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CN-121989026-A - Automatic assembling method and system for threads of water meter cover based on force feedback

CN121989026ACN 121989026 ACN121989026 ACN 121989026ACN-121989026-A

Abstract

The invention belongs to the technical field of water meter assembly. The invention provides a method and a system for automatically assembling threads of a water meter cover based on force feedback, which are characterized in that a mechanical arm is adjusted to enable the precompression amount of a terminal spring to reach a set threshold value, a system is started to acquire real-time force value data, the mechanical arm clamps the cover to apply axial pressure and reversely rotate to find an entry point to continuously acquire the force value data, signal processing and entry point identification are carried out on the force value data, sliding window mean filtering is carried out on the force value data, a wave crest and wave trough are detected by a three-point comparison method, the wave crest and wave trough force value fall is calculated, the effective entry point is judged when the preset threshold value is exceeded, assembly is carried out, reverse rotation is stopped in set time, stable tangential and forward rotation of the axial pressure is kept, the strategy is slowly started to fix the angle rotation, and the monitoring torque is stopped when the set value is exceeded, so that the alarm is given.

Inventors

  • YANG TONGFENG
  • Zong Shaoguo
  • QIAO XINXIAO

Assignees

  • 山东厚德测控技术股份有限公司
  • 山东政法学院

Dates

Publication Date
20260508
Application Date
20251211

Claims (10)

  1. 1. The automatic assembling method for the threads of the water meter cover based on force feedback is characterized by comprising the following steps of: After the watchcase is fixed on a tooling plate of the electronic scale, controlling the mechanical arm to align a cover of the water meter with the watchcase, adjusting the position of the mechanical arm to enable the pre-compression amount of a spring at the tail end of the mechanical arm to reach a set threshold value, and starting to acquire real-time force value data of the electronic scale; The mechanical arm clamps the meter cover and applies preset axial pressure, and simultaneously performs reverse rotation operation to find a thread cutting point, and continuously acquires the real-time force value data; Preprocessing the real-time force value data by adopting sliding window mean value filtering, detecting wave crests and wave troughs of the filtered data by a three-point comparison method, calculating the force value drop between the nearest wave crest and the current wave trough, and judging that an effective thread cutting point is detected when the force value drop is larger than a preset force value drop threshold; And in the assembly execution step, controlling the mechanical arm to stop rotating reversely in a set time after the detection of the effective thread cutting point, keeping the axial pressure stable, switching from a reverse rotation mode to a forward rotation mode, gradually increasing the rotation speed by adopting a slow start control strategy, and executing forward rotation according to a preset constant speed and a fixed rotation angle to complete the thread assembly of the watch cover and the watch case, monitoring the torque in real time in the forward rotation process, and stopping the machine to give an alarm when the torque exceeds the set value.
  2. 2. The automatic assembling method for the threads of the water meter cover based on force feedback according to claim 1, wherein, The sliding window mean filtering is realized by maintaining a sampling point data buffer zone with a fixed size, and the data buffer zone adopts a first-in first-out mechanism to update data.
  3. 3. The automatic assembling method for the threads of the water meter cover based on force feedback according to claim 1, wherein, The filtered data is stored in a circular buffer with a fixed sampling point number, the judging logic of wave crest detection is that the previous data point of the current data point is simultaneously larger than the adjacent front and rear data points, and the judging logic of wave trough detection is that the previous data point of the current data point is simultaneously smaller than the adjacent front and rear data points.
  4. 4. The automatic assembling method for the threads of the water meter cover based on force feedback according to claim 1, wherein, The reverse rotation is anticlockwise rotation, the forward rotation is clockwise rotation, and when a preset fixed rotation angle is reached in the forward rotation process, the system automatically controls the mechanical arm to stop moving.
  5. 5. The automatic assembling method for the threads of the water meter cover based on force feedback according to claim 1, wherein, Detecting peaks and troughs of the filtered data by a three-point comparison method, comprising: When (when) And (3) with When the two wave peaks are simultaneously established, judging that the wave peaks are wave peaks; When (when) And (3) with When the two are simultaneously established, judging that the wave trough is formed; Wherein, the Represents the first The filtered force values at each instant in time, Represents the first The filtered force values at each instant in time, Represents the first Filtered force values at each instant.
  6. 6. The automatic assembling method for the threads of the water meter cover based on force feedback according to claim 1, wherein, Calculating a force value drop between a nearest peak and a current trough, comprising: ; Wherein, the Representing the value of the force at the peak of the wave, Representing the force value at the trough of the wave, Representing the force value drop.
  7. 7. A force feedback-based automatic assembling system for threads of a water meter cover is characterized in that, The electronic scale comprises a mechanical arm, a spring, clamping jaws, an electronic scale and a control terminal, wherein the tail end of the mechanical arm is connected with the spring, the spring is connected with the clamping jaws, the clamping jaws are used for clamping a meter cover of a water meter, and a meter case is fixed on a tooling plate of the electronic scale; the control terminal is configured to perform the force feedback based water meter housing thread automatic assembly method of any one of claims 1-6.
  8. 8. Force feedback-based automatic assembling system for threads of a water meter cover of a water meter, which is characterized by comprising: the initial state setting unit is configured to control the mechanical arm to place the water meter on a tooling plate of the electronic scale, adjust the position of the mechanical arm to enable the pre-compression amount of a spring at the tail end of the mechanical arm to reach a set threshold value, and start to collect real-time force value data of the electronic scale; The mechanical arm clamps the meter cover and applies preset axial pressure, and simultaneously performs reverse rotation operation to find a thread cutting point, so as to continuously acquire the real-time force value data; The signal processing and cutting-in point identifying unit is configured to preprocess the real-time force value data by adopting sliding window mean value filtering, detect wave crests and wave troughs of the filtered data by a three-point comparison method, calculate the force value drop between the nearest wave crest and the current wave trough, and judge that an effective thread cutting-in point is detected when the force value drop is larger than a preset force value drop threshold; And the assembly execution unit is configured to control the mechanical arm to stop rotating reversely in a set time after the detection of the effective thread cutting point is judged, keep the axial pressure stable and switch from a reverse rotation mode to a forward rotation mode, gradually increase the rotation speed by adopting a slow start control strategy, and execute forward rotation according to a preset constant speed and a fixed rotation angle to complete the thread assembly of the meter cover and the meter shell, monitor the torque in real time in the forward rotation process, and stop the machine to give an alarm when the torque exceeds the set value.
  9. 9. A computer device comprises a processor and a computer-readable storage medium; A processor adapted to execute a computer program; a computer readable storage medium having a computer program stored therein, which when executed by the processor, implements the force feedback based water meter cover thread auto-assembly method of any one of claims 1 to 6.
  10. 10. A computer readable storage medium, characterized in that it stores a computer program adapted to be loaded by a processor and to perform the force feedback based automatic assembly method of the threads of a water meter cover according to any of claims 1 to 6.

