A method and device for controlling the feeding of a gimbal

Abstract

The present application relates to a kind of upper and lower material control method and device of gimbal, it is related to gimbal production technical field, it includes: control and move to the feeding position of pressing component and collect workpiece image;According to workpiece image is identified, determine workpiece specification;Based on workpiece specification, call workpiece size and workpiece material;Combining workpiece size and workpiece material generates pressing control information and perfusion reference interval, output pressing control information to drive component to carry out feeding scheme and execute the grabbing of gimbal, and collect feeding weight;When completing feeding scheme, control and move to the discharging position of pressing component and output pressing control information to drive component to carry out the grabbing of gimbal, and collect discharging weight;The difference between discharging weight and feeding weight is calculated and used as perfusion increase;When perfusion increase falls into perfusion reference interval, execute discharging scheme to carry out discharging.The present application has the effect of improving the production efficiency of gimbal.

Description

Technical Field

[0001] This invention relates to the field of balance ring production technology, and in particular to a method and apparatus for controlling the loading and unloading of balance rings. Background Technology

[0002] A balance ring is a key mechanical component used to compensate for or counteract the imbalance generated during the operation of a mechanical structure, thereby reducing vibration, suppressing noise, and ensuring stable operation of equipment. It is widely used in power devices or vehicles that involve rotation or reciprocating motion.

[0003] The balance ring in a fully automatic pulsator washing machine needs to be filled with a certain amount of saturated brine (sodium chloride solution) to ensure the washing machine remains balanced during the spin-drying process, reduce vibration, and prevent freezing in winter. Currently, the balance ring for fully automatic pulsator washing machines is generally produced by filling it with saturated brine using a filling machine. The filling machine includes a rotary table, a brine filling device, a sealing device, and a weighing device. The brine filling device, sealing device, and weighing device are installed at different angles on the rotary table. A robotic arm places the balance ring at the loading station of the filling machine, then the rotary table rotates the balance ring to the filling station to fill it with a certain amount of saturated brine. The rotary table then rotates the balance ring to the sealing station to seal the filling port on the balance ring. Finally, the rotary table rotates the balance ring to the unloading station, and the robotic arm unloads it, thus completing the filling process for the balance ring.

[0004] To ensure the balance of the balance rings, the saturated brine used for filling the balance rings must meet quality standards during the filling process. Generally, before loading and after unloading, the balance rings are moved to a weighing device by a robotic arm for weighing. The weighing process is separate from the loading and unloading process. The balance rings need to be weighed independently before being transferred to the filling machine. After filling, they need to be transferred to the weighing station again, which increases the production cycle and reduces production efficiency. Summary of the Invention

[0005] To improve the production efficiency of balance rings, this invention provides a method and apparatus for controlling the loading and unloading of balance rings.

[0006] In a first aspect, the present invention provides a method for controlling the loading and unloading of a balance ring, which adopts the following technical solution:

[0007] A method for controlling the loading and unloading of a balance ring includes:

[0008] S1: Control the preset pressure component to move to the preset loading position and acquire the image of the balance ring as the workpiece image;

[0009] S2: Identify the workpiece image to determine the workpiece specifications, including workpiece dimensions and material.

[0010] S3: Retrieve workpiece dimensions and material based on workpiece specifications;

[0011] S4: Combine the workpiece size and material to generate pressure control information and injection reference range, output pressure control information to the preset drive component to grab the balance ring and execute the preset feeding scheme, and collect the weight of the balance ring as the feeding weight.

[0012] S5: After the preset feeding scheme is completed, control the preset pressing component to move to the preset unloading position and output the pressing control information to the preset drive component to grab the balance ring, and collect the weight of the balance ring as the unloading weight.

[0013] S6: Calculate the difference between the unloaded weight and the loaded weight and use it as the injection increase;

[0014] S7: When the increase in injection volume falls within the injection reference range, execute the preset feeding plan to feed the material.

[0015] By adopting the above technical solution, the workpiece specifications are determined through workpiece image recognition, pressure control information and filling reference range are generated, and the loading weight is collected during loading and the unloading weight is collected during unloading. The filling increase is calculated to determine the filling qualification, realizing the automated linkage of loading and unloading and filling detection, and accurately controlling the gripping and unloading, so that no additional weighing is required, thus improving the production efficiency of the balance ring.

[0016] Optionally, methods for determining workpiece specifications include:

[0017] S21: Recognize the workpiece image based on the preset balance ring features to obtain the balance ring image;

[0018] S22: Retrieve image size, image color, and image brightness distribution based on the balanced loop image;

[0019] S23: Calculate the actual size by combining the image size with the preset image scale and use it as the workpiece size;

[0020] S24: Determine the supplementary light output power based on the image brightness distribution and output it to the preset lighting device, and re-acquire the balance ring image and retrieve the image glossiness;

[0021] S25: Determine the workpiece material by combining image color and image gloss;

[0022] S26: Combine the workpiece dimensions with the workpiece material and use them as workpiece specifications.

[0023] By adopting the above technical solution, the balance ring image is identified by the characteristics of the balance ring, and the image size, color, and brightness distribution are retrieved. The actual size is calculated by combining the image size and the image scale to determine the workpiece size. The brightness distribution of the image is used for supplementary lighting. After supplementary lighting, the image gloss is obtained and combined with the image color to determine the workpiece material, thereby obtaining accurate workpiece specifications. This provides accurate data support for subsequent pressure control and setting of the injection reference range, reduces specification judgment errors, and ensures the accuracy of subsequent processes.

[0024] Optional methods for determining pressure control information and injection reference ranges include:

[0025] S41: Determine the material density value and material volume coefficient based on the workpiece material;

[0026] S42: Determine the workpiece volume value and the estimated volume range of the workpiece based on the workpiece dimensions;

[0027] S43: Based on the estimated volume range of the workpiece and the volume coefficient of the material, calculate and determine the specification pouring volume range, and use the specification pouring volume range as the pouring reference range;

[0028] S44: The weight of the workpiece is calculated by combining the material density value, the workpiece volume value and the specified pouring volume range;

[0029] S45: Determine the injection volume value according to the specified injection volume range;

[0030] S46: Calculate the sum of the workpiece weight value and the pouring weight value and use it as the comprehensive pouring value;

[0031] S47: Determine the pressure-reducing power requirement based on the comprehensive injection value, and use the pressure-reducing power requirement as pressure-reducing control information.

