Manufacturing equipment control system based on precision component

Abstract

The invention relates to the technical field of equipment intelligent control, in particular to a precise component-based manufacturing equipment control system, which comprises a mechanical arm module, a control module and a control module, the detection module is used for receiving the component grabbed by the mechanical arm module, conducting vibration detection and contour track detection on the component, and obtaining vibration detection information and contour track detection information; according to the invention, vibration detection and contour track detection are carried out on the component through specific detection equipment, and distributed health index analysis is carried out on the component based on the information obtained in the monitoring process. And then the qualification of the component is comprehensively evaluated according to a distributed health index analysis result, the manufacturing precision of the component is judged, the method effectively serves the precision component manufacturing equipment, and an effective precision control effect is obtained for the precision component manufacturing equipment in the process of manufacturing the precision component.

Description

Technical Field

[0001] This invention relates to the field of intelligent equipment control technology, and more specifically to a control system for manufacturing equipment based on precision components. Background Technology

[0002] Precision components are delicate parts that play a crucial role in many industries. Their manufacturing errors are strictly limited to an extremely small range, with extremely high dimensional and shape accuracy and low surface roughness. From the precise operation of high-end medical devices to the precision manufacturing of semiconductor chips, from the imaging of precision optical instruments to satellite navigation and positioning, precision components are core elements for ensuring performance. Bolts are also a type of precision component.

[0003] Patent application number 202011335344.X discloses a manufacturing equipment manufacturing parameter adjustment control system, which includes: a parameter database for storing storage time, manufacturing equipment information, product information, and a corresponding set of manufacturing parameter records; a receiving module for receiving the manufacturing equipment information and the product information, and receiving a set of detection parameters from the manufacturing equipment, wherein the set of detection parameters is obtained by sensors installed on the manufacturing equipment; a query module for querying the set of manufacturing parameter records that meet a preset number based on the manufacturing equipment information and the product information received by the receiving module; and a neural network-like calculation module for multiplying the number of manufacturing parameter settings in the manufacturing equipment information by the manufacturing parameters set in the manufacturing equipment information. The parameters are set to construct a self-organizing image network. The manufacturing parameters corresponding to the manufacturing parameters of the manufacturing equipment information in all the queried manufacturing parameter records are input into the self-organizing image network to generate a data image result mesh diagram. At least one target parameter is selected from the manufacturing parameters of the manufacturing equipment information as the output parameter, and the unselected manufacturing parameters and the set of detection parameters are used as input parameters to construct a DeepFM model. The queried manufacturing parameter records are then divided into a training parameter set and a test parameter set according to a preset ratio. The training parameter set is used to train the DeepFM model. This effectively solves the long-standing problem in the prior art that the manufacturing parameters of manufacturing equipment do not have intelligent adjustment capabilities.

[0004] However, in the process of manufacturing precision components, the manufacturing accuracy of the components is particularly important. Although there are technologies to test the manufacturing accuracy of components, the source of accuracy testing parameters is singular and cannot adapt to the accuracy testing of components of different specifications.

[0005] To address this, we propose a manufacturing equipment control system based on precision components. Summary of the Invention

[0006] In view of the above-mentioned shortcomings of the prior art, the present invention provides a manufacturing equipment control system based on precision components, which solves the technical problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] A control system for manufacturing equipment based on precision components, comprising:

[0009] The robotic arm module is used to grasp components output from the manufacturing equipment. The detection module receives the components grasped by the robotic arm module, performs vibration and contour trajectory detection on the components, and acquires vibration and contour trajectory detection information. The appearance analysis module receives the vibration and contour trajectory detection information acquired by the detection module and analyzes the component's appearance health indicators based on this information. The evaluation module receives the component's appearance health indicator analysis results from the appearance analysis module and evaluates the component's passability reference value based on these results. The judgment module sets the component's passability judgment threshold, compares the component's passability reference value obtained in the evaluation module with the passability judgment threshold, determines whether the component is passable, and after the judgment is completed, jumps to the robotic arm module operation stage.

