Wave spring loading detection method

Abstract

The application is suitable for the technical field of wave spring processing, and provides a wave spring loading detection method, which comprises a wave spring loading device.The device comprises a clamping assembly, a conveying assembly arranged on one side of the clamping assembly, a detection assembly installed on the conveying assembly, and a wave spring arranged on the conveying assembly.The conveying assembly is used for conveying the wave spring.The clamping assembly comprises a support base, a rotating disc installed on the support base, a first driving motor installed on the rotating disc, a first rotating arm installed at the output end of the first driving motor, a second driving motor installed on the first rotating arm, a second rotating arm installed at the output end of the second driving motor, an adjusting shaft rotatably arranged on the second rotating arm, and an installation assembly fixed on the adjusting shaft.The wave spring center and the gap position of the wave spring are clamped through the positioning component, so that the wave spring can be accurately clamped and the gap clamping position of the wave spring is consistent.

Description

Technical Field

[0001] This invention relates to the field of wave spring processing technology, and more specifically, to a wave spring feeding and detection method. Background Technology

[0002] A wave spring is a thin-walled elastic metal ring with a wave-shaped profile. It usually has one or more openings of a predetermined width in its circumferential direction. These openings are functional structures that enable the wave spring to compensate for elastic deformation, preload during assembly, and avoid stress concentration during service.

[0003] Currently, in the automated feeding and assembly process of wave springs, the common clamping method is to use parallel pneumatic grippers to directly grip the wave spring from the outer edge and position it based on the overall center position of the wave spring. Since the wave spring will rotate randomly during the conveying process, the gap orientation of each wave spring will be irregularly distributed. The relative position of the gripper to the gap is different each time the gripper closes: sometimes the gripper fingers just press on the gap opening, sometimes the gripper completely avoids the gap, and sometimes it partially covers the gap area.

[0004] However, when the grippers press on the gap, the spring opening will undergo unexpected plastic deformation under the action of external force, causing the gap width to shrink or expand. In severe cases, the spring will lose its preload function. Even if the grippers do not directly press on the gap, the uneven distribution of clamping force due to the low stiffness of the spring ends on both sides of the gap will cause the spring to slide slightly or tilt within the grippers, resulting in errors in the subsequent processing of the spring and a decrease in yield.

[0005] To address the above problems, this invention proposes a method for detecting the feeding of wave springs. Summary of the Invention

[0006] In view of the shortcomings of the existing technology, the purpose of this invention is to provide a method for detecting the feeding of wave springs.

[0007] To achieve the above objectives, the present invention provides the following technical solution: A method for detecting the feeding of a spring includes a spring feeding device. The device includes a clamping assembly, a conveying assembly disposed on one side of the clamping assembly, a detection assembly mounted on the conveying assembly, and a spring disposed on the conveying assembly for transmitting the spring. The clamping assembly includes a support base, a rotating disk mounted on the support base, a first drive motor mounted on the rotating disk, a first rotating arm mounted on the output end of the first drive motor, a second drive motor mounted on the first rotating arm, a second rotating arm mounted on the output end of the second drive motor, an adjusting shaft rotatably disposed on the second rotating arm, an installation assembly fixed on the adjusting shaft, and positioning components equidistantly mounted in a circle on the installation assembly. Step 1: Send the wave spring to the detection area and trigger visual recognition; Step 2: Use the detection component to extract the center coordinates of the spring, the center point of the gap, the gap angle and the width, so as to provide the gripping parameters for the clamping component; Including step 201, image acquisition is completed through the detection component to provide a clear original image for subsequent identification of the spring contour and gap; Step 202: The detection component extracts the overall contour and locates the center of the wave spring; Step 2023: Extract and filter the outline of the wave spring, and determine the state of the wave spring; Specifically, a contour tracing algorithm is used to extract all outer contours, which are then sorted in descending order of area. The contour with the largest area is selected as the wave spring contour. For the selected contour point set, the least squares method is used to fit a circle to calculate the center of the fitted circle (a, b), and then the centroid is calculated. Calculate the distance between the center of the fitted circle and the centroid; The formula for calculating Euclidean distance is as follows:

[0008] If the distance is less than 2mm, it is determined that the centroid and the center of the circle are basically coincident and the spring shape is symmetrical and complete. If the distance is greater than or equal to 2mm, it is determined that the spring has been significantly deformed and the system marks it as "abnormal shape". It will no longer be used for normal clamping. Step 203: Locate the gap opening on the wave spring; Step 3: Based on the visual detection results of the detection component, plan the gripping posture of the clamping component to complete the gripping and transfer of the wave spring.

