CN106197273B - One kind is with acting rotary vision inspection apparatus - Google Patents
One kind is with acting rotary vision inspection apparatus Download PDFInfo
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- CN106197273B CN106197273B CN201610574661.4A CN201610574661A CN106197273B CN 106197273 B CN106197273 B CN 106197273B CN 201610574661 A CN201610574661 A CN 201610574661A CN 106197273 B CN106197273 B CN 106197273B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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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
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- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Immunology (AREA)
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- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses one kind with acting rotary vision inspection apparatus, including two U-shaped delivery platforms, two servo-actuated detection systems and work piece turnover mechanism, two U-shaped delivery platforms are connected to form S-shaped delivery platform, servo-actuated detection system includes image collecting device and the rotating platform for driving image collecting device to rotate along the curved portion of U-shaped delivery platform, work piece turnover mechanism is set to the junction of two delivery platforms, work piece turnover mechanism includes overturning motor, flip-arm, sucker, for scooping out the workpiece after overturning and the workpiece that workpiece is sent into another delivery platform being scooped out sloping platform, overturning motor is connect with flip-arm, sucker is set on flip-arm.The present invention quickly, accurately and efficiently can carry out Precision measurement to the size of workpiece or appearance.
Description
Technical field
The present invention relates to a kind of detection devices, and in particular to one kind is with acting rotary vision inspection apparatus.
Background technique
Vision-based detection is exactly to replace human eye with camera to be detected, it refers to 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 according to again picture in image
The information such as element distribution and brightness, color, are transformed into digitized signal；Picture system carries out various operations to these signals to extract
Clarification of objective, and then live device action is controlled according to the result of differentiation.Using which to workpiece size 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 method is generally taken when the size to workpiece detects：
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
The shortcomings that effect is good, and precision is high, but the speed that there is detection is slow, low efficiency.
2, dynamic detection.When being detected using this kind of mode, detection camera is fixed in the rack of machine, passes through biography
Sending mechanism workpiece, successively the mobile past below camera, camera and workpiece have relative displacement, and camera is to immediately below it
Mobile workpiece is scanned detection, and scan image is then carried out analysis by image processing system again and obtains testing result.
The speed detected in this way is fast, high-efficient, but due to detection when camera and workpiece have relative displacement, cause to image
The picture signal of head acquisition is unstable, haves the shortcomings that the effect of detection is poor, precision is low.
In the open defect detection to workpiece, 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 or cuboid packing case in six face 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 because the camera of vision-based detection can only detect a hexahedral face by configuring multiple cameras
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, far it is unable to satisfy actual job requirement.
Summary of the invention
For the technical problems in the prior art, the purpose of the present invention is：It provides a kind of with the inspection of acting rotary vision
Survey device.
The purpose of the invention is achieved by the following technical solution：One kind is with acting rotary vision inspection apparatus, including two
U-shaped delivery platform, two servo-actuated detection systems and work piece turnover mechanism, two U-shaped delivery platforms are connected shape
At S-shaped delivery platform, servo-actuated detection system includes image collecting device and for driving image collecting device along U-shaped biography
The rotating platform for sending the curved portion of platform to rotate, work piece turnover mechanism are set to the junction of two delivery platforms, workpiece turning
Mechanism include overturn motor, flip-arm, sucker, for scooping out the workpiece after overturning and workpiece being sent into the work of another delivery platform
Part scoops out sloping platform, and overturning motor is connect with flip-arm, and sucker is set on flip-arm.
Preferably, it includes two transmission sloping platforms that the workpiece, which scoops out sloping platform, is formed between two transmission sloping platforms for flip-arm
The evacuation section passed through.
Preferably, two guide plates are additionally provided with, two guide plates are set to the two sides that workpiece scoops out sloping platform delivery outlet, two guiding
It is formed between plate and ajusts channel for ajusting the workpiece of workpiece, workpiece is ajusted channel sized and gradually subtracted from input port to delivery outlet
It is few.
