CN106018430B - Six facial vision detection devices of one kind and its control method - Google Patents
Six facial vision detection devices of one kind and its control method Download PDFInfo
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- CN106018430B CN106018430B CN201610573244.8A CN201610573244A CN106018430B CN 106018430 B CN106018430 B CN 106018430B CN 201610573244 A CN201610573244 A CN 201610573244A CN 106018430 B CN106018430 B CN 106018430B
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- 238000001514 detection method Methods 0.000 title claims abstract description 57
- 230000004438 eyesight Effects 0.000 title claims abstract description 24
- 230000001815 facial effect Effects 0.000 title claims abstract description 18
- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 164
- 230000001360 synchronised effect Effects 0.000 claims abstract description 144
- 238000012546 transfer Methods 0.000 claims abstract description 144
- 230000007723 transport mechanism Effects 0.000 claims abstract description 101
- 238000005259 measurement Methods 0.000 claims abstract description 43
- 230000005540 biological transmission Effects 0.000 claims description 30
- 238000006073 displacement reaction Methods 0.000 claims description 13
- 230000001960 triggered effect Effects 0.000 claims description 11
- 241000252254 Catostomidae Species 0.000 claims description 7
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- 230000003467 diminishing effect Effects 0.000 claims description 3
- 230000008676 import Effects 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims description 3
- 238000012163 sequencing technique Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 14
- 230000000694 effects Effects 0.000 description 8
- 230000003068 static effect Effects 0.000 description 6
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- 238000006467 substitution reaction Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/89—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles
- G01N21/892—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles characterised by the flaw, defect or object feature examined
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Abstract
The invention discloses a kind of six facial vision detection devices and its control methods, wherein, a kind of six facial vision detection devices, including the first sucker transport mechanism, second sucker transport mechanism, image collecting device, first synchronous transfer mechanism, second synchronous transfer mechanism and the control system transmitted for controlling workpiece for measurement, first synchronous transfer mechanism is set to below the first sucker transport mechanism, second synchronous transfer mechanism is set to above the second sucker transport mechanism, first sucker transport mechanism is connected L-shaped setting with the second sucker transport mechanism, image collecting device includes multiple cameras, camera is respectively provided in the first synchronous transfer mechanism and the second synchronous transfer mechanism.The present invention quickly, accurately and efficiently can carry out Precision measurement to the dimensional accuracy of workpiece or appearance when detecting.
Description
Technical field
The present invention relates to a kind of detection device and control methods, and in particular to six facial vision detection devices of one kind and its control
Method.
Background technology
Vision-based detection is exactly to replace human eye with camera to be detected, it refers to that will be detected by the camera of machine
The shape of object is converted into analog signal, sends dedicated image processing system to, and then the system is again pixel in image point
The information such as cloth and brightness, color, are transformed into digitized signal；Picture system carries out various operations to extract target to these signals
Feature, and then according to the result of differentiation come control scene device action.Using which to the dimensional accuracy of workpiece or
Appearance etc. is detected, and relatively traditional artificial detection has many advantages, such as quick, accurate, efficient.
At present in field of visual inspection, following two methods are generally taken when the dimensional accuracy to workpiece is detected：
1, static measurement.When being detected using this kind of mode, it is necessary to workpiece be fixed on immediately below detection camera, taken the photograph
As head and workpiece remain stationary；Then camera takes pictures workpiece, then again by image processing system shot image
It carries out analysis and obtains testing result, finally workpiece is removed immediately below camera completion detection.It detects in this way
Effect is good, and precision is high, but haves the shortcomings that the speed of detection is slow, efficiency is low.
2, dynamic detection.When being detected using this kind of mode, detection camera is fixed in the rack of machine, passes through biography
Send mechanism that the workpiece successively mobile past below camera, camera is had relative displacement with workpiece, camera is to immediately below it
Mobile workpiece is scanned detection, and scan image, which is then carried out analysis, by image processing system again obtains testing result.
The speed detected in this way is fast, efficient, but camera and workpiece have relative displacement when due to detection, cause to image
The picture signal of head acquisition is unstable, haves the shortcomings that the effect of detection is poor, precision is low.
When the open defect to workpiece detects, the color, size, integrity degree on each surface of workpiece are generally carefully detected
Etc. details.Currently, if will high speed be continuous carries out open defect inspection to the square in six face or cuboid packing case online
When survey, it can't be measured using vision-based detection at present, can only manually with hand hold workpiece with human eye to each face into
Row observation.At most can only by configuring multiple cameras because the camera of vision-based detection can only detect a hexahedral face
Detect 4 faces.It cannot achieve all continuous online detection in six faces.Slow using the process speed of artificial detection, effect is poor, efficiency
It is low, it far cannot be satisfied actual job requirement.
Invention content
For the technical problems in the prior art, the purpose of the present invention is：A kind of six facial vision detection devices are provided.
It is another object of the present invention to：There is provided a kind of the first sucker transport mechanism in above-mentioned six facial visions detection device and
The control method of second sucker transport mechanism.