[0032] By adopting the above technical solution, the material density value and material volume coefficient are determined based on the workpiece material, and the workpiece volume value and estimated volume range are determined based on the workpiece size. In this way, the workpiece weight value is calculated and the filling reference range is determined. Then, the pressure resistance power requirement is calculated and the accurate pressure resistance control information and filling reference range are obtained. This makes the pressure resistance control adapt to the workpiece characteristics, the filling amount meets the specifications, and it can be adapted to different specifications of balance rings, thereby improving the control's pertinence and reliability.

[0033] Optionally, after collecting the weight of the balance ring as the unloading weight, the following may also be included:

[0034] S51: Acquire workpiece image and use it as the blanking image;

[0035] S52: Based on the material feeding image, identify the balance ring image and retrieve the corresponding image size as the material feeding size, and define the image size corresponding to the material feeding weight before collection as the reference size;

[0036] S53: Determine the dimensional variation value by combining the blanking size and the reference size;

[0037] S54: Calculate the product between the size change value and the preset image scale and use it as the pressure movement value;

[0038] S55: Determine the adjustment value of the moving power by combining the comprehensive value of grouting and the value of pressure movement;

[0039] S56: The moving power adjustment value is added to the pressure control information and output to the preset drive component to grasp the balance ring.

[0040] By adopting the above technical solution, by collecting the material feeding image and retrieving the material feeding size and the reference size, the size change value is determined by comparison, and then the pressure moving power is adjusted to adapt the size change of the gripping and balance ring, so as to avoid damage caused by gripping too loosely or too tightly, and improve gripping stability and balance ring integrity rate.

[0041] Optionally, after determining the mobile power adjustment value, the following may also be included:

[0042] S551: Calculate the difference between the increase in irrigation and the increase in irrigation amount, and use it as the irrigation deviation value;

[0043] S552: Determine whether the injection deviation value is positive;

[0044] S553: ​​If yes, continue to output the mobile power adjustment value;

[0045] S554: If not, then collect the preset moving speed value of the pressure component;

[0046] S555: Determine the sway power adjustment value by combining the injection deviation value and the moving speed value;

[0047] S556: Adjust and update the moving power adjustment value based on the shaking power adjustment value.

[0048] By adopting the above technical solution, the pressure resistance power is adjusted by the injection deviation value and the moving speed. When the value is negative, the swaying power is adjusted to dynamically adapt to the injection deviation and the transfer status, reduce the impact of the balance ring swaying on the gripping, and ensure the stability of the transfer and gripping.

[0049] Optionally, methods for determining the sway power adjustment value include:

[0050] S5551: Determine the deviation benchmark value based on the irrigation weight value;

[0051] S5552: Determine whether the injection deviation value is less than the deviation reference value;

[0052] S5553: If yes, output the preset sway reference adjustment value and use it as the sway power adjustment value;

[0053] S5554: If not, calculate the ratio between the irrigation deviation value and the irrigation weight value and use it as the deviation ratio value;

[0054] S5555: Adjust the power value by determining the proportional unit based on the deviation ratio value;

[0055] S5556: Calculate the product between the proportional unit adjustment power value and the moving speed value and use it as the sway power adjustment value.

[0056] By adopting the above technical solution, when the injection deviation value is less than the deviation benchmark value, the shaking power adjustment value is determined by the ratio of the injection deviation value to the injection weight value, thereby further optimizing the gripping stability and reducing the transfer failure caused by the injection deviation.

[0057] Optional, also includes:

[0058] S81: When the injection increase does not fall within the injection reference range and the injection deviation value is positive, the liquid image is obtained by combining the feeding image with the preset liquid characteristics.

[0059] S82: Determine the liquid area value and liquid location point based on the liquid image and the discharge image;

[0060] S83: Determine the liquid thickness value by combining the injection deviation value and the liquid area value;

[0061] S84: Determine the power value per unit distance at the edge based on the liquid location point;

[0062] S85: Calculate the product between the liquid thickness value and the unit power value of the edge distance and use it as the rotational output power value, and output the rotational output power value to the preset drive component to rotate the balance ring.

[0063] By adopting the above technical solution, when the increase in injection does not fall within the injection reference range and the injection deviation value is positive, the liquid area value and liquid position point are identified, the rotation output power value is calculated to control the rotation of the balance ring, the over-injection situation is handled reasonably, and the misjudgment of non-compliance is reduced.

[0064] Optional methods for determining the unit power value at the edge distance include:

[0065] S841: Based on the material feeding image, identify the balance ring image and the contour to obtain the contour position point;

[0066] S842: Select the nearest contour location point based on the liquid location point and calculate the liquid edge distance value;

[0067] S843: Determine whether there is only one contour location point;

[0068] S844: If yes, then determine the power value per unit distance at the edge based on the liquid edge distance value;

[0069] S845: If not, the largest liquid edge distance value is selected as the selected edge distance value;

[0070] S846: Determine the power per unit distance at the edge based on the selected edge distance value.

[0071] By adopting the above technical solution, the unit power value is determined by selecting the nearest or maximum edge distance between the liquid and the contour, and the rotation power is accurately calculated to ensure the stability of the liquid during rotation. This adapts to different liquid distribution scenarios and improves the accuracy and reliability of handling unqualified products caused by liquid adhesion.

[0072] Secondly, the present invention provides a balance ring loading and unloading device, which adopts the following technical solution:

[0073] A balance ring loading / unloading device, applied to a balance ring loading / unloading control method as described in any one of the first aspects, comprising:

[0074] The pressing component is used to abut against and press against the inner wall of the balance ring;

[0075] The robotic arm body is used to control the movement of the pressing component;

[0076] A mounting plate is disposed on the side of the robotic arm body near the pressing component, and is used for mounting the pressing component;

[0077] A drive assembly is disposed on the side of the mounting plate away from the robot body and is used to drive the pressing assembly to rotate;

[0078] A weight detection device is disposed between the drive assembly and the robot body and is used to detect weight;

[0079] The pressing assembly includes an abutting block for abutting against the inner wall of the balance ring, a rotating block for driving the abutting block to rotate, and a connecting post for connecting the abutting block and the rotating block. The end of the rotating block near the driving assembly is rotatably connected to the driving assembly. The abutting block is located on the side of the rotating block away from the driving assembly, and the connecting post is located on the side of the rotating block away from the mounting plate.

