CN109269445A - A kind of vision inspection apparatus and method of the connecting rod processing clamp of automatically calibrating - Google Patents
A kind of vision inspection apparatus and method of the connecting rod processing clamp of automatically calibrating Download PDFInfo
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- CN109269445A CN109269445A CN201811130317.1A CN201811130317A CN109269445A CN 109269445 A CN109269445 A CN 109269445A CN 201811130317 A CN201811130317 A CN 201811130317A CN 109269445 A CN109269445 A CN 109269445A
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- turntable
- connecting rod
- rod processing
- industrial camera
- processing clamp
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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
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
A kind of vision inspection apparatus of the connecting rod processing clamp of automatically calibrating, including pedestal, turntable, servo motor, light source, light source controller, industrial camera, slave computer and computer；Turntable is for fixing connecting rod processing clamp, and servo motor is fixed on the base, and turntable is fixed on the output shaft of servo motor；Light source and industrial camera are located at the side of turntable, and industrial camera is used to obtain the image for the connecting rod processing clamp being located on turntable；Industrial camera and slave computer respectively with calculate mechatronics, the output end of slave computer is electrically connected with servo motor and light source controller respectively.The present invention obtains the image for the connecting rod processing clamp being located on turntable by industrial camera, automatic detection turntable before and after the rotation between rotation differential seat angle, to be adjusted to the rotation angle of turntable, guarantee, guarantee that the rotation angle of rotating disk is precisely controlled, so that symmetrical cleavage slot Working position deviation is controllable, rotating disk position inaccurate can be effectively solved the problems, such as.
Description
Technical field
The present invention relates to mechanical vision inspection technology fields, and in particular to a kind of connecting rod processing clamp of automatically calibrating
Vision inspection apparatus and method.
Background technique
Machine vision is to replace human eye to measure and judge using machine, and wherein NI Vision Builder for Automated Inspection is regarded by machine
Feel that product will be ingested target and be converted into picture signal, special image processing system is sent to, to obtain the shape of target subject
State information is transformed into digitized signal according to the information such as pixel distribution and brightness, color.Picture system carries out these signals
Target signature is extracted in various operations, and then field device movement is controlled according to the result of differentiation.
In the prior art, in order to simplify con-rod fracture splitting slot procedure of processing and improve processing efficiency, there is vertical type laser
Process splitter method.It is processed in splitter process vertically in vertical type laser, connecting rod blank is placed on turntable and pacifies
In place, for laser head after vertical direction is moved downwardly to suitable position, laser head issues laser to the big end hole of connecting rod to clamping
It carries out processing first con-rod fracture splitting slot, then laser head resets, and symmetrically arranged driving cylinder is pulled back jacking block, so that turntable
It unlocks.Servo motor drives turntable to rotate 180 °, and symmetrically arranged driving cylinder is released jacking block again and locked to turntable,
Laser head, which moves to suitable position straight down again and issues, laser machines out Article 2 con-rod fracture splitting slot, and then laser head is again
It resets, after driving cylinder unlocks turntable, servo motor driving turntable rotates 180 ° and resetted, and the clamping device of turntable top surface is to even
The clamping of bar is unclamped, to complete cutting action.
In above-mentioned vertical type laser processing splitter processing technology, turntable is gone forward side by side in first con-rod fracture splitting slot completion of processing
After row rotation, if inconsistent or front-rear position is occurring for the horizontal center line of turntable there are when relatively large deviation before and after rotation,
It will result directly in subsequent con-rod fracture splitting slot processing and generate large error, and subsequent handling processing is caused to seriously affect, therefore
It needs to adjust accordingly, to guarantee con-rod fracture splitting slot machining accuracy.
Summary of the invention
Present invention aims to overcome that the shortcomings that prior art and deficiency, provide a kind of Machining of Connecting Rod of automatically calibrating
The vision inspection apparatus of fixture can be such that connecting rod processing clamp quick and precisely positions automatically, to guarantee con-rod fracture splitting slot processing essence
Degree.
To achieve the above object, The technical solution adopted by the invention is as follows:
A kind of vision inspection apparatus of the connecting rod processing clamp of automatically calibrating, including pedestal, turntable, servo motor, light
Source, light source controller, industrial camera, slave computer and computer；For fixing connecting rod processing clamp, servo motor is fixed on turntable
On pedestal, turntable is fixed on the output shaft of servo motor；Light source and industrial camera are located at the side of turntable, and industrial camera is used for
Obtain the image for the connecting rod processing clamp being located on turntable；Industrial camera and slave computer respectively with calculate mechatronics, slave computer
Output end be electrically connected respectively with servo motor and light source controller.
