CN114435925B - Automatic distributing device for assembly screw and distributing method thereof - Google Patents
Automatic distributing device for assembly screw and distributing method thereof Download PDFInfo
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- CN114435925B CN114435925B CN202210004796.2A CN202210004796A CN114435925B CN 114435925 B CN114435925 B CN 114435925B CN 202210004796 A CN202210004796 A CN 202210004796A CN 114435925 B CN114435925 B CN 114435925B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/24—Classification techniques
- G06F18/243—Classification techniques relating to the number of classes
- G06F18/2431—Multiple classes
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N20/00—Machine learning
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/30—Computing systems specially adapted for manufacturing
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Abstract
The invention discloses an automatic distribution device for assembly screws and a distribution method thereof, and relates to the technical field of assembly screws, wherein the distribution structure comprises a distribution structure, a screw box and a distribution turntable, the distribution structure comprises an iron net formed by a telescopic mechanical arm and a plurality of iron sheets, the telescopic mechanical arm is fixedly connected with the iron sheets, and the iron net comprises four iron sheets which form penetrating holes; the screw box is inside to be provided with the accommodation chamber of iron mesh looks adaptation, the camera is installed in the top outside of screw box, the camera includes the degree of deep learning algorithm module, the screw has been placed to the inside of screw box, the top of distribution carousel is provided with equidistant storehouse of placing. The invention can extract the mixed screws one by one and distribute the mixed screws according to the types, thereby increasing the applicability of the scene; when the screw automatic identification device is used, the screw is automatically extracted, the screw is automatically identified according to the type, and the screw automatic identification device is simple in integral structure and convenient to realize.
Description
Technical Field
The invention relates to the technical field of assembly screws, in particular to an automatic assembly screw distribution device and an automatic assembly screw distribution method.
Background
The existing screw distributor can only distribute single screw, convey the same screw into the fixed track, distribute for single purpose.
Thus, when the construction is carried out on a large building site, the following defects exist:
(1) Only for a single kind of screw dispensing.
(2) The distribution direction is single, and the use scene is fixed.
(3) The whole structure is complex.
In view of the above, we have devised an autonomous distribution device for assembling screws and a distribution method thereof to solve the above problems, aiming at the problems of large number of screws, same column size, various head types and difficult classification existing in large building sites.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides an autonomous distributing device for assembling screws and a distributing method thereof.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the invention provides an autonomous distribution device for assembling screws, which comprises a distribution structure, a screw box and a distribution turntable, wherein the distribution structure comprises an iron net formed by a telescopic mechanical arm and a plurality of iron sheets, the telescopic mechanical arm is fixedly connected with the iron sheets, and the iron net comprises four penetrating holes formed among the iron sheets;
the screw box is internally provided with an accommodating cavity matched with the iron net, a camera is mounted on the outer side of the top of the screw box, the camera comprises a deep learning algorithm module, and screws are placed in the screw box;
the top of distribution carousel is provided with equidistant storehouse of placing that distributes, every place one side in storehouse and all be provided with the serial number according to the numeral order.
Preferably, a connection point is arranged between the telescopic mechanical arm and the iron sheet.
Preferably, the diameter of the penetrating hole is smaller than the diameter of the screw head and larger than the diameter of the screw tooth.
Preferably, the iron sheets on the iron net are arranged in a row.
Preferably, each iron sheet has a rectangular structure, and one corner of the iron sheet is provided with an inner groove structure forming a penetrating hole.
Preferably, the camera is connected with a computer control terminal in a wireless mode.
The invention also provides a distribution method which is applied to the automatic distribution device for the assembly screw and comprises the following steps:
s1, when the telescopic mechanical arm is used, the telescopic mechanical arm and a plurality of iron sheets are fixedly connected through connection points, and the telescopic mechanical arm controls the plurality of iron sheets to form an iron net;
s2, a camera collects photos of the top ends of the heads of the various types of screws through shooting, a screw type gallery is built, and the photos are transmitted to a computer control end;
s3, combining the telescopic mechanical arm and the iron net, putting the combined telescopic mechanical arm and the iron net into a screw box, vibrating the screw box severely left and right, separating the screw box from the iron net by the telescopic mechanical arm after the iron net is completely covered by the screws, slowly vibrating the telescopic mechanical arm slowly left and right at a uniform speed in the separation process, so that redundant screws on the iron net are separated from the iron net and fall into the screw box for secondary use, and part of screws are mounted on the iron net through penetrating holes;
s4, performing target recognition on the extracted screw heads through a camera right above the iron net, constructing a screw type recognition model by using a deep learning algorithm, and performing screw digital numbering according to the sequence from left to right and from top to bottom;
and S3, after all the extracted screws on the iron net are identified and the number is successful, moving the telescopic mechanical arm to place the iron net above the allocation turntable, controlling the telescopic mechanical arm to upwards lift the iron sheet at the left upper part of the corresponding number according to the number sequence, and simultaneously turning the allocation turntable into a placement bin corresponding to the screw type, so that the screws with the corresponding number fall into the corresponding placement bin, and finally completing automatic allocation of the assembly screws.