The purpose of the invention is achieved by the following technical solution：A kind of six facial vision detection devices, including the first sucker pass
Send mechanism, the second sucker transport mechanism, image collecting device, the first synchronous transfer mechanism, the second synchronous transfer mechanism and use
In the control system of control workpiece for measurement transmission, the first synchronous transfer mechanism is set to below the first sucker transport mechanism, and second
Synchronous transfer mechanism is set to above the second sucker transport mechanism, and the first sucker transport mechanism is connected with the second sucker transport mechanism
L-shaped setting, image collecting device are used to acquire the image data of six face view of workpiece for measurement, including multiple cameras, camera shooting
Head is respectively provided in the first synchronous transfer mechanism and the second synchronous transfer mechanism, wherein the acquisition of the first synchronous transfer mechanism is to be measured
The image data of workpiece downside, workpiece for measurement left side and workpiece for measurement right side, the acquisition of the second synchronous transfer mechanism wait for
The image data of workpiece leading flank and workpiece for measurement trailing flank is surveyed, the image data of workpiece for measurement upper side is by the first synchronous transfer
Mechanism or the second synchronous transfer mechanism are acquired.
Preferably, first synchronous transfer mechanism includes servo motor, sprocket wheel, conveying with the second synchronous transfer mechanism
Chain and rack, servo motor are rotated by chain wheel drive conveyor chain, and rack is installed on conveyor chain, image collector
It sets in rack.
Preferably, it is additionally provided with sub-scanning mechanism in the first synchronous transfer mechanism and the second synchronous transfer mechanism, assisted
Sweep mechanism includes driving motor, screw slide and connection sliding block, and driving motor is used to that the leading screw of screw slide to be driven to rotate,
Connection sliding block is connected on the leading screw of screw slide, and connection sliding block moving direction is parallel with workpiece for measurement transmission direction, the machine
Frame is connect with connection sliding block；
The rack takes the shape of the letter U setting, and the camera of image collecting device is separately positioned on the first synchronous transfer mechanism and the
The rack both ends and/or middle part that two synchronous transfer mechanisms take the shape of the letter U.
Preferably, it is additionally provided with workpiece auxiliary gatherer, workpiece assists gatherer delivery outlet and the first sucker to transmit
Mechanism or the connection of the second sucker transport mechanism, workpiece auxiliary gatherer includes conveying device, left importing plate and right importing plate,
Left importing plate and right importing plate are separately positioned on the frame body of conveyer belt both sides of conveying device, left importing plate and right importing plate it
Between formed and along the diminishing workpiece of transmission direction ajust channel.
Preferably, the first sucker transport mechanism and the second sucker transport mechanism include conveyer belt, solenoid valve and
Multiple suckers, sucker are respectively arranged on conveyer belt, and sucker protrudes from the zone face of conveyer belt, solenoid valve be it is multiple, respectively with
Sucker connects, and is turned on and off for controlling sucker；
Control system is used to make sucker close into fashionable unlatching and when workpiece exports in workpiece by controlling each solenoid valve.
Preferably, the sucker is uniformly arranged on a moving belt at multiple rows of, and the sucker between two rows is apart from equal, solenoid valve
It to be multiple, connect with every row's sucker, is turned on and off for controlling often row's sucker respectively；
Control system includes control device, workpiece detector and sucker sensor, workpiece detector and sucker sensor
It is connect respectively with control device, each solenoid valve is connect with control device respectively, and workpiece detector and the setting of sucker sensor exist
Conveyer belt inlet；
Workpiece detector is for detecting whether there is workpiece entrance；
Sucker sensor is used to detect the sucker for reaching conveyer belt inlet；
Control device is used for workpiece into the solenoid valve of fashionable open position sucker below workpiece, and according to sucker sensor
The distance between detection data and two rows of suckers obtain the workpiece transmission range after the displacement distance of sucker with setting below workpiece
Compared to judging workpiece transmits position needed for whether reaching, if so, the solenoid valve of the corresponding sucker of control is closed.
Preferably, the control system includes control device, entrance workpiece detector, outlet workpiece detector, entrance suction
Disk sensor and go out oral sucker sensor, entrance workpiece detector exports workpiece detector, enters oral sucker sensor and go out
Oral sucker sensor is connect with control device respectively, and each solenoid valve is connect with control device respectively；
Entrance workpiece detector and enter oral sucker sensor be arranged in conveyer belt inlet；
Outlet workpiece detector is arranged with oral sucker sensor is gone out in conveyer belt exit；
Entrance workpiece detector is for detecting whether there is workpiece entrance；
Outlet workpiece detector is for detecting whether there is workpiece to reach conveyer belt outlet；
Enter oral sucker sensor for detecting the sucker for reaching conveyer belt inlet；
Go out oral sucker sensor for detecting the sucker for reaching conveyer belt exit；
Control device is for receiving entrance workpiece detector, exporting workpiece detector, enter oral sucker sensor and outlet
The data that sucker sensor is sent, and make sucker in workpiece into fashionable unlatching by controlling each solenoid valve according to the data received
It is closed with when workpiece exports.
Preferably, the first synchronous transfer mechanism, be equipped with alignment sensor, control system packet in the second synchronous transfer mechanism
Include control device；
The servo motor of first synchronous transfer mechanism, the driving motor of the first synchronous transfer mechanism, the second synchronous transfer machine
The servo motor of structure, the driving motor of the second synchronous transfer mechanism and alignment sensor are connect with control device respectively；
Alignment sensor is respectively used to the position of detection workpiece；
Control device is used to receive the detection information of two alignment sensors, and is started according to the detection information received and corresponded to
The first synchronous transfer mechanism and the second synchronous transfer mechanism.