From the foregoing, it will be observed that working principle of the invention is as follows: obtaining the connecting rod processing clamp being located on turntable by industrial camera
Image, turntable before rotation, computer control industrial camera shooting rotate before disk middle spindle initial position image, and
It sends the initial position image taken in computer, takes an axis to be used as and rotate preceding disk middle spindle, and the rotation
Preceding disk middle spindle need to the center axis of symmetry in length of connecting rod direction be overlapped or it is parallel；When turntable by servo motor drive and into
After 180 ° of row rotation, computer controls the industrial camera shooting postrotational location drawing picture of turntable again, and the turntable taken is revolved
Location drawing picture is sent in computer after turning；Before rotation, computer collects rotation forward by image pick-up card to turntable
The location drawing picture of disk center's axis obtains the gray scale of disk middle spindle before rotating by the image processing software being set in computer
Then information is filtered by the processor program algorithm in computer, is identified before obtaining rotation by threshold process
The location information of disk middle spindle；Turntable after rotation, similarly, finally will by the location information of disk middle spindle after being rotated
Disk middle spindle pixel image and disk middle spindle pixel image after rotation are compared before rotating, and obtain rotating preceding center of turntable
The angle theta of disk middle spindle after axis and rotation, then computer controls servo motor by slave computer according to angle theta and is revolved
Turn, so that disk middle spindle is overlapped again with disk middle spindle after the rotation in location drawing picture after rotation before the rotation of turntable.
In summary, the present invention obtains the image for the connecting rod processing clamp being located on turntable by industrial camera, automatic to examine
Survey turntable before and after the rotation between rotation differential seat angle guarantee so that the rotation angle to turntable is adjusted, guarantee rotating disk
Rotation angle be precisely controlled so that symmetrical cleavage slot Working position deviation is controllable, avoid generating larger symmetrical cleavage groove location
Deviation can effectively solve the problems, such as rotating disk position inaccurate.
As an improvement of the present invention, the industrial camera is equipped with the camera lens for adjusting focal length.
Further, the light source and industrial camera are separately fixed on a support frame.
As an improvement of the present invention, the output shaft of the servo motor is fixedly connected by shaft coupling with turntable.
Further, the slave computer is PLC or single-chip microcontroller.
A kind of visible detection method of the connecting rod processing clamp of automatically calibrating, comprising the following steps:
It pre-adjusts connecting rod processing clamp of the light source to turntable and on turntable and issues irradiation light；
Computer controls the initial position image of disk middle spindle before industrial camera shooting rotates；
After turntable rotates 180 °, the computer controls the location drawing after the rotation of industrial camera shooting disk middle spindle
Picture；
The disk middle spindle deviation angle of location drawing picture after the computer comparative analysis initial position image and rotation, and
Working signal is issued to the servo motor by the slave computer, so that the servo motor being set to below turntable accordingly rotates forward
Or reversion so that rotation after location drawing picture disk middle spindle and initial position image center of turntable overlapping of axles.
Compared with prior art, the invention has the following advantages that
The present invention obtains the image for the connecting rod processing clamp being located on turntable by industrial camera, and the automatic turntable that detects is revolving
Turn the rotation differential seat angle between front and back, so that the rotation angle to turntable is adjusted, guarantees, guarantee the rotation angle of rotating disk
It is precisely controlled, so that symmetrical cleavage slot Working position deviation is controllable, avoids generating larger symmetrical cleavage groove location deviation, it can be effective
Solve the problems, such as rotating disk position inaccurate.
Detailed description of the invention
Fig. 1 is the schematic diagram of the vision inspection apparatus of the connecting rod processing clamp of automatically calibrating of the present invention；
Fig. 2 is the schematic illustration of detection case of the present invention.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples.It is understood that tool described herein
Body embodiment is used only for explaining the present invention rather than limiting the invention.It also should be noted that for the ease of retouching
It states, only some but not all contents related to the present invention are shown in the drawings.
Embodiment
Please refer to Fig. 1 and Fig. 2, a kind of vision inspection apparatus of the connecting rod processing clamp of automatically calibrating, including pedestal 10,
Turntable 20, servo motor 30, light source 40, light source controller 50, industrial camera 60, slave computer 70 and computer 80；Turntable 20 is used
In fixed connecting rod processing clamp 21, servo motor 30 is fixed on pedestal 10, and turntable 20 is fixed on the output shaft of servo motor 30
On；Light source 40 and industrial camera 60 are located at the side of turntable 20, and industrial camera 60 is used to obtain the connecting rod being located on turntable 20 and adds
The image of clamping apparatus 21；Industrial camera 60 and slave computer 70 are electrically connected with computer 80 respectively, the output end difference of slave computer 70
It is electrically connected with servo motor 30 and light source controller 50.