Preferably, in the step S5, the number of the bins placed on the distributing turntable is set based on the number of kinds of screws.
Compared with the prior art, the invention has the beneficial effects that:
1. the distribution structure comprises an iron net formed by the telescopic mechanical arm and a plurality of iron sheets, the telescopic mechanical arm is fixedly connected with the iron sheets, the iron net comprises four iron sheets, through the design of forming penetrating holes, when the distribution structure is used, the telescopic mechanical arm and the iron net are combined and placed into a screw box, and the screw box is vibrated violently left and right, so that the screw can be extracted autonomously;
2. the extracted screw heads are subjected to target recognition through the camera right above the iron net, a screw type recognition model is constructed by using a deep learning algorithm, and screw digital numbering is carried out according to the sequence from left to right and from top to bottom, so that screws can be autonomously recognized and distributed according to types, multiple types of screws are distributed, and the screw type recognition device is simple in structure, suitable for being used in different scenes and very flexible and convenient to use.
Drawings
FIG. 1 is a schematic view of an autonomous dispensing device for assembly screws and a dispensing method thereof according to the present invention;
fig. 2 is a schematic structural view of a screw box of the automatic assembly screw distribution device and the distribution method thereof according to the present invention;
fig. 3 is a schematic structural view of a distributing turntable of the automatic distributing device for assembling screws and the distributing method thereof.
In the figure: 1 distribution structure, 101 iron sheet, 102 penetrating hole, 103 tie point, 2 screw case, 3 distribution carousel, 4 camera, 5 place storehouse, 6 flexible arm.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
Referring to fig. 1-3, an autonomous distributing device for assembling screws and a distributing method thereof, the autonomous distributing device comprises a distributing structure 1, a screw box 2 and a distributing turntable 3, wherein the distributing structure 1 comprises an iron net formed by a telescopic mechanical arm 6 and a plurality of iron sheets 101, the telescopic mechanical arm 6 is fixedly connected with the iron sheets 101, and the iron net comprises four iron sheets 101, through holes 102 are formed among the iron sheets; a connecting point 103 is arranged between the telescopic mechanical arm 6 and the iron sheet 101, the diameter of the penetrating hole 102 is smaller than that of the head part of the screw and larger than that of the tooth part of the screw, the iron sheets 101 on the iron net are arranged in a 4*5 way, each iron sheet 101 is of a rectangular structure, and one corner of each iron sheet is provided with an inner groove structure forming the penetrating hole 102; wherein, the telescopic mechanical arm 6 is provided with a vibration device, and the vibration device comprises a vibrator;
the inside of the screw box 2 is provided with a containing cavity matched with the iron net, the outer side of the top of the screw box 2 is provided with a camera 4, the camera 4 comprises a deep learning algorithm module, and screws are placed in the screw box 2; the camera 4 is connected with a computer control terminal in a wireless way;
the top of the distribution turntable 3 is provided with equidistant placement bins 5, and one side of each placement bin 5 is provided with a number according to the numerical sequence.
Example 1
An autonomous dispensing device for assembly screws and a dispensing method thereof, comprising the steps of:
s1, when in use, the telescopic mechanical arm 6 is fixedly connected with a plurality of iron sheets 101 through connection points 103, and the telescopic mechanical arm 6 controls the plurality of iron sheets 101 to form an iron net; wherein, the inner groove structures at one corner of the four iron sheets are connected to form a penetrating hole 102 which is a penetrating part of a screw column body, and the diameter of the region is smaller than that of the head of the screw and larger than that of the tooth part of the screw, so as to be used for placing the screw column body;
s2, the camera 4 collects photos of the top ends of the heads of the various types of screws through shooting, establishes a screw type gallery and transmits the screw type gallery to a computer control end; the later recognition is conveniently carried out through a deep learning algorithm module of the computer control end;
s3, combining the telescopic mechanical arm 6 with the iron net and putting the iron net into the screw box 2, vibrating the screw box 2 left and right severely, driving the distribution structure 1 to lift by the telescopic mechanical arm 6 after the surface of the iron net is completely covered by the screws, separating the screw box 2 from the iron net, vibrating the telescopic mechanical arm 6 slowly left and right at uniform speed in the separation process, so that redundant screws on the iron net are separated from the iron net and fall into the screw box 2 for secondary use, and part of screws are mounted on the iron net through the penetrating holes 102;
s4, performing target recognition on the extracted screw heads through a camera 4 right above the iron net, constructing a screw type recognition model by using a deep learning algorithm, and performing screw digital numbering according to the sequence from left to right and from top to bottom;
s5, after all extracted screws on the iron net are identified and the number is successful, moving the telescopic mechanical arm 6 to place the iron net above the allocation turntable 3, controlling the telescopic mechanical arm 6 to lift the iron sheet 101 at the upper left of the corresponding number upwards according to the number sequence, and simultaneously turning the allocation turntable 3 into the placement bin 5 corresponding to the screw type, so that the screws corresponding to the number fall into the corresponding placement bin 5, and finally completing automatic allocation of the assembly screws.