Preferably, servo-actuated detection system further includes sub-scanning mechanism, and sub-scanning mechanism includes driving motor, lead screw cunning
Platform, connection sliding block and connection rack, for driving motor for driving the lead screw of screw slide to rotate, connection sliding block is connected to lead screw
On the lead screw of slide unit, connection rack is connect with connection sliding block, and image collecting device is set in connection rack, screw slide setting
In on rotating platform.
Preferably, the connection rack is metal hose.
Preferably, connection rack is in U-shape, and image collecting device includes multiple cameras, is separately positioned on connection rack
Both ends and middle part.
Preferably, the rotating platform includes shaft and multiple detection arms, and detection arm is uniformly arranged in shaft, described
Image collector is set to multiple, is separately positioned on each detection arm.
Preferably, be provided with control system, control system includes controller and sensor, sensor for detecting whether
There is workpiece input, sensor is two, is respectively arranged at the inlet of the curved portion of two delivery platforms, two delivery platforms and two
A servo-actuated detection system is connect with control system respectively, and controller is used for the detection signal of receiving sensor, and controls two biographies
Send the starting of platform and two servo-actuated detection systems.
Preferably, work piece turnover mechanism is additionally provided with workpiece baffle, and workpiece baffle is fixedly installed on two delivery platform phases
The two sides of junction, the curved portion of delivery platform are respectively arranged with light compensating lamp.
It preferably, further include control system, the control system further includes output detector, and output detector is set to work
Before part turnover mechanism, for detecting whether controller is connect with work piece turnover mechanism before having workpiece to reach work piece turnover mechanism, control
The data information that device processed is detected according to output detector, control overturning motor and sucker starting.
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 Precision measurement to the size of workpiece or appearance, collect static detection
And the advantages of dynamic detection, the shortcomings that both eliminating, when carrying out image data acquiring, delivery platform is image collecting device
Rotary motion is done together with workpiece, both is made to do while keep relatively motionless or controllable relative motion in movement in the same direction,
Realize camera to all workpiece being sent on delivery platform move in static detection or Scanning Detction.Camera is complete
Next workpiece is detected at initial position can be returned to again after Image Acquisition, can thus be enabled the invention to continuous defeated
The workpiece sent is detected, and camera opposite piece is static or does controllable relative motion when can guarantee detection.Just reach
To the advantages of not only concentrating static detection and dynamic detection, but also reject the purpose of its disadvantage.The present invention is additionally provided with workpiece turning
Mechanism overturns work, then carries out Image Acquisition again, therefore the present invention can be to the appearance on each surface of workpiece
It is detected in detail, to guarantee high speed, efficient and high-precision detection effect.
2, the present invention is provided with sub-scanning mechanism, and sub-scanning mechanism can drive image collecting device opposite piece to carry out
Controllable relative motion, thus realize image collecting device to all workpiece being sent on delivery platform move in it is quiet
Only detection or Scanning Detction.It is good that static detection effect can have been drawn in this way, benefit with high accuracy, and can guarantee that it has dynamic
The fast and high-efficient advantage of measuring speed.
3, work piece turnover mechanism of the invention can be quickly work after being sucked by efficient simple sucker to workpiece
Part overturns 180 °, so that high speed is realized, efficient continuous on-line measurement.
4, rotating platform of the invention is provided with multiple detection arms being angularly arranged, and is equipped with image on each detection arm and adopts
Acquisition means, therefore, image collecting device is constantly detected and is resetted in rotating platform turning course, and it is continuously right to realize
Workpiece on delivery platform carries out on-line checking, improves the efficiency of detection.
5, the present invention can be arranged different conveying speeds, adjust the detection angle of camera by configuring different cameras
Degree can carry out accurate measurement to the outer dimension of workpiece using the principle of trailing type Scanning Detction, can also be to different shapes
Workpiece carries out open defect detection.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention.
Fig. 2 is the top view of Fig. 1.
Fig. 3 is the structural schematic diagram of delivery platform of the invention.
Fig. 4 is the structural schematic diagram of servo-actuated detection system of the invention.
Fig. 5 is schematic diagram when image collecting device of the invention carries out Image Acquisition to workpiece.
Fig. 6 is the structural schematic diagram before work piece turnover mechanism overturning workpiece of the invention.
Fig. 7 is the structural schematic diagram after work piece turnover mechanism overturning workpiece of the invention.