[0010] Furthermore, the robotic arm module is further equipped with sub-modules, including:

[0011] The recognition unit is used to acquire component images output from the manufacturing equipment and to identify the gripping end of the component based on the component images.

[0012] The grasping unit is used to obtain the recognition result of the component grasping end in the recognition unit, and grasp the component based on the recognition result;

[0013] During the operation phase of the robotic arm module, the robotic arm is in a preset initial position. It collects images of the components through the recognition unit. After recognizing the gripping end of the component, the robotic arm carries the gripping unit to the surface of the gripping end of the component. After the center of the gripping unit is aligned with the center of the gripping end surface, the gripping unit operates and grips the component at the center position of the gripping end surface.

[0014] Furthermore, the background of the component image acquired during the operation of the recognition unit is a solid color background that is different from the color of the component. After acquiring the component image, the recognition unit performs segmentation processing on the component image based on the gray value of the component image background, and segments out the component body image from the component image, that is, the image containing only the component. Further, the component contour image is extracted from the component body image, and the curvature of each contour line in the component contour image is identified. Based on the recognition result, the component local contour image that does not contain adjacent continuous arcs is picked out and recorded as the component head contour image.

[0015] Identify the largest contour in the component head contour image, and record the center of the largest contour as the center of the gripping end surface.

[0016] Furthermore, the recognition unit is integrated with a camera and a laser ranging module. After the recognition unit recognizes the center of the gripping end surface, it simultaneously uses the laser ranging module to emit a laser beam pointing towards the center of the gripping end surface. The laser ranging module simultaneously measures the distance and relative angle from itself to the laser beam receiving surface. Based on the position information of the laser ranging module itself combined with the measured distance and relative angle, the position information of the center of the gripping end surface is obtained. The two sets of position information are used to determine a straight line. The determined straight line is used as the path for the robotic arm to carry the gripping unit to move towards the gripping end surface of the component, so that the center of the gripping end surface moves along the path. The gripping unit is triggered to run in the second half of the movement path.

[0017] The gripping unit can be either an electromagnet or a pneumatic suction cup.

[0018] Furthermore, the detection module includes a cylinder;

[0019] The inner surface of the cylinder is connected to several detection plates in a ring-shaped equidistant manner by torsion springs. A position sensor is deployed at the end of each detection plate away from the torsion spring, and a vibration sensor is deployed at the center of each detection plate.

[0020] The position sensor is used to sense position information in real time, and the vibration sensor is used to sense vibration signals in real time. The number of detection plates connected inside the cylinder follows the rule that the higher the accuracy requirement of the component detection, the more detection plates there are, and vice versa.

[0021] The detection plates connected inside the cylinder have adjacent ends that abut against each other. The area enclosed by the abutting ends of the detection plates is a regular polygon. The initial tilt angle of each group of detection plates is consistent based on the torsion spring limit.

[0022] The component consists of a head and a screw. After the robotic arm module grabs the component, it sends the grabbed component into the detection module according to a preset movement path. The movement speed of the robotic arm module carrying the component is set to meet the following condition: the time required for the robotic arm module to move the distance between adjacent threads on the surface of the component is greater than the interval between two consecutive operations of the position sensor and the vibration sensor. The position sensor and the vibration sensor operate synchronously. Contour trajectory detection is performed based on the position sensor, and vibration detection is performed based on the vibration sensor.

[0023] Furthermore, the vibration detection information in the detection module comes from the vibration sensor's operational sensing information, and the contour trajectory detection information comes from the position sensor's operational sensing information;

[0024] The appearance analysis module analyzes the component appearance health indicators, which are vibration regularity indicators and trajectory symmetry indicators.