[0080] When the driving component drives the rotating block to rotate, the abutting block moves toward the inner wall of the balance ring.

[0081] By adopting the above technical solution, the rotating block is driven by the drive component to rotate, and the rotating block drives the abutment block to move towards the inner wall of the balance ring, so that the abutment block is close to the inner wall of the balance ring and pressed tightly, realizing a firm grip and smooth movement, improving the positioning accuracy and stability of the balance ring during loading and unloading. Furthermore, the weight detection device can directly weigh the balance ring during loading and unloading, eliminating the need for additional weighing and improving the production efficiency of the balance ring.

[0082] Optionally, the drive assembly is provided with a mounting strip, and on the side of the mounting strip away from the drive assembly, there is a lighting device for providing illumination and an image detection device for acquiring images.

[0083] By adopting the above technical solution, and by setting up lighting and image detection devices on the drive components, sufficient light source is provided and images are accurately acquired, providing clear and reliable data support for workpiece specification identification, size detection and other processes, ensuring the efficient implementation of loading and unloading control methods, and improving detection accuracy.

[0084] In summary, the present invention has at least one of the following beneficial technical effects:

[0085] 1. Workpiece specifications are determined by workpiece image recognition, pressure control information and filling reference range are generated, and the loading weight is collected during loading and the unloading weight is collected during unloading. The filling increase is calculated to determine the filling qualification, realizing the automatic linkage of loading and unloading and filling detection, and accurately controlling the gripping and unloading, so that no additional weighing is required, thus improving the production efficiency of the balance ring.

[0086] 2. Adjust the pressure resistance power by adjusting the injection deviation value and the moving speed. When the value is negative, supplement the shaking power adjustment to dynamically adapt to the injection deviation and transfer status, reduce the impact of the balance ring shaking on the gripping, and ensure the stability of transfer and gripping.

[0087] 3. The rotating block is driven by the drive component to rotate, and the rotating block drives the abutment block to move towards the inner wall of the balance ring, so that the abutment block is close to the inner wall of the balance ring and pressed tightly, realizing a firm grip and smooth movement, improving the positioning accuracy and stability of the balance ring during loading and unloading. The weight detection device directly weighs the balance ring during loading and unloading, eliminating the need for additional weighing and improving the production efficiency of the balance ring. Attached Figure Description

[0088] Figure 1 This is a schematic diagram of the overall structure of the balance ring loading and unloading device;

[0089] Figure 2 This is a structural diagram of the pressure-absorbing components, mounting plate, and drive components;

[0090] Figure 3This is a flowchart of the method for controlling the loading and unloading of the balance ring.

[0091] The parts referred to by the numbers in the above figures are as follows: 1. Pressing component; 2. Robotic arm body; 3. Mounting plate; 4. Drive component; 5. Weight detection device; 6. Pressing block; 7. Rotating block; 8. Connecting column; 9. Mounting strip; 10. Lighting device; 11. Image detection device; 12. First motor; 13. Second motor. Detailed Implementation

[0092] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0093] Reference Figure 1 and Figure 2 This invention discloses a balance ring loading and unloading device, which includes: a pressing component 1, a robotic arm body 2, a mounting plate 3, a drive component 4, and a weight detection device 5. The robotic arm body 2 is a four-axis robotic arm, which facilitates the movement of the actuator of the robotic arm body 2 in various directions.

[0094] Reference Figure 1 and Figure 2 Mounting plate 3 is installed on the execution end of robot body 2, drive assembly 4 is installed between mounting plate 3 and robot body 2, and pressing assembly 1 is installed on the side of mounting plate 3 away from drive assembly 4. Pressing assembly 1 includes abutting block 6 for contacting the inner wall of balance ring, rotating block 7 for driving abutting block 6 to rotate, and connecting post 8 for connecting abutting block 6 and rotating block 7. The end of rotating block 7 near drive assembly 4 is rotatably connected to drive assembly 4. Abutting block 6 is located on the side of rotating block 7 away from drive assembly 4, and connecting post 8 is located on the side of rotating block 7 away from mounting plate 3. The diameter of abutting block 6 is larger than the diameter of connecting post 8, and the diameter of abutting block 6 is larger than the maximum width of the end of rotating block 7 away from drive assembly 4, thereby facilitating abutting block 6 to contact and press against the inner wall of balance ring. In this embodiment, the drive assembly 4 includes a first motor 12 and a second motor 13. The second motor 13 is mounted on the mounting plate 3 and is located between the first motor 12 and the mounting plate 3. The first motor 12 drives the second motor 13 to rotate. A gear is mounted on the output shaft of the second motor 13. The end of the rotating block 7 near the gear is toothed, which facilitates meshing with the gear at the output shaft of the drive assembly 4. The drive assembly 4 drives the rotating block 7 to rotate. The end of the rotating block 7 away from the drive assembly 4 drives the abutment block 6 to move towards the inner wall of the balance ring, thereby causing the abutment block 6 to abut and press against the inner wall of the balance ring.

[0095] Reference Figure 1 and Figure 2The weight detection device 5 is installed between the drive assembly 4 and the robot body 2 and is used to detect the weight. This facilitates real-time weight detection when the pressing assembly 1 grips the balance ring, eliminating the need for additional weighing and improving the production efficiency of the balance ring.

[0096] Reference Figure 1 and Figure 2 A mounting strip 9 is installed on the drive assembly 4. On the side of the mounting strip 9 away from the drive assembly 4, an illumination device 10 for providing illumination and an image detection device 11 for acquiring images are provided. Illumination is provided by the illumination device 10, and images are acquired by the image detection device 11, which facilitates the subsequent determination of the specifications of the balance ring.

[0097] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0098] Reference Figure 3 Based on the same inventive concept, embodiments of the present invention provide a method for controlling the loading and unloading of a balance ring, comprising:

[0099] S1: Control the preset pressing component 1 to move to the preset feeding position and acquire the image of the balance ring as the workpiece image.

[0100] The loading position refers to a pre-defined designated area for placing the balance rings to be processed and for performing the loading operation.

