installs it on the installer 3. The installer 3 then installs the reverser into the ball screw.

[0022] Based on the same inventive concept, this application discloses an automatic feeding method for a reversing device for ball screws.

[0023] Reference Figure 1 and Figure 2 An automatic feeding method for a ball screw reversing device includes the following steps: Step S100: Match the vibration amplitude according to the preset reverser weight.

[0024] The weight of the inverter is pre-determined and stored in the system by technicians. Inverters come in different models, and the weight of each model is different. When loading different models of inverters, technicians pre-select the inverter model to be loaded in the system, thus corresponding to the inverter weight.

[0025] The vibration amplitude is the amplitude of the vibration wave generated when the vibration motor at the bottom of the feeding basket 1 vibrates the feeding basket 1. In this embodiment, by vibrating the feeding basket 1, the reverser located inside it is flipped over. The vibration amplitude is directly proportional to the weight of the reverser; the greater the weight of the reverser, the greater the vibration amplitude.

[0026] Step S101: Vibrate the preset loading basket 1 with the vibration amplitude and the preset vibration interval time to adjust the placement state of the reverser in the loading basket 1, and obtain the product stacking image in the loading basket 1.

[0027] The vibration interval time is a vibration parameter set by technicians for the vibratory motor, representing the interval between each vibration of the vibratory motor, and will not be elaborated upon here. Within the vibration interval time, the system can grip the reverser in the loading basket 1.

[0028] The orientation of the reverser refers to its position within the loading basket 1. Under normal conditions, the reverser can only be clamped when the ball bearing slide is facing upwards. The ball bearing slide is an inherent feature of the reverser, used for ball rolling, and can be used as a feature for image recognition. "Ball bearing slide facing upwards" means that the side of the reverser with the ball bearing slide is facing upwards.

[0029] The product stacking image refers to an image captured in real time by a camera installed on the assembly line equipment, showing the contents of the feeding basket 1. The image includes the feeding basket 1 and the inverters within it; the placement of the inverters can also be determined from the product stacking image. The camera used for taking the picture is positioned fixed.

[0030] The loading basket 1 is vibrated by a vibration motor, which flips the reverser inside to change its position. The loading basket 1 will stop vibrating during the vibration interval. During this period, the camera will take pictures of the inside of the loading basket 1. The pictures are used for subsequent clamping of the reverser.

[0031] Step S102: Select the pre-set reversers with the ball bearing slide facing upwards based on the product stacking image, and define them as the items to be picked up.

[0032] The reverser, which is set with the ball track facing upward, can be picked up when the ball track of the reverser in the loading basket 1 is facing upward.

[0033] By performing image recognition on the product stacking image, using the ball bearing slide as the identification feature, it is possible to identify all the reversers with the ball bearing slide facing upwards in the feeding basket 1, i.e., the parts to be picked up.

[0034] Step S103: Determine the product location of the item to be picked up based on the product stacking image.

[0035] The product position of the item to be picked up refers to the actual position of the reverser with the ball bearing slide facing upwards within the loading basket 1. After all items to be picked up are identified, the product position can be determined by image recognition analysis of the product stacking image. Using the loading basket 1 as a reference object, one vertex of the loading basket 1 is the reference origin, and the other vertex is a reference reference point. Since the camera position is fixed, its distance to the reference origin remains constant, therefore the image size of the image of the loading basket 1 captured by the camera remains constant. The distance between the two vertices of the loading basket 1 can be measured and is a constant. Based on the distance between the reference reference point and the reference origin in the image, combined with their actual distances, the scale of the image captured by the camera can be determined. By determining the distance from the item to be picked up to the reference origin in the image, and combining this with the image scale, the product position of the reverser within the loading basket 1 can be determined.

[0036] Step S104: Control the preset pickup device 2 to pick up the reverser at the product position and move the reverser to the preset installer operation position, and then control the preset installer 3 to install the reverser.

[0037] The picking device 2 is used to grip the reverser. The picking device 2 is installed on the assembly line equipment and has a robotic arm that can reciprocate between the loading basket 1 and the mounting device 3 to transport the reverser. The robotic arm has grippers 6, which can grip the positioned reverser.

[0038] Mounter 3 is used to install the reverser into the ball screw. Mounter 3 has a connector with an air passage at its end that leads to the interior of mounter 3. The connector is used for installing the reverser. Mounter 3 is equipped with an air pump that can blow or draw air through the connector.

