CN113247371B - Full-intelligent unmanned filling and transferring production line for lithium salt of lithium battery - Google Patents

Full-intelligent unmanned filling and transferring production line for lithium salt of lithium battery Download PDF

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Publication number
CN113247371B
CN113247371B CN202110536872.XA CN202110536872A CN113247371B CN 113247371 B CN113247371 B CN 113247371B CN 202110536872 A CN202110536872 A CN 202110536872A CN 113247371 B CN113247371 B CN 113247371B
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flange
fastening hole
bolt
unit
filling
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CN113247371A (en
Inventor
张文博
李蔡君
郑广瑞
佘津津
寇振伟
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Ningbo Glauber Intelligent Industry Co ltd
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Ningbo Glauber Intelligent Industry Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
    • B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B1/00—Packaging fluent solid material, e.g. powders, granular or loose fibrous material, loose masses of small articles, in individual containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, or jars
    • B65B1/04—Methods of, or means for, filling the material into the containers or receptacles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B31/00—Packaging articles or materials under special atmospheric or gaseous conditions; Adding propellants to aerosol containers
    • B65B31/02—Filling, closing, or filling and closing, containers or wrappers in chambers maintained under vacuum or superatmospheric pressure or containing a special atmosphere, e.g. of inert gas
    • B65B31/025—Filling, closing, or filling and closing, containers or wrappers in chambers maintained under vacuum or superatmospheric pressure or containing a special atmosphere, e.g. of inert gas specially adapted for rigid or semi-rigid containers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B39/00—Nozzles, funnels or guides for introducing articles or materials into containers or wrappers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B57/00—Automatic control, checking, warning, or safety devices
    • B65B57/02—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of binding or wrapping material, containers, or packages
    • B65B57/04—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of binding or wrapping material, containers, or packages and operating to control, or to stop, the feed of such material, containers, or packages

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Dispersion Chemistry (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention provides a lithium battery lithium salt fully-intelligent unmanned filling and transferring production line based on a visual image processing technology, wherein particularly an optimized visual image processing scheme and an automatic assembly structure can quickly and accurately realize the alignment of a filling interface and conveniently realize the reliable sealing of the filling interface without manual participation and complex interface assembly preparation, thereby being beneficial to efficiently and reliably realizing the filling and transferring operation of lithium salt under the condition of no human intervention and being particularly suitable for factory application scenes.

Description

Full-intelligent unmanned filling and transferring production line for lithium salt of lithium battery
Technical Field
The invention relates to the technical field of lithium batteries, in particular to a lithium battery lithium salt full-intelligent unmanned filling and transferring production line.
Background
In modern industrial automation production, an automatic filling machine is an important component, however, at present, many filling machines in enterprises adopt manual filling or semi-automatic filling, and particularly, filling of eccentric barrels is applied more rarely. Causing great harm to the health of workers who fill toxic or corrosive and highly permeable liquids for long-term operation. In addition, the work speed of the semi-automatic filling or manual filling system is affected by the limit of human physiological speed, and the staff must be provided with a heavy protection device, so that the long-time single filling work is very easy to cause physical fatigue, thereby the defects of reducing the work efficiency, increasing the product loss, increasing the mutual pollution of the filled materials and the production environment, being incapable of ensuring the filling quality and the like are caused, and accidents are very easy to happen. The manually filled data cannot be timely and accurately input into the quality management system, and the integration of the measurement and control system is not facilitated. In addition, expense is a significant concern, and semi-automatic filling or manual filling systems require constant wage for workers.
Disclosure of Invention
In order to solve the problems, the invention provides a fully-intelligent unmanned lithium battery lithium salt filling and transferring production line based on a visual image processing technology, wherein an optimized visual image processing scheme and an automatic assembly structure can quickly and accurately realize alignment of a filling interface, and conveniently realize reliable sealing of the filling interface, manual participation and complex interface assembly preparation are not needed, the lithium salt filling and transferring operation can be efficiently and reliably realized under the condition of no human intervention, and the lithium salt filling and transferring production line is particularly suitable for factory application scenes.
Specifically, the lithium battery lithium salt full-intelligent unmanned filling and transferring production line comprises an AGV carrying module, a cleaning module, a weighing module, a butt joint module, a filling module and an airtight detection and nitrogen replacement module, wherein:
the AGV carrying module is used for transporting a ton bucket to a filling station by using an AGV trolley, a flange of the ton bucket is provided with a first fastening hole, and the first fastening hole is a blind hole;
the cleaning module is configured to purge the AGV before the AGV reaches the filling station;
the docking module is configured to calculate a positional relationship of the ton bucket flange and a docking flange of the filling module based on visual recognition, align and engage the ton bucket flange and the docking flange, and fasten the ton bucket flange and the docking flange with bolts, the docking flange having second fastening holes, the second fastening holes being through holes;
The air tightness detection and nitrogen gas replacement module is used for detecting the connection air tightness between the ton barrel flange and the butt flange and replacing air in the ton barrel with nitrogen gas;
the filling module is used for filling lithium salt into the ton barrel;
the weighing module is used for measuring the weight of the ton bucket.