Fig. 8 is the structural schematic diagram that image collecting device of the invention is installed in sub-scanning mechanism.
Fig. 9 is schematic diagram when three cameras of the invention carry out Image Acquisition to workpiece.
Figure 10 is that sub-scanning mechanism of the invention drives image collecting device to be scanned detection to workpiece to show
It is intended to, wherein A is moving direction of the sub-scanning mechanism in the case where detection armband is dynamic；B is that sub-scanning mechanism drives Image Acquisition
The moving direction of device；C is the moving direction of workpiece.
Specific embodiment
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：
One kind is with acting rotary vision inspection apparatus, including two U-shaped 1, two servo-actuated detection systems 2 of delivery platform
And work piece turnover mechanism 3, two U-shaped delivery platforms are connected to form S-shaped delivery platform, servo-actuated detection system includes
Image collecting device 4 and for drive image collecting device along U-shaped delivery platform curved portion rotate rotating platform
5, work piece turnover mechanism is set to the junction of two delivery platforms, and work piece turnover mechanism includes overturning motor 6, flip-arm 7, inhales
Disk 8, for scooping out the workpiece after overturning and the workpiece that workpiece is sent into another delivery platform being scooped out sloping platform, overturning motor and overturning
Arm connection, sucker are set on flip-arm.
Preferably, it includes two transmission sloping platforms 9 that the workpiece, which scoops out sloping platform, is formed between two transmission sloping platforms for flip-arm
The evacuation section passed through.
Preferably, described two U-shaped delivery platforms are respectively：First delivery platform and the second delivery platform, first
The delivery outlet of delivery platform is docked with the input port of the second delivery platform, and two transmission sloping platforms are separately positioned on the second delivery platform
Input port two sides.
Two servo-actuated detection systems are respectively the first servo-actuated detection system and the second servo-actuated detection system, the first servo-actuated detection
System is arranged at the curved portion of the first delivery platform, and the curved portion of the second delivery platform is arranged in the second servo-actuated detection system
Place.
The delivery platform is plate chain conveyer belt, and the overturning motor is servo motor.
Preferably, two guide plates 10 are additionally provided with, two guide plates are set to the two sides that workpiece scoops out sloping platform delivery outlet, and two lead
Channel is ajusted for ajusting the workpiece of workpiece to being formed between plate, workpiece is ajusted channel sized and gradually subtracted from input port to delivery outlet
It is few.
Preferably, two guide plates are set to the inlet of the second delivery platform.Workpiece ajusts channel sized along the second transmission
The direction of transfer of platform gradually decreases.
Preferably, servo-actuated detection system further includes sub-scanning mechanism 11, and sub-scanning mechanism includes driving motor 12, silk
Thick stick slide unit 13, connection sliding block 14 and connection rack 15, driving motor is for driving the lead screw of screw slide to rotate, connection sliding block
It is connected on the lead screw of screw slide, connection rack is connect with connection sliding block, and image collecting device is set in connection rack, silk
Thick stick slide unit is set on rotating platform.
Preferably, the connection rack is metal hose.
Preferably, connection rack is in U-shape, and image collecting device includes multiple cameras, is separately positioned on connection rack
Both ends and middle part.Metal hose can facilitate the shooting angle to each camera to be adjusted, so that each camera can accurately reach
Required shooting angle.
Preferably, the rotating platform includes shaft 16 and multiple detection arms 17, and detection arm is uniformly arranged in shaft,
Described image acquisition device be it is multiple, be separately positioned on each detection arm.The angle formed between each detection arm is equal, is carrying out figure
When as acquisition, Image Acquisition can be carried out to multiple workpiece on delivery platform respectively simultaneously, improve working efficiency.
Preferably, it is provided with control system, control system includes controller and sensor 18, and sensor is for detecting
No have a workpiece input, and sensor is two, is respectively arranged at the inlet of the curved portion of two delivery platforms, two delivery platforms with
Two servo-actuated detection systems are connect with control system respectively, and controller is used for the detection signal of receiving sensor, and controls two
The starting of delivery platform and two servo-actuated detection systems.Two sensors are respectively first sensor and second sensor, and first
The inlet of the curved portion of the first delivery platform is arranged in sensor, and the curved portion of the second delivery platform is arranged in second sensor
Inlet.