Description

Automatic assembling method and system for threads of water meter cover based on force feedback Technical Field The invention relates to the technical field of water meter assembly, in particular to a method and a system for automatically assembling threads of a water meter cover based on force feedback. Background The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art. In the field of water meter manufacturing, along with the expansion of industrial production scale and the popularization of automation technology, the automation upgrading of the water meter assembly flow has become an important direction of industry development, and aims to improve the production efficiency, reduce the labor cost and ensure the consistency of the product assembly quality through automatic equipment. The meter cover and the meter shell of the water meter are used as core component parts, the connection stability of the meter cover and the meter shell directly influences the sealing performance and the long-term use reliability of the water meter, and the fixing and sealing of the meter cover and the meter shell are realized in a threaded connection mode in the industry at present, so that the threaded assembly link becomes one of key procedures in the automatic assembly flow of the water meter. With the development of the precise assembly technology, the force feedback technology is more and more focused in the industrial automation precise assembly scene by virtue of the advantage that the force feedback technology can capture the change of mechanical signals in the assembly process in real time, so that important technical support is provided for solving the precise control problem in the screw assembly process, and the transition from the traditional mechanical positioning to the intelligent perception control of the screw assembly is promoted. In the process of automatically assembling the threads of the meter cover and the meter shell of the current water meter, a plurality of technical bottlenecks still exist in the traditional assembly scheme. Traditional direct screw assembly mode relies on preset mechanical motion orbit to operate more, lacks the effective perception and the adjustment to real-time mechanical state in the assembly process, leads to the screw dislocation or the cross-engagement's of easy emergence in the assembly process condition, can not only cause the screw structure damage of table cover, watchcase, influences the product qualification rate, still can lead to the production line to shut down because of assembly trouble, reduces whole production efficiency. Meanwhile, the traditional assembly scheme lacks an effective flexibility compensation mechanism, cannot adapt to small differences of different types of water meters in the dimensions of a meter cover and a meter case, and needs to carry out complex adjustment on a mechanical structure every time the specifications of products are switched, so that equipment debugging cost and time cost are increased. In addition, the positioning accuracy and reliability of the traditional assembly mode are greatly influenced by environmental factors, the consistency of batch assembly is difficult to ensure, and the assembly deviation still needs to be corrected by manual intervention in part of scenes, so that the upgrading and optimization of the automatic assembly flow of the water meter are further restricted. Disclosure of Invention In order to solve the defects of the prior art, the invention provides an automatic assembling method and system for a water meter cover thread based on force feedback, which are used for realizing full-automatic and accurate positioning of a thread assembling process by deeply integrating a force feedback sensing technology and an intelligent signal processing technology, wherein a carried jump detection algorithm can capture characteristic signals of a thread cutting moment in real time, the optimal assembling position can be accurately locked without manual intervention, the assembling efficiency and the product consistency are greatly improved, and compared with a traditional mechanical positioning mode, the intelligent positioning technology based on force feedback has higher positioning precision and operation reliability, and can meet the requirements of various complex assembling scenes. In order to achieve the above purpose, the present invention adopts the following technical scheme: In a first aspect, the invention provides an automatic assembly method for threads of a water meter cover based on force feedback. A force feedback-based automatic assembling method for threads of a water meter cover comprises the following steps: After the watchcase is fixed on a tooling plate of the electronic scale, controlling the mechanical arm to align a cover of the water meter with the watchcase, adjusting the position of the mechanical