Furthermore, the butt joint module comprises a positioning mechanism, a transferring mechanism and a fastening mechanism;
the positioning mechanism is configured to: acquiring a plurality of area images of the ton barrel flange and the butt flange on the filling station, and calculating first alignment information of the ton barrel flange and the butt flange based on the area images; acquiring images of the second fastening hole and the bottom of the bolt, and calculating second alignment information of the bolt and the second fastening hole based on the images;
the transfer mechanism is configured to move the ton drum according to the first alignment information to align and engage the ton drum flange with the docking flange;
the fastening mechanism is configured to grasp the bolt, move the bolt to be aligned with the second fastening hole according to the second alignment information, and screw the bolt into the second fastening hole and the first fastening hole.
Further, the positioning mechanism comprises an image acquisition unit, an image processing unit and a position adjusting unit;
the image acquisition unit is configured such that the ton drum flange and the docking flange are in the same image coordinate system on the same region image, and the bolt bottom and the second fastening hole are in the same image coordinate system on the same image; the image of the area of the ton barrel flange comprises a first fastening hole and a part of flange edge, and the image of the area of the butt flange comprises a second fastening hole image and a part of flange edge;
the image processing unit is configured to calculate the first alignment information from the plurality of region images, and calculate the second alignment information from images of the second fastening hole and a bolt bottom;
the position adjusting unit is used for adjusting the position of the image acquiring unit.
Further, the image acquisition unit comprises a triangular prism, a first annular light source, a second annular light source and a CCD imaging unit;
the triangular prism is provided with a first right-angle side surface, a second right-angle side surface and a long side surface, the long side surface is plated with a semi-transparent and semi-reflective film, and the first right-angle side surface is plated with a total-reflective film;
The first annular light source and the second annular light source are arranged above and below the triangular prism in parallel relative to the second right-angle side surface, the first annular light source only provides illumination light upwards, and the second annular light source only provides illumination light downwards;
the CCD imaging unit is set to be parallel to the first right-angle side face, and the photosensitive surface of the CCD imaging unit and the first right-angle side face are respectively positioned on two sides of the long side face.
Further, the image processing unit is configured to perform a circle center alignment process and an orientation alignment process in sequence;
the circle center alignment process comprises the following steps:
the first step, carrying out denoising processing on the region image, and extracting edge points from the region image;
secondly, identifying a flange edge point of the ton barrel and a first fastening hole circumferential point, as well as an edge point of the butt flange and a second fastening hole circumferential point from the extracted edge points;
a third step of calculating coordinates of a first circle center from the identified first fastening hole circumferential point and coordinates of a second circle center from the identified second fastening hole circumferential point;
a fourth step of calculating the distance between the edge point of the flange of the ton barrel and the first circle center, and screening out the adjacent edge point related to the first fastening hole based on the distance; calculating the distance between the edge point of the butting flange and the second circle center, and screening out the edge point nearby the second fastening hole on the basis of the distance;
A fifth step of using the fitting model
Figure BDA0003070054780000031
Determining a first tangent line A according to the nearby edge point of the first fastening hole1X+B1Y+C10 and a second tangent line A is determined according to the nearby edge point of the second fastening hole2X+B2Y+C2＝0Wherein, in the process,
Figure BDA0003070054780000041
Figure BDA0003070054780000042
Figure BDA0003070054780000043
in relation to the nearby edge point coordinates of the first fastening hole,
Figure BDA0003070054780000044
the value of i is 1 to M, and M is the number of the nearby edge points, wherein the coordinate of the nearby edge points of the second fastening hole is defined;
a sixth step of calculating a first radial straight line perpendicular to the first tangent line through the first circle center based on the first circle center and the first tangent line, and calculating a second radial straight line perpendicular to the second tangent line through the second circle center based on the second circle center and the second tangent line;
a seventh step of calculating a plurality of first intersection points in a pairwise intersecting manner based on the plurality of first radial straight lines, and taking the coordinate average value of the plurality of first intersection points as the circle center coordinate C of the ton bucket flange1(ii) a And calculating a plurality of second intersection points in a pairwise intersection mode based on the plurality of second radial straight lines, and taking the coordinate average value of the plurality of second intersection points as the circle center coordinate C of the butting flange2Wherein the center coordinate C 1And C2Is used to center align the ton bucket flange with a docking flange;
the orientation alignment process comprises the steps of:
acquiring the first and second radial straight lines according to the first to sixth steps;
calculating an angle α between said first and second radial linesj；
Calculating a plurality of said included angles alphajAverage value of (a)0Used as a rotation angle of the ton bucket about its center to achieve azimuthal alignment of the ton bucket flange with the docking flange.