Preferably, work piece turnover mechanism is additionally provided with workpiece baffle 19, and workpiece baffle is fixedly installed on two delivery platforms
Connection, the two sides of the curved portion of delivery platform are respectively arranged with light compensating lamp 20.
Preferably, control system further includes output detector 21, and output detector is set to the outlet of the first delivery platform
Place, for detecting whether the exit for having workpiece to reach the first delivery platform, controller are connect with work piece turnover mechanism, controller
The data information detected according to output detector, control overturning motor and sucker starting.
The course of work and working principle of the invention：After workpiece enters the first delivery platform, workpiece is flat in the first transmission
It is conveyed on platform, when entering the curved portion of the first delivery platform, first sensor sends the letter that workpiece inputs to controller
Number, the servo-actuated detection system of controller control first starts, and the course of work of the first servo-actuated detection system starting is as follows：Shaft turns
Dynamic, driving is now placed in the detection armband motion video acquisition device above workpiece and follows workpiece mobile, and due to the mobile speed of workpiece
Degree and track and image collecting device movement speed are identical as track, therefore, can be to work when image collecting device is mobile
Leading flank, left side, right side and the top surface of part carry out image data acquiring, also because of workpiece movement speed and track and figure
As acquisition device movement speed it is identical as track, therefore, image collecting device opposite piece be it is static, static measurement can be reached
Advantage.
And when workpiece is larger, the driving motor starting of sub-scanning mechanism moves connection sliding block along screw slide, from
And keep image collecting device opposite piece mobile, to be swept to the leading flank of workpiece, left side, right side and top surface
Detection is retouched, to acquire the leading flank of entire workpiece, left side, right side and top image data.
After leading flank, left side, right side and the top surface to workpiece have acquired image data, workpiece is sent to
When the curved portion exit of one delivery platform, it is flat that the working line that image collecting device begins to deviate from workpiece exits the first transmission
Platform continues to prepare with detection arm rotation for detection next time.
When workpiece is sent to the outlet of the first delivery platform, it is flat that output detector detects that workpiece reaches the first transmission
The outlet of platform, controller control overturning motor rotation, overturning motor driven flip-arm are rotated to workpiece, and the sucker on flip-arm is inhaled
Gas sucks workpiece, overturns motor reversal, workpiece is inverted, is then placed on two transmission sloping platforms, since two transmission are oblique
There is evacuation section, therefore, after flip-arm inverts workpiece, the flip-arm below workpiece can pass through evacuation area between platform
Between, workpiece is placed on two transmission sloping platforms, when workpiece is placed on two transmission sloping platforms, sucker stops suction, workpiece
It is separated from sucker, since two transmission sloping platform surfaces are inclined-plane, workpiece can be along the table of two transmission sloping platforms after being detached from sucker
Slide into the second delivery platform under face, after workpiece enters the second delivery platform, ajusted under the action of two guide plates, then from
Workpiece ajusts the output of channel delivery outlet, into the curved portion of the second delivery platform, the second servo-actuated detection system starting, to workpiece into
Row image data acquiring, the course of work and working principle are similar to the first servo-actuated detection system, the difference is that, first with
Workpiece leading flank of the dynamic detection system to the workpiece top surface (being bottom surface before inversion) after inversion and after being inverted (is rear side before inversion
Face) carry out data acquisition.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (10)
1. one kind is with acting rotary vision inspection apparatus, it is characterised in that：It is servo-actuated including two U-shaped delivery platforms, two
Detection system and work piece turnover mechanism, two U-shaped delivery platforms are connected to form S-shaped delivery platform, are servo-actuated detection system
System includes image collecting device and the rotation for driving image collecting device to rotate along the curved portion of U-shaped delivery platform
Platform, work piece turnover mechanism are set to the junction of two delivery platforms, work piece turnover mechanism include overturning motor, flip-arm,
Sucker, for scooping out the workpiece after overturning and the workpiece that workpiece is sent into another delivery platform being scooped out sloping platform, overturn motor and is turned over
Pivoted arm connection, sucker are set on flip-arm, and the overturning motor is servo motor.
