CN116638298A - Screw suction head, screw driving machine, screw flat spring pad detection system and method - Google Patents
Screw suction head, screw driving machine, screw flat spring pad detection system and method Download PDFInfo
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- CN116638298A CN116638298A CN202310584642.XA CN202310584642A CN116638298A CN 116638298 A CN116638298 A CN 116638298A CN 202310584642 A CN202310584642 A CN 202310584642A CN 116638298 A CN116638298 A CN 116638298A
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- screw
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- flat spring
- flat
- spring pad
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- 238000001514 detection method Methods 0.000 title claims abstract description 21
- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000000007 visual effect Effects 0.000 claims abstract description 7
- 230000000903 blocking effect Effects 0.000 claims abstract description 6
- 238000012545 processing Methods 0.000 claims abstract description 5
- 230000008859 change Effects 0.000 claims description 4
- 238000005286 illumination Methods 0.000 claims description 2
- 239000000463 material Substances 0.000 abstract description 6
- 238000013461 design Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- NIXOWILDQLNWCW-UHFFFAOYSA-N acrylic acid group Chemical group C(C=C)(=O)O NIXOWILDQLNWCW-UHFFFAOYSA-N 0.000 description 1
- 238000010009 beating Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000007494 plate polishing Methods 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 239000012780 transparent material Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- General Physics & Mathematics (AREA)
- Geophysics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The application relates to the technical field of assembly and discloses a screw suction head, a screw driving machine, a screw flat spring pad detection system and a screw flat spring pad detection method. Screw suction head: the perspective suction nozzle is detachably connected to the suction end of the main suction nozzle; the main body suction nozzle and the perspective suction nozzle are provided with spaces for accommodating screws; a step baffle for blocking the flat pad is arranged in the perspective suction nozzle. The method for detecting the flat spring pad of the screw comprises the following steps: the method comprises the following steps: sucking the screw sleeved with the flat spring pad by adopting the screw suction head; taking a picture of the screw suction head and the screw, wherein the picture shows the complete outline of the screw; and (3) visual processing, namely judging whether the flat pad and the elastic pad exist or not according to the difference of pixel values in the flat elastic pad area. According to the technical scheme, the split screw with the flat spring pad can be well sucked through the screw suction head. Through the special material design of perspective suction nozzle, and flat pad and bullet pad can hold in the interior space of perspective suction nozzle, with the help of the flat bullet pad detection method of screw, can effectively detect whether the screw cover has flat bullet pad.
Description
Technical Field
The application relates to the technical field of assembly, in particular to a screw suction head, a screw driving machine, a screw flat spring pad detection system and a screw flat spring pad detection method.
Background
At present, many kinds of screw machines exist in the market, but most of the screw machines do not have the function of detecting whether a flat spring pad exists in a screw integrated with a non-flat spring pad. Because most of screw driving equipment in the market at present is used for flattening the integrative screw of bullet pad screw, so need not to distinguish there is the flat bullet pad. However, in some conventional processes, the screwdriving device also requires screwdriving the spring washer screw; in this case, the screw machine on the market often cannot meet the use requirements.
Disclosure of Invention
The application provides a screw suction head, a screw driving machine, a screw flat spring pad detection system and a screw flat spring pad detection method, which are used for solving the technical problem that whether a screw is provided with a flat spring pad or not cannot be detected in the prior art.
According to an aspect of the present application, there is provided a screw head comprising:
a main body suction nozzle;
and
the perspective suction nozzle is detachably connected to the suction end of the main suction nozzle;
wherein, the main body suction nozzle and the perspective suction nozzle are provided with a space for accommodating screws; a step baffle for blocking the flat pad is arranged in the perspective suction nozzle.
In one embodiment, the perspective suction nozzle is in threaded connection with the main body suction nozzle, and the perspective suction nozzle is sleeved outside the main body suction nozzle.
In one embodiment, a cross recess is formed in the channel inside the body nozzle that blocks the nut.
According to an aspect of the present application, there is provided a screw driving machine comprising a screw head as claimed in any one of the preceding claims.
According to an aspect of the present application, an embodiment provides a screw flat spring pad detection system, including:
a screw head as claimed in any one of the preceding claims;
a light source for providing illumination to the screw head;
and
and the camera is used for shooting the screw suction head and the screw sucked in the screw suction head.