Further, in the fourth step, the edge points are classified in an ascending order according to the distance, and the first 10-20% of the edge points are taken as the neighboring edge points.
Further, the fastening mechanism comprises a base, a displacement unit, a first driving unit, a first clamping unit, a second clamping unit, an RGB-D sensor and a screwing unit, wherein the first driving unit, the first clamping unit and the second clamping unit are arranged on the base;
the displacement unit is used for adjusting the position of the base;
the first driving unit is used for driving the first clamping unit and the second clamping unit to move relatively;
the RGB-D sensor is arranged for detecting the posture of the bolt;
the first and second clamping units are configured to grasp and clamp the bolt according to the detected posture of the bolt, and adjust the bolt to a vertically downward posture;
The screwing unit is positioned between the first clamping unit and the second clamping unit and is used for driving the bolt in a vertical downward posture to rotate.
Further, the first and second clamping units have the same structure and are arranged opposite to each other;
the clamping unit comprises a driving platform and a clamping platform;
the driving platform is provided with a second driving unit and a third driving unit, the second driving unit is used for enabling the clamping platform to rotate relative to the driving platform according to the detected bolt posture, and the third driving unit is used for driving a driving gear with a friction side face to rotate;
the clamping platform is formed with a V-shaped groove, and the drive gear is arranged such that when the bolt is clamped in the V-shaped groove, its friction side comes into contact with the bolt.
Furthermore, the screwing unit comprises a motor, a screw rod connected with an output shaft of the motor, and a connector fixed at the tail end of the screw rod;
the connector is provided with a top, an outer wall and an inner wall, the height of the inner wall is smaller than that of the outer wall, and the inner wall is connected with the outer wall through an inclined connecting part;
the top, the outer wall and the inner wall are made of rigid materials, and the inclined connecting part has deformation capacity;
The inner surface and the inner wall of the top part form a friction surface;
the inner wall defines a cavity matched with the shape of the bolt head, and the size of the cavity is slightly smaller than the bolt head.
Further, the displacement unit is configured to adjust a position of the base according to the second alignment information to align the bolt with the second fastening hole.
Drawings
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 shows a system framework diagram of a lithium battery lithium salt fully intelligent unmanned filling and transporting production line according to the present invention;
FIG. 2 shows a schematic optical path diagram of an image acquisition unit according to the present invention;
fig. 3 shows a schematic structural view of a clamping unit according to the present invention;
Fig. 4 shows a schematic structural diagram of a connecting head according to the invention.
Detailed Description
Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. The following examples are provided by way of illustration in order to fully convey the spirit of the invention to those skilled in the art to which the invention pertains. Accordingly, the present invention is not limited to the embodiments disclosed herein.
As shown in fig. 1, the fully intelligent unmanned lithium battery lithium salt filling and transferring production line according to the present invention may include an AGV delivery module, a cleaning module, a weighing module, a docking module, a filling module, and an airtight detection and nitrogen replacement module.
The AGV carrying module is used for automatically transporting the ton bucket to a filling station by utilizing the AGV trolley.
The cleaning module is used for cleaning the AGV carrying the ton bucket in a purging mode before the AGV reaches the filling station.
The butt joint module is used for determining the relative position relation between the ton barrel flange and the butt joint flange of the filling module through visual identification, realizing the alignment and the joint of the ton barrel flange and the butt joint flange, and automatically realizing the fastening connection of the ton barrel flange and the butt joint flange by using bolts.
And the air tightness detection and nitrogen replacement module is used for detecting the connection air tightness between the ton barrel flange and the butt flange and replacing the air in the ton barrel with nitrogen.
In one example, the air tightness detecting and nitrogen gas replacing module may perform the nitrogen gas replacing process after evacuating air in the ton barrel cavity to a preset pressure and repeatedly performing the evacuating and nitrogen gas filling steps for a plurality of times until a specified dew point value is reached.
After nitrogen gas replacement is accomplished to the ton bucket, can control the valve in the filling module and open in order to fill the lithium salt to the ton bucket, can also open the exhaust passage who is used for the ton bucket simultaneously to with the unnecessary gas escape in the ton bucket.
The filling module can be connected with the flange of the ton barrel through the butt joint flange so as to establish a lithium salt filling channel, and the ton barrel is filled through the control valve.
The weighing module is used for automatically metering weight information of the ton barrel so as to determine the filling amount of lithium salt.
