CN116441934A - Automatic positioning and processing equipment for surface holes of cylindrical part based on machine vision - Google Patents

Abstract

The invention belongs to the field of machining and automatic equipment, relates to automatic positioning and machining equipment for a surface hole of a cylindrical workpiece based on machine vision, and relates to automatic machining equipment for realizing positioning of the surface of the cylindrical workpiece by utilizing a machine vision technology and then drilling and tapping. According to the invention, the robot is used for loading and unloading, the machine vision is used for positioning the hole target position on the surface of the cylinder, then the mechanical processing of drilling and tapping is carried out, manual operation is not needed, and unmanned automatic production of dangerous products such as shell assembly can be realized. The invention adopts the friction wheel to drive the cylindrical workpiece to rotate, can search the position of the processing target which is not in the visual field of the industrial camera, and can realize the processing of a plurality of targets distributed in the circumferential range. The invention adopts the machine vision method to measure the deviation of the processing target position, and automatically modifies the processing position according to the deviation during processing, thereby improving the processing precision.

Description

Automatic positioning and processing equipment for surface holes of cylindrical part based on machine vision

Technical Field

The invention belongs to the field of machining and automatic equipment, relates to automatic positioning and machining equipment for a cylindrical workpiece surface hole based on machine vision, and particularly relates to automatic machining equipment for realizing positioning of a cylindrical workpiece surface and drilling and tapping by utilizing a machine vision technology.

Background

In the production process, the existing holes on the surfaces of cylinders such as shafts, shells and the like are often required to be reworked, such as reaming, drilling, reaming, tapping and the like. Most of the existing processing methods and processing equipment are used for carrying out mechanical processing such as drilling, tapping and the like on a plane, and the mechanical processing such as drilling and the like on the surface of a cylinder cannot be realized; the hole positioning mode is generally manual visual positioning, and the efficiency is low. In automated, unmanned production lines or in some dangerous production situations, such as in the assembly of elastomers in the military industry, there is a great need for a device that enables automatic hole positioning and machining.

Currently, in order to realize positioning holes and processing on a workpiece, some manufacturers or experts propose hole detection and positioning devices, such as a machine vision-based assembly hole positioning method (CN 202111146610), a machine vision-based hole making and riveting quality control method and device (CN 202110888377), which are all used for detecting holes on a plane, and a machine vision-based compressor cylinder electric box threaded hole detection device (CN 202011644657) can detect holes on a curved surface, but the holes are required to be in the field of view of an industrial camera, and a three-coordinate positioning device is required to assist. When the hole is located on the cylinder and the position is not in the visual range, the above patent cannot meet the requirement.

Disclosure of Invention

The invention aims to solve the defects in the prior art, and provides equipment for automatically positioning and processing the existing holes on the surface of a cylindrical part, which can realize the automatic positioning of the holes by utilizing a machine vision technology and a mechanical device and perform processing operations such as drilling, reaming, tapping and the like.

In order to achieve the above purpose, the present invention adopts the following technical scheme:

the automatic positioning and processing equipment for the surface holes of the cylindrical parts based on machine vision comprises a conveying mechanism 1, a rotating mechanism 2, a traversing mechanism 3, a vertical working mechanism 4 and a manipulator 5. The conveying mechanism 1 is used for conveying workpieces back and forth between a processing position and a loading and unloading position. The traversing mechanism 3 is used for adjusting the vertical working mechanism 4 to a preset position; the vertical working mechanism 4 is used for installing a visual mechanism to search a machining target and performing drilling and tapping operations; the rotating mechanism 2 is used for rotating the workpiece, so that the vision mechanism can search a target in the circumferential direction of the workpiece, and position adjustment is performed according to feedback of the vision mechanism; the manipulator 5 is used for loading and unloading. Wherein:

the conveying mechanism 1 comprises a conveying mechanism base 11, a workpiece conveying table 12 and a trough 13; a conveying table 12 is fixedly arranged on the conveying mechanism base 11; the conveying table 12 is driven by a rodless cylinder to slide the trough 13, so that the trough 13 is conveyed back and forth between a processing position and a loading and unloading position.