[0025] The analytical logic for the vibration regularity index is as follows:

[0026] Set vibration signal Given a length of N, an embedding dimension of m, and a similarity tolerance of r, calculate the sample entropy SE:

[0027] Vibration signal Reconstruct into an m-dimensional vector sequence:

[0028] ;

[0029] Calculate vectors and The distance between them;

[0030] ;

[0031] For each i, the statistics satisfy... The number of j ≤ r (j ≠ i) is denoted as And calculate the mean:

[0032] ;

[0033] Increment the embedding dimension by one, and recalculate the mean to obtain... The sample entropy is calculated based on the two means:

[0034] ;

[0035] in, The smaller the value, the more regular the vibration signal; conversely, the larger the value, the less regular the vibration signal. It is recorded as an index of vibration regularity.

[0036] Furthermore, the appearance analysis module includes sub-modules, including:

[0037] The modeling unit is used to receive contour trajectory detection information and construct a contour trajectory model based on the contour trajectory detection information.

[0038] During the modeling unit's operation phase, the position coordinates continuously sensed by each position sensor are obtained, i.e., contour trajectory detection information. Based on the position coordinate sensing time sequence, the position coordinates are sequentially connected to obtain several polylines, which are denoted as contour trajectory paths. The contour trajectory paths are then arranged in a ring based on the distribution posture of the detection board to obtain the contour trajectory model.

[0039] Furthermore, the analytical logic for the trajectory symmetry index is as follows:

[0040] Obtain the contour trajectory model constructed by the modeling unit, and apply the contour trajectory model to analyze trajectory symmetry indicators:

[0041] In the contour trajectory model, select two relative contour trajectory paths, determine a plane based on the two contour trajectory paths, and analyze the trajectory symmetry index based on the determined plane.

[0042] ;

[0043] In the formula: The trajectory symmetry index is calculated based on the v-th plane; The total number of reference points corresponding to each other on the contour trajectory model based on the v-th plane separation state; The contour trajectory model is based on two sub-contour trajectory models separated by the v-th plane. The perpendicular distance from the g-th reference point to the plane; To retrieve the maximum value within the parentheses; As an indicator of trajectory symmetry; To determine the total amount of planar quantity;

[0044] in, The larger the value, the more standard the thread on the component surface; conversely, the smaller the value, the more irregular the thread on the component surface. The reference point is a point on the contour trajectory path in the contour trajectory model.

[0045] Furthermore, the evaluation logic for the qualification reference value of the evaluation module component is as follows:

[0046] ;

[0047] In the formula: This serves as a reference value for the qualification of components; These are the vibration regularity indicators and trajectory symmetry indicators of the components; As weight;

[0048] in; Both are positive numbers, and their sum is 1. The larger the pitch on the component surface, the better. The larger the value, the smaller the pitch on the component surface. The larger the value, the better.

[0049] Furthermore, the robotic arm module is connected to a recognition unit and a grasping unit via a local area network (LAN). The recognition unit is connected to a camera and a laser ranging module via the LAN. The robotic arm module is connected to a detection module via the LAN. The detection module is connected to a position sensor and a vibration sensor via the LAN. The detection module is connected to an appearance analysis module via the LAN. The appearance analysis module is connected to a modeling unit via the LAN. The appearance analysis module is connected to an evaluation module and a judgment module via the LAN. The judgment module is connected to the robotic arm module via the LAN.

[0050] Compared with known public technologies, the technical solution provided by this invention has the following beneficial effects:

[0051] This invention provides a control system for manufacturing equipment based on precision components. During operation, the system uses specific detection equipment to perform vibration detection and contour trajectory detection on the components. Based on the information obtained during the detection process, it performs distributed health index analysis on the components and then comprehensively evaluates the qualification of the components based on the results of the distributed health index analysis, and makes a judgment on the manufacturing precision of the components. This effectively serves the precision component manufacturing equipment, enabling the precision component manufacturing equipment to achieve effective precision control during the manufacturing process of precision components, and ensuring that the finished precision components produced by the precision component manufacturing equipment have better quality and a higher qualification rate. Attached Figure Description

[0052] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0053] Figure 1 This is a schematic diagram of a control system for manufacturing equipment based on precision components;

[0054] Figure 2 This is a schematic diagram of the integrated structure of the detection module in this invention;

[0055] Figure 3 This is a schematic diagram illustrating an example of the contour trajectory model in this invention. Detailed Implementation

[0056] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0057] The present invention will be further described below with reference to embodiments.