In one example, when the weighing module measures and determines that the filling amount of the lithium salt is close to the preset value, the filling speed and time can be controlled by controlling the opening degree of a valve in the filling module, for example, so as to ensure that the filling amount of the lithium salt reaches a desired range.
In the invention, when the filling amount of the lithium salt is determined to reach the preset value by the weighing module, the filling module can close the valve and open the residual material recovery pipeline, and the nitrogen is used for purging the lithium salt remained in the lithium salt filling pipeline so as to separate the lithium salt from the pipe wall and recover the lithium salt by the residual material recovery pipeline.
After filling is complete, the ton drum may be transported away by the AGV cart. Wherein the AGV cart can be controlled to transfer the ton bucket to the cleaning module for cleaning prior to transferring it from the cleaning module to the designated location.
In the present invention, the docking module may include a positioning mechanism, a transferring mechanism, and a fastening mechanism.
The positioning mechanism is used for determining the alignment information of the two flanges according to the images of the ton barrel flange and the butt flange of the filling module, and determining the alignment information of the bolt and the fastening hole of the butt flange according to the images of the butt flange of the filling module and the bolt.
The transfer mechanism is used for moving the ton bucket according to the alignment information provided by the positioning mechanism so as to realize the alignment and the joint of the ton bucket flange and the butt flange. In the invention, the fastening holes in the flange of the ton barrel are provided as blind holes.
The fastening mechanism is used for grabbing the bolts in any posture, moving the bolts according to the alignment information provided by the positioning mechanism to align the bolts with the fastening holes of the butt flange, and screwing the bolts into the fastening holes of the butt flange and the ton barrel flange to fasten the ton barrel flange and the butt flange together.
Specifically, the positioning mechanism may include an image acquisition unit, an image processing unit, and a position adjustment unit.
The image acquisition unit is used for acquiring images of the ton barrel flange and the butt flange under the same image coordinate system and acquiring images of the fastening hole of the butt flange and the bolt.
The image processing unit is used for acquiring the alignment information of the ton barrel flange and the butt flange according to the images of the ton barrel flange and the butt flange, and acquiring the alignment information of the fastening hole and the bolt according to the images of the fastening hole and the bolt of the butt flange.
The position adjusting unit is used for adjusting the position of the image acquiring unit.
Fig. 2 shows a schematic optical path diagram of an image acquisition unit according to the invention.
As shown in fig. 2, the image acquisition unit may include a triangular prism 1, a first annular light source 2, a second annular light source 3, and a CCD imaging unit 4.
The triangular prism 1 has a first rectangular side surface 11, a second rectangular side surface 12, and a long side surface 13, wherein the long side surface 13 is coated with a transflective film, and the first rectangular side surface 11 is coated with a total reflection film.
First and second ring light sources are disposed in parallel with respect to the second right-angle side surface respectively above and below the triangular prism 1, and the first ring light source 2 supplies only the illumination light upward and the second ring light source 3 supplies only the illumination light downward. Preferably, the annular light source is a soft light source.
The CCD imaging unit 4 is disposed with its photosurface parallel to the first right-angle side surface 11 and located on both sides of the long side surface 13 with the first right-angle side surface 11, respectively.
At the filling station, the position adjustment unit moves the image acquisition unit so that it is located between the ton bucket flange and the docking flange. Therefore, the second annular light source 3 provides illumination for the ton barrel flange, and light rays from the surface of the ton barrel flange vertically enter the triangular prism through the second right-angle side surface, are reflected by the semi-transparent and semi-reflective film of the long side surface, are reflected by the total-reflective film of the first right-angle side surface and are transmitted by the semi-transparent and semi-reflective film, and then enter the CCD imaging unit; the first annular light source provides illumination for the docking flange, and light rays from the surface of the docking flange are reflected by the semi-transparent semi-reflective film on the long side face to enter the CCD imaging unit. Therefore, images of the ton bucket flange and the butt flange can be obtained under the same image coordinate system, and therefore the complex coordinate transformation operation of the image processing unit when the alignment information is calculated based on the images of the ton bucket flange and the butt flange is avoided, the calculation time is shortened, and the calculation accuracy is improved.
In the present invention, the image acquisition unit is designed to acquire images of only the flange portion area at a time, thereby allowing the image acquisition unit to have a smaller size and provide higher image pixels, avoiding the need for larger optics as required in the prior art to acquire full-size images, and thus allowing for improved optical accuracy and reduced cost.
According to the invention, at the filling station, the image acquisition unit can acquire images of a plurality of areas on the ton bucket flange and the butt flange respectively by means of the position adjustment unit. For example, the image acquisition unit may be caused to acquire N number of region images P at predetermined angular intervals θ around the circumferencejθ × N is 360 degrees, and j is 1 to N. As an example, the angular interval θ may take on the value of 30 degrees, so that the images of the areas on the ton bucket flange and the counterflange are acquired approximately uniformly in 12 different positions.