In step S5, the number of bins 5 placed on the dispensing carousel 3 is set based on the number of types of screws.
When the distribution turntable 3 is rotated into the placement bin 5 corresponding to the screw type, the penetrating holes 102 in which the screws of the type are placed are separated, and when the penetrating holes are separated, the four iron pieces 101 constituting the penetrating holes 102 are driven by the telescopic mechanical arm 6, so that the screws of the type in the penetrating holes 102 can fall into the placement bin 5 corresponding to the screw type.
In the technical scheme, an iron net is constructed by combining the telescopic mechanical arm 6 and the iron sheet 101, screw mounting extraction is performed by utilizing the difference value between the diameters of the screw column body and the screw head, and meanwhile, the screw head is upwards, so that a camera can conveniently shoot the screw;
secondly, the screw is subjected to target identification by using a deep learning algorithm, classification numbering of screw types is facilitated, and the screw is automatically distributed by combining the principle of combining iron sheets 101 with an iron net, so that the screw automatic distribution device is finally assembled.
The invention designs a novel automatic distribution device for assembling screws, which aims at the problems that the number of screws is large, the sizes of the cylinders are the same but the heads are various and difficult to classify in a large building site, and can accurately extract the screws in a mixed screw box 2 by utilizing the difference value between the diameters of the screw cylinders and the heads of the screws; regarding the deep learning algorithm, deep learning is an inherent rule and expression hierarchy of learning sample data, and information obtained in these learning processes greatly helps interpretation of data such as text, images and sounds; its final goal is to have the machine have analytical learning capabilities like a person, and to recognize text, image, and sound data.
According to the invention, the extracted screws are subjected to target recognition by adopting a camera, a deep learning algorithm is used for increasing the accuracy of screw recognition, and compared with other screw distribution methods, the method can be used for recognizing various types of screws, and utilizing the iron sheet combined iron net device to distribute the screws one by one, so that the automatic screw distribution device is finally realized, the existing method for distributing only single type of screws in a large building site is changed, the problems that the number of screws in a large building site is large, the cylinders are the same, the heads are various and difficult to classify are solved, the target recognition of the screw types is performed by utilizing the deep learning, the mixed screws can be extracted one by one and distributed according to the types independently, and the scene applicability is increased; when the screw automatic identification device is used, the screw is automatically extracted, the screw is automatically identified according to the type, and the screw automatic identification device is simple in integral structure and convenient to realize.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (7)
1. The automatic distribution device for the assembly screws is characterized by comprising a distribution structure (1), screw boxes (2) and a distribution turntable (3), wherein the distribution structure (1) comprises an iron net formed by a telescopic mechanical arm (6) and a plurality of iron sheets (101), the telescopic mechanical arm (6) is fixedly connected with the iron sheets (101), and the iron net comprises four iron sheets (101) with penetrating holes (102); the diameter of the penetrating hole (102) is smaller than the diameter of the head of the screw and larger than the diameter of the tooth of the screw, and the telescopic mechanical arm (6) can drive the four iron sheets (101) forming the penetrating hole (102) to be separated;
the screw box (2) is internally provided with a containing cavity matched with the iron net, a camera (4) is installed on the outer side of the top of the screw box (2), the camera (4) comprises a deep learning algorithm module, and screws are placed in the screw box (2);
the top of the distribution turntable (3) is provided with equidistant placement bins (5), and one side of each placement bin (5) is provided with a number according to a numerical sequence.
2. The autonomous dispensing device for assembly screws according to claim 1, characterized in that a connection point (103) is provided between the telescopic mechanical arm (6) and the iron sheet (101).
3. The autonomous dispensing device for assembly screws according to claim 1, wherein said iron sheets (101) on said iron net are arranged in a 4*5 array.