[0058] Example 1:

[0059] This embodiment provides a control system for manufacturing equipment based on precision components, such as... Figure 1 As shown, it includes:

[0060] Robotic arm module, used to grasp components output from the output end of manufacturing equipment;

[0061] The robotic arm module has sub-modules at the lower level, including:

[0062] The recognition unit is used to acquire component images output from the manufacturing equipment and to identify the gripping end of the component based on the component images.

[0063] The grasping unit is used to obtain the recognition result of the component grasping end in the recognition unit, and grasp the component based on the recognition result;

[0064] During the operation phase of the robotic arm module, the robotic arm is in a preset initial position. It collects component images through the recognition unit. After recognizing the component gripping end, the robotic arm carries the gripping unit to the surface of the component gripping end. After the center of the gripping unit is aligned with the center of the gripping end surface, the gripping unit operates and grips the component at the center position of the component gripping end surface.

[0065] The detection module is used to receive components grasped by the robotic arm module, perform vibration detection and contour trajectory detection on the components, and obtain vibration detection information and contour trajectory detection information.

[0066] The detection module includes a cylinder;

[0067] The inner surface of the cylinder is connected to several detection plates in a ring-shaped equidistant manner by torsion springs. Position sensors are deployed at the ends of the detection plates away from the torsion springs, and vibration sensors are deployed at the inner center of the detection plates.

[0068] Position sensors are used to sense position information in real time, vibration sensors are used to sense vibration signals in real time, and the number of detection plates connected inside the cylinder follows the rule that the higher the accuracy requirement of the component detection, the more detection plates there are, and vice versa.

[0069] The detection plates connected inside the cylinder have adjacent ends that abut against each other. The area enclosed by the abutting ends of the detection plates is a regular polygon. The initial tilt angle of each group of detection plates is consistent based on the torsion spring limit.

[0070] The component consists of a head and a screw. After the robotic arm module grabs the component, it sends the grabbed component into the detection module according to a preset movement path. The movement speed of the robotic arm module carrying the component is set to follow the following: the time required for the robotic arm module to move the distance between adjacent threads on the surface of the component is greater than the interval between two consecutive operations of the position sensor and the vibration sensor. The position sensor and the vibration sensor operate synchronously. Contour trajectory detection is performed based on the position sensor, and vibration detection is performed based on the vibration sensor.

[0071] In the detection module, vibration detection information comes from the vibration sensor's operational sensing information, and contour trajectory detection information comes from the position sensor's operational sensing information;

[0072] The appearance health indicators of the components analyzed by the appearance analysis module are vibration regularity indicators and trajectory symmetry indicators.

[0073] The analytical logic for vibration regularity indicators is as follows:

[0074] Set vibration signal Given a length of N, an embedding dimension of m, and a similarity tolerance of r, calculate the sample entropy SE:

[0075] Vibration signal Reconstruct into an m-dimensional vector sequence:

[0076] ;

[0077] Calculate vectors and The distance between them;

[0078] ;

[0079] For each i, the statistics satisfy... The number of j ≤ r (j ≠ i) is denoted as And calculate the mean:

[0080] ;

[0081] Increment the embedding dimension by one, and recalculate the mean to obtain... The sample entropy is calculated based on the two means:

[0082] ;

[0083] in, The smaller the value, the more regular the vibration signal; conversely, the larger the value, the less regular the vibration signal. Recorded as an index of vibration regularity;

[0084] The vibration regularity index is calculated using the above logical formula with specified logic.