[0039] The installation position of the installer refers to the installation position of the installer 3 on the production line equipment, which is the position where the reverser needs to be conveyed and installed after being picked up from the feed basket 1.

[0040] After determining the product position of the part to be picked up in the feeding basket 1, the picking device 2 can clamp the part to be picked up and transfer the clamped reverser to the mounting device 3. Finally, the mounting device 3 automatically installs the reverser onto the ball screw. In this embodiment, the method of the picking device 2 clamping the reverser and the method of transferring the reverser to the mounting device 3 are not described in detail here, but will be described in detail in subsequent embodiments.

[0041] Reference Figure 1 and Figure 3 When there is no item to be picked up by the picking device 2 during the vibration interval, the handling method includes the following steps: In this embodiment, a rotating roller 4 is rotatably mounted on the bottom surface of the feeding basket 1, and the rotating roller 4 can be vertically raised and lowered. The driving mechanism for the rotation and raising / lowering of the rotating roller 4 is a conventional mechanical structure, which will not be described in detail here. After the reversers are poured into the feeding basket 1, they are all located above the rotating roller 4. When the rotating roller 4 rises, it can lift the reversers, and when the rotating roller 4 rotates, the reversers on it can be flipped along with the rotating roller 4, thereby changing their placement. There is an elastic tarpaulin under the rotating roller 4, which can deform as the rotating roller 4 rises, so that the reversers will not fall under the rotating roller 4 through the gap between adjacent rotating rollers when the rotating roller 4 rises.

[0042] Step S200: Determine the location where the most products are concentrated based on the product stacking image recognition.

[0043] The concentrated stacking location refers to the area where the reversers are concentrated in the feeding basket 1. By performing image recognition analysis on the reversers from the product stacking image and analyzing the relative quantity of products at each location, the concentrated stacking location can be determined.

[0044] Step S201: Analyze both sides of the concentrated stacking location based on the product stacking image to determine the side with the least product stacking, which is defined as the trending side.

[0045] Once the location with the most products is identified, image recognition is performed on both sides of this location from the product stacking image. By comparing the relative quantities on both sides, the side with the fewest products can be determined. The "trending side" is the side with the fewest products among the two sides of the centralized stacking location.

[0046] Step S202: Based on the product stacking image, select the rotating rollers 4 located on both sides of the centralized stacking position from all the rotating rollers 4, and define them as rotating rollers 4 to be operated.

[0047] The product stacking image includes an image of the rotating roller 4. After determining the concentrated stacking location with the most products, image recognition analysis is performed on the concentrated stacking location from the product stacking image to identify the rotating roller 4 located on both sides below the concentrated stacking location. The reversers at the concentrated stacking location are all located on the two rotating rollers 4.

[0048] In this embodiment, the rotating rollers 4 on both sides below the centralized stacking position are determined. In subsequent embodiments, these two rotating rollers 4 need to be operated.

[0049] Step S203: Select the one furthest from the direction of movement from the two rotating rollers 4 to be operated as the main operating roller and the other as the auxiliary operating roller.

[0050] In this embodiment, in order to flip the reverser at the centralized stacking position to the direction side, it is necessary to tilt the two rotating rollers 4 to be operated. At this time, it is necessary to first set the rotating roller 4 that is raised more, which is the main operating roller, while the auxiliary operating roller is raised less or not raised at all.

[0051] Step S204: Control the main operating roller to move upward by a preset lifting distance, and synchronously control the rotating roller 4 to be operated to rotate towards the direction by a preset rotation speed to adjust the stacking state of the reverser at the centralized stacking position.

[0052] The lifting distance is the distance set by the technicians for vertically lifting the rotating roller 4, which will not be elaborated here.

[0053] After determining the main operating roller and the auxiliary operating roller, in this embodiment, the main operating roller is raised so that one side of the main operating roller is at a higher height, and the two rotating rollers 4 are simultaneously controlled to rotate in the direction of the tendency. At this time, the reverser at the centralized stacking position flips in the direction of the tendency due to the tilt, thereby adjusting the stacking state. During the flipping process, there is a probability that the ball track will be facing upwards and the item to be picked up may appear to be on the side to be picked up.

[0054] Reference Figure 1 and Figure 4 The handling method when there is no item to be picked up by the picking device 2 during the vibration interval also includes the following steps: Since there are many reversers stacked in the feeding basket 1, after the rotating roller 4 lifts them by a certain distance, it may be unable to drive the reversers in the concentrated stacking position to flip due to insufficient lifting distance. In this embodiment, the system handles the above situation.

