CN105890669A - Universal image visual inspection robot - Google Patents
Universal image visual inspection robot Download PDFInfo
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- CN105890669A CN105890669A CN201610378986.5A CN201610378986A CN105890669A CN 105890669 A CN105890669 A CN 105890669A CN 201610378986 A CN201610378986 A CN 201610378986A CN 105890669 A CN105890669 A CN 105890669A
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- light source
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- combined light
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a universal image visual inspection robot which comprises the following parts mounted in a robot body: a precision six-axis manipulator, a combined light source, a high-speed camera, a computer and an industrial control system, wherein the computer is connected with and controls the combined light source and the precision six-axis manipulator; the industrial control system controls the operation of the precision six-axis manipulator and opening/closing and selection of the combined light source; the high-speed camera is connected with the computer and instantaneously transmits the image information to the computer. The universal image visual inspection robot disclosed by the invention has the advantages that 1) the production cost is reduced; 2) missing detection is eliminated; 3) the universality is high.
Description
Technical field
The present invention relates to technical field of vision detection, particularly to a kind of all-round video vision measuring robots.
Background technology
The Machine Vision Detection of existing precision parts, it is broadly divided into two kinds: one is plane (i.e. 2D) detection, use camera to fix product plane flowing and once can only shoot several photos of product stationary plane, by to specifying region to carry out aspect ratio pair, thus reach the detection of two to three sizes or outward appearance, another kind be laser scanning methods (i.e. 3D) testee is carried out size that Holistic modeling imaging can detect can be more, but the detection time can be long, one complicated process medium Modeling in Product time can be more than 5 minutes, also can only detect the size of scanning plane and outward appearance cannot be judged simultaneously.And reality precision parts needs the size of management and control and outward appearance the most in work produces, for the FPC connector of connection screen in a common mobile phone and computer, need the size measured just more than 500, outer viewpoint 20, existing machine visual detection device cannot meet far away.Therefore having to rely in a large number manual detection, efficiency is low and cost is high.Therefore it is badly in need of wanting a kind of all-round machine vision that can detect full-scale and full outward appearance.
Summary of the invention
In order to overcome drawbacks described above, the invention provides a kind of all-round video vision measuring robots that can solve the problem that the problems referred to above.
The present invention is to solve that its technical problem be the technical scheme is that a kind of all-round video vision measuring robots, including be arranged in robot body with lower part:
Accurate six axis robot: be used for drawing or grip part and carry out that the most full visual angle rotates and quickly adjusts object distance, the depth of field reaches 0.01mm with blur-free imaging, repetitive positioning accuracy, the fastest circulation time 0.3 second；
Combined light source: be made up of coaxial light source, backlight, annular light source, bottom surface light source, strip source and square inclination light source, in described combined light source, choosing and regulating mechanism is installed, according to product unlike material, color, feature selection difference polishing combination, to obtain optimal polishing effect；
High-speed camera: 500 ~ 1000 vertical frame dimension pixel shootings per second, the continual high-speed capture that carries out while product rotates and moves forward and backward, and image instantaneous transmission is carried out quick comparison to computer；
Computer: receive the transmitted picture of video camera and carry out processing and exporting judgement information, and carry out the operation of non-defective unit and defective products according to the accurate six axis robot of judgement information control；
Industrial control system: control mechanical hand, light source and other auxiliary bodies, and coordinate action between each parts；
The accurate six axis robot of described computer connection, described industrial control system controls the accurate operation of six axis robot and the opening and closing of combined light source and selection, and described high-speed camera connects computer and pictorial information is passed through instantaneous transmission to computer.
It uses brand-new detection mode: uses accurate six-degree-of-freedom parallel robot (i.e. spider) to draw product and carries out the rotation of full visual angle, and according to product structure automatic field depth adjustment, camera can be allowed clearly to take photograph reaching each structure division of product, uninterruptedly shot by the high-speed camera of 1000 frames the most per second, and picture is sent to computer by high-speed transfer passage, computer carries out judging and information fed back to mechanical hand to do the differentiation of non-defective unit and defective products simultaneously.
Its brand-new judgment mode: first with the video of the preset product swing circle of non-defective unit as judgment standard, the shooting of same track is pacified as the video with frame number during subsequent detection, and carrying out both full-pixel comparison frame by frame with REF video, difference value is i.e. judged as non-defective unit less than setting value, otherwise is defective products.
Its brand-new connected mode: mechanical hand, industry control, high-speed camera, combined light source, computer five in one, camera and computer are by 10,000,000,000 optical fiber and high-speed collection card and computer transmission data.