[0009] The present invention is further configured such that step 1 includes: step 101, the conveying component continuously feeds the wave spring to the position of the clamping component; Step 102: The wave spring moves on the conveying assembly to the position of the detection assembly, and the conveying assembly stops.

[0010] The present invention is further configured such that step 102 includes: A through-beam photoelectric sensor is installed on the conveying assembly. The optical path of the through-beam photoelectric sensor crosses the top of the conveying assembly and is located at half the thickness of the spring. When there is no spring, the receiver continuously receives the light beam. When the leading edge of the spring passes by, the light beam is blocked, and the receiver outputs a signal. The rising edge of the signal is captured by the programmable controller, which sends a position stop command to the conveying assembly. The conveying assembly performs dynamic braking, causing the servo motor to decelerate rapidly to zero, ensuring that the spring stops at the center of the field of view of the detection assembly.

[0011] The present invention is further configured such that step 3 includes: step 301, adjusting the shaft to drive the mounting assembly to adjust the position of the positioning component so that the center of the positioning component is aligned with the center of the wave spring; Step 302: The positioning component performs a clamping action, applying a clamping force to the wave spring; Step 303: Transfer the clamped spring.

[0012] The present invention is further configured such that step 202 also includes: Step 2021: Preprocess and enhance the acquired raw image; firstly, convert the raw image to grayscale: convert the 24-bit color image to an 8-bit single-channel grayscale image, using the following formula:

[0013] Next, Gaussian filtering is performed to reduce noise in the image, suppressing high-frequency noise while preserving edge information.

[0014] The present invention is further configured such that step 202 also includes step 2022, performing adaptive binarization and connected component segmentation on the image.

[0015] The present invention is further configured such that step 301 also includes: based on the gap center angle Positioning is configured to set a safe clamping direction threshold, ensuring that the clamping position of the positioning component avoids the center angle of the gap. Within a range of ±15°, the clamping force is evenly applied to the continuous section of the wave spring. At the same time, with the center of the wave spring (a, b) as the center of the gripper, the programmable controller drives the clamping assembly according to the planned trajectory, so that the positioning component reaches the target position and is in the clamping state.

[0016] The present invention is further configured such that: the positioning component includes a positioning mounting block, the positioning mounting block is fixed on a fixing plate, a positioning slider is slidably disposed inside the positioning mounting block, a first clamping claw and a second clamping claw are symmetrically disposed on the positioning slider, a first limiting block and a supporting plate are disposed on the first clamping claw, the first limiting block and the supporting plate are disposed in sequence above and below, and a second limiting block is disposed on the second clamping claw; Step 302 includes the first limiting block and the second limiting block abutting against each other to restrict the upper end movement of the spring, and the supporting plate supporting the spring from below to prevent the spring from falling, thus restricting the lower end movement of the spring. An embodiment of the present invention also provides a network-side server, including: At least one processor; and a memory communicatively connected to said at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, which, when executed by the at least one processor, enables the at least one processor to perform the above-described spring loading detection method.

[0017] Embodiments of the present invention also provide a computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the above-described wave spring feeding detection method.

[0018] In summary, this application includes at least one of the following beneficial technical effects: By setting the wave spring to be conveyed on the conveying assembly, the conveying assembly continuously and smoothly linearly conveys the wave spring. When it is conveyed to the gripping position, the detection assembly identifies the center coordinates and rotation angle of the wave spring in real time. The clamping assembly initiates multi-degree-of-freedom coordinated motion based on the feedback data: the rotating disk first coarsely adjusts the azimuth angle, the first drive motor and the second drive motor work together to complete height and pitch compensation, the adjusting shaft adjusts the clamping posture, the positioning component aligns with the center of the wave spring and the gap position of the wave spring to clamp it, and the wave spring is sent to the detection area, triggering visual recognition. The detection assembly then extracts the center of the wave spring. Coordinates, gap center point, gap angle, and width provide gripping parameters for the clamping component. Image acquisition is completed by the detection component, providing clear original images for subsequent spring contour and gap recognition. The detection component extracts the overall contour and centers the spring, extracts and filters the spring contour, determines the spring's state, and locates the gap opening position on the spring. Based on the visual detection results of the detection component, the gripping posture of the clamping component is planned to complete the gripping and transfer of the spring, achieving the effect of accurately clamping the spring and maintaining a consistent spring gap clamping position. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of a wave spring feeding device according to the present invention.

