阅读说明：本技术 螺旋线的调整方法 (Method for adjusting spiral line ) 是由 张志强 耿复 高志强 马天军 张欣玲 于 2020-12-31 设计创作，主要内容包括：本发明涉及螺旋线的调整方法,包括：通过视觉传感器对螺旋线成像；对比成像与一基准图像,若成像中的螺旋线的图像与基准图像中的螺旋线的图像的重合度符合预设初始位置,则螺旋线到达预设初始位置；否则,通过取线针绕自身轴线转动和/或沿自身轴向运动调整螺旋线,直至螺旋线到达预设初始位置。在处于预设初始位置的成像中选取螺旋线端部的部分区域作为选取区域,若成像中的螺旋线选取区域的灰度值与基准图像中的螺旋线选取区域的灰度值比较结果符合预设条件,则螺旋线到达安装位置；否则,通过取线针绕自身轴线转动和/或沿自身轴向运动调整螺旋线,直至判断螺旋线到达安装位置。本发明调整螺旋线简单且准确,可靠性高。(The invention relates to a method for adjusting a spiral line, which comprises the following steps: imaging the spiral line by a vision sensor; comparing the imaging with a reference image, and if the coincidence degree of the image of the spiral line in the imaging and the image of the spiral line in the reference image accords with a preset initial position, enabling the spiral line to reach the preset initial position; otherwise, the spiral line is adjusted by rotating the thread taking needle around the axis of the spiral line and/or moving the thread taking needle along the axial direction of the spiral line until the spiral line reaches the preset initial position. Selecting a partial area of the end part of the spiral line in the imaging at a preset initial position as a selection area, and if the gray value of the spiral line selection area in the imaging and the gray value comparison result of the spiral line selection area in the reference image accord with a preset condition, enabling the spiral line to reach the installation position; otherwise, the spiral line is adjusted by rotating the line taking needle around the axis of the line taking needle and/or moving the line taking needle along the axial direction of the line taking needle until the spiral line reaches the installation position. The invention has simple and accurate spiral line adjustment and high reliability.)

1. The method for adjusting the spiral line is characterized by comprising the following steps of penetrating the spiral line through a line taking needle and sending the spiral line into a visual sensor imaging area:

the thread taking needle rotates around the axis of the thread taking needle, the spiral thread is driven to rotate around the axis of the thread taking needle through friction force, the thread taking needle moves along the axial direction of the thread taking needle, and the spiral thread is driven to move along with the thread taking needle;

imaging the helix with a vision sensor;

comparing the imaging with a reference image, and if the coincidence degree of the image of the spiral line in the imaging and the image of the spiral line in the reference image accords with a preset initial position, judging that the spiral line reaches the preset initial position; otherwise, the thread taking needle rotates around the axis of the thread taking needle to provide friction force to enable the spiral thread to rotate by a first offset angle and/or enable the spiral thread to move by a first offset distance through the axial movement of the thread taking needle along the axis of the thread taking needle until the spiral thread is judged to reach a preset initial position;

selecting a partial area of the end of the spiral line in the imaging at a preset initial position as a selection area, and judging that the spiral line reaches an installation position if the gray value of the spiral line selection area in the imaging and the gray value comparison result of the spiral line selection area in the reference image meet a preset condition; otherwise, the thread taking needle rotates around the axis of the thread taking needle to provide friction force to enable the spiral thread to rotate by a second offset angle and/or enable the spiral thread to move by a second offset distance through the axial movement of the thread taking needle along the axis of the thread taking needle until the spiral thread is judged to reach the installation position.

2. The method of helical tuning of claim 1,

determining the axis of the spiral line in imaging and coinciding with the axis of the spiral line in the reference image, taking a reference point of the end of the spiral line in imaging and a reference point corresponding to the end of the spiral line in the reference image, and comparing the coincidence degree of the image of the spiral line and the image of the spiral line in the reference image.

3. The method of helical tuning of claim 1,

selecting the area where a bent part of the end part of the spiral line is located in the imaging, determining the area as the selected area, selecting the spiral line in the selected area to obtain the gray value of each pixel point, calculating the average gray value, comparing the average gray value of the selected area of the spiral line in the imaging with the average gray value of the selected area of the spiral line in the reference image, and judging whether the comparison result meets the preset condition or not.