[0101] The workpiece image refers to the image of the balance ring. The workpiece image is acquired by the image detection device 11. Since the image detection device 11 is not located directly above the balance ring, it can collect the diameter and height of the balance ring.

[0102] S2: Identify the workpiece based on the workpiece image to determine the workpiece specifications.

[0103] The workpiece specifications refer to the set of core characteristic parameters of the balance ring. Workpiece specifications include workpiece dimensions and workpiece material. Workpiece dimensions refer to the actual size of the balance ring, and workpiece material refers to the material category of the balance ring.

[0104] By recognizing the workpiece image, the size and material of the balance ring can be obtained and used as workpiece specifications for convenient subsequent use.

[0105] To further ensure the rationality of the workpiece specifications, it is necessary to perform further separate analysis and calculation on the workpiece specifications, which will be explained in detail through the steps shown below.

[0106] The method for determining workpiece specifications includes the following steps:

[0107] S21: Recognize the workpiece image based on the preset balance ring features to obtain the balance ring image.

[0108] The balance ring features refer to a pre-defined set of inherent attributes of the balance ring, including image-recognizable features such as its contour shape, filling port location, and parting line marks. These features are obtained through pre-input by the operator. The balance ring image refers to an image containing only the balance ring.

[0109] By comparing the workpiece image with the preset features of the balance ring, the image containing the features is extracted and used as the balance ring image for subsequent use.

[0110] S22: Retrieve image size, image color, and image brightness distribution based on the balanced ring image.

[0111] Here, image size refers to the parameters of the balance ring image in pixel or geometric dimensions. Image color refers to the color information of pixels in the balance ring image (such as RGB values ​​and hues). Image brightness distribution refers to the distribution of brightness values ​​in different regions of the balance ring image within the image.

[0112] The diameter, height, and other dimensions of the balance ring in the image are obtained by counting the pixels of the balance ring image and used as the image size. Color information is extracted from the pixels of the balance ring image to obtain the image color. Then, the brightness values ​​of pixels in different regions of the balance ring image are extracted and used as the image brightness distribution for convenient subsequent use.

[0113] S23: Combine the image size with the preset image scale to calculate the actual size and use it as the workpiece size.

[0114] The image scale refers to the pre-defined ratio between the number of image pixels and the actual physical length. The actual size refers to the actual physical length of the balancing ring.

[0115] The ratio between the image size and the preset image scale is calculated, and the calculation result is used as the actual size, which is then used as the workpiece size for convenient subsequent use.

[0116] S24: Determine the supplementary light output power based on the image brightness distribution and output it to the preset lighting device 10, and re-acquire the balance ring image and retrieve the image glossiness.

[0117] Here, supplementary light output power refers to the power parameter used for supplementary illumination. Image glossiness refers to the parameter reflecting the surface reflectivity of the balance ring image.

[0118] The brightness distribution of the balance ring image is analyzed by image processing technology. If there is uneven brightness or insufficient brightness, the required supplementary light intensity is calculated to determine the supplementary light output power. The power signal is output to the lighting device 10. After the lighting device 10 starts supplementary light, the image detection device 11 re-acquires the balance ring image. Then, the reflectivity and uniformity data of the balance ring surface in the balance ring image are extracted by the image analysis tool as the image gloss level for subsequent use.

[0119] S25: Determine the workpiece material by combining image color and image gloss.

[0120] Specifically, by inputting the image color and gloss into a preset material database and comparing the color threshold and gloss threshold one by one, the material with the highest matching degree is selected as the workpiece material for convenient subsequent use.

[0121] The material database contains a pre-stored lookup table of different workpiece materials and their corresponding color and gloss thresholds. The material database is retrieved after the operator has pre-entered the information.

[0122] S26: Combine the workpiece dimensions with the workpiece material and use them as workpiece specifications.

[0123] In this method, by combining the workpiece size and the workpiece material, a dataset of the balance ring size and material is formed and merged as the workpiece specification, thereby improving the accuracy of the obtained workpiece specifications.

[0124] S3: Retrieve workpiece dimensions and material based on workpiece specifications.

[0125] Among them, the workpiece size and material can be retrieved through the workpiece specifications, which facilitates subsequent use.

[0126] S4: Combine the workpiece size and material to generate pressure control information and injection reference range, output the pressure control information to the preset drive component 4 to grab the balance ring and execute the preset feeding scheme, and collect the weight of the balance ring as the feeding weight.

[0127] Among them, the pressure control information refers to the control parameters adapted to the workpiece size and material and used to control the pressure component 1 to pressure and grip the balance ring. The pressure control information is the power value operated per unit time. The filling reference range refers to the reference weight range corresponding to when the balance ring needs to be filled with saturated brine.

[0128] The feeding scheme refers to the pre-defined control flow for moving the balance ring from the feeding position to the feeding station on the rotary table of the filling machine. The feeding scheme is obtained by the operator after pre-setting control information based on the feeding position and the corresponding position of the feeding station. The feeding weight refers to the initial weight of the balance ring collected during feeding.

[0129] By combining and analyzing the workpiece size and material, pressure control information and injection reference range are generated. The pressure control information is then output to the preset drive component 4, which causes the second motor 13 of the drive component 4 to rotate momentarily and then stop. This causes the abutment block 6 in the pressure component 1 to move to a position where it can press and grasp the balance ring. The balance ring is then pressed and grasped. The preset feeding scheme is then executed to feed the balance ring. During the feeding process, the weight of the balance ring is collected as the feeding weight for subsequent use.

[0130] To further ensure the rationality of the pressure control information and the grouting reference range, it is necessary to conduct further separate analysis and calculation on the pressure control information and the grouting reference range, which will be explained in detail through the following steps.

[0131] The method for determining pressure control information and injection reference range includes the following steps:

[0132] S41: Determine the material density value and material volume coefficient based on the workpiece material.

[0133] Here, material density refers to the mass per unit volume of the workpiece material. Material volume coefficient is a coefficient adapted to the workpiece material and used to correct the calculation of the pouring volume. Since different workpiece materials have different machining error allowances, their corresponding material volume coefficients differ.

[0134] By inputting the workpiece material into a preset material database, the material density value and material volume coefficient are obtained for easy subsequent use.