The work transfer table 12 includes a table body 121, a left rail a122, a right rail b123, and a cylinder a124. The table body 121 is of a groove structure and is fixed on the conveying mechanism base 11, and a left guide rail a122 and a right guide rail b123 are fixed on the left side and the right side in the groove of the table body 121 and used for supporting the trough 13; the cylinder a124 is fixed at an intermediate position in the groove of the table body 121. The bottom of the trough 13 is connected with the left guide rail a122, the right guide rail b123 and the sliding block of the air cylinder a124, so that the trough 13 is pulled by the air cylinder a124 and slides along the guide rails;

the trough 13 comprises a trough body 131, a front positioning block 132, a pulley block 133, a rear positioning block 134, a front photoelectric sensor 135, a middle photoelectric sensor 136 and a rear photoelectric sensor 137. The front positioning block 132 and the rear positioning block 134 are installed in the groove body 131 and are used for limiting the axial movement of the workpiece; the rear positioning block 134 can be adjusted in position according to the type of the workpiece and can be replaced. The pulley block 133 is installed in the groove body 131 between the front positioning block 132 and the rear positioning block 134, supports the workpiece below the workpiece, and allows it to rotate. The side of the trough 131 is provided with a strip hole for installing a front photoelectric sensor 135, a middle photoelectric sensor 136 and a rear photoelectric sensor 137, and the positions can be adjusted according to workpiece parameters for identifying the type of the workpiece in the trough 13. The front photosensor 135 is mounted to a position nearest to the workpiece, the middle photosensor 136 is mounted at an intermediate position, and the rear photosensor 137 is mounted at the rear. The material shortage state is when no workpiece is sensed by all three sensors, the small-sized workpiece is when only the front photo sensor 135 senses a workpiece, the medium-sized workpiece is when only the rear photo sensor 137 does not sense a workpiece, and the large-sized workpiece is when all three sensors sense a workpiece.

The front positioning block 132 includes a turntable a1321, a spring collar a1322, a ball bearing a1323, a support plate a1324, an adjustment nut a1325, and a shaft a1326 and a lock nut a1327. The dial a1321 is mounted on the shaft a1326 by ball bearings a1323, and a spring collar a1322 is used for axial positioning of the ball bearings a 1323. The shaft a1326 is mounted on the support plate a1324 and is fixed by the adjustment nut a1325, and the lock nut a1327 is used to prevent the adjustment nut a1325 from loosening.

The pulley block 133 includes a pulley support 1331, a ball bearing b1332, a shaft b1333, and a pulley 1334. The pulley support 1331 is used for mounting and fixing a ball bearing b1332 and a shaft b1333, and the shaft b1333 is used for mounting a pulley 1334 and enabling the pulley 1334 to be radially rotated and axially fixed.

The rear positioning block 134 includes a turntable b1341, a spring collar b1342, a ball bearing c1343, a spring 1344, a support plate b1345, an adjustment nut b1346, a shaft c1347, and a lock nut b1348. The turntable b1341 is mounted on the shaft c1347 by means of a ball bearing c1343, and a spring collar b1342 is used for axial positioning of the ball bearing c 1343. The shaft c1347 is mounted on the support plate a1324 and is fixed by an adjustment nut b1346, and the lock nut b1348 is used to prevent the adjustment nut b1346 from loosening. The spring 1344 is mounted on the shaft c1347 between the support plate b1345 and the turntable b1341 for facilitating the installation of the workpiece and pressing the turntable b1341 against the workpiece.

The rotating mechanism 2 comprises a rotating mechanism base 21, a supporting column 22, a cantilever bracket 23, a friction wheel 24, a synchronous belt 25, a servo motor a26 and a cylinder assembly 27. The rotation mechanism base 21 is used to mount the rotation mechanism on the conveyance mechanism base 11. The lower end of the support column 22 is fixed on the rotating mechanism base 21, and the upper end is hinged with the cantilever bracket 23. The cylinder rod 278 is extended and retracted to drive the cantilever bracket 23 to rotate around the rotary support column 22 so as to press and release the workpiece; the friction wheel 24 is installed in the side of the one end of cantilever support 23, and hold-in range 25 is installed in cantilever support 23 opposite side, and friction wheel 24 is connected with hold-in range 25, and servo motor a26 passes through hold-in range 25 and drives friction wheel 24 rotation. The cylinder rod 278 is connected with the other end of the cantilever bracket 23, the cylinder assembly 27 drives the end of the cantilever bracket 23 provided with the friction wheel 24 to press downwards, a rubber pad is arranged on the circumference of the friction wheel 24, and friction force is generated under the pressure of the cylinder assembly 27 to rotate the workpiece.