In the present invention, the region image PjIt should contain a ton bucket flange image and a docking flange image, wherein the ton bucket flange image may contain a first fastening hole image and a partial edge image on the ton bucket flange, and the docking flange image may include a second fastening hole image and a partial edge image on the docking flange.
The image acquisition unit acquires the region image PjAnd sending the image data to an image processing unit, carrying out denoising pretreatment by the image processing unit, and extracting edge points from the image data.
On the image of the flange of the ton barrel, the extracted edge points comprise points of the edge of the flange of the ton barrel and points of the circumference of the first fastening hole; on the counterflange image, the extracted edge points include a point of the counterflange edge and a point of the second fastening hole circumference.
Subsequently, from the extracted edge points, points of the flange edge and points of the fastening hole circumference can be identified, for example by means of a hough transform.
Therefore, the circle center coordinate of the first fastening hole, namely the first circle center coordinate, can be determined according to the identified point of the circumference of the first fastening hole; and determining the circle center coordinate of the identified point of the circumference of the second fastening hole, namely the second circle center coordinate.
Then, the distance between the point of the edge of the flange of the ton bucket and the first circle center can be calculated, and the edge point near the first fastening hole is screened out according to the distance; and calculating the distance between the point of the edge of the butting flange and the second circle center, and screening out the edge point near the second fastening hole according to the distance.
As an example, the edge points may be classified in ascending order according to the calculated distance values, and the first 10-20% of the edge points may be taken as edge points located near the fastening hole. These edge points can thus be regarded as tangents lying on the same straight line, i.e. on the flange edge.
In the step of screening the nearby edge points, the abnormal edge points caused by the foreign matter can be removed by using a least square method.
Further, the first tangent line a about the flange of the ton bucket may be determined according to the edge point near the screened out first fastening hole 1X+B1Y+C10; and determining a second tangent line A about the counterflange according to the edge point near the screened second fastening hole2X+B2Y+C2＝0。
In the present invention, an optimized fitting model is proposed for accurately determining the corresponding tangent equations (i.e., parameters A, B and C) from the edge points, which is as follows:
Figure BDA0003070054780000101
wherein the content of the first and second substances,
Figure BDA0003070054780000102
Figure BDA0003070054780000103
to screen out the coordinates for nearby edge points of the ton bucket flange,
Figure BDA0003070054780000104
Figure BDA0003070054780000105
for the screened coordinates of the nearby edge points of the counterflange, i takes values from 1 to M, M representing the number of screened nearby edge points.
Further, based on the area image, a first radial straight line passing through the first circle center and perpendicular to the first tangent line can be obtained through calculation according to the first circle center coordinate and the first tangent line, and a second radial straight line passing through the second circle center and perpendicular to the second tangent line can be obtained through calculation according to the second circle center coordinate and the second tangent line. Therefore, from the N area images, N first radial straight lines and N second radial straight lines can be obtained.
Then, a plurality of first intersection point coordinates can be obtained in a pairwise intersecting manner based on the N first radial straight lines, and an average value of the plurality of first intersection point coordinates is used as a circle center coordinate C of the ton bucket flange1(ii) a And obtaining a plurality of second intersection point coordinates in a pairwise intersection mode based on the N second radial straight lines, and taking the average value of the plurality of second intersection point coordinates as the circle center coordinate C of the butting flange 2。
At this time, the center coordinates C can be used1And C2And accurately adjusting the position of the ton barrel to align the circle center of the ton barrel with the circle center of the butt flange.
After the circle centers are aligned, the image acquisition unit acquires a plurality of area images P of the ton barrel flange and the butt flange againj' and according to the above steps, from the region image Pj' obtaining a first and a second radial straight line, and calculating an included angle alpha between the first and the second radial straight linej。
Then, the image P will be displayed from N areasjN included angles alpha obtained inj(j is 1, …, N) to obtain an average value α0. Thereby, the rotation angle alpha around the center of the ton barrel can be accurately made0And the alignment of the first fastening hole on the ton barrel flange and the second fastening hole on the butt flange is realized.
At this point, the ton bucket may be raised to bring the ton bucket flange into engagement with the docking flange.
In the docking module, the image acquisition unit can be used for allowing images of the ton barrel flange and the docking flange to be acquired on the same image coordinate system, so that the position error of the center of a circle of the flange and the position error of the fastening hole can be accurately acquired based on the local image of the flange, and the alignment of the ton barrel flange and the docking flange can be realized by finely translating and rotating the ton barrel. Further, it is also allowed to acquire only a partial image of the flange at the time of positioning alignment without requiring a full image of the flange, so that it is possible to avoid a decrease in measurement accuracy and an increase in cost due to the use of a large wide-angle camera, or a decrease in calculation accuracy and an increase in processing time due to the need for an image fusion operation, and the like.