[0020] Figure 2 for Figure 1 A schematic diagram of the explosion structure.

[0021] Figure 3 for Figure 2 Schematic diagram of the middle section.

[0022] Figure 4 for Figure 3 A schematic diagram of the clamping state structure.

[0023] Figure 5 for Figure 4 A schematic diagram of the explosion structure.

[0024] Figure 6 for Figure 5 A schematic diagram of the overall structure of the positioning component.

[0025] Figure 7 for Figure 6 A schematic diagram of the explosion structure.

[0026] Figure 8 for Figure 2 A schematic diagram of the overall structure of the conveyor component.

[0027] Figure 9 This is a flowchart of a spring feeding detection method according to the present invention.

[0028] Figure 10 for Figure 9 The flowchart for step 1.

[0029] Figure 11 for Figure 9 The flowchart for step 2.

[0030] Figure 12 for Figure 9 The flowchart for step 3.

[0031] Figure 13 This is a schematic diagram of the network-side server provided according to the second embodiment of the present invention.

[0032] Explanation of reference numerals in the attached figures: 1. Clamping assembly; 11. Support base; 12. Rotary disk; 13. First drive motor; 14. First rotating arm; 15. Second rotating arm; 16. Second drive motor; 17. Adjusting shaft; 18. Mounting assembly; 181. Rotating mounting plate; 182. Fixing plate; 183. Insertion interface; 19. Positioning component; 191. Positioning mounting block; 1911. Air inlet; 1912. Air outlet; 192. Positioning slider; 193. First clamping claw; 194. First limiting block; 195. Second clamping claw; 196. Second limiting block; 197. Support plate; 198. Insertion block; 2. Conveying assembly; 21. Conveying support frame; 22. Transmission component; 23. Third drive component; 3. Detection components; 31. Detection mounting rod; 32. Extension plate; 33. Detection camera; 4. Wave spring; 5. Intake valve. Detailed Implementation

[0033] To make the technical problems, technical solutions and beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments, but this is not intended to limit the present invention.

[0034] It should be noted that when a component is referred to as "connected to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0035] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0036] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0037] Throughout this specification, reference to "an embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment is included in at least one embodiment of this application. Therefore, the phrases "in one embodiment," "in some embodiments," or "in some of these embodiments" appear in various places throughout the specification, and not all refer to the same embodiment. Furthermore, in one or more embodiments, a particular feature, structure, or characteristic may be combined in any suitable manner.

[0038] Please see Figure 1-13 The present invention provides the following technical solutions: To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0039] See Figure 1 and Figure 2 A spring feeding device includes a clamping assembly 1, a conveying assembly 2 disposed on one side of the clamping assembly 1, a detection assembly 3 mounted on the conveying assembly 2, and a spring 4 disposed on the conveying assembly 2. The conveying assembly 2 is used to transport the spring 4. The clamping component 1 grips the wave spring 4 and moves the position of the wave spring 4. The conveying component 2 conveys the wave spring 4 to the position of the clamping component 1. The detection component 3 is used to detect the position and attitude of the wave spring 4 and feeds back the position and attitude information of the wave spring 4 to the clamping component 1. The clamping component 1 grips the wave spring 4 according to the information fed back by the detection component 3.

[0040] See Figures 2 to 5 The clamping assembly 1 includes a support base 11, a rotating disk 12 mounted on the support base 11, a first drive motor 13 mounted on the rotating disk 12, a first rotating arm 14 mounted on the output end of the first drive motor 13, a second drive motor 16 mounted on the first rotating arm 14, a second rotating arm 15 mounted on the output end of the second drive motor 16, an adjusting shaft 17 rotatably mounted on the second rotating arm 15, an installation assembly 18 fixed on the adjusting shaft 17, and positioning components 19 equidistantly mounted in a circular pattern on the installation assembly 18.