The cylinder assembly 27 includes a bearing block 271, bearings 272, spring collar c273, shaft d274, cylinder block 275, socket head cap screws 276, cylinder b277, and cylinder rod 278. The two bearing blocks 271 are fixed to the rotation mechanism base 21 by bolts. Cylinder b277 is secured to cylinder block 275 by socket head cap screws 276. Two shafts d274 are fixed at two ends of the cylinder seat 275, and the shafts d274 are installed in inner holes of bearings 272 in the bearing seat 271 and are axially fixed through spring collars c 273. The cylinder assembly 27 can swing back and forth so that the cantilever bracket 23 can swing up and down with the support post 22 as a fulcrum.

The traversing mechanism 3 comprises a traversing mechanism base 31, a servo motor b32, a ball screw pair a33, a left guide rail b34, a right guide rail b35 and a dust cover 36; the traversing mechanism base 31 is fixed on the conveying mechanism base 11; the upper part of the traversing mechanism base 31 is of a cavity structure, a left guide rail b34 and a right guide rail b35 are arranged on two sides of the upper part of the cavity, a ball screw pair a33 is arranged in the middle of the upper part of the cavity, a vertical working mechanism base 41 is arranged on the left guide rail b34 and the right guide rail b35, and the bottom of the vertical working mechanism base 41 is fixedly connected with nuts of the ball screw pair a33 and sliding blocks of the left guide rail b34 and the right guide rail b 35; the dust cover 36 is arranged above the cavity structure for dust prevention; the servo motor b32 is connected with the ball screw pair a33 through a coupler to drive the vertical working mechanism 4 to move on the guide rail so as to realize accurate adjustment of the processing position.

The vertical working mechanism 4 comprises a vertical working mechanism base 41, a drilling mechanism 42, a tapping mechanism 43 and a visual mechanism 44; the drilling mechanism 42, the tapping mechanism 43 and the vision mechanism 44 are fixed on the vertical working mechanism base 41 and are respectively and sequentially adjusted to a drilling position, a tapping position and a photographing position through the traversing mechanism 3; the drilling position, tapping position and photographing position are determined by the drilling mechanism 42, tapping mechanism 43 and vision mechanism 44, respectively.

The drilling mechanism 42 comprises a drilling mechanism bracket 421, a servo motor c422, a ball screw pair b423, a left guide rail c424, a right guide rail c425 and a drilling mechanism 426; the drilling mechanism bracket 421 is fixed on the vertical working mechanism base 41, is arranged in the vertical direction, one side of the drilling mechanism bracket is of a cavity structure, the ball screw pair b423 is positioned in the cavity structure, the left guide rail c424 and the right guide rail c425 are arranged at two sides of the cavity structure, nuts of the ball screw pair b423 are fixedly connected with the drilling mechanism base, and sliding blocks of the left guide rail c424 and the right guide rail c425 are fixedly connected with the drilling mechanism base; the servo motor c422 is connected with the ball screw pair b423 through a coupler, and the servo motor c422 drives the drilling mechanism 426 to advance and retreat so as to realize drilling.

The drilling mechanism 426 comprises a drilling mechanism base, a servo motor d4261, a spindle head 4262, a drill rod extension rod 4263 and a drill bit 4264; the drilling mechanism base is fixed on the side surface of the drilling mechanism bracket 421; the main shaft head 4262 and the servo motor d4261 are respectively arranged at the lower part and the upper part of the drilling mechanism base, and the main shaft head 4262 is connected with the drill bit 4264 through a drill rod extension rod 4263; the servo motor d4261 drives the spindle head 4262 to rotate, and the drill bit 4264 is driven to drill holes through the drill rod extension rod 4263.