Preferably, the first sucker transport mechanism includes third sucker transport mechanism and the 4th sucker transport mechanism, third
Sucker transport mechanism is connected with the 4th sucker transport mechanism in linear type, the 4th sucker transport mechanism and the second sucker transport mechanism
Be connected L-shaped setting, and the first synchronous transfer mechanism is two, respectively third synchronous transfer mechanism and the 4th synchronous transfer machine
Structure, third synchronous transfer mechanism are set to above third sucker transport mechanism, and the 4th synchronous transfer mechanism is set to the 4th sucker
Below transport mechanism, the 4th synchronous transfer mechanism is used to acquire the image data of workpiece for measurement downside, workpiece for measurement left side
And the image data of workpiece for measurement right side is acquired by third synchronous transfer mechanism or the 4th synchronous transfer mechanism；
The image data of workpiece for measurement upper side is acquired by third synchronous transfer mechanism or the second synchronous transfer mechanism.
A kind of control method of above-mentioned the first sucker transport mechanism and the second sucker transport mechanism, includes the following steps：
Sucker identifies：
S1：Conveyer belt rotation drives often row's sucker movement in front of sucker sensor；
S2：Often arranging the sucker passed through in front of sucker sensor, all to trigger sucker sensor primary, and sucker sensor will be by
The signal of triggering feeds back to control device successively；
S3：Control device according to the feedback signal of sucker sensor, by feedback sequencing to feedback signal successively into
Row number, until stopping being numbered when reaching the total number of rows of sucker, to which each sucker be numbered, and by numbering to each row
Sucker is identified；
Control conveying：
S4：After workpiece detector detects that workpiece enters, signal is sent out to control device；
S5：When control device receives the signal that workpiece detector is sent, according to the feedback signal of sucker sensor
Judge to be now placed in the sucker below workpiece, and controls the solenoid valve unlatching for corresponding to the sucker below workpiece, the sucker air-breathing,
Workpiece is adsorbed；
Workpiece is transmitted with the sucker, and in transmit process, sucker sensor is persistently triggered；
S6：Sucker sensor is triggered number when control device records workpiece transmission, by being touched sucker sensor
Hair number is multiplied by adjacent two rows of interambulacrum distance and obtains workpiece displacement distance, then by the work of obtained workpiece displacement distance and setting
Part transmission range is compared to judging whether workpiece reaches required position, if so, the solenoid valve for controlling the sucker below the workpiece closes
It closes, sucker stops suction, and completes the transmission of workpiece.
The present invention has the following advantages and effects with respect to the prior art：
1, the present invention quickly, accurately and efficiently can carry out accurate inspection to the dimensional accuracy of workpiece or appearance when detecting
Survey, the present invention collects static detection and the advantages of dynamic detection, rejects its disadvantage, when detecting by the second synchronous transfer mechanism,
Third synchronous transfer mechanism and the 4th synchronous transfer mechanism make image collecting device do synchronous transport movement together with workpiece, make
Both is being done while keeping relatively motionless or controllable relative motion in movement in the same direction, realizes image collecting device to all
The workpiece for being admitted to the second sucker transport mechanism, third sucker transport mechanism and the 4th sucker transport mechanism is moved
Static detection or Scanning Detction.Initial position can be returned to after image collecting device completion detection again to examine next workpiece
It surveys, Image Acquisition when thus image collecting device can be enable to be detected the workpiece of continuous conveying, and can guarantee detection
Device opposite piece is static or does controllable relative motion, and it is good and with high accuracy good to have drawn static detection effect in this way
Place, and can guarantee that it is fast with dynamic measuring speed, efficient advantage, can reach and both concentrate static detection and dynamic detection
Advantage, and reject the purpose of its disadvantage.The second sucker transport mechanism, third sucker transport mechanism and the 4th sucker of the present invention
Transport mechanism coordinates dedicated Multi-angle camera, can in detail be detected to the appearance on each surface of workpiece, to protect
Card high speed, efficient, high-precision detection result.
2, the second sucker transport mechanism, third sucker transport mechanism and the 4th sucker transport mechanism that the present invention uses are logical
The one of surface of sucker suction workpiece is crossed to realize transmission, wherein third sucker transport mechanism is by adsorbing workpiece top
Workpiece is suspended in aerial progress vision-based detection, so that it may to ensure that image collecting device can be complete when carrying out video detection by face
The entire bottom surface and side of whole scanning workpiece, and the second sucker transport mechanism, third sucker transport mechanism and the 4th sucker pass
The zone face for sending the sucker in mechanism to protrude from conveyer belt, this can be avoided when directly being conveyed using flat belt, due to flat
Vision-based detection error caused by the refraction of belt surface, keeps the image collected data more acurrate.
Description of the drawings
Fig. 1 is the structural schematic diagram of the present invention.
Fig. 2 is the lateral structural schematic diagram of the present invention.
Fig. 3 is that the third synchronous transfer mechanism of the present invention or the second synchronous transfer mechanism drive three camera collection images
The schematic diagram of data.
Fig. 4 is that the 4th synchronous transfer mechanism of the present invention drives the schematic diagram of three camera collection image data.
Fig. 5 is that the third synchronous transfer mechanism of the present invention or the second synchronous transfer mechanism drive two camera collection images
The schematic diagram of data.
Fig. 6 is the structural schematic diagram of the sub-scanning mechanism of the present invention.
Fig. 7 is the structural schematic diagram of the workpiece auxiliary gatherer of the present invention.
Schematic diagram when Fig. 8 is third sucker transport mechanism and the work of third synchronous transfer mechanism of the present invention.
Schematic diagram when Fig. 9 is the 4th sucker transport mechanism and the work of the 4th synchronous transfer mechanism of the present invention.
Figure 10 is the structural schematic diagram of the second sucker transport mechanism and the second synchronous transfer mechanism of the present invention.