After alignment and engagement of the ton bucket flange with the docking flange is achieved by means of the docking mechanism, the fastening mechanism can be used to grab the bolt and screw it into the fastening hole of the flange to achieve a tight engagement of the ton bucket flange with the docking flange, so that an airtight connection is formed between the ton bucket and the filling module.
According to the present invention, the fastening mechanism may include a base, first and second clamping units provided on the base, and a displacement unit for adjusting a position of the base.
The base can be further provided with a first driving unit for driving the first clamping unit and the second clamping unit to move relatively so as to clamp or loosen the bolt.
In the present invention, the first and second clamping units have the same structure, and therefore, for the sake of brevity, a specific structure of the clamping unit will be described below by taking only the first clamping unit as an example.
Fig. 3 shows a schematic structural view of a clamping unit according to the present invention. As shown in fig. 3, the first clamping unit may include a driving stage 5 and a clamping stage 6.
The driving platform 5 may be provided with second and third driving units. Wherein the second drive unit is used for rotating the clamping platform 6 relative to the drive platform 5, and the third drive unit is used for driving the drive gear 7 with friction side surface to rotate. As an example, the second and third drive units may be realized by means of gears or gear sets.
A V-shaped groove 8 may also be formed in the clamping platform 6 for gripping and clamping the bolt, and the driving gear 7 is arranged such that when the bolt is clamped in the V-shaped groove, its friction side comes into contact with the bolt, so that the bolt can be driven to reciprocate along the V-shaped groove by means of friction when the driving gear is set in rotation.
In addition, an RGB-D sensor can be arranged on the base and used for detecting the posture of the bolt.
In operation, the fastening mechanism may acquire the posture of the bolt to be grasped by means of the RGB-D sensor so that the holding platform 6 can be driven to rotate by the second driving unit according to the posture of the bolt so that the posture of the V-shaped groove on the holding platform corresponds to the posture of the bolt, and then the first and second holding units are moved toward each other by the first driving unit to hold the bolt in the V-shaped groove and the holding platform is driven to rotate by means of the second driving unit so that the bolt is in an upright state.
Further, the fastening mechanism may further include a screw unit disposed on the base between the first and second clamping units, for driving the bolt to screw, thereby being screwed into the fastening hole.
Specifically, the screw unit may include a motor, a screw connected to an output shaft of the motor, and a connector at a distal end of the screw.
Fig. 4 shows a schematic structural diagram of a connecting head according to the present invention.
As shown in fig. 4, the connecting head may have a top 9, an outer wall 10 and an inner wall 11, wherein the height of the inner wall 11 is smaller than that of the outer wall 10, and both ends of the inner wall are connected with the outer wall by inclined connecting parts 12.
In the invention, the top, the outer wall and the inner wall can be made of rigid materials, the connecting part can have certain deformation capacity, friction surfaces are formed on the inner surface of the top and the inner wall, the inner wall has a shape matched with the side surface of the bolt head, and the size of a bottom opening defined by the inner wall is slightly smaller than that of the bolt head.
Therefore, when the bolt is clamped in the V-shaped grooves of the first clamping unit and the second clamping unit, the bolt can be vertically moved along the V-shaped grooves by the third driving unit until the head of the bolt passes through the bottom opening of the connecting head and enters the interior of the connecting head until the head of the bolt is abutted against the top.
The technical personnel in the field can understand that, because the bottom opening size of the connector is slightly less than the bolt head, when the bolt head enters the connector, the head of the bolt head first contacts the inclined connecting part, and because the connecting part has certain deformation capacity, the connecting part deforms under the extrusion action of the head, so that the bolt head is allowed to continue to enter the connector upwards and finally forms butt joint with the top, and at the moment, under the action of the elastic restoring force of the connecting part, pressure is formed between the inner wall of the connecting part and the side face of the bolt head. Therefore, when the motor drives the screw rod to rotate, the bolt can be driven to rotate by means of the friction force between the inner surface and the inner wall surface of the top of the connector and the head of the bolt. Furthermore, by selecting the parameters of the connection and friction surfaces, it is possible to allow a torque wrench-like effect to be provided, thereby achieving a flange connection operation more accurately.
After the above-described gripping and preparation work of the bolt is completed, the base may be moved by means of the displacement unit so that the bolt is located substantially above the fastening hole to be inserted.
Likewise, an image acquisition unit may be located between the bolt and the fastening hole using a position adjustment unit to acquire images of the lower surface of the bolt and the fastening hole of the docking flange on the same image coordinate system.
With the aid of the image processing unit, the circle center positions of the bolt lower surface image and the fastening hole can be respectively determined based on the images of the bolt lower surface and the fastening hole of the butt flange.
