CN111721202A - Mechanism for positioning carrier position - Google Patents
Mechanism for positioning carrier position Download PDFInfo
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- CN111721202A CN111721202A CN202010561907.0A CN202010561907A CN111721202A CN 111721202 A CN111721202 A CN 111721202A CN 202010561907 A CN202010561907 A CN 202010561907A CN 111721202 A CN111721202 A CN 111721202A
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- carrier
- sensor
- positioning
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- camera
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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
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a mechanism for positioning a carrier, belongs to the technical field of automobile catalyst positioning, and is designed for solving the technical problems of high cost, narrow shooting visual field and the like. The mechanism for positioning the carrier position comprises an object stage, a linear array camera, an industrial lens, a triggering photographing sensor and a triggering material taking sensor, wherein a plurality of carriers are placed on the object stage; the linear array camera is movably arranged above the object stage to shoot a plurality of carriers; the industrial lens is arranged at the front end of the lens of the line-scan camera to adjust the optical parameters of the line-scan camera; triggering a photographing sensor to be arranged on the objective table so as to detect a plurality of carriers and start the linear array camera; and triggering the material taking sensor to be arranged on the object stage so as to track the coordinate positions of the carriers in real time. The mechanism for positioning the carrier position reduces cost investment and has the advantage of wide shooting view.
Description
Technical Field
The invention relates to the technical field of automobile catalyst positioning, in particular to a mechanism for positioning a carrier.
Background
In the production and processing process of the three-way catalyst (hereinafter referred to as a carrier) for automobile exhaust, the carrier on the objective table needs to be subjected to coordinate positioning, so that the manipulator can accurately grab the carrier, and the continuity of blanking is ensured. The carrier has various overall dimensions, heights and colors, the difficulty of realizing the follow-up on-line positioning of the carrier is higher, the carrier is often positioned by adopting a laser device in the prior art, but the laser device has the defects of high cost and narrow shooting visual field, two laser devices are often adopted to work simultaneously to overcome the defect of narrow visual field, but the cost input is increased to a greater extent, and an imaged picture has the defect of blocking and poor positioning effect.
Disclosure of Invention
The invention aims to provide a mechanism for positioning a carrier, which has the advantages of reducing cost investment and wide shooting view.
In order to achieve the purpose, the invention adopts the following technical scheme:
a mechanism for positioning carrier positions comprises an object stage, a linear array camera, an industrial lens, a triggering photographing sensor and a triggering material taking sensor, wherein a plurality of carriers are placed on the object stage; the linear array camera is movably arranged above the object stage to shoot a plurality of carriers; the industrial lens is arranged at the front end of the lens of the linear array camera to adjust optical parameters of the linear array camera; the triggering photographing sensor is arranged on the object stage to detect a plurality of carriers so as to start the linear array camera; the trigger material taking sensor is arranged on the object stage so as to track the coordinate positions of the carriers in real time.
Optionally, the triggering photographing sensor and the triggering material taking sensor are sequentially arranged on the object stage at intervals along the conveying direction of the production line.
Optionally, the number of the triggered photographing sensors is multiple, and the multiple triggered photographing sensors are arranged at two ends of the object stage along the vertical direction of the production line; and/or the triggering material taking sensors are multiple, and the triggering material taking sensors are arranged at two ends of the objective table along the vertical direction of the production line.
Optionally, the mechanism for positioning the position of the carrier further comprises a support rod, the support rod is arranged at the stage, and the line camera is movably connected to the support rod.
Optionally, the mechanism for positioning the carrier further includes a lifting device, the lifting device is disposed on the support rod, and the lifting device is connected to the line camera and configured to drive the line camera to move in the vertical direction.
Optionally, the lifting device includes a slide rail and a slide block, the slide rail is disposed along the vertical direction, one of the slide rail and the slide block is connected to the support rod, and the other is connected to the line camera.
Optionally, the mechanism for positioning the carrier further comprises a light source device, and the light source device is connected to the support rod through a connecting member and is located above the carrier.
Optionally, the mechanism for locating the position of the carrier further includes a collision avoidance sensor, which is disposed on the light source device and is used for detecting the coordinate position of the last row of the carrier.
Optionally, the line camera is centrally located.
Optionally, the connecting member is a profile member.