[0055] Step S300: Determine the centralized stacking height of the centralized stacking location and the directional stacking height of the directional side based on the product stacking image.

[0056] The centralized stacking height refers to the height of the inverter at the centralized stacking location. The directional stacking height refers to the height of the inverter on the directional side of the centralized stacking location. Both the centralized stacking height and the directional stacking height can be obtained from image recognition analysis of the inverters in the product stacking image, and will not be elaborated here.

[0057] Step S301: Calculate the height difference between the concentrated stacking height and the tendency stacking height.

[0058] By calculating the height difference between the concentrated stacking height and the approaching stacking height, the inverter of the concentrated stacking position can be determined in subsequent steps to achieve flipping.

[0059] Step S302: If and only if the sum of the height difference and the lifting distance is less than the preset reference trend height difference, calculate the sum of the lifting distance and the reference trend height difference and replace the lifting distance to obtain the correction height.

[0060] The reference directional height difference is the minimum height difference between the centralized stacking height and the directional stacking height when the reverser of the centralized stacking position set by the technician can be flipped to the directional side, which will not be elaborated here.

[0061] If the sum of the height difference and the lifting distance is not less than the reference trend height difference, it means that the reverse roller at the centralized stacking position can be flipped to the trending side simply by driving the main operating roller to lift.

[0062] If the sum of the height difference and the lifting distance is less than the reference trend height difference, it means that the lifting distance is too small. After the main operating roller is lifted by controlling the lifting distance, the reverser at the centralized stacking position still cannot be flipped. At this time, the lifting distance needs to be corrected.

[0063] The corrected height is the value obtained after correcting the lifting distance. The corrected height is the sum of the differences between the lifting distance and the reference trend height.

[0064] Step S303: Using the correction height as the highest endpoint of the curve and the preset exponential curve as the path, obtain the height layout position of the rotating roller 4.

[0065] In this embodiment, when the main operating roller is driven by the correction distance, the auxiliary operating roller and the rotating roller 4 on the lower side are simultaneously raised. The line connecting the positions of the main operating roller, the auxiliary operating roller, and the rotating roller 4 on the lower side after being raised forms an exponential curve. This exponential curve was obtained by technicians through experiments and can meet the conditions for the reverser to flip downwards, and will not be described in detail here.

[0066] The height layout position refers to the position of the main operating roller, the auxiliary operating roller, and the rotating roller 4 that tends to be lower to the side after being lifted.

[0067] The main operating roller is raised according to the correction height, and its position after being raised is fixed. Furthermore, since the position of the main operating roller is the highest point of the exponential curve, the specific position of this exponential curve can be determined. Finally, the height layout positions of all rotating rollers 4 are determined based on the specific position of the exponential curve.

[0068] Step S304: Control the main operating roller to move upward with the correction height, control the auxiliary operating roller and the rotating roller 4 below the trend side to move upward with the height layout position, and control all the rotating rollers 4 to rotate towards the trend side to drive the reverser to roll towards the trend side along the exponential curve to adjust the stacking state.

[0069] Once the height layout position is determined, all rotating rollers 4 are raised according to the height layout position. When all rotating rollers 4 are in the height layout position, all rotating rollers 4 are controlled to rotate towards the direction. At this time, since the reverser of the concentrated stacking position is located at the highest point of the exponential curve, it can be flipped downward, thereby changing the placement state so that the reverser with the ball slide facing upward appears.

[0070] Reference Figure 1 and Figure 5 The method for simultaneous feeding of multiple products includes the following steps: In this embodiment, the mounter 3 has multiple placement positions 5, so the pickup device 2 can place multiple reversers on the mounter 3 simultaneously. To improve feeding efficiency, the pickup device 2 has multiple grippers 6, which can slide on the pickup device 2 to adjust the distance between adjacent grippers 6, so as to accommodate the simultaneous pickup of reversers at different positions in the feeding basket 1.

[0071] Step S400: When the picking device 2 picks up the reverser, the product position of all the reversers with the ball slides facing upward in the feeding basket 1 is identified to form a product planar distribution map.

[0072] The product plan layout refers to a two-dimensional planar diagram formed by the relative positions of all the items to be picked up. The product plan layout is a planar coordinate system, with the length direction of the upper basket 1 as the horizontal axis and the width direction of the upper basket 1 as the vertical axis. Each item to be picked up exists in the product plan layout in coordinate form.

[0073] Step S401: Determine the location coordinates of each product based on the product layout plan.