The displacement unit can move the base according to the circle center position of the image on the lower surface of the bolt and the circle center position of the fastening hole, so that the circle center position of the lower surface of the bolt coincides with the circle center position of the fastening hole, and therefore the bolt is aligned to the fastening hole.
In the invention, the position and dimensions of the connecting head and the clamping unit are designed such that when the head of the bolt comes into abutment with the top of the connecting head, a part of the bolt is still exposed below the clamping unit to ensure that a part of the bolt can be seated in the fastening hole before the bolt is turned.
After the alignment of the bolts with the fastening holes is achieved, the fastening mechanism may move the first and second clamp units away from each other by means of the first drive unit to allow the bolts to be screwed into the fastening holes, thereby achieving an airtight connection of the ton bucket flange to the docking flange.
Based on the above description, those skilled in the art can understand that, with the fastening mechanism of the present invention, a screw in any posture can be conveniently grasped and reliably screwed into a fastening hole without setting the posture of the screw in advance in the prior art, thereby avoiding the tedious preparation process and the situation that the deviation of the posture of the screw causes the failure of the fastening program, and improving the degree of automation and the fault-tolerant capability.
Although the present invention has been described in connection with the embodiments illustrated in the accompanying drawings, it will be readily understood by those skilled in the art that the above embodiments are exemplary only, serve to explain the principles of the invention and not to limit the scope of the invention, and that various combinations, modifications and equivalents of the above embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention.

Claims (9)

1. The utility model provides a production line is transported to unmanned filling of lithium cell lithium salt full intelligence, it includes AGV delivery module, clean module, weighing module, butt joint module, filling module and airtight detection and nitrogen gas replacement module, wherein:
the AGV carrying module is used for transporting a ton bucket to a filling station by using an AGV trolley, a flange of the ton bucket is provided with a first fastening hole, and the first fastening hole is a blind hole;
The cleaning module is configured to purge the AGV before the AGV reaches the filling station;
the docking module is configured to calculate a positional relationship of the ton bucket flange and a docking flange of the filling module based on visual recognition, align and engage the ton bucket flange and the docking flange, and fasten the ton bucket flange and the docking flange with bolts, the docking flange having second fastening holes, the second fastening holes being through holes;
the air tightness detection and nitrogen gas replacement module is used for detecting the connection air tightness between the ton barrel flange and the butt flange and replacing air in the ton barrel with nitrogen gas;
the filling module is used for filling lithium salt into the ton barrel;
the weighing module is used for measuring the weight of the ton bucket;
the butt joint module comprises a positioning mechanism, a transferring mechanism and a fastening mechanism;
the positioning mechanism is configured to: acquiring a plurality of area images of the ton barrel flange and the butt flange on the filling station, and calculating first alignment information of the ton barrel flange and the butt flange based on the area images; acquiring images of the second fastening hole and the bottom of the bolt, and calculating second alignment information of the bolt and the second fastening hole based on the images;
The transfer mechanism is configured to move the ton drum according to the first alignment information to align and engage the ton drum flange with the docking flange;
the fastening mechanism is configured to grasp the bolt, move the bolt to be aligned with the second fastening hole according to the second alignment information, and screw the bolt into the second fastening hole and the first fastening hole.
2. The filling and transfer line of claim 1, wherein the positioning mechanism comprises an image acquisition unit, an image processing unit and a position adjustment unit;
the image acquisition unit is configured such that the ton drum flange and the docking flange are in the same image coordinate system on the same region image, and the bolt bottom and the second fastening hole are in the same image coordinate system on the same image; the image of the area of the ton barrel flange comprises a first fastening hole and a part of flange edge, and the image of the area of the butt flange comprises a second fastening hole image and a part of flange edge;
the image processing unit is configured to calculate the first alignment information from the plurality of region images and calculate the second alignment information from the images of the second fastening hole and the bolt bottom;
The position adjusting unit is used for adjusting the position of the image acquiring unit.
3. The filling and transfer line of claim 2, wherein the image acquisition unit comprises a triangular prism, a first annular light source, a second annular light source, and a CCD imaging unit;
the triangular prism is provided with a first right-angle side surface, a second right-angle side surface and a long side surface, the long side surface is plated with a semi-transparent and semi-reflective film, and the first right-angle side surface is plated with a total-reflective film;
the first annular light source and the second annular light source are respectively arranged above and below the triangular prism in parallel relative to the second right-angle side surface, the first annular light source only provides illumination light upwards, and the second annular light source only provides illumination light downwards;
the CCD imaging unit is set to be parallel to the first right-angle side face, and the photosensitive surface of the CCD imaging unit and the first right-angle side face are respectively positioned on two sides of the long side face.