[0041] The rotating disk 12 rotates on the support base 11, adjusting the rotation angle of the clamping assembly 1. The first drive motor 13 drives the first rotating arm 14 to rotate, adjusting the height position. The second drive motor 16 drives the second rotating arm 15 to rotate, driving the swing position of the second rotating arm 15. The adjusting shaft 17 rotates on the second rotating arm 15, adjusting the rotation angle of the mounting assembly 18. When the mounting assembly 18 rotates, it synchronously drives the positioning component 19 to rotate. The positioning component 19 is used to clamp and stabilize the wave spring, moving the wave spring to the processing station.

[0042] By setting the wave spring 4 to be conveyed on the conveying component 2, the conveying component 2 continuously and smoothly conveys the wave spring 4 linearly. When it is conveyed to the gripping position, the detection component 3 identifies the center coordinates and rotation angle of the wave spring in real time. The clamping component 1 starts multi-degree-of-freedom coordinated motion based on the feedback data: the rotating disk 12 first coarsely adjusts the azimuth angle, the first drive motor 13 and the second drive motor 16 work together to complete the height and pitch compensation, the adjusting shaft 17 adjusts the clamping posture, and the positioning component 19 clamps the wave spring at the center and the gap position of the wave spring, so as to achieve the effect of accurately clamping the wave spring and keeping the clamping position of the wave spring gap consistent.

[0043] The rotating disk 12 is located on the support base 11 and is driven by a direct drive torque motor or a worm gear reducer motor. It can achieve continuous rotation from 0 to 360° and is used to coarsely adjust the horizontal azimuth angle of the clamping assembly. The first drive motor 13 and the second drive motor 16 are the joint motors of the first rotating arm 14 and the second rotating arm 15, respectively. They are usually AC servo motors to achieve multi-degree-of-freedom linkage.

[0044] See Figure 2 and Figure 8 The conveying assembly 2 includes a conveying support frame 21, on which a transmission component 22 is mounted, and a third drive component 23 is mounted on one side of the transmission component 22.

[0045] The conveying support frame 21 provides a setting position for the conveying component 22, so that the height position of the conveying component 22 is adapted to the position of the clamping assembly 1. The conveying component 22 conveys the wave spring 4. The conveying structure of the conveying component 22 can be belt drive. There are two drive shafts inside the belt. The belt circulates on the drive shafts, driving the wave spring 4 to move smoothly along a predetermined trajectory. The third drive component 23 is used to drive the conveying component 22. The third drive component 23 is connected to the drive shaft in the conveying component 22, drives the drive shaft to rotate, and then drives the belt to move, realizing the continuous conveying of the wave spring 4. The third drive component 23 is a servo motor.

[0046] The detection component 3 includes a detection mounting rod 31, which is fixed on the conveying support frame 21. An extension plate 32 is installed on the upper end of the detection mounting rod 31, and a detection camera 33 is installed on the extension plate 32.

[0047] The detection mounting rod 31 is fixed on the conveying support frame 21, and the detection mounting rod 31 provides an installation position for the extension plate 32. The detection camera 33 is fixed on the extension plate 32, and the extension plate 32 provides an installation reference for the detection camera 33. The detection camera 33 is a vision sensor used to collect image information of the wave spring 4 in real time during the conveying process, and to identify its contour, center coordinates and rotation angle through a built-in algorithm. The extension plate 32 serves as an adjustment bracket, which can finely adjust the installation height and pitch angle of the detection camera 33 in the vertical direction to ensure that the imaging field of view completely covers the movement area of ​​the wave spring 4. Mounting assembly 18 includes a rotating mounting plate 181, with a fixing plate 182 mounted on one end of the rotating mounting plate 181. The fixing plate 182 is provided with a plug-in interface 183. The positioning component 19 includes a positioning mounting block 191, which is fixed on the fixing plate 182. A positioning slider 192 is slidably disposed inside the positioning mounting block 191. A first clamping claw 193 and a second clamping claw 195 are symmetrically disposed on the positioning slider 192. A first limiting block 194 and a supporting plate 197 are disposed on the first clamping claw 193. The first limiting block 194 and the supporting plate 197 are arranged vertically in sequence. A second limiting block 196 is disposed on the second clamping claw 195. A plug-in block 198 is disposed on the positioning mounting block 191.