Compared with the prior art, the invention has the beneficial effects that: the industrial lens sets up the camera lens front end at the linear array camera, adjusts the optical parameter of linear array camera according to the carrier on the objective table, thereby triggers the sensor setting of shooing and open the linear array camera in order to detect a plurality of carriers and carry out the polychrome and shoot on the objective table, thereby triggers the coordinate position of getting the material sensor setting with a plurality of carriers of real-time tracking on the objective table, the manipulator of being convenient for is accurate, snatch the carrier fast to guarantee the continuity of unloading. The mechanism for positioning the carrier position has a simple structure, so that the cost investment is reduced, and the linear array camera is movably arranged above the objective table, and the industrial lens can adjust optical parameters, so that a plurality of carriers on the objective table can be fully covered, and the shooting view is wide; in addition, triggering the sensor of shooing and triggering the carrier that gets material sensor can respond to overall dimension, height and colour and differ, the compatibility is strong.
Drawings
Fig. 1 is a schematic structural diagram of a mechanism for positioning a carrier according to an embodiment of the present invention.
Reference numerals:
the system comprises an object stage-1, a linear array camera-2, an industrial lens-3, a triggering photographing sensor-4, a triggering material taking sensor-5, a supporting rod-6, a lifting device-7, a light source device-8 and an anti-collision sensor-9.
Detailed Description
In order to make the technical problems solved, the technical solutions adopted and the technical effects achieved by the present invention clearer, the technical solutions of the present invention are further described below by way of specific embodiments with reference to the accompanying drawings.
The specific structure of the mechanism for positioning the carrier position of the embodiment of the present invention is described below with reference to fig. 1.
As shown in fig. 1, the embodiment provides a mechanism for positioning carrier positions, which includes an object stage 1, a line camera 2, an industrial lens 3, a triggering photographing sensor 4 and a triggering material-taking sensor 5, wherein a plurality of carriers are placed on the object stage 1; the linear array camera 2 is movably arranged above the object stage 1 to shoot a plurality of carriers; the industrial lens 3 is arranged at the front end of the lens of the linear array camera 2 to adjust the optical parameters of the linear array camera 2; the triggering photographing sensor 4 is arranged on the object stage 1 to detect a plurality of carriers so as to start the linear array camera 2; the trigger material taking sensor is arranged on the object stage 1 to track the coordinate positions of a plurality of carriers in real time.
It should be noted that, the industrial lens 3 is arranged at the front end of the lens of the linear array camera 2, the optical parameters of the linear array camera 2 are adjusted according to the carriers on the object stage 1, the shooting sensor 4 is triggered to be arranged on the object stage 1 to detect a plurality of carriers, so that the linear array camera 2 is started to shoot color images, the material taking sensor 5 is triggered to be arranged on the object stage 1 to track the coordinate positions of the plurality of carriers in real time, and the manipulator is convenient to accurately and rapidly grab the carriers, thereby ensuring the continuity of the blanking. The mechanism for positioning the carrier position has a simple structure, so that the cost investment is reduced, and the linear array camera 2 is movably arranged above the objective table 1, and the industrial lens 3 can adjust optical parameters, so that a plurality of carriers on the objective table 1 can be fully covered, and the shooting view is wide; in addition, triggering and taking photo sensor 4 and triggering and getting material sensor 5 can respond to the carrier that overall dimension, height and colour are different, and the compatibility is strong.
Alternatively, the trigger photographing sensor 4 and the trigger material taking sensor 5 are arranged on the object table 1 at intervals in sequence along the conveying direction of the production line.
It can be understood that, because the triggering photographing sensor 4 and the triggering material taking sensor 5 are sequentially arranged at intervals along the conveying direction of the production line, when a plurality of carriers pass along the conveying direction of the production line, the triggering photographing sensor 4 firstly detects the plurality of carriers and transmits signals to the signal processor, so that the linear array camera 2 is started to shoot color images, the plurality of carriers continue to move along the conveying direction of the production line, and the triggering material taking sensor 5 detects the plurality of carriers again, so that the coordinate positions of the plurality of carriers are tracked in real time.
In addition, it should be added that the control logic for triggering the photographing sensor 4, the material taking triggering sensor 5 and the signal processor should be implemented by those skilled in the art according to the prior art in the existing electric control field, and the detailed description of the control logic for triggering the photographing sensor 4, the material taking triggering sensor 5 and the signal processor is not provided herein.