4. The method of helical tuning of claim 1,

the thread taking needle moves the spiral line to the preset initial position along the self axial direction, and the thread taking needle is divided into three stages:

the thread taking needle is in the acceleration stage and does not rotate around the axis of the thread taking needle;

in the constant-speed moving stage, the thread taking needle can rotate around the axis of the thread taking needle in the constant-speed stage;

and in the deceleration stop stage, the thread taking needle is in the acceleration stage and does not rotate around the axis of the thread taking needle.

5. The method of helical tuning of claim 4,

when the thread taking needle is in the uniform-speed moving stage and rotates around the axis of the thread taking needle, the thread taking needle rotates around the axis of the thread taking needle and is divided into two stages:

a first angular velocity phase, wherein the thread taking needle rotates by 80% of the first offset angle at a first angular velocity;

and in a second angular speed stage, the thread taking needle rotates by 20% of the first offset angle at a second angular speed which is less than the first angular speed.

6. The method of helical tuning of claim 1,

the speed of the uniform motion of the spiral line from the preset initial position to the installation position is lower than the speed of the uniform motion of the spiral line from the preset initial position to the installation position.

7. The method of helical tuning of claim 1,

the angular speed of the phase that the thread taking needle rotates the spiral thread from the preset initial position to the installation position around the axis of the thread taking needle is smaller than the angular speed of the phase that the thread taking needle rotates the spiral thread to the preset initial position around the axis of the thread taking needle.

Technical Field

The invention relates to an adjusting method of a vacuum electronic product, in particular to an adjusting method of a spiral line.

Background

The traveling wave tube is an electronic device widely used in national defense and national economy, and has good power, frequency band and gain performance. The high-frequency structure in the traveling wave tube is a core device in the traveling wave tube, and plays a role in reducing the phase velocity of electromagnetic waves, so that electrons and the electromagnetic waves can effectively interact.

Current high frequency structures typically include a tube shell, a clamping bar, and a helical wire. Before the spiral line is assembled to the clamping rod and the pipe shell, the spiral line needs to be adjusted, so that the end part of the spiral line meets the assembly condition, and the spiral line can be assembled after the assembly condition is met. The existing method for adjusting the end part position of the spiral line is troublesome in adjustment, long in time consumption and inconvenient to assemble due to the fact that more parts are needed for adjustment.

Disclosure of Invention

The invention provides a method for adjusting a spiral line, which is characterized in that the spiral line is penetrated by a line taking needle and sent to a visual sensor, the spiral line is driven to rotate by the line taking needle rotating around the self axial direction, the spiral line is driven to move by the line taking needle moving along the self axial direction, the line taking needle is rotated or moved, the adjustment of the rotating spiral line and the moving spiral line is not needed to be carried out through a plurality of parts, and the spiral line state in the adjusting process is collected and compared by the visual sensor, so that the accuracy of spiral line adjustment is greatly improved.

The technical scheme adopted by the invention for solving the technical problems is as follows:

the method for adjusting the spiral line comprises the following steps of penetrating the spiral line through a line taking needle and sending the spiral line into a visual sensor imaging area: the thread taking needle rotates around the axis of the thread taking needle, the spiral thread is driven to rotate around the axis of the thread taking needle through friction force, the thread taking needle moves along the axial direction of the thread taking needle, and the spiral thread is driven to move along with the thread taking needle; imaging the spiral line by a vision sensor; comparing the imaged image with a reference image, and judging that the spiral line reaches a preset initial position if the coincidence degree of the image of the spiral line in the imaged image and the image of the spiral line in the reference image conforms to the preset initial position; otherwise, the thread taking needle rotates around the axis of the thread taking needle to provide friction force so that the spiral line rotates by a first offset angle and/or the thread taking needle moves along the axial direction of the thread taking needle so that the spiral line moves by a first offset distance until the spiral line reaches a preset initial position. Selecting a partial area of the end part of the spiral line in the imaging at a preset initial position as a selected area, and judging that the spiral line reaches the installation position if the gray value of the selected area of the spiral line in the imaging and the gray value comparison result of the selected area of the spiral line in the reference image meet a preset condition; otherwise, the thread taking needle rotates around the axis of the thread taking needle to provide friction force so that the spiral line rotates by a second offset angle and/or the thread taking needle moves along the axial direction of the thread taking needle so that the spiral line moves by a second offset distance until the spiral line reaches the installation position.