According to an aspect of the present application, an embodiment provides a method for detecting a flat spring pad of a screw, including the following steps:
s1, sucking a screw sleeved with a flat spring pad by adopting the screw suction head;
s2, taking a picture of the screw suction head and the screw, wherein the picture shows the complete outline of the screw;
s3, visual treatment;
wherein step S3 comprises the sub-steps of:
s31, in the photo, creating a region of interest for detecting the flat spring pad;
s32, cutting out an interested region, performing binarization processing, and extracting a flat spring pad region;
s33, judging whether the flat pad and the elastic pad exist or not according to the difference of pixel values in the flat elastic pad area.
In one embodiment, in step S32, a region of interest of the detection flat spring pad is manually created, and the region of interest is rectangular.
In one embodiment, the angle of inclination of the rectangle is equal to the angle of inclination of the screw.
In one embodiment, in step S32, the flat spring pad region is a region having a gray value of 0 to 128.
In an embodiment, step S3 further comprises the sub-steps of:
s34, selecting an area close to the edge of the screw, and generating a plurality of straight lines tangent to the edge of the screw; selecting the point with the maximum gray gradient change on each line, and finding out the edge point of the screw;
s35, fitting the plurality of edge points found in the previous step into a straight line, and obtaining the inclination angle of the screw;
wherein, step S34 and step S35 are arranged before step S31.
According to the embodiment of the application, the split screw with the flat spring pad can be well sucked through the screw suction head. Through the special material design of perspective suction nozzle, and flat pad and bullet pad can hold in the inner space of perspective suction nozzle, with the help of the flat bullet pad detection method of screw, can effectively detect whether the screw cover has flat bullet pad, avoid beating the screw that lacks flat bullet pad and lead to product defect.
In addition, the screw driving machine and the screw flat spring pad detection system comprise screw suction heads, and have the same technical effects.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present application, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view (semi-cut) of a screw head according to one embodiment;
FIG. 2 is a schematic perspective view of a screw head in one embodiment;
FIG. 3 is a schematic diagram of the cross recess configuration in one embodiment;
FIG. 4 is a schematic diagram of a screw flat spring pad detection system according to an embodiment;
FIG. 5 is a flow chart of a method for detecting a flat spring pad of a screw in one embodiment;
FIG. 6 is a schematic view of an embodiment in which a flat spring pad is sleeved on a screw and the screw is straight;
FIG. 7 is a schematic view of an embodiment in which a flat spring pad is sleeved on a screw and the screw is inclined;
FIG. 8 is a schematic illustration of an embodiment without flat spring pads on the screw;
FIG. 9 is a schematic view of an embodiment without flat pads but with spring pads on the screw;
FIG. 10 is a schematic view of a screw with a flat pad but without a spring pad in one embodiment;
reference numerals:
1-spring pad; 2-flat pad; 3-a screw; 4-cross grooves; 5-step baffle; 6-a main body suction nozzle; 7-perspective suction nozzle; 11-a camera; 12-lens; 13-a light source; 14-the test object.
Detailed Description
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.
In order to enable those skilled in the art to better understand the present application, the following description will make clear and complete descriptions of the technical solutions according to the embodiments of the present application with reference to the accompanying drawings. It will be apparent that the described embodiments are merely some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like herein are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the application herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It will be understood that when an element such as a layer, film, region, or substrate is referred to as being "on" another element, it can be directly on the other element or intervening elements may also be present. In addition, in the present application, when an element is described as being "connected" to another element, the element may be "directly connected" to the other element or "connected" to the other element through a third element.
Example 1
Referring to fig. 1-3, one embodiment provides a screw head comprising: a main body suction nozzle 6 and a perspective suction nozzle 7; the perspective suction nozzle 7 is detachably connected to the suction end of the main suction nozzle 6; wherein, the main body suction nozzle 6 and the perspective suction nozzle 7 are provided with a space for accommodating the screw 3; a step baffle 5 for blocking the flat pad 2 is arranged in the perspective suction nozzle 7. Wherein the perspective suction nozzle 7 is preferably a transparent suction nozzle; of course, translucent suction nozzles are also feasible.
In one embodiment, the perspective suction nozzle 7 is in threaded connection with the main suction nozzle 6, and the perspective suction nozzle 7 is sleeved outside the main suction nozzle 6.
In one embodiment, a cross recess 4 is formed in the passage inside the body nozzle 6 to block the nut.