Versatility: because being to use to carry out the both full-pixel comparison of full visual angle with REF video, unlike conventional machines vision is required for every independent coding of a product and changes different camera, light source configuration.One all-round video equipment people can be with the detection of all products in the range of suitable dimensions.Also without reconfiguring camera light source and corresponding Survey Software when changing test product, it is greatly saved time and expense, improves capacity utilization.
The invention has the beneficial effects as follows: the invention have the advantages that
1) production cost is saved: one video equipment people can all can complete the detection of all sizes and outward appearance within the production cycle of single product simultaneously, fully phase out manual detection in process of producing product, every alternative 20 detection workmans of equipment, every equipment can be enterprise's Spring Festival holidays less manpower more than 960,000 yuan；
2) stop missing inspection: during detection, the picture of the different depth of field of more than 100 frames can be got in each face of product, and any flaw can clearly be presented, and during comparison, use full figure vegetarian refreshments comparison will not leak through any details.For requiring that the product turnout quality of zero-fault provides guarantee；
3) versatility is high: because being employing full visual angle both full-pixel comparison, unlike conventional machines vision is required for every independent coding of a product and changes different camera, light source configuration, an all-round video equipment people can be with the detection of all products in the range of suitable dimensions.
Accompanying drawing explanation
Fig. 1 is present configuration principle schematic；
Fig. 2 is one of present configuration combined light source structural representation.
Fig. 3 is the two of present configuration combined light source structural representation.
Detailed description of the invention
In order to deepen the understanding of the present invention, below in conjunction with embodiment and accompanying drawing, the invention will be further described, and this embodiment is only used for explaining the present invention, is not intended that limiting the scope of the present invention.
Fig. 1 shows a kind of embodiment of a kind of all-round video vision measuring robots of the present invention, including be arranged in robot body with lower part:
Accurate six axis robot: be used for drawing or grip part and carry out that the most full visual angle rotates and quickly adjusts object distance, the depth of field reaches 0.01mm with blur-free imaging, repetitive positioning accuracy, the fastest circulation time 0.3 second；
Combined light source: by coaxial light source 1, backlight 2, annular light source 3, bottom surface light source 4, strip source 5 and square inclination light source 6 form, described annular light source 3 is divided into again angled annular light source and non-angular annular light source, in described combined light source, choosing and regulating mechanism is installed, according to product unlike material, color, feature selection difference polishing is combined, to obtain optimal polishing effect, it is accomplished by using as detected a connector product (i.e. adapter): strip source+coaxial light source (scratch of detection metal needle) simultaneously, backlight (detection profile and the size of pin), the combination of non-angular annular light source (sign of detection plastic body or printing) four kinds of light sources.Glass to be detected or touch screen series products are accomplished by using: angled annular light source (detection edge burr), backlight (detection stain), the combination of coaxial light source (detection scratches) these several light sources, the polishing requirement of the size of 99% precision parts within 100mm can be covered by such different combination of light sources, be a universal light source combination.As shown in Figure 2.
High-speed camera: 500 ~ 1000 vertical frame dimension pixel shootings per second, the continual high-speed capture that carries out while product rotates and moves forward and backward, and image instantaneous transmission is carried out quick comparison to computer；Even can ensure that extremely complex special-shaped product, it is also possible to cover all appearance of product, the most at least 100 pictures on any one face, there is no dead angle.
Computer: receive the transmitted picture of video camera and carry out processing and exporting judgement information, and carry out the operation of non-defective unit and defective products according to the accurate six axis robot of judgement information control；
Industrial control system: control mechanical hand, light source and other auxiliary bodies, and coordinate action between each parts；
The accurate six axis robot of described computer connection, described industrial control system controls the accurate operation of six axis robot and the opening and closing of combined light source and selection, and described high-speed camera connects computer and pictorial information is passed through instantaneous transmission to computer.
Its workflow is: industrial control system provides accurate six axis robot and the enabling signal of combined light source according to feed points fiber-optic signal, according to product unlike material, color, feature selection difference polishing combination, to obtain optimal polishing effect；While accurate six axis robot motion, high-speed camera carries out sync pulse jamming according to signal, by optical fiber by captured picture transfer to computer, computer receives picture row operation of going forward side by side by high-speed collection card and judges, and will determine that result exports and carry out different putting to mechanical hand.