[0085] The appearance analysis module contains sub-modules, including:

[0086] The modeling unit is used to receive contour trajectory detection information and construct a contour trajectory model based on the contour trajectory detection information.

[0087] During the modeling unit operation phase, the position coordinates continuously sensed by each position sensor are obtained, i.e., contour trajectory detection information. Based on the position coordinate sensing time sequence, the position coordinates are sequentially connected to obtain several polylines, which are recorded as contour trajectory paths. The contour trajectory paths are arranged in a ring based on the distribution posture of the detection board to obtain the contour trajectory model.

[0088] The analytical logic for trajectory symmetry indices is as follows:

[0089] Obtain the contour trajectory model constructed by the modeling unit, and apply the contour trajectory model to analyze trajectory symmetry indicators:

[0090] In the contour trajectory model, select two relative contour trajectory paths, determine a plane based on the two contour trajectory paths, and analyze the trajectory symmetry index based on the determined plane.

[0091] ;

[0092] In the formula: The trajectory symmetry index is calculated based on the v-th plane; The total number of reference points corresponding to each other on the contour trajectory model based on the v-th plane separation state; The contour trajectory model is based on two sub-contour trajectory models separated by the v-th plane. The perpendicular distance from the g-th reference point to the plane; To retrieve the maximum value within the parentheses; As an indicator of trajectory symmetry; To determine the total amount of planar quantity;

[0093] in, The larger the value, the more standard the thread on the component surface; conversely, the smaller the value, the more irregular the thread on the component surface. The reference point is a point on the contour trajectory path in the contour trajectory model.

[0094] The trajectory symmetry index is calculated using the above logical formula with specified logic.

[0095] The appearance analysis module is used to receive vibration detection information and contour trajectory detection information obtained by the detection module, and analyze the appearance health indicators of the component based on the vibration detection information and contour trajectory detection information.

[0096] The evaluation module is used to receive the component appearance health index analysis results from the appearance analysis module, and evaluate the component's qualification reference value based on the component appearance health index analysis results.

[0097] The evaluation logic for the reference value of the evaluation module component qualification is as follows:

[0098] ;

[0099] In the formula: This serves as a reference value for the qualification of components; These are the vibration regularity indicators and trajectory symmetry indicators of the components; As weight;

[0100] in; Both are positive numbers, and their sum is 1. The larger the pitch on the component surface, the better. The larger the value, the smaller the pitch on the component surface. The larger the value;

[0101] The above logical formula further defines the evaluation logic for the component qualification reference value in the evaluation module, providing support for the further operation of the judgment module in this embodiment.

[0102] The judgment module is used to set the component qualification judgment threshold. The evaluation module obtains the component qualification reference value and compares it with the component qualification judgment threshold to determine whether the component is qualified. After the judgment is completed, it jumps to the robot arm module operation stage.

[0103] The robotic arm module has a recognition unit and a grasping unit connected to its lower level via a local area network. The recognition unit has a camera and a laser ranging module connected to its lower level via a local area network. The robotic arm module has a detection module connected to its lower level via a local area network. The detection module has a position sensor and a vibration sensor connected to its lower level via a local area network. The detection module has an appearance analysis module connected to its lower level via a local area network. The appearance analysis module has a modeling unit connected to its lower level via a local area network. The appearance analysis module has an evaluation module and a judgment module connected to its lower level via a local area network. The judgment module is connected to the robotic arm module via a local area network.