The tapping mechanism 43 is identical in construction to the drilling mechanism 42 except that the drill 4264 is replaced with a tap.

The vision mechanism 44 includes a bracket 441, an industrial camera 442, an illumination source 443, and an industrial personal computer 444; the bracket 441 is mounted on the vertical working mechanism base 41, the position of the bracket 441 is adjustable, the industrial camera 442 is mounted on the bracket 441, and the position of the industrial camera 442 is adjusted through the bracket 441; the illumination light source 443 is installed at the side of the industrial camera 442; the industrial personal computer 444 is provided with an image analysis program and a control program, and the industrial camera 442 is controlled to take a picture and transmit the acquired workpiece image to the industrial personal computer 444, and then the workpiece image is analyzed, identified and the processing target position is positioned.

Further, the processing projects such as drilling and tapping can be adjusted according to actual conditions and process requirements, and the processing projects can be operations such as expanding drilling, matching reaming, tapping, milling and the like;

further, the material of the workpiece comprises, but is not limited to, metal, plastic or wood;

further, the shape of the workpiece includes, but is not limited to, a cylinder, as long as there is a cylindrical portion that can be driven to rotate using the friction wheel 24.

The invention has the beneficial effects that:

(1) According to the invention, the robot is used for loading and unloading, the machine vision is used for positioning the hole target position on the surface of the cylinder, then the mechanical processing of drilling and tapping is carried out, manual operation is not needed, and unmanned automatic production of dangerous products such as shell assembly can be realized.

(2) The invention adopts the friction wheel to drive the cylindrical workpiece to rotate, can search the position of the processing target which is not in the visual field of the industrial camera, and can realize the processing of a plurality of targets distributed in the circumferential range.

(3) The invention adopts the machine vision method to measure the deviation of the processing target position, and automatically modifies the processing position according to the deviation during processing, thereby improving the processing precision.

(4) In the invention, a multi-template matching method is used in the process of driving a workpiece to rotate by the friction wheel, so that a target can be detected once entering a visual field range, the target position is circumferentially adjusted by the friction wheel, and the axial position of a drill bit is adjusted by the transverse moving mechanism, thereby enabling the drill bit to be accurately aligned with the processing target position for processing.

Drawings

FIG. 1 is a schematic diagram of the overall system of the present invention;

FIG. 2 is a block diagram of a transport mechanism;

FIG. 3 is a block diagram of a workpiece transfer station;

FIG. 4 is a diagram of a trough structure;

FIG. 5 is a block diagram;

fig. 6 (a) and 6 (b) are an overall schematic view and a cross-sectional view, respectively, of the front fixing block;

fig. 7 (a) and 7 (b) are an overall schematic view and a cross-sectional view, respectively, of the rear fixing block;

FIG. 8 is a structural view of a rotary mechanism;

fig. 9 (a) and 9 (b) are cross-sectional and top views, respectively, of a cylinder assembly;

FIG. 10 is a construction diagram of a traversing mechanism;

FIG. 11 is a block diagram of a vertical work mechanism;

FIG. 12 is a block diagram of a drilling mechanism;

FIG. 13 is a block diagram of a drilling mechanism;

fig. 14 is a view of the visual mechanism.

In the figure: 1 a conveying mechanism, 2 a rotating mechanism, 3 a traversing mechanism, 4 a vertical working mechanism and 5 a manipulator; a conveying mechanism base 11, a workpiece conveying table 12 and a trough 13;

121 table body, 122 left guide rail a,123 right guide rail a,124 cylinder a;

131 groove bodies, 132 front positioning blocks, 133 pulley blocks, 134 rear positioning blocks, 135 front photoelectric sensors, 136 middle photoelectric sensors and 137 rear photoelectric sensors;

1321 turntables a,1322 spring collars a,1323 ball bearings a,1324 support plates a,1325 adjust nuts a,1326 shafts a,1327 lock nuts a.

1331 pulley support, 1332 ball bearings b,1333 shaft b,1334 pulleys.