[0135] The material database pre-stores a table of different workpiece materials and their corresponding material density values ​​and material volume coefficients. The material database is obtained after pre-entry of the operator's material manual and historical production data.

[0136] S42: Determine the workpiece volume value and the estimated volume range of the workpiece based on the workpiece dimensions.

[0137] The workpiece volume value refers to the overall volume parameter of the balance ring. The estimated volume range of the workpiece refers to the volume range of the injectable medium calculated based on the workpiece size and hollow structural characteristics.

[0138] The diameter and height of the balance ring are obtained by adjusting the workpiece dimensions. The volume of the workpiece is calculated using the cylinder volume formula. Then, combined with the hollow structure design of the balance ring and the pre-set hollow volume ratio, the product between the workpiece volume and the hollow volume ratio is calculated and used as the estimated volume of the workpiece. Then, combined with the preset machining error allowance, the estimated volume of the workpiece is adjusted up and down to form the estimated volume range of the workpiece for subsequent use.

[0139] S43: Based on the estimated volume range of the workpiece and the volume coefficient of the material, calculate and determine the specification pouring volume range, and use the specification pouring volume range as the pouring reference range.

[0140] The specified filling volume range refers to the volume range that can be filled with saturated brine after adjustments based on the material.

[0141] By retrieving the two endpoints of the estimated volume range of the workpiece and calculating the product between the two endpoints and the material volume coefficient, the endpoints of the specified filling volume range are obtained. The specified filling volume range is then used as the filling reference range, thereby improving the accuracy of the obtained filling reference range.

[0142] S44: The weight of the workpiece is calculated by combining the material density value, the workpiece volume value and the specified pouring volume range.

[0143] The workpiece weight value refers to the weight value corresponding to the hollow balance ring.

[0144] The filling volume value is obtained by calculating the midpoint of the specified filling volume range. Then, the volume value corresponding to the hollow balance ring is obtained by calculating the difference between the workpiece volume value and the filling volume value, which is used as the hollow volume value. Finally, the product between the hollow volume value and the material density value is calculated and used as the workpiece weight value for subsequent use.

[0145] S45: Determine the injection weight value according to the injection volume range of the specification.

[0146] The injection weight value refers to the weight value corresponding to the saturated saline solution injected.

[0147] The estimated volume of the workpiece is obtained by estimating the volume range of the workpiece. Then, the estimated volume of the workpiece and the preset saturated brine density are calculated, and the calculation result is used as the filling weight value for convenient subsequent use.

[0148] The saturated brine density refers to the density of the saturated brine that needs to be injected into the balance ring. The saturated brine density is obtained after being pre-input by the operator.

[0149] S46: Calculate the sum of the workpiece weight value and the pouring weight value and use it as the comprehensive pouring value.

[0150] The comprehensive value of saturated brine refers to the comprehensive weight value corresponding to the saturated brine filling the balance ring.

[0151] The sum of the workpiece weight and the pouring weight is calculated, and the result is used as the comprehensive pouring value for convenient subsequent use.

[0152] S47: Determine the pressure-reducing power requirement based on the comprehensive injection value, and use the pressure-reducing power requirement as pressure-reducing control information.

[0153] Among them, the pressure-reducing power requirement refers to the pressure-reducing drive power parameter that adapts to the comprehensive value of injection and ensures stable grasping.

[0154] By inputting the comprehensive injection value into a preset weight power database to match the pressure resistance demand power, and then using the pressure resistance demand power as pressure resistance control information, the accuracy of the obtained pressure resistance control information is improved.

[0155] The weight power database contains a pre-stored table of different weight ranges and their corresponding pressure-reducing power requirements. The weight power database is obtained by the operator conducting a pressure-reducing test on different injection values ​​and collecting stable pressure-reducing driving power parameters.

[0156] S5: After the preset feeding scheme is completed, control the preset pressing component 1 to move to the preset unloading position and output the pressing control information to the preset drive component 4 to grab the balance ring, and collect the weight of the balance ring as the unloading weight.

[0157] The feeding position refers to the location where the balance ring needs to be gripped and fed, specifically the feeding station on the rotary table of the filling machine. The feeding weight refers to the weight of the balance ring during feeding.

[0158] After the preset feeding plan is completed, the pressing component 1 is moved to the unloading position by controlling it, and the pressing control information is output to the drive component 4 to control the pressing component 1 to press and grab the balance ring. After the grabbing is completed, the weight of the balance ring is collected and used as the unloading weight for subsequent use.

[0159] To further ensure the rationality of the collected material weight, it is necessary to perform further separate analysis and calculation after collecting the material weight, which will be explained in detail through the steps shown below.

[0160] After collecting the weight of the balance ring as the blanking weight, the following steps are also included:

[0161] S51: Acquire workpiece image and use it as the blanking image.

[0162] The acquisition of material feeding images facilitates subsequent use.

[0163] S52: Based on the material feeding image, identify the balance ring image and retrieve the corresponding image size as the material feeding size, and define the image size corresponding to the material feeding weight before collection as the reference size.

[0164] The method of retrieving and defining the blanking dimensions and reference dimensions facilitates subsequent use.

[0165] S53: Determine the dimensional variation value by combining the blanking size and the reference size.

[0166] The size change value refers to the proportional value corresponding to the change in the size of the balance ring in the image.

[0167] The ratio between the blanking size and the reference size is calculated, and the calculation result is used as the size change value for convenient subsequent use.

[0168] S54: Calculate the product between the size change value and the preset image scale and use it as the pressure movement value.

[0169] Among them, the pressure movement value refers to the distance value corresponding to the downward movement of the balance ring.

[0170] The product of the size change value and the preset image scale is calculated, and the calculation result is used as the pressure movement value for convenient subsequent use.

[0171] S55: Determine the moving power adjustment value by combining the comprehensive grouting value and the pressure shift value.

[0172] The moving power adjustment value refers to the adjustment value corresponding to the power adjustment based on the distance of the downward movement. The larger the overall injection value and the larger the pressure movement value, the larger the moving power adjustment value.

[0173] By inputting the pressure movement value into a preset movement power adjustment database, a movement power adjustment value is obtained for convenient subsequent use.