Figure 11 is schematic diagram when workpiece enters conveyer belt of the invention.
Figure 12 is third sucker transport mechanism and schematic diagram of the 4th sucker transport mechanism in work delivery.
Figure 13 is the schematic diagram that workpiece carries out image data acquiring when on sucker.
Figure 14 is that workpiece vision-based detection caused by refraction when flat belt surface transport carries out image data acquiring is missed
The schematic diagram of difference.
Specific implementation mode
Present invention will now be described in further detail with reference to the embodiments and the accompanying drawings, but embodiments of the present invention are unlimited
In this.
Embodiment one：
A kind of six facial vision detection devices, including the first sucker transport mechanism, the second sucker transport mechanism 1, Image Acquisition
Device, the first synchronous transfer mechanism, the second synchronous transfer mechanism 2 and the control system for controlling workpiece for measurement transmission, the
One synchronization transmission mechanism is set to below the first sucker transport mechanism, and the second synchronous transfer mechanism is set to the second sucker conveyer
Above structure, the first sucker transport mechanism is connected L-shaped setting with the second sucker transport mechanism, and image collecting device is waited for for acquisition
The image data of six face view of workpiece, including six or at least six cameras 3 are surveyed, camera is respectively provided to the first synchronization biography
On transfer mechanism and the second synchronous transfer mechanism, wherein the first synchronous transfer mechanism acquisition workpiece for measurement downside, a workpiece for measurement left side
The image data of side and workpiece for measurement right side, the second synchronous transfer mechanism acquire workpiece for measurement leading flank and workpiece for measurement
The image data of trailing flank, the image data of workpiece for measurement upper side is by the first synchronous transfer mechanism or the second synchronous transfer mechanism
It is acquired.
Preferably, first synchronous transfer mechanism and the second synchronous transfer mechanism include servo motor 4, it is sprocket wheel 5, defeated
Chain 6 and rack 7, servo motor is sent to be rotated by chain wheel drive conveyor chain, rack is installed on conveyor chain, and image is adopted
Acquisition means are mounted in rack.
Preferably, it is additionally provided with sub-scanning mechanism 8 in the first synchronous transfer mechanism and the second synchronous transfer mechanism, assisted
Sweep mechanism includes driving motor 9, screw slide 10 and connection sliding block 11, and driving motor is used to drive the leading screw of screw slide
Rotation, connection sliding block are connected on the leading screw of screw slide, and connection sliding block moving direction is parallel with workpiece for measurement transmission direction, institute
Rack is stated to connect with connection sliding block.
Preferably, the rack takes the shape of the letter U setting, and the camera of image collecting device is separately positioned on the first synchronous transfer machine
The rack both ends and/or middle part that structure and the second synchronous transfer mechanism take the shape of the letter U.
To improve efficiency, it is synchronous multiple first can be arranged in the first sucker transport mechanism and the second sucker transport mechanism
Transmission mechanism and the second synchronous transfer mechanism, and be arranged in each first synchronous transfer mechanism and the second synchronous transfer mechanism auxiliary
Sweep mechanism is helped, can be taken turns to operate in this way with multiple first synchronous transfers mechanism and the second synchronous transfer mechanism, work effect is improved
Rate.
Preferably, it is additionally provided with workpiece auxiliary gatherer 12, workpiece assists gatherer delivery outlet and the first sucker to pass
Mechanism or the second sucker transport mechanism is sent to connect, it includes conveying device 13, left importing plate 14 and the right side that workpiece, which assists gatherer,
Import plate 15, left importings plate and right importing plate be separately positioned on the frame body of conveyer belt both sides of conveying device, left importing plate with
It is formed between right importing plate and ajusts channel 16 along the diminishing workpiece of transmission direction.
Left importing plate and the right front end for importing plate importing direction are bolt-connected to the conveyer belt of conveying device respectively
On the frame body of both sides.
Preferably, the first sucker transport mechanism and the second sucker transport mechanism include conveyer belt 17, solenoid valve with
And multiple suckers 18, sucker is respectively arranged on conveyer belt, and sucker protrudes from the zone face of conveyer belt, and solenoid valve is multiple, is divided
It does not connect with sucker, is turned on and off for controlling sucker；
Control system is used to make sucker close into fashionable unlatching and when workpiece exports in workpiece by controlling each solenoid valve.
Preferably, the sucker is uniformly arranged on a moving belt at multiple rows of, and the sucker between two rows is apart from equal, solenoid valve
It to be multiple, connect with every row's sucker, is turned on and off for controlling often row's sucker respectively；
Control system includes control device, workpiece detector 19 and sucker sensor 20, and workpiece detector and sucker pass
Sensor is connect with control device respectively, and each solenoid valve is connect with control device respectively, and workpiece detector and sucker sensor are set
It sets in conveyer belt inlet；
Workpiece detector is for detecting whether there is workpiece entrance；
Sucker sensor is used to detect the sucker for reaching conveyer belt inlet；
Control device is used for workpiece into the solenoid valve of fashionable open position sucker below workpiece, and according to sucker sensor
The distance between detection data and two rows of suckers obtain the workpiece transmission range after the displacement distance of sucker with setting below workpiece
Compared to judging workpiece transmits position needed for whether reaching, if so, the solenoid valve of the corresponding sucker of control is closed.