The adjusting method of the spiral line comprises two parts, wherein the first part is used for sending the spiral line into the visual sensor to a preset initial position, and the second part is used for adjusting the spiral line from the preset initial position to an installation position. In the first part, a thread taking needle penetrates a spiral thread and sends the spiral thread into a visual sensor, imaging is carried out through the visual sensor, the imaging of the visual sensor is compared with a reference image obtained in advance, and if the contact ratio meets the standard of a preset initial position, the second part is adjusted; and if the coincidence degree does not accord with the standard of the preset initial position, correspondingly adjusting the spiral line by taking the line according to the difference of the coincidence degree of the imaging of the vision sensor and the reference image until the spiral line reaches the preset initial position. On the basis that the spiral line reaches the preset initial position, selecting a partial area at the end of the spiral line in the imaging at the preset initial position as a selection area, comparing the gray value of the spiral line selection area in the imaging with the gray value of the spiral line selection area in a reference image through a visual sensor, and if the comparison result meets the preset condition, enabling the spiral line to reach the installation position; if the comparison result does not accord with the preset condition, the helix line is adjusted in detail through taking the line according to the difference between the comparison result and the preset condition until the comparison result accords with the preset condition, and the helix line reaches the installation position. The adjustment of the first part is pre-adjustment, the position of the spiral line is adjusted to a reasonable range where the allowable error exists, preparation is made for the adjustment of the second part, the adjustment of the second part is precise adjustment, the adjustment of the spiral line is more accurate, and the positioning is more accurate on the basis of the adjustment of the first part.

Further, determining the axis of the spiral line in imaging and coinciding with the axis of the spiral line in the reference image, taking a reference point of the end of the spiral line in imaging and the reference point corresponding to the end of the spiral line in the reference image, and comparing the coincidence degree of the image of the spiral line and the image of the spiral line in the reference image. A relative position relation exists between a datum point at the end of the spiral line in imaging and a datum point corresponding to the end of the spiral line in a datum image, and the relative position relation is calculated so as to adjust the spiral line through line taking.

Further, selecting an area where a bent part at the end of the spiral line is located in imaging, determining the area as a selected area, selecting the spiral line to obtain a gray value of each pixel point in the selected area, calculating an average gray value, comparing the average gray value of the selected area of the spiral line in imaging with the average gray value of the selected area of the spiral line in a reference image, and judging whether the comparison result meets a preset condition. The region where the bending part at the end part of the spiral line is located is determined as a selection region, the screw pitch of the end part is larger than that of the spiral line main body, the characteristic difference between the end part and the main body is large, the characteristic is obvious, and the bending part is obvious in imaging, is easy to determine and facilitates selection of the region.

Further, the thread taking needle moves a spiral line along the self axial direction to a preset initial position, and the three stages are divided into: in the acceleration starting stage, the thread taking needle does not rotate around the axis of the thread taking needle in the acceleration stage; in the uniform movement stage, the thread taking needle can rotate around the axis of the thread taking needle in the uniform movement stage; and in the deceleration stop stage, the thread taking needle is in the acceleration stage and does not rotate around the axis of the thread taking needle. The wire taking needle only moves along the self axial direction in the acceleration starting stage and the deceleration stopping stage and does not rotate around the self axis, so that the adjustment of the spiral wire in the two stages is more stable, and the linear swing of the contact position of the wire taking needle and the spiral wire is avoided. At the uniform velocity removal stage, get the line needle and can rotate around self axis along self axial displacement's process, can not make the helix along getting line needle axial vibrations to it is more steady to get line needle rotation helix.

Further, when the thread taking needle is in the uniform-speed moving stage and rotates around the axis of the thread taking needle, the thread taking needle rotates around the axis of the thread taking needle, and the thread taking needle is divided into two stages: in the first angular speed stage, the thread taking needle rotates by a first offset angle of 80% at a first angular speed; and in the second angular speed stage, the thread taking needle rotates by 20% of the first offset angle at a second angular speed which is less than the first angular speed. The first deviation angle of 80% is rotated at the first angular speed, the first deviation angle of 20% is rotated at the second angular speed which is less than the first angular speed, and the first quick rotation can improve the efficiency, save the time and save the time cost; and the accuracy and the precision can be ensured by slowly rotating, and the operation reliability is high.