[0174] The mobile power adjustment database pre-stores a table of different injection comprehensive values, pressure shift values ​​and corresponding mobile power adjustment values. The mobile power adjustment database is obtained by the operator conducting pressure grabbing tests on different injection comprehensive values ​​in advance and decreasing the power value in turn to obtain the corresponding pressure shift value.

[0175] To further ensure the rationality of the mobile power adjustment value, it is necessary to perform further separate analysis and calculation after determining the mobile power adjustment value, which will be explained in detail through the steps shown below.

[0176] After determining the mobile power adjustment value, the following steps are also included:

[0177] S551: Calculate the difference between the increase in irrigation and the amount of irrigation and use it as the irrigation deviation value.

[0178] The injection deviation value refers to the deviation between the actual increase in weight after injection of saturated saline and the baseline weight that can be injected.

[0179] The difference between the increase in irrigation volume and the actual amount of irrigation is calculated, and the result is used as the irrigation deviation value for subsequent use.

[0180] S552: Determine if the infusion deviation value is positive. If yes, proceed to S553; if no, proceed to S554.

[0181] Among them, by judging whether the injection deviation value is positive, it can be determined whether the injection is too insufficient.

[0182] S553: ​​Continue to output mobile power adjustment value.

[0183] When the injection deviation value is positive, it indicates that too much saturated brine has been injected and will not be affected by the shaking, so the mobile power adjustment value continues to be output.

[0184] S554: Collect the preset moving speed value of the pressure component 1.

[0185] The moving speed value refers to the speed of the pressing component 1 during the material feeding movement at the current time. The moving speed value is obtained by querying the robot arm body 2 in real time.

[0186] When the infusion deviation value is not positive, it indicates that the amount of saturated saline solution infused is too small and will be affected by shaking. Therefore, the moving speed value is collected for subsequent use.

[0187] S555: Determine the sway power adjustment value by combining the injection deviation value and the moving speed value.

[0188] Among them, the sway power adjustment value refers to the adjustment value corresponding to the power adjustment when swaying exists.

[0189] By combining the injection deviation value and the moving speed value for analysis, the sway power adjustment value can be determined to facilitate subsequent use.

[0190] To further ensure the rationality of the sway power adjustment value, it is necessary to perform a further separate analysis and calculation on the sway power adjustment value, which will be explained in detail through the steps shown below.

[0191] The method for determining the sway power adjustment value includes the following steps:

[0192] S5551: Determine the deviation benchmark value based on the irrigation weight value.

[0193] Among them, the deviation benchmark value refers to the reference threshold preset based on the injection weight value, which is used to determine the magnitude of the injection deviation value.

[0194] The product of the injection weight value and the preset allowable deviation coefficient is calculated, and the calculation result is used as the deviation benchmark value for convenient subsequent use.

[0195] The allowable deviation coefficient is a coefficient used to convert the injection weight value into a deviation reference value. The allowable deviation coefficient is set in advance by the operator according to actual needs.

[0196] S5552: Determine whether the injection deviation value is less than the deviation reference value. If yes, proceed to S5553; if no, proceed to S5554.

[0197] Specifically, the determination of whether power adjustment is needed is made by checking whether the injection deviation value is less than the deviation benchmark value.

[0198] S5553: Outputs a preset sway reference adjustment value and uses it as the sway power adjustment value.

[0199] The sway reference adjustment value refers to the adjustment value when no adjustment is needed during swaying. The sway reference adjustment value is obtained after pre-input by the operator.

[0200] When the injection deviation value is less than the deviation reference value, it means that no power adjustment is needed at this time. Therefore, the preset sway reference adjustment value is output and used as the sway power adjustment value.

[0201] S5554: Calculate the ratio between the irrigation deviation value and the irrigation weight value and use it as the deviation ratio value.

[0202] Among them, the deviation ratio value refers to the ratio between the irrigation deviation value and the irrigation weight value.

[0203] When the injection deviation value is not less than the deviation reference value, it indicates that power adjustment is required. Therefore, the deviation ratio value is calculated to facilitate subsequent use.

[0204] S5555: Adjust the power value by determining the proportional unit based on the deviation proportional value.

[0205] Among them, the proportional unit adjustment power value refers to the pressure adjustment parameter corresponding to the unit moving speed based on the deviation ratio value.

[0206] By inputting the deviation ratio value into the preset adjustment power database, a ratio unit adjustment power value is obtained for easy subsequent use.

[0207] The power adjustment database has a pre-stored table of different deviation ratio values ​​and corresponding ratio units of power adjustment values. The power adjustment database can be preset by the operator according to actual needs.

[0208] For example, adjusting the power database can be configured such that when the deviation ratio is between 0 and 10%, 2 watts of power needs to be adjusted for every 1% deviation, and when the deviation ratio is greater than 10%, 4 watts of power needs to be adjusted for every 1% deviation.

[0209] S5556: Calculate the product between the proportional unit adjustment power value and the moving speed value and use it as the sway power adjustment value.

[0210] Specifically, the product between the proportional unit adjustment power value and the moving speed value is calculated, and the calculation result is used as the sway power adjustment value for convenient subsequent use.

[0211] S556: Adjust and update the moving power adjustment value based on the shaking power adjustment value.

[0212] Specifically, the accuracy of the obtained mobile power adjustment value is improved by calculating the sum between the sway power adjustment value and the movement power adjustment value, and then using the sum to replace and update the movement power adjustment value.

[0213] S56: The moving power adjustment value is added to the pressure control information and output to the preset drive component 4 to grasp the balance ring.

[0214] Specifically, by adding the mobile power adjustment value to the pressure control information, the sum between the mobile power adjustment value and the pressure demand power is calculated, and then the sum is output to the preset drive component 4 to control the pressure component 1 to grasp the balance ring, thereby improving the grasping stability of the balance ring.

[0215] S6: Calculate the difference between the unloaded weight and the loaded weight and use it as the injection increase.

[0216] The increase in injection volume refers to the difference between the weight of the material being discharged and the weight of the material being fed.

[0217] The calculation of the increase in infusion volume facilitates subsequent use.

[0218] S7: When the increase in injection volume falls within the injection reference range, execute the preset feeding plan to feed the material.

[0219] The feeding scheme refers to the preset control process for moving the balance ring from the feeding position to the preset conveyor belt position. The feeding scheme is obtained by the operator after pre-setting control information based on the feeding position and the preset conveyor belt position.