1341 turntable b,1342 spring collar b,1343 ball bearing c,1344 spring, 1345 support plate b,1346 adjustment nut b,1347 axis c,1348 lock nut b.

The device comprises a fixed seat of a rotating mechanism 21, a supporting column 22, a cantilever bracket 23, a friction wheel 24, a synchronous belt 25, a servo motor a26 and a cylinder assembly 27;

271 bearing blocks, 272 bearings, 273 spring collars c, 274 shafts d, 275 cylinder blocks, 276 hexagon socket screws, 277 cylinders b, 278 cylinder rods;

31 traversing mechanism base, 32 servo motor b,33 ball screw pair a,34 left guide rail b,35 right guide rail b,36 dust cover;

41 a vertical working mechanism base, 42 a drilling mechanism, 43 a tapping mechanism and 44 a visual mechanism;

421 drilling mechanism base, 422 servo motor c,423 ball screw pair b,424 left guide rail c,425 right guide rail c,426 drilling mechanism;

4261 a servo motor d,4262 a spindle head, 4263 a drill rod extension rod, 4264 a drill bit;

441 support, 442 industrial camera, 443 lighting source, 444 industrial computer.

Detailed Description

The following describes the embodiments of the present invention further with reference to the drawings and technical schemes.

As shown in fig. 1, the automatic positioning and processing equipment for the surface hole of the cylindrical piece based on machine vision comprises a conveying mechanism 1, a rotating mechanism 2, a traversing mechanism 3, a vertical working mechanism 4 and a manipulator 5.

As shown in fig. 2, the transfer mechanism 1 includes a transfer mechanism base 11, a workpiece transfer table 12, and a trough 13; a conveying table 12 is fixedly arranged on the conveying mechanism base 11; the conveying table 12 is driven by a rodless cylinder to slide the trough 13, so that the trough 13 is conveyed back and forth between a processing position and a loading and unloading position.

As shown in fig. 3, the workpiece transfer table 12 includes a table body 121, a left rail a122, a right rail b123, and a cylinder a124. The table body 121 is of a groove structure and is fixed on the conveying mechanism base 11, and a left guide rail a122 and a right guide rail b123 are fixed on the left side and the right side in the groove of the table body 121 and used for supporting the trough 13; the cylinder a124 is fixed at an intermediate position in the groove of the table body 121. The bottom of the trough 13 is connected with the left rail a122, the right rail b123 and the sliding blocks of the cylinder a124, so that the trough 131 is pulled by the cylinder a124 and slides along the rails.

As shown in fig. 4, the trough 13 includes a trough body 131, a front positioning block 132, a pulley block 133, a rear positioning block 134, a front photoelectric sensor 135, a middle photoelectric sensor 136, and a rear photoelectric sensor 137. The front positioning block 132 and the rear positioning block 134 are installed in the groove body 131 and are used for limiting the axial movement of the workpiece; the rear positioning block 134 can be adjusted in position according to the type of the workpiece and can be replaced. The pulley block 133 is installed in the groove body 131 between the front positioning block 132 and the rear positioning block 134, supports the workpiece below the workpiece, and allows it to rotate. The side of the trough 13 is provided with a strip hole for installing a front photoelectric sensor 135, a middle photoelectric sensor 136 and a rear photoelectric sensor 137, and the positions can be adjusted according to workpiece parameters for identifying the type of the workpiece in the trough 13. The front photosensor 135 is mounted to a position nearest to the workpiece, the middle photosensor 136 is mounted at an intermediate position, and the rear photosensor 137 is mounted at the rear. The material shortage state is when no workpiece is sensed by all three sensors, the small-sized workpiece is when only the front photo sensor 135 senses a workpiece, the medium-sized workpiece is when only the rear photo sensor 137 does not sense a workpiece, and the large-sized workpiece is when all three sensors sense a workpiece.

As shown in fig. 5, the pulley block 133 includes a pulley support 1331, a ball bearing b1332, a shaft b1333, and a pulley 1334. The pulley support 1331 is used for mounting and fixing a ball bearing b1332 and a shaft b1333, and the shaft b1333 is used for mounting a pulley 1334 and enabling the pulley 1334 to be radially rotated and axially fixed.