Further, the speed of the uniform motion of the thread taking needle in the stage of moving the spiral thread along the self axial direction from the preset initial position to the installation position is smaller than the speed of the uniform motion of the thread taking needle in the stage of moving the spiral thread along the self axial direction to the preset initial position. The moving speed of the thread taking needle is higher than that of the precise adjustment process in the pre-adjustment process, so that the adjustment speed can be increased, the time required by adjustment is saved, and the accuracy and the precision of adjustment are ensured due to the slow moving speed in the precise adjustment process.

Furthermore, the angular speed of the thread taking needle in the phase of rotating the spiral line from the preset initial position to the installation position around the axis of the thread taking needle is smaller than the angular speed of the thread taking needle in the phase of rotating the spiral line to the preset initial position around the axis of the thread taking needle. Get line needle pivoted angular velocity and be faster than the precision adjustment process at the preset adjustment in-process, can save time at the preset adjustment in-process, improve adjustment efficiency, get line needle pivoted angular velocity and help accurate adjusting the helix to the mounted position slowly in the precision adjustment in-process.

Drawings

FIG. 1 is a schematic diagram of an embodiment of the present invention.

Fig. 2 is a schematic diagram of the threading of the thread taking needle to take a spiral thread.

Fig. 3 is a schematic diagram of the installation position of the spiral line in the reference image according to the present invention.

FIG. 4 is a schematic diagram of the situation that the spiral line has not reached the predetermined initial position in the imaging process according to the present invention.

Fig. 5 is a schematic diagram illustrating a situation that the spiral line reaches the preset initial position in the imaging of the present invention.

Fig. 6 is an enlarged view of the region E in fig. 5.

FIG. 7 is a schematic diagram of the spiral end and the selected area in the base image

FIG. 8 is a schematic view of the end of a spiral line and selected areas in imaging

In the figure, 1, a thread taking needle; 2. taking the axis of the needle; 3. a helical line; 4. a helix axis;

Detailed Description

In order to clearly explain the technical features of the present invention, the following detailed description of the present invention is provided with reference to the accompanying drawings.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, however, the present application may be practiced in other ways than those described herein, and therefore the scope of the present application is not limited by the specific embodiments disclosed below.

In addition, in the description of the present application, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated.

As shown in fig. 1 to 4, a spiral wire 3 is threaded through a wire taking needle 1 and sent to a vision sensor imaging area:

s11, the spiral line 3 is imaged by a vision sensor. The imaging mode can be photographing or real-time monitoring imaging.

S12, before adjusting the spiral 3, acquiring a reference image (shown as P in fig. 3) of the spiral 3 at the installation position by the vision sensor, comparing the imaging of the spiral 3 in S11 with the reference image, and if the coincidence degree of the image of the spiral 3 in the imaging of the spiral 3 and the image of the spiral 3 in the reference image in S11 conforms to the preset initial position, the spiral 3 reaches the preset initial position (shown in fig. 5 and 6). As shown in fig. 4, if the coincidence degree of the image of the spiral 3 in the S11 spiral 3 imaging and the image of the spiral 3 in the reference image does not conform to the preset initial position, the angle by which the image of the S11 spiral 3 differs from the image of the spiral 3 in the reference image is calculated by analysis as a first offset angle, and the distance by which the difference is a first deviation distance. S121, if only the angle difference exists after the analysis, the thread taking needle 1 rotates around the axis 22 (in the direction of the arrow B) to provide friction force so that the spiral thread 3 rotates by a first offset angle; if only the distance difference exists after the analysis, the spiral line 3 moves by a first offset distance through the movement of the thread taking needle 1 along the self axial direction (the direction of an arrow A); if the angular phase difference and the distance phase difference exist after the analysis, the thread taking needle 1 rotates around the self axis 2 (along the direction of an arrow B) to provide friction force to enable the spiral thread 3 to rotate by a first offset angle, and the thread taking needle 1 moves along the self axis (along the direction of an arrow A) to enable the spiral thread 3 to move by a first offset distance; the aforementioned adjustment of the angle and distance is carried out until the spiral 3 reaches a preset initial position.