[0220] When the increase in injection volume falls within the injection benchmark range, it indicates that the injection is qualified, so the preset feeding plan is executed to feed the material.

[0221] It also includes the following steps:

[0222] S81: When the injection increase does not fall within the injection reference range and the injection deviation value is positive, the liquid image is obtained by combining the feeding image with the preset liquid characteristics.

[0223] Liquid features refer to a pre-defined set of image-recognizable attributes of saturated brine, including the liquid's color range, transparency range, reflectivity, and flow pattern. These liquid features are acquired after being pre-input by the operator. The liquid image refers to the image corresponding to the saturated brine located outside the equilibrium loop.

[0224] When the increase in injection does not fall within the injection reference range and the injection deviation value is positive, it indicates that there is too much saturated brine on the balance ring. By comparing the feed image with the preset liquid characteristics, the area that matches the liquid characteristics is selected, thereby obtaining the liquid image for subsequent use.

[0225] S82: Determine the liquid area value and liquid location point based on the liquid image and the material feeding image.

[0226] Here, the liquid area value refers to the actual area covered by the excess injection liquid. The liquid location point refers to the location of the excess injection liquid.

[0227] By aligning the liquid image with the material feeding image, and using the preset reference point of the balance ring in the material feeding image as a reference, the area corresponding to the liquid image is calculated to obtain the liquid area value. The center position corresponding to the excess injection liquid is extracted as the liquid position point for convenient subsequent use.

[0228] S83: Determine the liquid thickness value by combining the injection deviation value and the liquid area value.

[0229] The liquid thickness value refers to the average thickness parameter of the excess injection liquid.

[0230] The corresponding deviation volume value is obtained by calculating the product between the injection deviation value and the preset saturated brine density. Then, the quotient between the deviation volume value and the liquid area value is calculated to obtain the liquid thickness value, which is convenient for subsequent use.

[0231] S84: Determine the unit power value of the edge distance based on the liquid location point.

[0232] Among them, the power value per unit distance at the edge refers to the adjustment value corresponding to the power adjustment required based on the liquid position point per unit thickness.

[0233] By analyzing the liquid location points, the unit power value of the edge distance can be determined, which facilitates subsequent use.

[0234] To further ensure the rationality of the unit power value at the edge distance, it is necessary to perform a further separate analysis and calculation of the unit power value at the edge distance, which will be explained in detail through the steps shown below.

[0235] The method for determining the unit power value at the edge distance includes the following steps:

[0236] S841: Based on the material feeding image, identify the balance ring image and the contour to obtain the contour position point.

[0237] Among them, the contour position point refers to the position point corresponding to the outer contour of the balance ring.

[0238] By identifying the balance ring image from the material feeding image, and then extracting the position based on the outer contour features of the balance ring, the contour position points are obtained for convenient subsequent use.

[0239] S842: Select the nearest contour location point based on the liquid location point and calculate the liquid edge distance value.

[0240] The liquid edge distance value refers to the distance between the liquid location point and the nearest edge of the balance ring.

[0241] The distance between the liquid location point and each contour location point is calculated, and the smallest distance value is selected as the liquid edge distance value for convenient subsequent use.

[0242] S843: Determine if there is only one contour location point. If yes, proceed to S844; if no, proceed to S845.

[0243] Specifically, by determining whether there is only one contour location point, it can be determined whether further selection of the liquid edge distance value is needed.

[0244] S844: Determine the power value per unit distance at the edge based on the liquid edge distance value.

[0245] When there is only one contour location point, it means that there is no need to further select the liquid edge distance value. Therefore, by inputting the liquid edge distance value into the preset edge distance power database to match and obtain the edge distance unit power value, the accuracy of the obtained edge distance unit power value is improved.

[0246] The larger the liquid edge distance value, the greater the power per unit edge distance. The edge distance power database pre-stores a lookup table of different liquid edge distance values ​​and their corresponding power per unit edge distance values. The edge distance power database is preset by the operator according to actual needs.

[0247] S845: Select the largest liquid edge distance value as the selected edge distance value.

[0248] Among them, the selected edge distance value refers to the distance value corresponding to the selected liquid edge distance value.

[0249] Selecting the edge distance value facilitates subsequent use.

[0250] S846: Determine the power per unit distance at the edge based on the selected edge distance value.

[0251] In this method, the accuracy of the obtained edge distance unit power value is improved by inputting the selected edge distance value into a preset edge distance power database to match the edge distance unit power value.

[0252] S85: Calculate the product between the liquid thickness value and the unit power value of the edge distance and use it as the rotation output power value, and output the rotation output power value to the preset drive component 4 to rotate the balance ring.

[0253] The rotational output power value refers to the power value corresponding to the continuous rotation of the control balance ring.

[0254] The product of the liquid thickness value and the unit power value of the edge distance is calculated, and the calculation result is used as the rotation output power value. The rotation output power value is then output to the preset drive component 4, so that the first motor 12 of the drive component 4 drives the mounting plate 3 to rotate. The mounting plate 3 drives the pressing component 1 to rotate, which in turn drives the balance ring to rotate, thereby throwing out excess injection liquid. When the injection increase falls into the injection reference range, the preset feeding scheme is executed to feed the material, thereby improving the qualification rate of injection of the balance ring.

[0255] 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. A method for controlling the loading and unloading of a balance ring, characterized in that, include: S1: Control the preset pressure component (1) to move to the preset loading position and collect the image of the balance ring as the workpiece image; S2: Identify the workpiece image to determine the workpiece specifications, including workpiece dimensions and material. S3: Retrieve workpiece dimensions and material based on workpiece specifications; S4: Combine the workpiece size and workpiece material to generate pressure control information and injection reference range, output pressure control information to the preset drive component (4) to grab the balance ring and execute the preset feeding scheme, and collect the weight of the balance ring as the feeding weight. S5: After the preset feeding scheme is completed, control the preset pressing component (1) to move to the preset unloading position and output the pressing control information to the preset drive component (4) to grab the balance ring, and collect the weight of the balance ring as the unloading weight. S6: Calculate the difference between the unloaded weight and the loaded weight and use it as the injection increase; S7: When the increase in injection volume falls within the injection reference range, execute the preset feeding plan to feed the material.