2. according to claim 1 with acting rotary vision inspection apparatus, it is characterised in that：The workpiece scoops out sloping platform packet
Two transmission sloping platforms are included, form the evacuation section passed through for flip-arm between two transmission sloping platforms.
3. according to claim 1 with acting rotary vision inspection apparatus, it is characterised in that：Two guide plates are additionally provided with,
Two guide plates are set to the two sides that workpiece scoops out sloping platform delivery outlet, are formed between two guide plates and are ajusted for ajusting the workpiece of workpiece
Channel, workpiece are ajusted channel sized and are gradually decreased from input port to delivery outlet.
4. according to claim 1 with acting rotary vision inspection apparatus, it is characterised in that：Servo-actuated detection system further includes
Sub-scanning mechanism, sub-scanning mechanism include driving motor, screw slide, connection sliding block and connection rack, driving motor
For driving the lead screw of screw slide to rotate, connection sliding block is connected on the lead screw of screw slide, connects rack and connection sliding block
Connection, image collecting device are set in connection rack, and screw slide is set on rotating platform.
5. according to claim 4 with acting rotary vision inspection apparatus, it is characterised in that：The connection rack is metal
Hose.
6. according to claim 4 or 5 with acting rotary vision inspection apparatus, it is characterised in that：Connection rack is in U-shape,
Image collecting device includes multiple cameras, is separately positioned on the both ends and middle part of connection rack.
7. according to claim 1 with acting rotary vision inspection apparatus, it is characterised in that：The rotating platform includes turning
Axis and multiple detection arms, detection arm be uniformly arranged in shaft, described image acquisition device be it is multiple, be separately positioned on each inspection
On test arm.
8. according to claim 1 with acting rotary vision inspection apparatus, it is characterised in that：It is provided with control system, is controlled
System processed includes controller and sensor, and for sensor for detecting whether there is workpiece input, sensor is two, is respectively set
In the inlet of the curved portion of two delivery platforms, two delivery platforms and two servo-actuated detection systems connect with control system respectively
It connects, controller is used for the detection signal of receiving sensor, and controls the starting of two delivery platforms and two servo-actuated detection systems.
9. according to claim 1 with acting rotary vision inspection apparatus, it is characterised in that：Work piece turnover mechanism is also set up
There is workpiece baffle, workpiece baffle is fixedly installed on two delivery platform connections, the two sides difference of the curved portion of delivery platform
It is provided with light compensating lamp.
10. according to claim 1 with acting rotary vision inspection apparatus, it is characterised in that：It further include control system, institute
Stating control system further includes output detector and controller, before output detector is set to work piece turnover mechanism, for detecting
Whether before having workpiece to reach work piece turnover mechanism, controller is connect with work piece turnover mechanism, and controller is examined according to output detector
The data information measured, control overturning motor and sucker starting.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610574661.4A CN106197273B (en) | 2016-07-19 | 2016-07-19 | One kind is with acting rotary vision inspection apparatus |
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|---|---|---|---|
| CN201610574661.4A CN106197273B (en) | 2016-07-19 | 2016-07-19 | One kind is with acting rotary vision inspection apparatus |
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| CN106197273B true CN106197273B (en) | 2018-11-16 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109211304A (en) * | 2017-07-05 | 2019-01-15 | 太仓澄天机械有限公司 | A kind of automatic appearance delection device with sucker |
| CN108917597A (en) * | 2018-06-25 | 2018-11-30 | 晓视自动化科技（上海）有限公司 | Mobile phone center detection device based on 3D vision |
| CN108745949B (en) * | 2018-07-26 | 2024-02-27 | 珠海格力智能装备有限公司 | Image detection apparatus |
| 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 |
| CN115008313A (en) * | 2022-08-03 | 2022-09-06 | 徐州国研新材料科技有限公司 | Old and useless metal sheet frock of polishing |
| CN116087217B (en) * | 2023-04-10 | 2023-06-30 | 湖北工业大学 | Industrial assembly line dynamic quality detection module and method based on machine vision |
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