[0104] In this embodiment, the robotic arm module operates to grasp components output from the manufacturing equipment. The recognition unit simultaneously acquires images of the components output from the manufacturing equipment and identifies the grasping end of the component based on the image. The grasping unit obtains the recognition results of the grasping end from the recognition unit in real time and grasps the component based on the recognition results. The detection module then receives the components grasped by the robotic arm module, performs vibration detection and contour trajectory detection on the components, and obtains vibration detection information and contour trajectory detection information. The modeling unit simultaneously receives the contour trajectory detection information and constructs a contour trajectory model based on the contour trajectory detection information. The appearance analysis module then receives the vibration detection information and contour trajectory detection information obtained by the detection module and analyzes the component's appearance health indicators based on the vibration detection information and contour trajectory detection information. The evaluation module further receives the component's appearance health indicator analysis results from the appearance analysis module and evaluates the component's qualification reference value based on the component's appearance health indicator analysis results. Finally, the judgment module sets a component qualification judgment threshold, obtains the component qualification reference value in the evaluation module, compares it with the component qualification judgment threshold, and determines whether the component is qualified. After the judgment is completed, the system jumps to the robotic arm module operation stage, forming a closed-loop system operation logic.

[0105] Through the operation of the system in the above embodiments, a new precision control service is provided for the manufacturing of bolts in precision components, ensuring that the bolts manufactured by the manufacturing equipment have better precision quality and pass rate, thereby ensuring their best performance in subsequent use.

[0106] See Figure 2 As shown in the figure, this figure shows the appearance of the integrated structure of the detection module. Based on the description in the above embodiment and the direction of the arrow in the figure (i.e. the direction in which the component enters during detection), it provides users with further application operation instructions.

[0107] See Figure 3 As shown in the figure, this diagram further illustrates the contour trajectory model to demonstrate its shape.

[0108] Example 2:

[0109] At the implementation level, based on Example 1, this example provides a further detailed description of a manufacturing equipment control system based on precision components in Example 1:

[0110] The background of the component image collected during the operation of the recognition unit is a solid color background that is different from the color of the construction. After the recognition unit collects the component image, it performs segmentation processing on the component image based on the gray value of the component image background, and segments out the component body image from the component image, that is, the image containing only the component. Further, the component contour image is extracted from the component body image, and the curvature of each contour line in the component contour image is identified. Based on the recognition result, the component local contour image that does not contain adjacent continuous arcs is picked out and recorded as the component head contour image.

[0111] Identify the largest contour in the component head contour image, and record the center of the largest contour as the center of the gripping end surface.

[0112] The recognition unit is integrated with a camera and a laser ranging module. After the recognition unit recognizes the center of the gripping end surface, it simultaneously uses the laser ranging module to emit a laser beam pointing towards the center of the gripping end surface. The laser ranging module simultaneously measures the distance and relative angle from itself to the laser beam receiving surface. Based on the position information of the laser ranging module itself and the measured distance and relative angle, the position information of the center of the gripping end surface is obtained. The two sets of position information are used to determine a straight line. The determined straight line is used as the path for the robotic arm to carry the gripping unit to move towards the gripping end surface of the component, so that the center of the gripping end surface moves along the path. The gripping unit is triggered to run in the second half of the movement path.

[0113] The gripping unit can be either an electromagnet or a pneumatic suction cup.

[0114] In this embodiment, the above settings further define the structure and operating logic of the identification unit, ensuring stable operation of the identification unit and enabling real-time capture of the identification components.

[0115] In summary, during operation, the system in the above embodiments performs vibration detection and contour trajectory detection on the components using specific detection equipment. Based on the information obtained during the detection process, it performs distributed health index analysis on the components and then comprehensively evaluates the qualification of the components based on the results of the distributed health index analysis, making a judgment on the manufacturing precision of the components. This effectively serves the precision component manufacturing equipment, enabling the precision component manufacturing equipment to achieve effective precision control during the manufacturing process of precision components, and ensuring that the finished precision components produced by the precision component manufacturing equipment have better quality and a higher qualification rate.