4. The autonomous dispensing device for assembly screws according to claim 1, characterized in that each of said iron sheets (101) has a rectangular structure, one corner of said iron sheet being provided with an internal groove structure constituting a through hole (102).
5. The autonomous dispensing device for assembly screws according to claim 1, characterized in that said camera (4) is wirelessly connected to a computer control terminal.
6. A dispensing method applied to the autonomous dispensing device for assembling screws according to any one of claims 1 to 5, characterized by comprising the steps of:
s1, when in use, the telescopic mechanical arm (6) is fixedly connected with a plurality of iron sheets (101) through connection points (103), and the telescopic mechanical arm (6) controls the plurality of iron sheets (101) to form an iron net;
s2, a camera (4) collects top photos of heads of various types of screws through shooting, establishes a screw type gallery and transmits the screw type gallery to a computer control end;
s3, combining the telescopic mechanical arm (6) with the iron net, putting the iron net into a screw box (2), vibrating the screw box (2) left and right severely, separating the screw box (2) from the iron net by the telescopic mechanical arm (6) after the surface of the iron net is completely covered by the screws, vibrating the telescopic mechanical arm (6) slowly left and right at a uniform speed in the separation process, so that redundant screws on the iron net are separated from the iron net and fall into the screw box (2) for secondary use, and part of screws are mounted on the iron net through penetrating holes (102);
s4, performing target recognition on the extracted screw heads through a camera (4) right above the iron net, constructing a screw type recognition model by using a deep learning algorithm, and numbering screw numbers according to the sequence from left to right and from top to bottom;
s5, after all extracted screws on the iron net are identified and numbered successfully, moving the telescopic mechanical arm (6) to place the iron net above the distribution rotary table (3), controlling the telescopic mechanical arm (6) to upwards lift the iron sheet (101) at the left upper part of the corresponding number according to the numerical numbering sequence, and simultaneously turning the distribution rotary table (3) into the placement bin (5) corresponding to the screw type, so that the corresponding numerical number screws fall into the corresponding placement bin (5), and finally completing automatic distribution of the assembly screws.
7. The method according to claim 6, wherein in the step S5, the number of the bins (5) placed on the dispensing carousel (3) is set based on the number of kinds of screws.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210004796.2A CN114435925B (en) | 2022-01-04 | 2022-01-04 | Automatic distributing device for assembly screw and distributing method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210004796.2A CN114435925B (en) | 2022-01-04 | 2022-01-04 | Automatic distributing device for assembly screw and distributing method thereof |
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| Publication Number | Publication Date |
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| CN114435925A CN114435925A (en) | 2022-05-06 |
| CN114435925B true CN114435925B (en) | 2023-08-01 |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03259816A (en) * | 1990-03-09 | 1991-11-19 | Hitachi Ltd | Separating device of screw |
| CN201089136Y (en) * | 2007-08-10 | 2008-07-23 | 苏州博思特电子科技有限公司 | Telescopic-tongue type automatic nail feeding dispenser |
| CN205294166U (en) * | 2015-07-09 | 2016-06-08 | 深圳市联懋塑胶有限公司 | Divide screw device with automatically, divide screw function |
| JP2016172313A (en) * | 2015-03-16 | 2016-09-29 | 青山 省司 | Assembly device for inserting shaft-shaped component in annular component |
| CN107214101A (en) * | 2017-05-18 | 2017-09-29 | 潘州州 | The verifying attachment of bolt nut |
| CN108593653A (en) * | 2017-12-31 | 2018-09-28 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of screw classification of view-based access control model and damage detection device and method |
-
2022
- 2022-01-04 CN CN202210004796.2A patent/CN114435925B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03259816A (en) * | 1990-03-09 | 1991-11-19 | Hitachi Ltd | Separating device of screw |
| CN201089136Y (en) * | 2007-08-10 | 2008-07-23 | 苏州博思特电子科技有限公司 | Telescopic-tongue type automatic nail feeding dispenser |
| JP2016172313A (en) * | 2015-03-16 | 2016-09-29 | 青山 省司 | Assembly device for inserting shaft-shaped component in annular component |
| CN205294166U (en) * | 2015-07-09 | 2016-06-08 | 深圳市联懋塑胶有限公司 | Divide screw device with automatically, divide screw function |
| CN107214101A (en) * | 2017-05-18 | 2017-09-29 | 潘州州 | The verifying attachment of bolt nut |
| CN108593653A (en) * | 2017-12-31 | 2018-09-28 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of screw classification of view-based access control model and damage detection device and method |
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| CN114435925A (en) | 2022-05-06 |
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