Preferably, the first synchronous transfer mechanism, be equipped with alignment sensor in the second synchronous transfer mechanism；
The servo motor of first synchronous transfer mechanism, the driving motor of the first synchronous transfer mechanism, the second synchronous transfer machine
The servo motor of structure, the driving motor of the second synchronous transfer mechanism and alignment sensor are connect with control device respectively；
Alignment sensor is respectively used to the position of detection workpiece；
Control device is used to receive the detection information of two alignment sensors, and is started according to the detection information received and corresponded to
The first synchronous transfer mechanism and the second synchronous transfer mechanism.
Preferably, the first sucker transport mechanism is two, and respectively third sucker transport mechanism 21 and the 4th sucker passes
Mechanism 22, third sucker transport mechanism is sent to be connected in linear type with the 4th sucker transport mechanism, the 4th sucker transport mechanism and the
Two sucker transport mechanisms are connected L-shaped setting, and the first synchronous transfer mechanism is two, respectively third synchronous transfer mechanism 23 with
And the 4th synchronous transfer mechanism 24, third synchronous transfer mechanism are set to above third sucker transport mechanism, the 4th synchronous transfer
Mechanism is set to below the 4th sucker transport mechanism, and the 4th synchronous transfer mechanism is used to acquire the picture number of workpiece for measurement downside
According to the image data of workpiece for measurement left side and workpiece for measurement right side is by third synchronous transfer mechanism or the 4th synchronous transfer
Mechanism is acquired；
The image data of workpiece for measurement upper side is acquired by third synchronous transfer mechanism or the second synchronous transfer mechanism.
The course of work and operation principle of the present invention：Workpiece 25 is respectively put into the conveyer belt that workpiece assists gatherer
On, workpiece is transmitted with conveyer belt, is ajusted in channel then into left importing plate and the right workpiece formed between plate that imports,
If workpiece is not ajusted or do not put to setting position as required, workpiece enters after workpiece ajusts channel, since workpiece is put
Positive channel is gradually reduced along transmission direction, and the outlet size that workpiece ajusts channel is equal to the width of workpiece or is more than the width of the workpiece
1-5mm, therefore, workpiece are contacted during advance with left importing plate and/or right importing plate, while by means of conveying tape travel
Power, left importing plate and right importing plate make workpiece rotate and/or generate mobile to be corrected to workpiece, prologue after guarantee
In image collecting device can accurately collect workpiece six outer surfaces image data.
Workpiece is ajusted channel from workpiece and is output and then enter to third sucker transport mechanism；
The course of work and operation principle of third sucker transport mechanism：
After workpiece detector detects that workpiece enters, signal is sent out to control device；
When control device receives the signal that workpiece detector is sent, judged according to the feedback signal of sucker sensor
The sucker being now placed in below workpiece, and control the solenoid valve unlatching for corresponding to the sucker below workpiece, the sucker air-breathing, to work
Part is adsorbed；
It sets the sucker distance between two rows to be less than workpiece bottom length, it is ensured that at least two rows of suckers can be right simultaneously
Workpiece is adsorbed, and that realizes workpiece stablizes transmission.
Workpiece is transmitted with the sucker, and in transmit process, sucker sensor is persistently triggered；
Sucker sensor is triggered number when control device records workpiece transmission, by the way that sucker sensor is triggered time
Number is multiplied by adjacent two rows of interambulacrum distances and obtains workpiece displacement distance, then the workpiece of obtained workpiece displacement distance and setting is passed
Defeated distance, if so, the solenoid valve for controlling the sucker below the workpiece is closed, is inhaled compared to judging whether workpiece reaches required position
Disk stops suction, and workpiece reaches the junction of third sucker transport mechanism and the 4th sucker transport mechanism, i.e. workpiece at this time at this time
Enter the conveyer belt inlet of the 4th sucker transport mechanism；
The course of work and operation principle of third synchronous transfer mechanism：
When workpiece is when third sucker transport mechanism is transmitted, the positioning that workpiece can trigger the first synchronous transfer mechanism passes
Sensor.
Since the camera of rack and image collecting device at this time is respectively positioned on the orientation sensing of the first synchronous transfer mechanism
The surface of device, therefore when alignment sensor detects that workpiece moves in front of it, control device controls the first synchronous transfer
The servo motor of mechanism drives the camera in the rack of the first synchronous transfer mechanism to be moved with identical speed with workpiece, is imaging
In head moving process, camera acquires the image information of workpiece；
Due to being provided with sub-scanning mechanism in third synchronous transfer mechanism, when workpiece is longer, camera cannot be primary
When acquiring workpiece image information completely, the driving motor of the sub-scanning mechanism of third synchronous transfer mechanism starts, and passes through leading screw
Slide unit and connection sliding block make rack be moved along outer surface of workpiece, and camera carries out image information collecting to workpiece simultaneously, that is, reaches
To the effect of Scanning Detction, to acquire the complete image information of workpiece.Further, it is also possible to pass through third synchronous transfer mechanism
The driving motor driving rack of sub-scanning mechanism is repeatedly moved, and is taken pictures to work after often moving a distance, so
It moves another part again to workpiece again afterwards to take pictures, until clapping complete outer surface of workpiece, completes the image information of workpiece
Acquisition.
The operation principle and the course of work of 4th sucker transport mechanism and the second sucker transport mechanism are transmitted with third sucker
Mechanism is similar, the operation principle and the course of work and third synchronous transfer of the 4th synchronous transfer mechanism and the second synchronous transfer mechanism
Mechanism is similar, in addition, being also equipped with sub-scanning mechanism in the 4th synchronous transfer mechanism.