[0116] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control system for manufacturing equipment based on precision components, characterized in that, include: Robotic arm module, used to grasp components output from the output end of manufacturing equipment; The detection module is used to receive components grasped by the robotic arm module, perform vibration detection and contour trajectory detection on the components, and obtain vibration detection information and contour trajectory detection information. The appearance analysis module is used to receive vibration detection information and contour trajectory detection information obtained by the detection module, and analyze the appearance health indicators of the component based on the vibration detection information and contour trajectory detection information. The evaluation module is used to receive the component appearance health index analysis results from the appearance analysis module, and evaluate the component's qualification reference value based on the component appearance health index analysis results. The judgment module is used to set the component qualification judgment threshold. The evaluation module obtains the component qualification reference value and compares it with the component qualification judgment threshold to determine whether the component is qualified. After the judgment is completed, it jumps to the robot arm module operation stage.

2. The control system for manufacturing equipment based on precision components according to claim 1, characterized in that, The robotic arm module has sub-modules at its lower level, including: The recognition unit is used to acquire component images output from the manufacturing equipment and to identify the gripping end of the component based on the component images. The grasping unit is used to obtain the recognition result of the component grasping end in the recognition unit, and grasp the component based on the recognition result; During the operation phase of the robotic arm module, the robotic arm is in a preset initial position. It collects images of the components through the recognition unit. After recognizing the gripping end of the component, the robotic arm carries the gripping unit to the surface of the gripping end of the component. After the center of the gripping unit is aligned with the center of the gripping end surface, the gripping unit operates and grips the component at the center position of the gripping end surface.

3. The control system for manufacturing equipment based on precision components according to claim 2, characterized in that, The background of the component image collected during the operation of the recognition unit is a solid color background that is different from the color of the component. After the recognition unit collects the component image, it performs segmentation processing on the component image based on the gray value of the component image background, and segments out the component body image from the component image, that is, the image containing only the component. Further, the component contour image is extracted from the component body image, and the curvature of each contour line in the component contour image is identified. Based on the recognition result, the component local contour image that does not contain adjacent continuous arcs is picked out and recorded as the component head contour image. Identify the largest contour in the component head contour image, and record the center of the largest contour as the center of the gripping end surface.

4. A control system for manufacturing equipment based on precision components according to claim 3, characterized in that, The recognition unit is integrated with a camera and a laser ranging module. After the recognition unit recognizes the center of the gripping end surface, it simultaneously uses the laser ranging module to emit a laser beam pointing towards the center of the gripping end surface. The laser ranging module simultaneously measures the distance and relative angle from itself to the laser beam receiving surface. Based on the position information of the laser ranging module itself and the measured distance and relative angle, the position information of the center of the gripping end surface is obtained. The two sets of position information are used to determine a straight line. The determined straight line is used as the path for the robotic arm to carry the gripping unit to move towards the gripping end surface of the component, so that the center of the gripping end surface moves along the path. The gripping unit is triggered to run in the second half of the movement path. The gripping unit can be either an electromagnet or a pneumatic suction cup.

5. A control system for manufacturing equipment based on precision components according to claim 1, characterized in that, The detection module includes a cylinder; The inner surface of the cylinder is connected to several detection plates in a ring-shaped equidistant manner by torsion springs. A position sensor is deployed at the end of each detection plate away from the torsion spring, and a vibration sensor is deployed at the center of each detection plate. The position sensor is used to sense position information in real time, and the vibration sensor is used to sense vibration signals in real time. The number of detection plates connected inside the cylinder follows the rule that the higher the accuracy requirement of the component detection, the more detection plates there are, and vice versa. The detection plates connected inside the cylinder have adjacent ends that abut against each other. The area enclosed by the abutting ends of the detection plates is a regular polygon. The initial tilt angle of each group of detection plates is consistent based on the torsion spring limit. The component consists of a head and a screw. After the robotic arm module grabs the component, it sends the grabbed component into the detection module according to a preset movement path. The movement speed of the robotic arm module carrying the component is set to meet the following condition: the time required for the robotic arm module to move the distance between adjacent threads on the surface of the component is greater than the interval between two consecutive operations of the position sensor and the vibration sensor. The position sensor and the vibration sensor operate synchronously. Contour trajectory detection is performed based on the position sensor, and vibration detection is performed based on the vibration sensor.