The screw suction head needs to stably suck the screw 3 sleeved with the flat spring pad. Specifically, the screw 3 is taken out by the screw suction head in a true hole suction manner. In order to display the sucking state of the flat spring pad and detect the missing condition of the flat spring pad of the split screw 3, the screw suction head is divided into two parts; the suction nozzle comprises a main suction nozzle 6 made of SUS304 material and a transparent suction nozzle made of acrylic material, wherein the two suction nozzles are connected by internal and external threads. The main body suction nozzle 6 is provided with a cross groove 4 for blocking the screw cap, and the transparent suction nozzle is provided with a step baffle 5 capable of blocking the flat pad 2. When the screw 3 is in a successful sucking state, the nut part is covered by the main body suction nozzle 6, and the elastic pad 1 and the flat pad 2 are accommodated in the transparent suction nozzle.
In addition, a screw visual detection mechanism can be configured, and the mechanism can take a picture from the side to detect whether the perpendicularity of the screw 3 and the flat elastic pad material are missing or not; the following description will be made in the third embodiment and the fifth embodiment.
Example two
An embodiment provides a screw driving machine comprising the screw head of the above embodiment.
The technical scheme of the application can be applied to automatic assembling equipment (automatic screw driving machine) for the subarray micro band plate of the radiating unit in the aerospace field, and can be further applied to all screw driving equipment.
Example III
Referring to fig. 4, an embodiment provides a screw flat spring pad detection system, including: the screw head in the above embodiment, the light source 13 for illuminating the screw head and the camera 11; the camera 11 is used for photographing the screw suction head and the screw 3 sucked therein.
In the above technical solution, the camera 11 has a lens 12, which can take a picture from the side; then, the perpendicularity of the screw 3 is detected by a screw flat spring pad detection method (an embodiment IV and an embodiment V are described), and whether the flat spring pad material on the screw 3 is missing or not is detected.
Example IV
One embodiment provides a method for detecting a flat spring pad of a screw, which comprises the following steps:
s1, sucking a screw 3 sleeved with a flat pad 2 and an elastic pad 1 by using the screw suction head in the embodiment;
s2, taking a picture of the screw suction head and the screw 3 through a camera 11, wherein the picture shows the complete outline of the screw 3;
s3, visual treatment;
wherein step S3 comprises the sub-steps of:
s34, selecting an area close to the edge of the screw 3, and generating a plurality of straight lines tangent to the edge of the screw 3; selecting the point with the maximum gray gradient change on each line, and finding out the edge point of the screw 3;
s35, fitting the plurality of edge points found in the previous step into a straight line, and obtaining the inclination angle of the screw 3;
s31, in the photo, creating a region of interest for detecting the flat spring pad;
s32, cutting out an interested region, performing binarization processing, and extracting a flat spring pad region;
s33, judging whether the flat pad 2 and the elastic pad 1 exist or not according to the difference of pixel values in the flat elastic pad area.
In one embodiment, in step S32, a region of interest of the detection flat spring pad is manually created, and the region of interest is rectangular. Preferably, the rectangle is an angled rectangle, i.e. the rectangle may be set in an inclined state, the inclination angle of the rectangle being equal to the inclination angle of the screw 3.
In one embodiment, in step S32, the flat spring pad region is a region having a gray value of 0 to 128.
Example five
Referring to fig. 5-10, an embodiment provides a method for detecting a flat spring pad of a screw, the flow of which is shown in fig. 5, and specifically includes the following steps:
s10, stably sucking the screw 3 sleeved with the flat spring pad through the screw suction head, wherein the schematic diagram is shown in figure 1;
s20, well acquiring and detecting a shot picture of the screw 3, wherein a schematic diagram is shown in FIG. 4;
the screw suction head is vertically moved into the visual field of the horizontally placed camera 11, the outline of the detected object 14 (the screw 3 and the flat elastic pad sleeved on the screw 3) is perfectly presented by adopting a back plate polishing mode, and the photo taking face of the detected object 14 is enabled to be free from shielding by the design of the special transparent material of the perspective suction nozzle 7, so that the photo of the detected object 14, in particular the flat elastic pad, is clearly acquired.