[0074] The location coordinates refer to the coordinates of the part to be picked up on the product layout diagram. These coordinates are obtained by analyzing the part to be picked up from the product layout diagram.

[0075] Step S402: Determine the number of products to be picked up based on the product layout diagram.

[0076] The product quantity refers to the total number of picked-up items that can be captured by the camera in the feeding basket 1. The product quantity can be obtained from the product layout diagram.

[0077] Step S403: Based on the fact that the number of products is not greater than the preset number of grippers, adjust the position of the grippers 6 on the picking device 2 according to the position coordinates so that the vertical coordinate of the grippers 6 corresponds to the vertical coordinate of the part to be picked up.

[0078] When the number of products is not greater than the number of grippers, the picking device 2 can pick up all the parts to be picked up in the loading basket 1 at once. At this time, all the grippers 6 on the picking device 2 are adjusted according to the position coordinates of the parts to be picked up. Each gripper 6 corresponds to the corresponding part to be picked up, and the vertical coordinate of the gripper 6 is consistent with the vertical coordinate of the part to be picked up.

[0079] If the number of products is greater than the number of grippers, the picking device 2 cannot pick up all the items at once. The handling method for the above situation will not be described in detail here, but will be described in detail in subsequent embodiments.

[0080] Step S404: Control the picking device 2 to move along the horizontal axis of the product plan and pick up the part to be picked up.

[0081] After determining the position distribution of each gripper 6 on the picking device 2, control the picking device 2 to move along the length direction of the loading basket 1 at the top of the loading basket 1, that is, along the horizontal axis direction of the product plan distribution diagram. At this time, since the vertical coordinate of the gripper 6 is consistent with the vertical coordinate of the part to be picked up, when the picking device 2 moves to the point where the horizontal coordinates of the two are also consistent, the gripper 6 is located directly above the part to be picked up, and the gripper 6 can clamp the part to be picked up.

[0082] Reference Figure 1 and Figure 6 The method for simultaneous feeding of multiple products also includes the following steps: In this embodiment, a solution is provided for the case where the number of products exceeds the number of grippers.

[0083] Step S500: Based on the fact that the number of products is greater than the number of grippers, select the parts to be picked up from all position coordinates that are the same number of grippers, and mark them as the parts to be picked up.

[0084] If the number of products is greater than the number of grippers, then select the same number of products to be picked up from all the products to be picked up. These products to be picked up are called grippers, and these products to be picked up are preferentially picked up by the picking device 2.

[0085] Step S501: Randomly select from the remaining items to be picked up that are half the number of the fixing claws 7 preset on the picking device 2, and mark them as pre-fixed items.

[0086] In this embodiment, a fixing claw 7 is also slidably mounted on the pickup device 2. The fixing claw 7 can be launched from the pickup device 2 and used to fix the object to be picked up.

[0087] To prevent the remaining items to be picked up from changing their placement during subsequent vibrations of the loading basket 1, they are secured using fixing claws 7. Since the number of fixing claws 7 is limited and they need to be reused, a portion of the remaining items are selected for fixing, with the selected number matching half the number of fixing claws 7. These selected items are then called pre-fixed items. Half of the fixing claws 7 are used during the current vibration interval, while the other half are used in the next round of picking, and the fixing claws 7 from the previous round are retrieved.

[0088] Step S502: Control the picking device 2 to move along the horizontal axis of the product plan distribution diagram and pick up the clamping part, and control the picking device 2 to launch the fixing claw 7 at the product position of the pre-fixed part to fix the pre-fixed part to the loading basket 1.

[0089] After determining the clamping component and the pre-fixed component, the pickup device 2 moves on the loading basket 1, first clamping the clamping component, and then fixing the pre-fixed component using the fixing claw 7. The positioning method of the fixing claw 7 is the same as that of the clamping claw 6, and will not be described in detail here. After the pre-fixed component is fixed by the fixing claw 7, even if the loading basket 1 vibrates, the pre-fixed component can maintain the current state of the ball track facing upwards. For the pre-fixed component fixed by the fixing claw 7, the pickup device 2 can directly clamp the fixing claw 7 to pick up the pre-fixed component.

[0090] Step S503: When the picking device 2 picks up the reverser in the next round, the pre-fixed part is picked up as the clamping part first.

[0091] When the picking device 2 picks up the reverser in the next round, the pre-fixed part is preferentially positioned and clamped by the gripper 6 as the clamping part. Even if other new parts to be picked up appear during the vibration of the feeding basket 1, the pre-fixed part is clamped first, and then the other new parts to be picked up are picked up according to the number of remaining grippers 6.