S13, as shown in fig. 7 and 8, a partial region of the end X2 of the spiral 3 in the imaging at the preset initial position is selected as a selected region Y2, and a partial region of the end X1 of the spiral 3 in the reference image at the mounting position is selected as a selected region Y1.

S14, respectively measuring the gray value of the spiral line 3 selection area Y2 in the imaging and the gray value of the spiral line 3 selection area Y1 in the reference image, comparing the gray value of the spiral line 3 selection area Y2 in the imaging with the gray value of the spiral line 3 selection area Y1 in the reference image, and if the comparison result between the gray value of the spiral line 3 selection area Y2 in the imaging and the gray value of the spiral line 3 selection area Y1 in the reference image meets the preset condition, if the gray value of the spiral line 3 selection area Y2 in the imaging reaches more than 70% of the gray value of the spiral line 3 selection area Y1 in the reference image, the spiral line 3 reaches the installation position, the preset condition is considered to be met. If the comparison result between the gray value of the spiral line 3 selection area Y2 in the imaging and the gray value of the spiral line 3 selection area Y1 in the reference image does not meet the preset condition, analyzing and calculating the deviation between the gray value of the spiral line 3 selection area Y2 in the imaging and the gray value of the spiral line 3 selection area Y1 in the reference image, wherein the deviation angle is a second deviation angle, the deviation distance is a second deviation distance, S141 is carried out, and if only the angle difference exists after the analysis, the thread taking needle 1 rotates around the axis 2 (along the arrow B direction) of the thread taking needle to provide friction force so that the spiral line 3 rotates by the second deviation angle; if only the distance difference exists after the analysis, the spiral line 3 moves by a second offset distance through the movement of the thread taking needle 1 along the self axial direction (the direction of an arrow A); if the angular deviation and the distance deviation exist after the analysis, the thread taking needle 1 rotates around the self axis 2 (along the direction of an arrow B) to provide friction force to enable the spiral thread 3 to rotate by a second offset angle, and the thread taking needle 1 moves along the self axis (along the direction of an arrow A) to enable the spiral thread 3 to move by a second offset distance; the aforementioned adjustment of the angle and distance is carried out until the spiral 3 reaches the installation position.

The adjusting method of the spiral line 3 comprises two parts, wherein the first part is used for sending the spiral line 3 into the visual sensor to a preset initial position, and the second part is used for adjusting the spiral line 3 to an installation position from the preset initial position. In the adjustment of the first part, the image of the spiral line 3 in imaging is compared with the image of the spiral line 3 in the reference image firstly, analysis calculation is carried out, the spiral line 3 is adjusted according to conditions, pre-adjustment of the spiral line 3 is completed, convenience is brought to precision adjustment of the second part, in the adjustment process of the second part, the gray value of the selected area Y2 of the spiral line 3 in imaging is compared with the gray value of the selected area Y1 of the spiral line 3 in the reference image, corresponding adjustment is carried out according to deviation, no matter the adjustment of the first part or the adjustment of the second part is flexible, adjustment time is saved, production efficiency is improved, and operation reliability and effectiveness are also guaranteed.

As shown in fig. 5 and 6, P is a helix 3 in the reference image, and Q is a helix 3 in the imaging. Determining the axis 4 of the spiral line 3 in imaging and coinciding with the axis of the spiral line 3 in the reference image, taking a reference point N at the end of the spiral line 3 in imaging and a reference point M corresponding to the end of the spiral line 3 in the reference image, and comparing the coincidence degree of the image of the spiral line 3 and the image of the spiral line 3 in the reference image. A relative position relation exists between a datum point N at the end of the spiral line 3 in imaging and a datum point M corresponding to the end of the spiral line 3 in a datum image, the relative position relation is calculated, so that the spiral line 3 is correspondingly adjusted through the line taking needle 1, and the line taking needle 1 rotates or moves according to a phase difference angle or a phase difference distance.