6. A control system for manufacturing equipment based on precision components according to claim 1, characterized in that, In the detection module, the vibration detection information comes from the vibration sensor's operational sensing information, and the contour trajectory detection information comes from the position sensor's operational sensing information. The appearance analysis module analyzes the component appearance health indicators, which are vibration regularity indicators and trajectory symmetry indicators. The analytical logic for the vibration regularity index is as follows: Set vibration signal Given a length of N, an embedding dimension of m, and a similarity tolerance of r, calculate the sample entropy SE: Vibration signal Reconstruct into an m-dimensional vector sequence: ； Calculate vectors and The distance between them; ； For each i, the statistics satisfy... The number of j ≤ r (j ≠ i) is denoted as And calculate the mean: ； Increment the embedding dimension by one, and recalculate the mean to obtain... The sample entropy is calculated based on the two means: ； in, The smaller the value, the more regular the vibration signal; conversely, the larger the value, the less regular the vibration signal. It is recorded as an index of vibration regularity.

7. A control system for manufacturing equipment based on precision components according to claim 6, characterized in that, The appearance analysis module contains sub-modules, including: The modeling unit is used to receive contour trajectory detection information and construct a contour trajectory model based on the contour trajectory detection information. During the modeling unit's operation phase, the position coordinates continuously sensed by each position sensor are obtained, i.e., contour trajectory detection information. Based on the position coordinate sensing time sequence, the position coordinates are sequentially connected to obtain several polylines, which are denoted as contour trajectory paths. The contour trajectory paths are then arranged in a ring based on the distribution posture of the detection board to obtain the contour trajectory model.

8. A control system for manufacturing equipment based on precision components according to claim 6, characterized in that, The analytical logic for the trajectory symmetry index is as follows: Obtain the contour trajectory model constructed by the modeling unit, and apply the contour trajectory model to analyze trajectory symmetry indicators: In the contour trajectory model, select two relative contour trajectory paths, determine a plane based on the two contour trajectory paths, and analyze the trajectory symmetry index based on the determined plane. ； In the formula: The trajectory symmetry index is calculated based on the v-th plane; The total number of mutually corresponding reference points on the contour trajectory model based on the v-th plane separation state; The contour trajectory model is based on two sub-contour trajectory models separated by the v-th plane. The perpendicular distance from the g-th reference point to the plane; To retrieve the maximum value within the parentheses; As an indicator of trajectory symmetry; To determine the total amount of planar quantity; in, The larger the value, the more standard the thread on the component surface; conversely, the smaller the value, the more irregular the thread on the component surface. The reference point is a point on the contour trajectory path in the contour trajectory model.

9. A control system for manufacturing equipment based on precision components according to claim 1, characterized in that, The evaluation logic for the qualification reference value of the evaluation module component is as follows: ； In the formula: This serves as a reference value for the qualification of components; These are the vibration regularity indicators and trajectory symmetry indicators of the components; As weight; in; Both are positive numbers, and their sum is 1. The larger the pitch on the component surface, the better. The larger the value, the smaller the pitch on the component surface. The larger the value, the better.

10. A control system for manufacturing equipment based on precision components according to claim 1, characterized in that, The robotic arm module is interconnected with a recognition unit and a grasping unit via a local area network. The recognition unit is interconnected with a camera and a laser ranging module via a local area network. The robotic arm module is interconnected with a detection module via a local area network. The detection module is interconnected with a position sensor and a vibration sensor via a local area network. The detection module is interconnected with an appearance analysis module via a local area network. The appearance analysis module is interconnected with a modeling unit via a local area network. The appearance analysis module is interconnected with an evaluation module and a judgment module via a local area network. The judgment module is interconnected with the robotic arm module via a local area network.

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