[0092] The toggle control method includes the following steps: The pickup device 2 is equipped with a toggle plate, which can extend and retract on the pickup device 2. The toggle plate is used to toggle the inverter when the pickup device 2 picks up the inverter.

[0093] Step S600: Determine the product stacking height distribution information based on the product stacking image.

[0094] The product stacking height distribution information refers to the height information of all the reversers on the top layer in the feeding basket 1, which is also the height of any reverser stacked in the feeding basket 1.

[0095] The product stacking height distribution information can be obtained from the product stacking image by performing image recognition analysis on the inverter.

[0096] Step S601: Determine the average height distribution information of the product in the horizontal axis direction based on the product stacking height distribution information.

[0097] In this embodiment, the reverser on the surface needs to be moved along the length of the feeding basket 1 by a toggle plate. Therefore, it is necessary to determine the change in the stacking height of the reverser along the length of the feeding basket 1. The average height distribution information of the product in the horizontal axis direction is the average stacking height of the reverser along the length of the feeding basket 1.

[0098] Average height distribution information can be extracted by analyzing the average height of the product stacking height distribution along the horizontal axis.

[0099] Step S602: Match the extension length of the toggle plate according to the average height distribution information.

[0100] The actuating plate needs to contact the inverter on the surface to actuate it. Therefore, the extension length of the actuating plate is related to the average height distribution information of the inverter in the horizontal axis direction. The two are inversely proportional. The higher the average stacking height of the inverter at that horizontal axis position in the average height distribution information, the shorter the extension length of the actuating plate.

[0101] Furthermore, the toggle plate needs to avoid the pre-fixed parts during movement, so the system uses different methods to handle different situations depending on whether there are pre-fixed parts.

[0102] Step S6031: Based on the absence of a pre-fixed component, control the picking device 2 to move along the horizontal axis of the product plan distribution diagram and pick up the clamping component. After picking up, control the toggle plate to extend from the picking device 2 by the extension length and toggle the reverser on the surface.

[0103] If there is no pre-fixed component, the actuating plate does not need to retract during the process of actuating the reverser. That is, when the picking device 2 picks up the clamping component, the actuating plate on the picking device 2 actuates the reverser on the surface synchronously and continuously.

[0104] Step S6032: Based on the presence of a pre-fixed component, the toggle plate does not extend when the picking device 2 moves to the product position of the pre-fixed component.

[0105] If a pre-fixed part exists, when the pickup device 2 moves along the length of the feeding basket 1, if the pickup device 2 moves above the pre-fixed part, the actuating plate retracts into the pickup device 2. When the pickup device 2 moves away from the pre-fixed part, the actuating plate extends out from the pickup device 2 again to actuate the surface reverser.

[0106] The selection method for gripper components includes the following steps: Because the gripper 6 has a width, when the gripper 6 grips two items that are close together, interference can easily occur between the two grippers 6.

[0107] Step S700: Determine the product spacing between adjacent items to be picked up based on the product's location coordinates.

[0108] Product spacing refers to the distance between any two adjacent items to be picked up within the feeding basket 1. The position coordinates of two adjacent items to be picked up can be determined from the product layout diagram, and the spacing between the two items can be determined using these two position coordinates.

[0109] Step S701: Mark adjacent items to be picked up with a product spacing less than the preset collision width as a cluster of products, and determine the number of clustered product clusters and the number of non-clustered products.

[0110] The collision width is the minimum width between two adjacent items to be picked up that is unlikely to cause a collision between the two grippers 6, as determined by technicians through testing. It will not be elaborated here.

[0111] Image recognition is performed on all items to be picked up in the feeding basket 1. If the product distance between two adjacent items to be picked up is less than the collision width, these two items are marked as the same pile, i.e., a concentrated product pile. The number of items to be picked up in a concentrated product pile is greater than or equal to two. If the product distance between an item to be picked up and any other item to be picked up is not less than the collision width, then the item to be picked up is marked as a non-concentrated product.

[0112] After all items to be picked up are categorized, the number of centralized product piles and the number of decentralized products are counted. The number of centralized product piles is the total number of products in the centralized piles, and the number of decentralized products is the total number of products in the decentralized piles.

[0113] In this embodiment, when picking up a piece of product from a pile of products, only one gripper 6 will pick up one random piece of product from the pile to avoid collision between the two grippers 6.