As shown in fig. 7 and 8, an area where a bent portion at the end X2 of the spiral line 3 is located is selected in imaging and determined as a selected area Y2, the selected spiral line 3 obtains a gray value of each pixel in the selected area Y2, an average gray value is calculated, the average gray value of the selected area Y2 of the spiral line 3 in imaging is compared with the average gray value of the selected area Y1 of the spiral line 3 in a reference image, and whether the comparison result meets a preset condition is determined. The area of a bent part at the end part of the spiral line 3 is determined as a selected area, the thread pitch of the end part of the spiral line 3 is larger than that of the main body of the spiral line 3 in actual production, the characteristic difference between the end part and the main body is large, the characteristic is obvious, the bent part is obvious in imaging, and the method is easy to determine and facilitates selection of the area. The selected area is not limited to the positions shown in fig. 7 and 8, but may be other positions at the end of the spiral line for convenient selection and gray value comparison.

The thread taking needle 1 moves the spiral thread 3 along the self axial direction (arrow A direction) to a preset initial position, and the three stages are divided: in the acceleration starting stage, the thread taking needle 1 does not move around the self axis 2 (along the direction of an arrow B) in the acceleration stage; in the uniform-speed moving stage, the thread taking needle 1 can rotate around the self axis 2 (along the direction of an arrow B) in the uniform-speed stage; in the deceleration stop stage, the thread taking needle 1 is in the acceleration stage and does not rotate around the self axis 2 (in the direction of arrow B). Divide into three stage, get line needle 1 and only remove along self axial (arrow A direction) at the start-up stage with the speed reduction stop stage with self axis 2 (along arrow B direction) do not rotate, can make these two stages spiral line 3 adjustment more stable, can not rock around the contact department place straight line of getting line needle 1 and spiral line 3. At the uniform velocity moving stage, get line needle 1 and can rotate around self axis 2 (along arrow B direction) along the process that self axial (arrow A direction) removed, can not make helix 3 shake along getting 1 axial of line needle to it is more steady to get line needle 1 and rotate helix 3. The thread taking needle 1 moves the spiral line 3 to a preset initial position along the self axial direction (the direction of an arrow A), and is divided into three stages, so that the reliability of operation can be improved, and the shaking in the operation process is reduced, so that the adjustment of the spiral line 3 is more accurate and stable.

When the thread taking needle 1 is in the stage of uniform movement and rotates around the self axis 2 (along the direction of an arrow B), the thread taking needle 1 rotates around the self axis 2 (along the direction of the arrow B), and the two stages are divided into: in the first angular speed stage, the thread taking needle 1 rotates by a first offset angle of 80% at the first angular speed; in the second angular velocity phase, the thread taking needle 1 rotates by a first offset angle of 20% at a second angular velocity smaller than the first angular velocity. The first deviation angle of 80% is rotated at the first angular speed, the first deviation angle of 20% is rotated at the second angular speed which is less than the first angular speed, and the first quick rotation can improve the efficiency, save the time and save the time cost; and the accuracy and the precision can be ensured by slowly rotating, and the operation reliability is high.

The speed of the uniform motion of the thread taking needle 1 moving the spiral thread 3 along the self axial direction (arrow A direction) from the preset initial position to the installation position is less than the speed of the uniform motion of the thread taking needle 1 moving the spiral thread 3 along the self axial direction (arrow A direction) to the preset initial position. The moving speed of the thread taking needle 1 is faster than that of the precise adjustment process in the pre-adjustment process, so that the adjustment speed can be increased, the time required by adjustment is saved, and the accuracy and the precision of adjustment are ensured due to the slow moving speed in the precise adjustment process.

The angular speed of the thread taking needle 1 in the stage of rotating the spiral thread 3 from the preset initial position to the installation position around the self axis 2 (along the direction of the arrow B) is smaller than the angular speed of the thread taking needle 1 in the stage of rotating the spiral thread 3 to the preset initial position around the self axis 2 (along the direction of the arrow B). Get line needle 1 pivoted angular velocity and be faster than the precision adjustment process at the preset adjustment in-process, can save time at the preset adjustment in-process, improve adjustment efficiency, get line needle 1 pivoted angular velocity and help accurate adjusting helix 3 to the mounted position slowly in the precision adjustment in-process.

The above-described embodiments should not be construed as limiting the scope of the invention, and any alternative modifications or alterations to the embodiments of the present invention will be apparent to those skilled in the art.

The present invention is not described in detail, but is known to those skilled in the art.