[0048] The mounting block 191 is provided with an air inlet 1911 and an air outlet 1912, which are used to control the two positioning sliders 192 to move closer and further apart. When air enters through the air inlet 1911, the two positioning sliders 192 move closer together, causing the first clamping claw 193 and the second clamping claw 195 to move closer together and clamp the wave spring 4. The first limiting block 194 and the second limiting block 196 abut against each other to avoid applying excessive clamping force to the wave spring 4. When air exits through the air outlet 1912, it causes the first clamping claw 193 and the second clamping claw 195 to move further apart and release the wave spring 4.

[0049] An air inlet valve 5 is installed on the fixed plate 182, through which air enters into the air inlet 1911. Optionally, an air outlet valve is also installed on the fixed plate 182, which is used to discharge air through the air outlet 1912.

[0050] The plug block 198 is fixed in the plug interface 183, thereby fixing the positioning component 19 to the fixing plate 182.

[0051] The positioning mounting block 191 is fixed on the fixing plate 182. The positioning mounting block 191 has a sliding groove for the positioning slider 192 to slide along. The sliding of the positioning slider 192 is driven by air pressure. There are two positioning sliders 192, which are symmetrically arranged on both sides of the sliding groove with the first clamping claw 193 and the second clamping claw 195 respectively. The two positioning sliders 192 drive the first clamping claw 193 and the second clamping claw 195 to move synchronously towards or away from each other, thereby clamping and releasing the wave spring 4. The first limiting block 194 and the second limiting block 196 abut against each other to limit the upper movement position of the wave spring. The abutting plate 197 abuts against one side of the second limiting block 196 to limit the lower movement position of the wave spring. The first limiting block 194, the second limiting block 196 and the abutting plate 197 constitute a limiting structure for the upper and lower positions, which together constrain the axial movement of the wave spring during the clamping process and ensure the positioning accuracy of the wave spring end face.

[0052] A spring feeding detection method includes the aforementioned spring feeding device, and also includes a programmable logic controller (PLC) installed in the spring feeding device. The PLC performs real-time data acquisition, analysis, and feedback closed-loop control.

[0053] See Figure 9 and Figure 10 Step 1: Send the wave spring 4 to the detection area and trigger visual recognition.

[0054] Step 101: The conveying component 2 continuously feeds the wave spring 4 to the position of the clamping component 1.

[0055] Specifically, the wave spring 4 is placed flat on the transmission component 22, on the surface of the belt of the transmission component 22. The third drive component 23 is a servo motor, whose output shaft is connected to the drive shaft of the transmission component 22 through a coupling. The servo driver receives pulse commands from the host computer and controls the third drive component 23 to operate at a constant speed, driving the belt to make uniform linear motion. The continuous movement of the belt of the transmission component 22 drives the wave spring 4 to move.

[0056] As an example, guide bars are set on the conveyor support frame 21. When the wave spring 4 lies flat on the belt surface, the two side bars only allow it to translate along the conveying direction, forcibly restricting its axial rotation and lateral displacement. Even if the belt vibrates, the wave spring cannot stand on its side or stack, providing a consistent initial posture for subsequent visual inspection.

[0057] Step 102: The wave spring 4 moves on the conveying assembly 2 to the position of the detection assembly 3, and the conveying assembly stops.

[0058] Specifically, a through-beam photoelectric sensor (not shown in the figure) is installed on the conveying component 2 on both sides of the conveying support frame 21. The optical path of the through-beam photoelectric sensor crosses the top of the transmission component 22 and is located at half the thickness of the spring 4. When there is no spring, the receiving end continuously receives the light beam. When the leading edge of the spring 4 passes by, the light beam is blocked, and the receiving end outputs a signal. The rising edge of the signal is captured by the programmable controller, and a position stop command is sent to the third drive component 23. The third drive component 23 performs dynamic braking, which causes the servo motor to decelerate rapidly to zero, ensuring that the spring stops at the center of the field of view of the detection component 3.

[0059] See Figure 9 and Figure 11 Step 2: Use the detection component 3 to extract the center coordinates of the spring, the center point of the gap, the gap angle and the width, so as to provide gripping parameters for the clamping component 1.

[0060] Step 201: Image acquisition is completed through detection component 3, providing a clear original image for subsequent identification of the spring contour and gap.