S30, visual treatment;
a. selecting an area close to the edge of the screw 3, generating n straight lines tangent to the edge of the screw 3, and selecting a point with the maximum gray gradient change on each line, wherein the point is an edge point of the screw 3; wherein n is a positive integer greater than 2;
b. n edge points found in the previous step, wherein not every point is a valid point; a straight line (a purple straight line as shown in fig. 6-10) is fitted with the least square method; further, the inclination angle of the screw 3 can be obtained by the fitted straight line;
c. manually creating a region of interest for detecting the flat spring pad, wherein the region is an angled rectangle (i.e. the rectangle is in an inclined state), and the angle always follows the inclined angle of the screw 3, so that the screw 3 cannot be detected;
d. cutting out the image through the region of interest, and performing binarization processing; because the images marked by the backlight are all black and white, the area with the extracted gray value of 0-128 is the flat spring pad area; the existence of the flat spring pad can be judged by judging the difference of (all) pixel values in the final extraction area: only flat pad 2, only spring pad 1, both flat spring pads or both flat spring pads. The pixel values of the flat spring pad have larger differences, and the pixel values of the flat spring pad and the pixel values of the perspective suction nozzle 7 can be understood to be quite different, so that the existence of the flat spring pad can be perfectly detected by the method.
Fig. 6 to 10 show the effect of detecting the presence of a flat spring pad on the screw 3.
In the above technical solution, it should be noted that:
1. the screw 3 sleeved with the flat spring pad needs to be stably sucked and cannot fall off; the screw suction head can achieve the aim;
2. the screw 3 and the flat spring pad are clearly shot; the screw flat spring pad detection system and the screw suction head are matched to achieve the purpose;
3. a region is created in the vision process that can follow the swing of the screw 3 to accurately extract the flat spring pad portion (i.e., the flat spring pad region).
The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (10)
1. A screw head, comprising:
a main body suction nozzle;
and
the perspective suction nozzle is detachably connected to the suction end of the main suction nozzle;
wherein, the main body suction nozzle and the perspective suction nozzle are provided with a space for accommodating screws; a step baffle for blocking the flat pad is arranged in the perspective suction nozzle.
2. The screw suction head as set forth in claim 1 wherein said perspective nozzle is threadably connected to said main nozzle, said perspective nozzle being sleeved outside of said main nozzle.
3. A screw head according to claim 1 or 2, wherein the body nozzle has a cross recess formed in the channel inside the nozzle to block the nut.
4. A screw driver comprising a screw head according to any one of claims 1-3.
5. A screw flat spring pad detection system, comprising:
a screw head according to any one of claims 1 to 3;
a light source for providing illumination to the screw head;
and
and the camera is used for shooting the screw suction head and the screw sucked in the screw suction head.
6. The screw flat spring pad detection method is characterized by comprising the following steps of:
s1, sucking a screw sleeved with a flat spring pad by adopting the screw suction head according to any one of claims 1-3;
s2, taking a picture of the screw suction head and the screw, wherein the picture shows the complete outline of the screw;
s3, visual treatment;
wherein step S3 comprises the sub-steps of:
s31, in the photo, creating a region of interest for detecting the flat spring pad;
s32, cutting out an interested region, performing binarization processing, and extracting a flat spring pad region;
s33, judging whether the flat pad and the elastic pad exist or not according to the difference of pixel values in the flat elastic pad area.
7. The method according to claim 6, wherein in step S32, a region of interest for detecting the flat spring pad is manually created, and the region of interest is rectangular.
8. The method for detecting a flat spring pad for a screw according to claim 7, wherein the inclination angle of the rectangle is equal to the inclination angle of the screw.
9. The method of claim 6, wherein in step S32, the flat spring pad region is a region having a gray value of 0 to 128.
10. A method for detecting a flat spring pad of a screw according to any one of claims 6-9, wherein step S3 further comprises the substeps of:
s34, selecting an area close to the edge of the screw, and generating a plurality of straight lines tangent to the edge of the screw; selecting the point with the maximum gray gradient change on each line, and finding out the edge point of the screw;
s35, fitting the plurality of edge points found in the previous step into a straight line, and obtaining the inclination angle of the screw;
wherein, step S34 and step S35 are arranged before step S31.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310584642.XA CN116638298A (en) | 2023-05-23 | 2023-05-23 | Screw suction head, screw driving machine, screw flat spring pad detection system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310584642.XA CN116638298A (en) | 2023-05-23 | 2023-05-23 | Screw suction head, screw driving machine, screw flat spring pad detection system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116638298A true CN116638298A (en) | 2023-08-25 |
Family
ID=87624023
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310584642.XA Pending CN116638298A (en) | 2023-05-23 | 2023-05-23 | Screw suction head, screw driving machine, screw flat spring pad detection system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116638298A (en) |
-
2023
- 2023-05-23 CN CN202310584642.XA patent/CN116638298A/en active Pending
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