Referring to FIG. 2, from the foregoing, it will be observed that working principle of the invention is as follows: being obtained and be located on turntable 20 by industrial camera 60
Connecting rod processing clamp 21 image, turntable 20 before rotation, computer 80 control industrial camera 60 shooting rotate before turntable
The initial position image of central axis 22, and send the initial position image taken in computer 80, take an axis conduct
Disk middle spindle 22 before rotating, and disk middle spindle 22 need to be overlapped with the center axis of symmetry in length of connecting rod direction before the rotation
Or it is parallel；After turntable 21 is driven by servo motor 30 and carries out 180 ° of rotation, computer 80 controls the shooting of industrial camera 60 again
The postrotational location drawing picture of turntable, and location drawing picture after the turntable taken rotation is sent in computer；Turntable is rotating
Before, computer 80 collects the location drawing picture for rotating preceding disk middle spindle 22 by image pick-up card, is calculated by being set to
Image processing software in machine 80 obtains the grayscale information of disk middle spindle 22 before rotating, then by the processing in computer 80
Device programmed algorithm is filtered, and identifies to obtain the location information for rotating preceding disk middle spindle 22 by threshold process；Turntable
After rotation, similarly, the location information of disk middle spindle 23 after being rotated, 22 pixel map of disk middle spindle before finally rotating
23 pixel image of disk middle spindle is compared after picture and rotation, center of turntable after obtaining disk middle spindle 22 before rotating and rotating
The angle theta of axis 23, then computer 80 controls servo motor 30 by slave computer 70 according to angle theta and is rotated, so that turning
Disk middle spindle 22 is overlapped again with disk middle spindle 23 after the rotation in location drawing picture after rotation before the rotation of disk 20.
In summary, the present invention obtains the image for the connecting rod processing clamp being located on turntable by industrial camera, automatic to examine
Survey turntable before and after the rotation between rotation differential seat angle guarantee so that the rotation angle to turntable is adjusted, guarantee rotating disk
Rotation angle be precisely controlled so that symmetrical cleavage slot Working position deviation is controllable, avoid generating larger symmetrical cleavage groove location
Deviation can effectively solve the problems, such as rotating disk position inaccurate.
In the present embodiment, the industrial camera is equipped with the camera lens for adjusting focal length, passes through the adjustable coke of camera lens
Away from, and obtain the image for the connecting rod processing clamp being located on turntable being more clear.
In the present embodiment, the light source and industrial camera are separately fixed on a support frame.
In the present embodiment, the output shaft of the servo motor is fixedly connected by shaft coupling with turntable.
In the present embodiment, the slave computer is single-chip microcontroller, and in other embodiments of the invention, the slave computer is
PLC。
A kind of visible detection method of the connecting rod processing clamp of automatically calibrating, comprising the following steps:
It pre-adjusts connecting rod processing clamp of the light source to turntable and on turntable and issues irradiation light；
Computer controls the initial position image of disk middle spindle before industrial camera shooting rotates；
After turntable rotates 180 °, the computer controls the location drawing after the rotation of industrial camera shooting disk middle spindle
Picture；
The disk middle spindle deviation angle of location drawing picture after the computer comparative analysis initial position image and rotation, and
Working signal is issued to the servo motor by the slave computer, so that the servo motor being set to below turntable accordingly rotates forward
Or reversion so that rotation after location drawing picture disk middle spindle and initial position image center of turntable overlapping of axles.
It is further illustrated below by the working principle of the vision-based detection for the connecting rod processing clamp for combining automatically calibrating
State control method.
The direction of illumination for pre-adjusting light source first, so that the direction that light source emits beam is towards turntable, while can lead to
Light source controller adjustment light source is crossed to emit beam brightness；Then distance between the connecting rod processing clamp on camera lens and turntable is adjusted,
The connecting rod processing clamp on turntable is illuminated and guarantees that industrial camera is shot so that light source issues and is irradiated in the light on turntable
To image will not excessively obscure.