[0061] Specifically, the detection camera 33 is a global shutter industrial camera, and the detection mounting rod 31 is fixed to the side of the conveyor support frame 21 by a threaded base to ensure that the vertical height is adjustable. The extension plate 32 is connected to the detection mounting rod 31 by bolts at one end and extends to the top of the belt at the other end. The extension plate 32 has slots and holes. The extension plate 32 slides along the detection mounting rod 31 to change the distance between the detection camera 33 and the surface of the transmission component 22. The detection camera 33 moves left and right in the long slots to align the lens optical axis with the center line of the belt.

[0062] Step 202: The detection component 3 extracts the overall contour and locates the center of the wave spring 4.

[0063] Step 2021: Preprocess and enhance the acquired raw images.

[0064] Specifically, the original image is first converted to grayscale: the 24-bit color image is converted to an 8-bit single-channel grayscale image, using the following formula:

[0065] Next, Gaussian filtering is performed to reduce noise in the image, eliminate high-frequency noise, and preserve edge information. As an example, if an image has a backlight problem, perform histogram equalization to enhance the contrast between the wave spring and the background.

[0066] Step 2022: Perform adaptive binarization and connected component segmentation on the image.

[0067] Specifically, the Otsu method is used to automatically calculate the segmentation threshold. Based on maximizing the inter-class variance, the image is divided into foreground (wave spring) and background. Under backlight conditions, the wave spring area has low gray level (dark) and the background has high gray level (bright), and Otsu can stably separate them. After binarization, the main body of the wave spring is black (pixel value 0) and the background is white (255).

[0068] Perform a closing operation (expansion followed by erosion) using a circular structuring element (3 pixels in radius) to fill the tiny holes inside the spring caused by the waveform ripples (these holes may form isolated white areas in the binary image), ensuring that the entire spring forms a continuous connected domain.

[0069] Step 2023: Extract and filter the outline of the wave spring 4, and determine the state of the wave spring 4.

[0070] Specifically, the Suzuki contour tracking algorithm is used to extract all outer contours, which are then sorted in descending order of area. The contour with the largest area is selected as the wave spring contour. For the selected contour point set, the least squares method is used to fit a circle to calculate the center of the fitted circle (a, b), and then the centroid is calculated. Calculate the distance between the center of the fitted circle and the centroid; The formula for calculating Euclidean distance is as follows:

[0071] If the distance is less than 2mm, it is determined that the centroid and the center of the circle are basically coincident and the spring is symmetrical and complete. If the distance is greater than or equal to 2mm, it is determined that the spring has been significantly deformed and the system marks it as "abnormal shape". It will no longer be used for normal clamping.

[0072] Step 203: Position the gap opening on the positioning spring 4; Specifically, taking the center of the spring (a, b) as the pole, a ray is drawn at 1° intervals. The grayscale jump points are scanned along each ray, and the radial distance between the inner and outer edges of the spring is recorded. Under normal circumstances, the radial thickness (outer diameter - inner diameter) at each angle is basically constant, equal to the spring wall thickness; however, at the gaps, due to material loss, the radial thickness suddenly increases to 2-4 times the normal value. A continuous angular interval is found... , The thickness is abnormal, and the midpoint of this interval is the center angle of the gap. .

[0073] The formula for calculating the angle of the gap center point is as follows:

[0074] in, This is the starting angle of the radial thickness anomaly range. This is the end angle of the radial thickness anomaly region. The center angle of the gap.

[0075] The coordinates of the gap center are obtained based on the angle of the gap center point. , ).

[0076] See Figures 7 to 12 Step 3: Based on the visual detection results of the detection component 3, plan the gripping posture of the clamping component 1 to complete the gripping and transfer of the wave spring 4.

[0077] Step 301: Adjusting shaft 17 drives mounting assembly 18 to adjust the position of positioning component 19 so that the center of positioning component 19 is aligned with the center of wave spring 4.

[0078] Specifically, based on the center angle of the gap Position, set a safe clamping direction threshold, so that the clamping position of the positioning component 19 avoids the center angle of the gap. Within a range of ±15°, the clamping force is evenly applied to the continuous section of the wave spring 4. At the same time, with the center (a, b) of the wave spring 4 as the center of the gripper, the programmable controller drives the clamping component 1 according to the planned trajectory, so that the positioning component 19 reaches the target position and is in the clamping state.

[0079] Step 302: Positioning component 19 performs a clamping action, applying a clamping force to wave spring 4.