Optionally, the number of the trigger photo sensors 4 is multiple, and the multiple trigger photo sensors 4 are disposed at two ends of the object stage 1 along a vertical direction of the production line. Trigger and get material sensor 5 and be a plurality of, a plurality of vertical direction that trigger and get material sensor 5 along the production line sets up the both ends at objective table 1.
It can be understood that the plurality of photo triggering sensors 4 are arranged at two ends of the object stage 1 along the vertical direction of the production line, and can detect the plurality of carriers in a full coverage manner when the plurality of carriers pass along the conveying direction of the production line, so that signals can be conveniently transmitted to the signal processor. Similarly, a plurality of triggering material taking sensors 5 are arranged at two ends of the objective table 1 along the vertical direction of the production line, and when a plurality of carriers pass along the conveying direction of the production line, the carriers can be comprehensively detected in a covering manner, so that signals can be conveniently transmitted to the signal processor.
Optionally, the mechanism for positioning the carrier position further comprises a support bar 6, the support bar 6 is arranged at the object stage 1, and the line camera 2 is movably connected to the support bar 6.
It can be understood that the support rod 6 is arranged at the object stage 1 to play a role in supporting and fixing, and the line camera 2 is connected to the support rod 6 and just positioned above the plurality of carriers of the object stage 1, so that the color image shooting is facilitated. In addition, the linear array camera 2 is movably connected to the support rod 6, and the photographing position can be automatically adjusted, so that the linear array camera is suitable for carriers of various shapes and colors.
Optionally, the mechanism for positioning the carrier position further comprises a lifting device 7, the lifting device 7 is arranged on the support rod 6, and the lifting device 7 is connected with the line camera 2 and configured to drive the line camera 2 to move in the vertical direction.
It will be appreciated that the lifting device 7 is provided on the support bar 6, and the support bar 6 functions to support the lifting device 7. In addition, the lifting device 7 is configured to drive the line camera 2 to move in the vertical direction, so that the shooting position of the line camera 2 can be adjusted according to the sizes of different carriers, and the purpose of wide shooting view is further achieved.
Optionally, the lifting device 7 includes a slide rail and a slide block, the slide rail is disposed along the vertical direction, one of the slide rail and the slide block is connected to the support rod 6, and the other is connected to the line camera 2.
It will be appreciated that the sliding connection of the slide rails and the slide blocks serves as a guide for guiding the linear array camera 2 in a vertical direction. In some embodiments of the present invention, the support rod 6 is provided with a slide rail, the line camera 2 is provided with a slide block, and the slide block and the slide rail are connected in a matching manner.
Optionally, the mechanism for positioning the carrier further comprises a light source device 8, and the light source device 8 is connected to the support rod 6 through a connecting member and is located above the carrier.
It should be noted that the light source device 8 is used to provide sufficient light sources for a plurality of carriers, so that the colors of the color images shot by the line camera 2 are as same as the colors of the carriers as possible, and the positioning error of the carriers caused by the shooting color error is avoided to a certain extent.
Optionally, the mechanism for locating the position of the carrier further comprises a collision avoidance sensor 9, and the collision avoidance sensor 9 is disposed on the light source device 8 and is used for detecting the coordinate position of the last row of the carrier.
It should be noted that, due to the design of the anti-collision sensor 9, it is avoided that the carrier falls on the ground from the object stage 1 because the manipulator does not take the carrier away in time, which causes economic loss. The coordinate position of last row's carrier can be detected to anticollision inductor 9, before dropping down from objective table 1, in time with signal transmission to signal processor, signal processor in time pauses the production line on objective table 1, avoids the carrier to drop.
Optionally, the line camera 2 is arranged in the center, and can effectively cover all carriers on the object stage 1, so that the shooting view is wide.
Optionally, the connecting piece is a section bar piece, and is low in cost, good in stability, firm and reliable.
The working principle of a preferred embodiment is as follows:
firstly, the industrial lens 3 adjusts the optical parameters of the linear array camera 2 according to the carrier on the objective table 1;
then, triggering a photographing sensor 4 to be arranged on the objective table 1 so as to detect a plurality of carriers and start the linear array camera 2 to shoot color images;
finally, the trigger reclaiming sensor 5 is arranged on the object stage 1 to track the coordinate positions of a plurality of carriers in real time.