[0114] When the picking device 2 picks up the item to be picked up, it follows the rule of picking up non-concentrated products first and then picking up products in the concentrated product pile. The specific method will be described in the following embodiments.

[0115] Step S7021: When the number of non-centralized products is not less than the number of grippers, randomly select a pick-up item from the non-centralized products that matches the number of grippers as the pick-up item.

[0116] If the number of non-centralized products is not less than the number of grippers, then there are enough non-centralized products for the picking device 2 to pick up. The picking device 2 will not pick up the items to be picked up from the pile of centralized products, but will only randomly pick up the same number of items to be picked up from the non-centralized products as the number of grippers.

[0117] Step S7022: When the number of non-centralized products is less than the number of grippers, calculate the difference between the number of grippers and the number of non-centralized products, which is defined as the remaining quantity that needs to be selected from the centralized product pile.

[0118] If the number of non-centralized products is less than the number of grippers, after the picking device 2 has picked up all the non-centralized products, there will still be grippers 6 remaining. The remaining grippers 6 will then pick up the items to be picked up from the centralized product pile. At this point, it is necessary to determine whether the remaining grippers 6 can pick up all the centralized product piles. By calculating the difference between the number of grippers and the number of non-centralized products, the number of remaining grippers 6 that have not been picked up can be obtained, that is, the number of items to be picked up from the centralized product pile.

[0119] Step S70221: Based on the fact that the number of centralized product piles is less than the remaining number, select all the items to be picked up from the non-centralized product piles, and randomly select one item to be picked up from each centralized product pile.

[0120] If the number of products in a pile is less than the remaining number, gripper 6 can grip each pile of products, and when gripper 6 grips, it randomly selects a piece to be picked up from each pile of products.

[0121] After a piece is picked up from each batch of products, there will still be a remaining gripper 6, which will not be used at this time.

[0122] Step S70222: Based on the fact that the number of centralized product piles is not less than the remaining number, select all the items to be picked up from the non-centralized product piles, randomly select the remaining number of centralized product piles from all the centralized product piles, and randomly select one item to be picked up from each selected centralized product pile.

[0123] If the number of centralized product piles is not less than the remaining number, all the remaining number of grippers 6 can be used to grip the items to be picked up in the centralized product piles. Since the number of centralized product piles is not less than the remaining number, the system needs to first randomly select a centralized product pile with the same number of grippers 6 as the remaining number from all the centralized product piles, and then randomly select an item to be picked up from each of the selected centralized product piles.

[0124] The control method for picking up the inverter by the pickup device 2 and moving it to the mounter 3 includes the following steps: Step S800: Determine the relative position of the gripper 6 on the pickup device 2 after the gripper 6 picks up the reverser according to the preset connector spacing distance.

[0125] The connector spacing refers to the distance between adjacent connectors on the installer 3. It is a mechanical structural parameter of the installer 3 itself and will not be elaborated here.

[0126] After the pickup device 2 picks up the part to be picked up, the position of all the grippers 6 needs to be adjusted so that when the pickup device 2 and the installer 3 are engaged, the grippers 6 can correspond one by one with the position of the connector.

[0127] The relative positions of the grippers 6 refer to the positional distribution of all the grippers 6 after the picking device 2 has gripped the item to be picked up. The relative positions of the grippers 6 are related to the spacing between the connectors, and the distance between two adjacent grippers 6 is consistent with the spacing between the connectors.

[0128] Step S801: Match the installation angle of the pickup device 2 when connecting the reverser to the connector according to the operating position of the installer.

[0129] The installation angle here refers to the angular position of the pickup device 2 when the inverter is connected to the connector. The installation angle is related to the operating position of the installer. When the pickup device 2 is in the installation angle position, the mounting hole of the inverter held by the gripper 6 is directly opposite the connector of the installer 3.

[0130] Step S802: After the pickup device 2 picks up the reverser, the position of all the grippers 6 holding the reverser is adjusted according to the relative position of the grippers 6, and then the pickup device 2 is adjusted to the installer operation position according to the installation angle.

[0131] After determining the installation angle of the picking device 2, when the picking device 2 completes the clamping of the reverser in the feeding basket 1, the system controls the picking device 2 to adjust to the installation angle.

[0132] Step S803: Control the pickup device 2 to rotate to the side at a preset rotation angle so that the inlet of the ball slide of the reverser faces the connector, and control the air pump to blow air into the ball slide through the connector.