[0080] Specifically, the first limiting block 194 and the second limiting block 196 abut against each other to restrict the upper end movement of the wave spring, and the supporting plate 197 supports the wave spring 4 from below to prevent the wave spring 4 from falling and restricts the lower end movement of the wave spring, thus forming an upper and lower clamping structure that completely restricts the movement of the wave spring in the vertical direction and prevents the wave spring from slipping off due to gravity or acceleration after being gripped.

[0081] Step 303: Transfer the clamped spring 4.

[0082] Specifically, the clamping assembly 1 moves the wave spring 4 to the processing station according to the preset path. After reaching the target position, the solenoid valve is de-energized, the positioning slider 192 moves in the opposite direction, the gripper opens, and at the same time the first limit block 194, the second limit block 196 and the abutment plate 197 release the wave spring 4 to complete the unloading. The wave spring 4 falls into the positioning groove of the processing station by its own gravity.

[0083] The second embodiment of the present invention relates to a network-side server, such as... Figure 13 As shown, it includes at least one processor 302; and a memory 301 communicatively connected to at least one processor 302; wherein the memory 301 stores instructions executable by at least one processor 302, the instructions being executed by at least one processor 302 to enable at least one processor 302 to perform the above-described data processing method.

[0084] The memory 301 and processor 302 are connected via a bus, which may include any number of interconnecting buses and bridges. The bus connects various circuits of one or more processors 302 and memory 301 together. The bus can also connect various other circuits, such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. A bus interface provides an interface between the bus and the transceiver. The transceiver can be a single element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices over a transmission medium. Data processed by processor 302 is transmitted over a wireless medium via an antenna, which further receives data and transmits it to processor 302.

[0085] Processor 302 is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interfaces, voltage regulation, power management, and other control functions. Memory 301 can be used to store data used by processor 302 during operation.

[0086] The third embodiment of the present invention relates to a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the spring loading detection method of the first embodiment.

[0087] The steps of the various methods described above are only for clarity. In practice, they can be combined into one step or some steps can be split into multiple steps. As long as they include the same logical relationship, they are all within the scope of protection of this patent. Adding insignificant modifications or introducing insignificant designs to the algorithm or process, but without changing the core design of the algorithm and process, are also within the scope of protection of this patent.

[0088] The above descriptions are merely embodiments of the present invention. Commonly known structures and characteristics are not described in detail here. Those skilled in the art are aware of all common technical knowledge in the field prior to the application date or priority date, are aware of all existing technologies in that field, and have the ability to apply conventional experimental methods prior to that date. Those skilled in the art can, under the guidance of this application, improve and implement this solution in combination with their own capabilities. Some typical known structures or methods should not be obstacles for those skilled in the art to implement this application. It should be noted that those skilled in the art can make several modifications and improvements without departing from the structure of the present invention. These should also be considered within the scope of protection of the present invention, and will not affect the effectiveness of the implementation of the present invention or the practicality of the patent. The scope of protection claimed in this application should be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

[0089] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for detecting the feeding of wave springs, characterized in that: The device includes a spring feeding device, which includes a clamping assembly (1), a conveying assembly (2) disposed on one side of the clamping assembly (1), a detection assembly (3) mounted on the conveying assembly (2), a spring (4) disposed on the conveying assembly (2), the conveying assembly (2) being used to transmit the spring (4), the clamping assembly (1) including a support base (11), a rotating disk (12) mounted on the support base (11), a first drive motor (13) mounted on the rotating disk (12), a first rotating arm (14) mounted on the output end of the first drive motor (13), a second drive motor (16) mounted on the first rotating arm (14), a second rotating arm (15) mounted on the output end of the second drive motor (16), an adjusting shaft (17) rotatably disposed on the second rotating arm (15), an installation assembly (18) fixed on the adjusting shaft (17), and positioning components (19) equidistantly mounted in a circle on the installation assembly (18). Step 1: Send the wave spring (4) to the detection area and trigger visual recognition; Step 2: Use the detection component (3) to extract the center coordinates of the spring, the center point of the gap, the gap angle and the width, so as to provide gripping parameters for the clamping component (1); Including step 201, image acquisition is completed through the detection component (3) to provide a clear original image for subsequent identification of the spring contour and gap; Step 202, the detection component (3) extracts the overall contour and locates the center of the wave spring (4); Step 2023: Extract and filter the outline of the wave spring (4) and determine the state of the wave spring (4); Specifically, a contour tracing algorithm is used to extract all outer contours, which are then sorted in descending order of area. The contour with the largest area is selected as the wave spring contour. For the selected contour point set, the least squares method is used to fit a circle to calculate the center of the fitted circle (a, b), and then the centroid is calculated. Calculate the distance between the center of the fitted circle and the centroid; The formula for calculating Euclidean distance is as follows: If the distance is less than 2mm, it is determined that the centroid and the center of the circle are basically coincident and the spring shape is symmetrical and complete. If the distance is greater than or equal to 2mm, it is determined that the spring has been significantly deformed and the system marks it as "abnormal shape". It will no longer be used for normal clamping. Step 203: Position the gap opening on the positioning wave spring (4); Step 3: Based on the visual detection results of the detection component (3), plan the gripping posture of the clamping component (1) to complete the gripping and transfer of the wave spring (4).