Turntable before rotation needs that an axis is taken to be used as disk middle spindle before rotation, and disk middle spindle before the rotation
It need to be overlapped with the center axis of symmetry in length of connecting rod direction or parallel, to avoid there is original positioning in subsequent vision-based detection process
Error.Meanwhile turntable is before rotation, computer controls before industrial camera is rotated by the suitable camera lens shooting of focal length in turntable
The initial position image of mandrel, and send the initial position image taken in computer.When turntable is driven by servo motor
It moves and carries out after rotating 180 °, computer controls industrial camera again and rotates preceding disk middle spindle by the suitable camera lens shooting of focal length
Rotation after location drawing picture, that is, the image of disk middle spindle, and is sent to meter for location drawing picture after the rotation taken after rotating
In calculation machine.Computer collects the location drawing picture for rotating preceding disk middle spindle by image pick-up card, by being set to computer
Interior image processing software obtains the grayscale information of disk middle spindle before rotating, and then calculates by the processor program in computer
Method is filtered, and identifies to obtain the location information for rotating preceding disk middle spindle by threshold process.Turntable after rotation, together
Reason, the location information of disk middle spindle after being rotated, disk middle spindle pixel image and turntable after rotation before finally rotating
Central axis pixel image is compared, the angle theta of disk middle spindle after obtaining disk middle spindle before rotating and rotating.If initial bit
Disk middle spindle overlaps with disk middle spindle after the rotation in location drawing picture after rotation before setting the rotation in image, computer
Control signal will not be then issued to control cabinet, turntable does not need to be driven rotation by servo motor and carry out angle adjustment yet.If just
Disk middle spindle is not overlapped with disk middle spindle after the rotation in location drawing picture after rotation before rotation in beginning location drawing picture, and
Angle theta between disk middle spindle before rotation after rotation after rotation in location drawing picture in disk middle spindle and initial position image
When greater than 0 °, computer controls servo motor by controller and is rotated, so that turntable is rotated counterclockwise simultaneously
Disk middle spindle is again after finally making the rotation before the rotation of initial position image after disk middle spindle and rotation in location drawing picture
Secondary coincidence.
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 (6)
1. a kind of vision inspection apparatus of the connecting rod processing clamp of automatically calibrating, it is characterised in that: including pedestal, turntable, watch
Take motor, light source, light source controller, industrial camera, slave computer and computer；Turntable is for fixing connecting rod processing clamp, servo
Motor is fixed on the base, and turntable is fixed on the output shaft of servo motor；Light source and industrial camera are located at the side of turntable, work
Industry camera is used to obtain the image for the connecting rod processing clamp being located on turntable；Industrial camera and slave computer are electrically connected with computer respectively
It connects, the output end of slave computer is electrically connected with servo motor and light source controller respectively.
2. the vision inspection apparatus of the connecting rod processing clamp of automatically calibrating according to claim 1, it is characterised in that: institute
Industrial camera is stated equipped with the camera lens for adjusting focal length.
3. the vision inspection apparatus of the connecting rod processing clamp of automatically calibrating according to claim 1, it is characterised in that: institute
It states light source and industrial camera is separately fixed on a support frame.
4. the vision inspection apparatus of the connecting rod processing clamp of automatically calibrating according to claim 1, it is characterised in that: institute
The output shaft for stating servo motor is fixedly connected by shaft coupling with turntable.
5. the vision inspection apparatus of the connecting rod processing clamp of automatically calibrating according to claim 1, it is characterised in that: institute
Stating slave computer is PLC or single-chip microcontroller.
6. a kind of inspection of the vision inspection apparatus of the connecting rod processing clamp using any automatically calibrating of claim 1 to 5
Survey method, comprising the following steps:
It pre-adjusts connecting rod processing clamp of the light source to turntable and on turntable and issues irradiation light；
Computer controls the initial position image of disk middle spindle before industrial camera shooting rotates；
After turntable rotates 180 °, the computer controls location drawing picture after the rotation of industrial camera shooting disk middle spindle；
The disk middle spindle deviation angle of location drawing picture after the computer comparative analysis initial position image and rotation, and pass through
The slave computer to the servo motor issue working signal so that the servo motor being set to below turntable accordingly rotates forward or instead
Turn so that rotation after location drawing picture disk middle spindle and initial position image center of turntable overlapping of axles.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811130317.1A CN109269445A (en) | 2018-09-27 | 2018-09-27 | A kind of vision inspection apparatus and method of the connecting rod processing clamp of automatically calibrating |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811130317.1A CN109269445A (en) | 2018-09-27 | 2018-09-27 | A kind of vision inspection apparatus and method of the connecting rod processing clamp of automatically calibrating |
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Cited By (5)
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| CN110253138A (en) * | 2019-06-24 | 2019-09-20 | 广州东振激光科技有限公司 | A kind of engine link slot process equipment and processing method |
| CN110398216A (en) * | 2019-06-27 | 2019-11-01 | 湖北三江航天红峰控制有限公司 | A kind of servo mechanism deflection angle automatic identification test device and method |
| CN110487185A (en) * | 2019-07-26 | 2019-11-22 | 广东工业大学 | Based on machine vision connecting rod auxiliary positioning and splitter size detecting device and detection method |
| CN111016094A (en) * | 2019-12-28 | 2020-04-17 | 吉丽雄 | Modular demolding equipment based on image recognition and working method thereof |
| CN114113098A (en) * | 2020-08-27 | 2022-03-01 | 泰科电子(上海)有限公司 | Visual detection device for connector |
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Application publication date: 20190125 |