Its brand-new detection mode: use accurate six-degree-of-freedom parallel robot (i.e. spider) to draw product and carry out the rotation of full visual angle, and according to product structure automatic field depth adjustment, camera can be allowed clearly to take photograph reaching each structure division of product, uninterruptedly shot by the high-speed camera of 1000 frames the most per second, and picture is sent to computer by high-speed transfer passage, computer carries out judging and information fed back to mechanical hand to do the differentiation of non-defective unit and defective products simultaneously.
Versatility: because being to use to carry out the both full-pixel comparison of full visual angle with REF video, unlike conventional machines vision is required for every independent coding of a product and changes different camera, light source configuration.One all-round video equipment people can be with the detection of all products in the range of suitable dimensions.Also without reconfiguring camera light source and corresponding Survey Software when changing test product, it is greatly saved time and expense, improves capacity utilization.
Claims (1)
1. an all-round video vision measuring robots, it is characterised in that: include being arranged in robot body with lower part:
Accurate six axis robot: be used for drawing or gripping part and carry out the rotation of the most full visual angle and quickly adjust object distance, the depth of field with blur-free imaging；
Combined light source: be made up of coaxial light source, backlight, annular light source, bottom surface light source, strip source and square inclination light source, in described combined light source, choosing and regulating mechanism is installed, according to product unlike material, color, feature selection difference polishing combination, to obtain optimal polishing effect；
High-speed camera: 500 ~ 1000 vertical frame dimension pixel shootings per second, the continual high-speed capture that carries out while product rotates and moves forward and backward, and image instantaneous transmission is carried out quick comparison to computer；
Computer: receive the transmitted picture of video camera and carry out processing and exporting judgement information, and carry out the operation of non-defective unit and defective products according to the accurate six axis robot of judgement information control；
Industrial control system: control mechanical hand, light source and other auxiliary bodies, and coordinate action between each parts；
Described computer connects accurate six axis robot, and described industrial control system controls the accurate operation of six axis robot and the opening and closing of combined light source and selection, and described high-speed camera connects computer and pictorial information is passed through instantaneous transmission to computer.
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| CN201610378986.5A CN105890669A (en) | 2016-06-01 | 2016-06-01 | Universal image visual inspection robot |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106225997A (en) * | 2016-08-28 | 2016-12-14 | 成都润博科技有限公司 | A kind of method utilizing intelligence bubble detection device to carry out sealing experiment |
| CN106353044A (en) * | 2016-08-28 | 2017-01-25 | 成都润博科技有限公司 | An Intelligent and Efficient Bubble Detection Device |
| CN106767423A (en) * | 2017-03-03 | 2017-05-31 | 苏州云太基智能科技有限公司 | Automatic Visual Inspection instrument |
| CN106932006A (en) * | 2017-04-12 | 2017-07-07 | 浙江硕和机器人科技有限公司 | A kind of product quality testing equipment based on machine vision |
| CN106931881A (en) * | 2017-03-03 | 2017-07-07 | 苏州云太基智能科技有限公司 | A kind of polyphaser visible detection method |
| CN108802050A (en) * | 2018-06-22 | 2018-11-13 | 宁波江丰电子材料股份有限公司 | Target vision inspection apparatus and method |
| CN110286239A (en) * | 2019-08-12 | 2019-09-27 | 杭州美川合佳生物科技有限公司 | A kind of blood group automatical analysis device |
| CN110823922A (en) * | 2018-08-10 | 2020-02-21 | 鸿富锦精密电子(天津)有限公司 | Appearance detection device |
| CN110940668A (en) * | 2018-09-21 | 2020-03-31 | 迅智自动化科技股份有限公司 | Automatic optical detection equipment capable of adjusting image capturing combination and image capturing combination adjusting method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106931881A (en) * | 2017-03-03 | 2017-07-07 | 苏州云太基智能科技有限公司 | A kind of polyphaser visible detection method |
| CN106932006A (en) * | 2017-04-12 | 2017-07-07 | 浙江硕和机器人科技有限公司 | A kind of product quality testing equipment based on machine vision |
| CN108802050A (en) * | 2018-06-22 | 2018-11-13 | 宁波江丰电子材料股份有限公司 | Target vision inspection apparatus and method |
| CN110823922A (en) * | 2018-08-10 | 2020-02-21 | 鸿富锦精密电子(天津)有限公司 | Appearance detection device |
| CN110940668A (en) * | 2018-09-21 | 2020-03-31 | 迅智自动化科技股份有限公司 | Automatic optical detection equipment capable of adjusting image capturing combination and image capturing combination adjusting method |
| CN110286239A (en) * | 2019-08-12 | 2019-09-27 | 杭州美川合佳生物科技有限公司 | A kind of blood group automatical analysis device |
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