2. The spring feeding detection method according to claim 1, characterized in that: Step 1 includes: Step 101, the conveying assembly (2) continuously feeds the wave spring (4) to the position of the clamping assembly (1); Step 102, the wave spring (4) moves on the conveying assembly (2) to the position of the detection assembly (3), and the conveying assembly (2) stops.

3. The spring feeding detection method according to claim 2, characterized in that: Step 102 includes: A photoelectric sensor is installed on the conveying component (2). The light path of the photoelectric sensor crosses the top of the conveying component (2) and is located at half the thickness of the spring (4). When there is no spring, the receiving end continuously receives the light beam. When the leading edge of the spring (4) passes by, the light beam is blocked and the receiving end outputs the signal rising edge captured by the programmable controller and sends a position stop command to the conveying component (2). The conveying component (2) performs dynamic braking, which makes the servo motor decelerate rapidly to zero, ensuring that the spring stops at the center of the field of view of the detection component (3).

4. The spring feeding detection method according to claim 1, characterized in that: Step 3 includes: Step 301, adjusting the shaft (17) drives the mounting assembly (18) to adjust the position of the positioning component (19) so that the center of the positioning component (19) is aligned with the center of the wave spring (4); Step 302, the positioning component (19) performs a clamping action, applying a clamping force to the wave spring (4); Step 303: Transfer the clamped wave spring (4).

5. The spring feeding detection method according to claim 1, characterized in that: Step 202 also includes: Step 2021: Preprocess and enhance the acquired raw image; firstly, convert the raw image to grayscale: convert the 24-bit color image to an 8-bit single-channel grayscale image, using the following formula: Next, Gaussian filtering is performed to reduce noise in the image, suppressing high-frequency noise while preserving edge information.

6. The spring feeding detection method according to claim 5, characterized in that: Step 202 also includes: Step 2022, performing adaptive binarization and connected component segmentation on the image.

7. The spring feeding detection method according to claim 3, characterized in that: Step 301 also includes: based on the gap center angle Position, set a safe clamping direction threshold, so that the clamping position of the positioning component (19) avoids the center angle of the gap. Within a range of ±15°, the clamping force is evenly applied to the continuous section of the wave spring (4). At the same time, with the center (a, b) of the wave spring (4) as the center of the gripper, the programmable controller drives the clamping component (1) according to the planned trajectory, so that the positioning component (19) reaches the target position and is in the clamping state.

8. The spring feeding detection method according to claim 7, characterized in that: The positioning component (19) includes a positioning mounting block (191), which is fixed on a fixing plate (182). A positioning slider (192) is slidably disposed inside the positioning mounting block (191). A first clamping claw (193) and a second clamping claw (195) are symmetrically disposed on the positioning slider (192). A first limiting block (194) and a supporting plate (197) are disposed on the first clamping claw (193). The first limiting block (194) and the supporting plate (197) are arranged vertically. A second limiting block (196) is disposed on the second clamping claw (195). Step 302 includes the first limiting block (194) and the second limiting block (196) abutting to restrict the upper end movement position of the wave spring, and the supporting plate (197) supporting the wave spring (4) below to prevent the wave spring (4) from falling and restricting the lower end movement position of the wave spring.

9. A network-side server, characterized in that, include: At least one processor; The device includes a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the spring feeding detection method as described in any one of claims 1 to 8.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the spring feeding detection method according to any one of claims 1 to 8.

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