[0133] To prevent foreign objects from remaining in the ball track of the reverser and affecting the normal operation of the ball screw after installation, the pickup device 2 is rotated by a preset angle when it is at the installation angle. This allows the ball track inlet of the reverser, held by the gripper 6, to face the connector. At this time, the air pump blows air through the connector, carrying away any foreign objects in the ball track. The rotation angle is a parameter obtained by technicians through measurements of the reverser's structure. By controlling the rotation angle, the reverser can be rotated to the original position of the reverser's mounting hole, which will not be elaborated further here.

[0134] Step S804: Control the pickup device 2 to reset so that the mounting hole of the reverser faces the connector, and control the air pump to suck air through the connector to remove the reverser from the pickup device 2 and attach it to the connector.

[0135] After the foreign matter in the ball bearing slide is removed, the system controls the pickup device 2 to reset, and the mounting hole of the reverser is aligned with the connector again. At this time, the system controls the air pump to draw air through the connector, and the reverser can be attracted to the connector, thus separating from the pickup device 2.

[0136] 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 embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. An automatic feeding method for a reversing device for a ball screw, characterized in that, include: S100: Matches the vibration amplitude according to the preset reverser weight; S101: Vibrate the preset loading basket (1) with the vibration amplitude and the preset vibration interval time to adjust the placement state of the reverser in the loading basket (1) and obtain the product stacking image in the loading basket (1); S102: Based on the product stacking image, select the pre-set reverser with the ball bearing slide facing upwards and define it as the item to be picked up; S103: Determine the product position of the item to be picked up based on the product stacking image; S104: Control the preset pickup device (2) to pick up the reverser at the product position and move the reverser to the preset installer operation position, and then control the preset installer (3) to install the reverser. The bottom surface of the feeding basket (1) is provided with rotating rollers (4) at intervals, and the rotating rollers (4) can be vertically raised and lowered. The reversers are all located above the rotating rollers (4). When there are no items to be picked up by the picking device (2) during the vibration interval, the handling method includes: S200: Determine the concentrated stacking location with the most products based on the product stacking image recognition; S201: Based on the product stacking image, analyze both sides of the concentrated stacking location to determine the side with the least product stacking, and define it as the trending side; S202: Based on the product stacking image, select one rotating roller (4) located on each side below the centralized stacking position from all the rotating rollers (4), and define them as rotating rollers (4) to be operated. S203: Select one of the two rotating rollers (4) to be operated as the main operating roller and the other as the auxiliary operating roller. S204: Control the main operating roller to move upward by a preset lifting distance, and synchronously control the rotating roller (4) to be operated to rotate towards the direction side by a preset rotation speed to adjust the stacking state of the reverser at the centralized stacking position; Also includes: S300: Determine the concentrated stacking height of the concentrated stacking location and the directional stacking height of the directional side based on the product stacking image; S301: Calculate the height difference between the concentrated stacking height and the trending stacking height; S302: If and only if the sum of the height difference and the lifting distance is less than a preset reference trend height difference, calculate the sum of the lifting distance and the reference trend height difference and replace the lifting distance to obtain the correction height; S303: The height layout position of the rotating roller (4) is obtained by taking the correction height as the highest point of the curve and using the preset exponential curve as the path; S304: Control the main operating roller to move upward with the correction height, control the auxiliary operating roller and the rotating roller (4) below the trending side to move upward with the height layout position, and control all the rotating rollers (4) to rotate toward the trending side to drive the reverser to roll toward the trending side along an exponential curve to adjust the stacking state.

2. The automatic feeding method for a reversing device for a ball screw according to claim 1, characterized in that, The mounter (3) has multiple placement positions (5) for placing the reversers, and the pickup device (2) has multiple grippers (6) that slide on it. The pickup device (2) is capable of simultaneously picking up and feeding multiple reversers. The method for simultaneous feeding of multiple products includes: S400: When the picking device (2) picks up the reverser, the product position of the reverser with all the ball slides facing upward in the loading basket (1) is identified to form a product planar distribution map; S401: Determine the location coordinates of each product based on the product layout diagram; S402: Determine the quantity of products to be picked up based on the product layout diagram; S403: Based on the fact that the number of products is not greater than the preset number of grippers, the position of the grippers (6) on the picking device (2) is adjusted according to the position coordinates so that the vertical coordinate of the grippers (6) corresponds to the vertical coordinate of the item to be picked up. S404: Control the picking device (2) to move along the horizontal axis of the product plan distribution map and pick up the item to be picked up.