4. A filling and transfer line according to claim 3, wherein the image processing unit is arranged for performing the circle center alignment process and the orientation alignment process one after the other;
the circle center alignment process comprises the following steps:
the first step, carrying out denoising processing on the region image, and extracting edge points from the region image;
Secondly, identifying the edge point of the flange of the ton bucket and the circumferential point of the first fastening hole as well as the edge point of the butting flange and the circumferential point of the second fastening hole from the extracted edge points;
a third step of calculating coordinates of a first circle center according to the identified first fastening hole circumferential point and coordinates of a second circle center according to the identified second fastening hole circumferential point;
a fourth step of calculating the distance between the edge point of the flange of the ton bucket and the first circle center and screening out nearby edge points related to the first fastening holes based on the distance; calculating the distance between the edge point of the butting flange and the second circle center, and screening out the edge point close to the second fastening hole on the basis of the distance;
the fifth step, using the fitting model n ═ arg min||n||＝1nTP n, determining a first tangent line A according to the adjacent edge point of the first fastening hole1X+B1Y+C10 and determining a second tangent line A according to a nearby edge point of the second fastening hole2X+B2Y+C20, wherein,
Figure FDA0003632240510000031
Figure FDA0003632240510000032
Figure FDA0003632240510000033
to the nearby edge point coordinates of the first fastening hole,
Figure FDA0003632240510000034
i is 1 to M, and M is the number of the nearby edge points, relative to the coordinates of the nearby edge points of the second fastening hole;
A sixth step of calculating a first radial straight line perpendicular to the first tangent line through the first circle center based on the first circle center and the first tangent line, and calculating a second radial straight line perpendicular to the second tangent line through the second circle center based on the second circle center and the second tangent line;
a seventh step of calculating a plurality of first intersection points in a pairwise intersection manner based on the plurality of first radial straight lines, and taking the coordinate average value of the plurality of first intersection points as the circle center coordinate C of the ton barrel flange1(ii) a And calculating a plurality of second intersection points in a pairwise intersection mode based on the plurality of second radial straight lines, and taking the coordinate average value of the plurality of second intersection points as the circle center coordinate C of the butting flange2Wherein the center coordinate C1And C2Is used to center align the ton bucket flange with a docking flange;
the orientation alignment process comprises the steps of:
acquiring the first and second radial straight lines according to the first to sixth steps;
calculating an angle α between said first and second radial linesj；
Calculating a plurality of said included angles alphajAverage value of (a)0Used as a rotation angle of the ton bucket about its center to achieve azimuthal alignment of the ton bucket flange with the docking flange.
5. The bottling and transshipment line according to claim 4, wherein in the fourth step, the edge points are sorted in ascending order according to the distance, taking the first 10-20% as the neighboring edge points.
6. The filling and transfer line of claim 5, wherein the fastening mechanism comprises a base, a displacement unit, and a first driving unit, a first and a second clamping unit, an RGB-D sensor, and a screwing unit provided on the base;
the displacement unit is used for adjusting the position of the base;
the first driving unit is used for driving the first clamping unit and the second clamping unit to move relatively;
the RGB-D sensor is arranged for detecting the posture of the bolt;
the first and second clamping units are configured to grasp and clamp the bolt according to the detected posture of the bolt, and adjust the bolt to a vertically downward posture;
the screwing unit is positioned between the first clamping unit and the second clamping unit and is used for driving the bolt in a vertical downward posture to rotate.
7. The filling and transfer line of claim 6, wherein the first and second gripping units have the same structure and are disposed opposite to each other;
The clamping unit comprises a driving platform and a clamping platform;
the driving platform is provided with a second driving unit and a third driving unit, the second driving unit is used for enabling the clamping platform to rotate relative to the driving platform according to the detected posture of the bolt, and the third driving unit is used for driving the driving gear with the friction side face to rotate;
a V-shaped groove is formed in the clamping platform and the drive gear is configured such that when the bolt is clamped in the V-shaped groove, its friction side is in contact with the bolt.
8. The filling and transferring line of claim 7, wherein the screwing unit comprises a motor, a screw connected to an output shaft of the motor, and a connector fixed to an end of the screw;
the connector is provided with a top, an outer wall and an inner wall, the height of the inner wall is smaller than that of the outer wall, and the inner wall is connected with the outer wall through an inclined connecting part;
the top, the outer wall and the inner wall are made of rigid materials, and the inclined connecting part has deformation capacity;
the inner surface and the inner wall of the top part form a friction surface;
the inner wall defines a cavity matched with the shape of the bolt head, and the size of the cavity is slightly smaller than the bolt head.
9. The filling and transfer line of claim 8, wherein the displacement unit is configured to adjust the position of the base according to the second alignment information to align the bolt with the second fastening hole.
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