2. The method for controlling the loading and unloading of a balance ring according to claim 1, characterized in that, Methods for determining workpiece specifications include: S21: Recognize the workpiece image based on the preset balance ring features to obtain the balance ring image; S22: Retrieve image size, image color, and image brightness distribution based on the balanced loop image; S23: Calculate the actual size by combining the image size with the preset image scale and use it as the workpiece size; S24: Determine the supplementary light output power according to the image brightness distribution and output it to the preset lighting device (10), and re-acquire the balance ring image and retrieve the image glossiness; S25: Determine the workpiece material by combining image color and image gloss; S26: Combine the workpiece dimensions with the workpiece material and use them as workpiece specifications.

3. The method for controlling the loading and unloading of a balance ring according to claim 1, characterized in that, The methods for determining pressure control information and injection baseline ranges include: S41: Determine the material density value and material volume coefficient based on the workpiece material; S42: Determine the workpiece volume value and the estimated volume range of the workpiece based on the workpiece dimensions; S43: Based on the estimated volume range of the workpiece and the volume coefficient of the material, calculate and determine the specification pouring volume range, and use the specification pouring volume range as the pouring reference range; S44: The weight of the workpiece is calculated by combining the material density value, the workpiece volume value and the specified pouring volume range; S45: Determine the injection volume value according to the specified injection volume range; S46: Calculate the sum of the workpiece weight value and the pouring weight value and use it as the comprehensive pouring value; S47: Determine the pressure-reducing power requirement based on the comprehensive injection value, and use the pressure-reducing power requirement as pressure-reducing control information.

4. The method for controlling the loading and unloading of a balance ring according to claim 3, characterized in that, After collecting the weight of the balance ring as the blanking weight, the following steps are also included: S51: Acquire workpiece image and use it as the blanking image; S52: Based on the material feeding image, identify the balance ring image and retrieve the corresponding image size as the material feeding size, and define the image size corresponding to the material feeding weight before collection as the reference size; S53: Determine the dimensional variation value by combining the blanking size and the reference size; S54: Calculate the product between the size change value and the preset image scale and use it as the pressure movement value; S55: Determine the adjustment value of the moving power by combining the comprehensive value of grouting and the value of pressure movement; S56: Add the mobile power adjustment value to the pressure control information and output it to the preset drive component (4) to grasp the balance ring.

5. The method for controlling the loading and unloading of a balance ring according to claim 4, characterized in that, After determining the mobile power adjustment value, the following is also included: S551: Calculate the difference between the increase in irrigation and the increase in irrigation amount, and use it as the irrigation deviation value; S552: Determine whether the injection deviation value is positive; S553: ​​If yes, continue to output the mobile power adjustment value; S554: If not, then collect the preset moving speed value of the pressure component (1); S555: Determine the sway power adjustment value by combining the injection deviation value and the moving speed value; S556: Adjust and update the moving power adjustment value based on the shaking power adjustment value.

6. The method for controlling the loading and unloading of a balance ring according to claim 5, characterized in that, The methods for determining the sway power adjustment value include: S5551: Determine the deviation benchmark value based on the irrigation weight value; S5552: Determine whether the injection deviation value is less than the deviation reference value; S5553: If yes, output the preset sway reference adjustment value and use it as the sway power adjustment value; S5554: If not, calculate the ratio between the irrigation deviation value and the irrigation weight value and use it as the deviation ratio value; S5555: Adjust the power value by determining the proportional unit based on the deviation ratio value; S5556: Calculate the product between the proportional unit adjustment power value and the moving speed value and use it as the sway power adjustment value.

7. The method for controlling the loading and unloading of a balance ring according to claim 5, characterized in that, Also includes: S81: When the injection increase does not fall within the injection reference range and the injection deviation value is positive, the liquid image is obtained by combining the feeding image with the preset liquid characteristics. S82: Determine the liquid area value and liquid location point based on the liquid image and the discharge image; S83: Determine the liquid thickness value by combining the injection deviation value and the liquid area value; S84: Determine the power value per unit distance at the edge based on the liquid location point; S85: Calculate the product between the liquid thickness value and the unit power value of the edge distance and use it as the rotation output power value, and output the rotation output power value to the preset drive component (4) to rotate the balance ring.

8. The method for controlling the loading and unloading of a balance ring according to claim 7, characterized in that, Methods for determining the unit power value at the edge distance include: S841: Based on the material feeding image, identify the balance ring image and the contour to obtain the contour position point; S842: Select the nearest contour location point based on the liquid location point and calculate the liquid edge distance value; S843: Determine whether there is only one contour location point; S844: If yes, then determine the power value per unit distance at the edge based on the liquid edge distance value; S845: If not, the largest liquid edge distance value is selected as the selected edge distance value; S846: Determine the power per unit distance at the edge based on the selected edge distance value.

9. A balance ring loading and unloading device, characterized in that, A method for controlling the loading and unloading of a balance ring as described in any one of claims 1 to 8, comprising: The pressing component (1) is used to abut against and press against the inner wall of the balance ring; The robotic arm body (2) is used to control the movement of the pressing component; Mounting plate (3) is disposed on the side of the robot body (2) near the pressing component (1) and is used for mounting the pressing component (1); The drive assembly (4) is located on the side of the mounting plate (3) away from the robot body (2) and is used to drive the pressing assembly (1) to rotate; A weight detection device (5) is disposed between the drive assembly (4) and the robot body (2) and is used to detect weight; The pressing assembly (1) includes an abutting block (6) for abutting against the inner wall of the balance ring, a rotating block (7) for driving the abutting block (6) to rotate, and a connecting post (8) for connecting the abutting block (6) and the rotating block (7). The rotating block (7) is rotatably connected to the driving assembly (4) at one end near the driving assembly (4). The abutting block (6) is located on the side of the rotating block (7) away from the driving assembly (4), and the connecting post (8) is located on the side of the rotating block (7) away from the mounting plate (3). When the driving component (4) drives the rotating block (7) to rotate, the abutting block (6) moves toward the inner wall of the balance ring.

10. A balance ring loading and unloading device according to claim 9, characterized in that: The drive assembly (4) is provided with a mounting strip (9), and a lighting device (10) for providing illumination and an image detection device (11) for acquiring images are provided on the side of the mounting strip (9) away from the drive assembly (4).

Images