3. The automatic feeding method for a reversing device for a ball screw according to claim 2, characterized in that, The picking device (2) is also provided with multiple fixing claws (7), and further includes: S500: Based on the fact that the number of products is greater than the number of grippers, select the item to be picked up from all the position coordinates that has the same number of grippers, and mark it as the item to be picked up; S501: Randomly select from the remaining items to be picked up half the number of the fixing claws (7) preset on the picking device (2), and mark them as pre-fixed items; S502: Control the picking device (2) to move along the horizontal axis of the product plan distribution map and pick up the clamping part, and control the picking device (2) to launch the fixing claw (7) at the product position of the pre-fixed part to fix the pre-fixed part to the loading basket (1). S503: When the picking device (2) picks up the reverser in the next round, the pre-fixed member is preferentially picked up as the clamping member.

4. The automatic feeding method for a reversing device for a ball screw according to claim 3, characterized in that, The pickup device (2) is provided with a toggle plate, which is used to toggle the inverter when the pickup device (2) picks up the inverter; The toggle control method includes: S600: Determine the product stacking height distribution information based on the product stacking image; S601: Determine the average height distribution information of the product in the horizontal axis direction based on the product stacking height distribution information; S602: Match the extension length of the toggle plate according to the average height distribution information; S6031: Based on the absence of the pre-fixed component, control the picking device (2) to move along the horizontal axis of the product plan distribution diagram and pick up the clamping component. After picking up, control the toggle plate to extend from the picking device (2) with the extension length and toggle the reverser on the surface. S6032: Based on the presence of the pre-fixed member, the actuating plate does not extend when the picking device (2) moves to the product position of the pre-fixed member.

5. The automatic feeding method for a reversing device for a ball screw according to claim 3, characterized in that, The method for selecting the clamping component includes: S700: Determine the product spacing between adjacent items to be picked up based on the position coordinates of the product location; S701: Mark adjacent items to be picked up with a product spacing less than a preset collision width as a cluster of products, and determine the number of clustered product clusters and the number of non-clustered products. S7021: When the number of non-centralized products is not less than the number of grippers, randomly select a piece to be picked up from the number of non-centralized products that matches the number of grippers as a gripper. S7022: When the number of non-centralized products is less than the number of grippers, calculate the difference between the number of grippers and the number of non-centralized products, and define it as the remaining number that needs to be selected from the centralized product pile; S70221: Based on the fact that the number of centralized product piles is less than the remaining number, select all the items to be picked up from the non-centralized product piles, and randomly select one item to be picked up from each centralized product pile; S70222: Based on the fact that the number of centralized product piles is not less than the remaining number, select all the items to be picked up from the non-centralized product piles, randomly select the remaining number of centralized product piles from all the centralized product piles, and randomly select one item to be picked up from each selected centralized product pile.

6. The automatic feeding method for a reversing device for a ball screw according to claim 2, characterized in that, The reverser has a mounting hole on the opposite side of the ball track, the mount (3) has a connector that mates with the mounting hole at the placement position (5), and the mount (3) is equipped with an air pump for suction or blowing air through the connector; the control method for the pickup device (2) to pick up the reverser and move it to the mount (3) includes: S800: Determine the relative position of the gripper (6) on the pickup device (2) after the gripper (6) picks up the reverser according to the preset connector spacing distance; S801: Match the installation angle of the pickup device (2) when connecting the inverter to the connector according to the operating position of the installer; S802: After the pickup device (2) picks up the reverser, the position of all the grippers (6) holding the reverser is adjusted according to the relative position of the grippers (6), and then the pickup device (2) is adjusted to the installation position of the installer according to the installation angle. S803: Control the pickup device (2) to rotate to the side at a preset rotation angle so that the inlet of the ball slide of the reverser faces the connector, and control the air pump to blow air into the ball slide through the connector; S804: Control the pickup device (2) to reset so that the mounting hole of the reverser faces the connector, and control the air pump to draw air through the connector to the mounting hole so as to remove the reverser from the pickup device (2) and attach it to the connector.

7. An automatic feeding device for a reversing device for a ball screw, used to execute an automatic feeding method for a reversing device for a ball screw as described in any one of claims 1 to 6, characterized in that, include: The feeding basket (1) is used to hold the reverser and to vibrate and flip the reverser. Pick-up device (2) is used to pick up the reverser in the loading basket (1); Installer (3) is used for mounting the reverser picked up by the pickup device (2) and installing the reverser into the ball screw.

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