It should be noted that when workpiece is sent into the 4th sucker transport mechanism from third sucker transport mechanism, workpiece is from the 4th
The bottom surface of sucker transport mechanism is transmitted, and to which the bottom surface of workpiece is hanging, third synchronous transfer mechanism is passed from the 4th sucker
It send and camera is driven to carry out image information collecting to the bottom surface of workpiece below mechanism.
When workpiece is sent into the second sucker transport mechanism from the 4th sucker transport mechanism, due to, the 4th sucker transport mechanism with
Second sucker transport mechanism is connected L-shaped setting, and therefore, when entering the second sucker transport mechanism, direction of transfer generates workpiece
90 degree of deflecting, forms the effect of commutation, that is, the top surface of workpiece and remaining not two collected outer surfaces are respectively facing the
Camera in two synchronous transfer mechanisms, therefore, the second synchronous transfer mechanism can drive camera acquisition workpiece is remaining not adopted
The image information of two outer surfaces of collection, to which the image information of six outer surfaces of workpiece to be collected.
And camera can be 9, the rack of the second synchronous transfer mechanism, the rack of third synchronous transfer mechanism and
It is respectively set three in the rack of 4th synchronous transfer mechanism；
Camera can be 6, and the central rack to take the shape of the letter U in the 4th synchronous transfer mechanism is arranged in one of camera,
Image data for acquiring workpiece for measurement downside；
Two cameras are separately positioned on the rack both ends that the second synchronous transfer mechanism takes the shape of the letter U, for acquiring work to be measured
The image data of part downside；
Two cameras are separately positioned on the rack both ends or the 4th synchronous transfer machine that third synchronous transfer mechanism takes the shape of the letter U
The rack both ends that structure takes the shape of the letter U, the image data for acquiring workpiece for measurement left side and workpiece for measurement right side；
The central rack to take the shape of the letter U in third synchronous transfer mechanism is arranged in one camera or the second synchronous transfer mechanism is in U
The central rack of shape, the image data for acquiring workpiece for measurement upper side.
Embodiment two：
Preferably, the control system further includes entrance workpiece detector, exports workpiece detector, enters oral sucker sensor
And going out oral sucker sensor, entrance workpiece detector exports workpiece detector, enters oral sucker sensor and goes out oral sucker biography
Sensor is connect with control device respectively, and each solenoid valve is connect with control device respectively；
Entrance workpiece detector and enter oral sucker sensor be arranged in conveyer belt inlet；
Outlet workpiece detector is arranged with oral sucker sensor is gone out in conveyer belt exit；
Entrance workpiece detector is for detecting whether there is workpiece entrance；
Outlet workpiece detector is for detecting whether there is workpiece to reach conveyer belt outlet；
Enter oral sucker sensor for detecting the sucker for reaching conveyer belt inlet；
Go out oral sucker sensor for detecting the sucker for reaching conveyer belt exit；
Control device is for receiving entrance workpiece detector, exporting workpiece detector, enter oral sucker sensor and outlet
The data that sucker sensor is sent, and make sucker in workpiece into fashionable unlatching by controlling each solenoid valve according to the data received
It is closed with when workpiece exports.
Embodiment three：
A kind of control method of the first sucker transport mechanism and the second sucker transport mechanism described in embodiment one, including with
Lower step：
Sucker identifies：
The total number of rows parameter of sucker and two interambulacrum distance parameters are input to control device；
S1：Conveyer belt rotation drives often row's sucker movement in front of sucker sensor；
S2：Often arranging the sucker passed through in front of sucker sensor, all to trigger sucker sensor primary, and sucker sensor will be by
The signal of triggering feeds back to control device successively；
S3：Control device according to the feedback signal of sucker sensor, by feedback sequencing to feedback signal successively into
Row number, until stopping being numbered when reaching the total number of rows of sucker, to which each sucker be numbered, and by numbering to each row
Sucker is identified；
Control conveying：
S4：After workpiece detector detects that workpiece enters, signal is sent out to control device；
S5：When control device receives the signal that workpiece detector is sent, according to the feedback signal of sucker sensor
Judge to be now placed in the sucker below workpiece, and controls the solenoid valve unlatching for corresponding to the sucker below workpiece, the sucker air-breathing,
Workpiece is adsorbed；
Workpiece is transmitted with the sucker, and in transmit process, sucker sensor is persistently triggered；
S6：Sucker sensor is triggered number when control device records workpiece transmission, by being touched sucker sensor
Hair number is multiplied by adjacent two rows of interambulacrum distance and obtains workpiece displacement distance, then by the work of obtained workpiece displacement distance and setting
Part transmission range is compared to judging whether workpiece reaches required position, if so, the solenoid valve for controlling the sucker below the workpiece closes
It closes, sucker stops suction, and completes the transmission of workpiece.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, it is other it is any without departing from the spirit and principles of the present invention made by changes, modifications, substitutions, combinations, simplifications,
Equivalent substitute mode is should be, is included within the scope of the present invention.
Claims (10)
1. a kind of six facial vision detection devices, it is characterised in that：Including the first sucker transport mechanism, the second sucker transport mechanism,
Image collecting device, the first synchronous transfer mechanism, the second synchronous transfer mechanism and the control for controlling workpiece for measurement transmission
System, the first synchronous transfer mechanism are set to below the first sucker transport mechanism, and the second synchronous transfer mechanism is set to the second suction
Above disk transport mechanism, the first sucker transport mechanism is connected L-shaped setting with the second sucker transport mechanism, image collecting device use
It is respectively provided to the first synchronous transfer in the image data of acquisition six face view of workpiece for measurement, including multiple cameras, camera
In mechanism and the second synchronous transfer mechanism, wherein on the left of the first synchronous transfer mechanism acquisition workpiece for measurement downside, workpiece for measurement
The image data in face and workpiece for measurement right side, after the second synchronous transfer mechanism acquires workpiece for measurement leading flank and workpiece for measurement
The image data of side, the image data of workpiece for measurement upper side by the first synchronous transfer mechanism or the second synchronous transfer mechanism into
Row acquisition；
The camera is Multi-angle camera.