In the description herein, references to the description of "some embodiments," "other embodiments," or the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Further, it is to be understood that the terms "upper", "lower", "inner", "outer", "vertical", "horizontal", and the like, as used herein, refer to an orientation or positional relationship based on that shown in the drawings, which is for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
In the present invention, unless otherwise expressly stated or limited, the terms "connected," "mounted," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other suitable relationship. Those skilled in the art can understand the above specific meanings included in the present invention according to specific situations.
Furthermore, features defined as "first" and "second" may explicitly or implicitly include one or more of the features for distinguishing between descriptive features, non-sequential, non-trivial and non-trivial. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
The above description is only a preferred embodiment of the present invention, and for those skilled in the art, the present invention should not be limited by the description of the present invention, which should be interpreted as a limitation.
Claims (10)
1. A mechanism for locating the position of a carrier, comprising:
the device comprises an object stage (1), wherein a plurality of carriers are placed on the object stage (1);
a line camera (2), the line camera (2) being movably arranged above the object stage (1) to photograph a plurality of carriers;
the industrial lens (3) is arranged at the front end of the linear array camera (2) to adjust the optical parameters of the linear array camera (2);
a trigger photographing sensor (4), wherein the trigger photographing sensor (4) is arranged on the object stage (1) to detect a plurality of carriers so as to start the linear array camera (2);
trigger and get material sensor (5), trigger and get material sensor (5) and set up in order to track a plurality of in real time on objective table (1) the coordinate position of carrier.
2. The mechanism for positioning a carrier position according to claim 1, wherein the trigger take-off sensor (4) and the trigger take-off sensor (5) are arranged on the object table (1) at intervals in succession in the conveying direction of the production line.
3. The mechanism for positioning the carrier position according to claim 2, wherein the photo-triggering sensors (4) are plural, and the plural photo-triggering sensors (4) are disposed at both ends of the stage (1) in a vertical direction of the production line; and/or it is a plurality of to trigger reclaiming sensor (5), and it is a plurality of trigger reclaiming sensor (5) are along the vertical direction setting of production line is in the both ends of objective table (1).
4. The mechanism for positioning a carrier position as claimed in claim 1, further comprising a support bar (6), the support bar (6) being arranged at the object table (1), the line camera (2) being movably connected to the support bar (6).
5. The mechanism for positioning a carrier position as claimed in claim 4, further comprising a lifting device (7), the lifting device (7) being provided on the support bar (6), the lifting device (7) being connected to the line camera (2) and being configured to drive the line camera (2) in a vertical direction.
6. Mechanism for positioning a carrier as claimed in claim 5, characterized in that the lifting device (7) comprises a slide rail and a slide block, the slide rail being arranged in the vertical direction, one of the slide rail and the slide block being connected to the support bar (6) and the other to the line camera (2).
7. The mechanism for locating the position of a carrier according to claim 6, further comprising a light source device (8), wherein the light source device (8) is connected to the support bar (6) by a connector and is located above the carrier.
8. The mechanism for locating the position of a carrier according to claim 7, further comprising a collision avoidance sensor (9), the collision avoidance sensor (9) being provided on the light source device (8) for detecting the coordinate position of the last row of the carrier.
9. A mechanism for positioning a carrier position as claimed in claim 1, characterized in that the line camera (2) is centrally arranged.
10. The mechanism for locating the position of a carrier of claim 7, wherein the connecting member is a profile member.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010561907.0A CN111721202A (en) | 2020-06-18 | 2020-06-18 | Mechanism for positioning carrier position |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010561907.0A CN111721202A (en) | 2020-06-18 | 2020-06-18 | Mechanism for positioning carrier position |
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| Publication Number | Publication Date |
|---|---|
| CN111721202A true CN111721202A (en) | 2020-09-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010561907.0A Pending CN111721202A (en) | 2020-06-18 | 2020-06-18 | Mechanism for positioning carrier position |
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2020
- 2020-06-18 CN CN202010561907.0A patent/CN111721202A/en active Pending
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| CN104931713A (en) * | 2015-05-26 | 2015-09-23 | 中山市创艺生化工程有限公司 | Sample dragging device used for hematology analyzer |
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| CN109521018A (en) * | 2018-09-25 | 2019-03-26 | 广州超音速自动化科技股份有限公司 | Aluminium foil grabs CCD positioning correction method and system |
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Application publication date: 20200929 |