2. six facial visions detection device according to claim 1, it is characterised in that：First synchronous transfer mechanism and the
Two synchronous transfer mechanisms include servo motor, sprocket wheel, conveyor chain and rack, and servo motor passes through chain wheel drive carrier chain
Item rotates, and rack is installed on conveyor chain, and image collecting device is mounted in rack.
3. six facial visions detection device according to claim 2, it is characterised in that：First synchronous transfer mechanism is same with second
Sub-scanning mechanism is additionally provided on step transmission mechanism, sub-scanning mechanism includes that driving motor, screw slide and connection are slided
Block, driving motor is for driving the leading screw of screw slide to rotate, and connection sliding block is connected on the leading screw of screw slide, connection sliding block
Moving direction is parallel with workpiece for measurement transmission direction, and the rack is connect with connection sliding block；
The rack takes the shape of the letter U setting, and the camera of image collecting device is separately positioned on the first synchronous transfer mechanism and second same
The rack both ends and/or middle part that step transmission mechanism takes the shape of the letter U.
4. six facial visions detection device according to claim 1, it is characterised in that：It is additionally provided with workpiece auxiliary and imports dress
It sets, workpiece auxiliary gatherer delivery outlet is connect with the first sucker transport mechanism or the second sucker transport mechanism, and workpiece auxiliary is led
It includes conveying device, left importing plate and right importing plate to enter device, and left importing plate and right importing plate are separately positioned on conveying device
Conveyer belt both sides frame body on, between left importing plate and right importing plate formed ajusted along the diminishing workpiece of transmission direction it is logical
Road.
5. six facial visions detection device according to claim 1, it is characterised in that：The first sucker transport mechanism and
Two sucker transport mechanisms include that conveyer belt, solenoid valve and multiple suckers, sucker are respectively arranged on conveyer belt, and sucker is convex
For the zone face of conveyer belt, solenoid valve is multiple, connect with sucker, is turned on and off for controlling sucker respectively；
Control system is used to make sucker close into fashionable unlatching and when workpiece exports in workpiece by controlling each solenoid valve.
6. six facial visions detection device according to claim 5, it is characterised in that：The sucker is uniformly arranged at multiple rows of
On conveyer belt, it is two rows of between sucker apart from equal, solenoid valve is multiple, connect respectively with every row's sucker, is often arranged for control
Sucker is turned on and off；
Control system includes control device, workpiece detector and sucker sensor, and workpiece detector and sucker sensor are distinguished
It is connect with control device, each solenoid valve is connect with control device respectively, and workpiece detector and the setting of sucker sensor are transmitting
At tape entry；
Workpiece detector is for detecting whether there is workpiece entrance；
Sucker sensor is used to detect the sucker for reaching conveyer belt inlet；
Control device is detected for workpiece into the solenoid valve of fashionable open position sucker below workpiece, and according to sucker sensor
The distance between data and two rows of suckers obtain below workpiece after the displacement distance of sucker compared with the workpiece transmission range of setting
Judge workpiece transmits position needed for whether reaching, if so, the solenoid valve of the corresponding sucker of control is closed.
7. six facial visions detection device according to claim 5, it is characterised in that：The control system includes that control is set
Standby, entrance workpiece detector exports workpiece detector, enters oral sucker sensor and goes out oral sucker sensor, the inspection of entrance workpiece
Device is surveyed, workpiece detector is exported, enter oral sucker sensor and goes out oral sucker sensor and connect respectively with control device, each electromagnetism
Valve is connect with control device respectively；
Entrance workpiece detector and enter oral sucker sensor be arranged in conveyer belt inlet；
Outlet workpiece detector is arranged with oral sucker sensor is gone out in conveyer belt exit；
Entrance workpiece detector is for detecting whether there is workpiece entrance；
Outlet workpiece detector is for detecting whether there is workpiece to reach conveyer belt outlet；
Enter oral sucker sensor for detecting the sucker for reaching conveyer belt inlet；
Go out oral sucker sensor for detecting the sucker for reaching conveyer belt exit；
Control device is for receiving entrance workpiece detector, exporting workpiece detector, enter oral sucker sensor and go out oral sucker
The data that sensor is sent, and according to the data received by control each solenoid valve make sucker workpiece into fashionable unlatching and
Workpiece is closed when exporting.
8. six facial visions detection device according to claim 3, it is characterised in that：First synchronous transfer mechanism, second are together
It is equipped with alignment sensor on step transmission mechanism, control system includes control device；
The servo motor of first synchronous transfer mechanism, the driving motor of the first synchronous transfer mechanism, the second synchronous transfer mechanism
Servo motor, the driving motor of the second synchronous transfer mechanism and alignment sensor are connect with control device respectively；
Alignment sensor is respectively used to the position of detection workpiece；
Control device is used to receive the detection informations of two alignment sensors, and according to the detection information startup received corresponding the
One synchronizes transmission mechanism and the second synchronous transfer mechanism.
9. according to any six facial vision detection devices of claim 1-8, it is characterised in that：First sucker transport mechanism packet
Third sucker transport mechanism and the 4th sucker transport mechanism are included, third sucker transport mechanism and the 4th sucker transport mechanism are in one
Font connects, and the 4th sucker transport mechanism is connected L-shaped setting with the second sucker transport mechanism, and the first synchronous transfer mechanism is two
A, respectively third synchronous transfer mechanism and the 4th synchronous transfer mechanism, third synchronous transfer mechanism are set to third sucker
Above transport mechanism, the 4th synchronous transfer mechanism is set to below the 4th sucker transport mechanism, and the 4th synchronous transfer mechanism is used for
The image data of the image data of acquisition workpiece for measurement downside, workpiece for measurement left side and workpiece for measurement right side is by third
Synchronous transfer mechanism or the 4th synchronous transfer mechanism are acquired；
The image data of workpiece for measurement upper side is acquired by third synchronous transfer mechanism or the second synchronous transfer mechanism.
10. the control method of the first sucker transport mechanism and the second sucker transport mechanism described in a kind of claim 6, special
Sign is to include the following steps：
Sucker identifies：
S1：Conveyer belt rotation drives often row's sucker movement in front of sucker sensor；
S2：It often arranges the sucker passed through in front of sucker sensor and all triggers that sucker sensor is primary, and sucker sensor will be triggered
Signal feed back to control device successively；
S3：Control device compiles feedback signal by the sequencing of feedback according to the feedback signal of sucker sensor successively
Number, until stopping being numbered when reaching the total number of rows of sucker, to which each sucker be numbered, and by numbering to each row's sucker
It is identified；
Control conveying：
S4：After workpiece detector detects that workpiece enters, signal is sent out to control device；
S5：When control device receives the signal that workpiece detector is sent, judged according to the feedback signal of sucker sensor
The sucker being now placed in below workpiece, and control the solenoid valve unlatching for corresponding to the sucker below workpiece, the sucker air-breathing, to work
Part is adsorbed；
Workpiece is transmitted with the sucker, and in transmit process, sucker sensor is persistently triggered；
S6：Sucker sensor is triggered number when control device records workpiece transmission, by the way that sucker sensor is triggered time
Number is multiplied by adjacent two rows of interambulacrum distances and obtains workpiece displacement distance, then the workpiece of obtained workpiece displacement distance and setting is passed
Defeated distance, if so, the solenoid valve for controlling the sucker below the workpiece is closed, is inhaled compared to judging whether workpiece reaches required position
Disk stops suction, and completes the transmission of workpiece.
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| CN201610573244.8A CN106018430B (en) | 2016-07-19 | 2016-07-19 | Six facial vision detection devices of one kind and its control method |
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| CN106563648B (en) * | 2016-10-19 | 2019-01-01 | 奉其奉印刷科技（上海）有限公司 | A kind of uninterrupted detection platform of packing box printing quality |
| CN106643861A (en) * | 2016-12-29 | 2017-05-10 | 无锡凯涵科技有限公司 | CCD visual sense screening device |
| CN106872474A (en) * | 2017-03-08 | 2017-06-20 | 苏州易瑞得电子科技有限公司 | Exploded perspective vision testing machine and its detection method |
| CN107966102A (en) * | 2018-01-18 | 2018-04-27 | 中山市鑫光智能***有限公司 | A kind of plate production six-face detection device |
| CN108333186A (en) * | 2018-04-03 | 2018-07-27 | 南京理工大学 | Go mouldy detecting system and its detection method based on the surfaces Yan Duo |
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| CN110567975B (en) * | 2019-08-22 | 2022-05-03 | 常熟理工学院 | Optical detection system for battery pack |
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| CN114088722A (en) * | 2021-11-23 | 2022-02-25 | 国网江苏省电力有限公司营销服务中心 | Ammeter detection device and configuration method thereof |
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| CN103017651A (en) * | 2011-09-23 | 2013-04-03 | 苏州比特速浪电子科技有限公司 | Reversible sample six-face detection device |
| CN202216666U (en) * | 2011-09-23 | 2012-05-09 | 苏州比特速浪电子科技有限公司 | Six-side detecting device for sample |
| CN102636495B (en) * | 2012-04-13 | 2014-04-23 | 中国科学院宁波材料技术与工程研究所 | All-round automatic detection device for surface defects of workpieces |
| CN203714224U (en) * | 2014-03-07 | 2014-07-16 | 南京大树智能科技股份有限公司 | Cigarette packet six-surface detection device |
| CN203753487U (en) * | 2014-04-03 | 2014-08-06 | 上海优汉实业发展有限公司 | Double-station cigarette appearance six-sided detection system |
| CN104390986A (en) * | 2014-11-07 | 2015-03-04 | 杭州灏元自动化设备有限公司 | Particle six-sided inspection machine |
| CN204523607U (en) * | 2015-01-14 | 2015-08-05 | 杭州智感科技有限公司 | A kind of neodymium iron boron checkout equipment |
| CN205300623U (en) * | 2016-01-06 | 2016-06-08 | 深圳市恒茂科技有限公司 | Detect device of six parts |
| CN105675610A (en) * | 2016-02-02 | 2016-06-15 | 青岛海信电子技术服务有限公司 | Online detection system for object surface texture characteristics and working principle |
| CN205861568U (en) * | 2016-07-19 | 2017-01-04 | 广东水利电力职业技术学院 | A kind of hexahedro vision inspection apparatus |
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