As shown in fig. 6 (a) and 6 (b), the front positioning block 132 includes a turntable a1321, a spring collar a1322, a ball bearing a1323, a support plate a1324, an adjustment nut a1325, and a shaft a1326 and a lock nut a1327. Turntable a1321 is mounted on shaft a1326 by ball bearing a1323, and spring collar a1322 is used for axial positioning of ball bearing a 1323. The shaft a1326 is mounted on the support plate a1324 and is fixed by the adjustment nut a1325, and the lock nut a1327 is used to prevent the adjustment nut a1325 from loosening.

As shown in fig. 7 (a) and 7 (b), the rear positioning block 134 includes a turntable b1341, a spring collar b1342, a ball bearing c1343, a spring 1344, a support plate b1345, an adjustment nut b1346, a shaft c1347, and a lock nut b1348. Turntable b1341 is mounted on shaft c1347 by ball bearing c1343, and spring collar b1342 is used for axial positioning of ball bearing c 1343. The shaft c1347 is mounted on the support plate a1324 and is fixed by an adjustment nut b1346, and a lock nut b1348 is used to prevent the adjustment nut b1346 from loosening. A spring 1344 is mounted on the shaft c1347 and between the support plate b1345 and the turntable b1341 for facilitating the installation of the workpiece and pressing the turntable b1341 against the workpiece.

As shown in fig. 8, the rotation mechanism 2 includes a rotation mechanism base 21, a support column 22, a cantilever bracket 23, a friction wheel 24, a timing belt 25, a servo motor a26, and a cylinder assembly 27. The rotation mechanism base 21 is used to mount the rotation mechanism on the conveyance mechanism base 11. The lower end of the support column 22 is fixed on the rotating mechanism base 21, and the upper end is hinged with the cantilever bracket 23. The cylinder rod 278 is extended and retracted to drive the cantilever bracket 23 to rotate around the rotary support column 22 so as to press and release the workpiece; the friction wheel 24 is installed in the side of the one end of cantilever support 23, and hold-in range 25 is installed in cantilever support 23 opposite side, and friction wheel 24 is connected with hold-in range 25, and servo motor a26 passes through hold-in range 25 and drives friction wheel 24 rotation. The cylinder rod 278 is connected with the other end of the cantilever bracket 23, the cylinder assembly 27 drives the end of the cantilever bracket 23 provided with the friction wheel 24 to press downwards, a rubber pad is arranged on the circumference of the friction wheel 24, and friction force is generated under the pressure of the cylinder assembly 27 to rotate the workpiece.

As shown in fig. 9 (a) and 9 (b), the cylinder assembly 27 includes a bearing housing 271, a bearing 272, a spring collar c273, a shaft d274, a cylinder housing 275, an socket head cap screw 276, a cylinder b277, and a cylinder rod 278. The two bearing blocks 271 are fixed to the rotation mechanism base 21 by bolts. Cylinder b277 is secured to cylinder block 275 by socket head cap screws 276. Two shafts d274 are fixed at two ends of the cylinder seat 275, and the shafts d274 are installed in inner holes of bearings 272 in the bearing seat 271 and are axially fixed through spring collars c 273. The cylinder assembly 27 can swing back and forth so that the cantilever bracket 23 can swing up and down with the support post 22 as a fulcrum.

As shown in fig. 10, the traverse mechanism 3 includes a traverse mechanism base 31, a servo motor b32, a ball screw pair a33, a left rail b34, a right rail b35, and a dust cover 36; the traversing mechanism base 31 is fixed on the conveying mechanism base 11; the upper part of the traversing mechanism base 31 is of a cavity structure, a left guide rail b34 and a right guide rail b35 are arranged on two sides of the upper part of the cavity, a ball screw pair a33 is arranged in the middle of the upper part of the cavity, a vertical working mechanism base 41 is arranged on the left guide rail b34 and the right guide rail b35, and the bottom of the vertical working mechanism base 41 is fixedly connected with nuts of the ball screw pair a33 and sliding blocks of the left guide rail b34 and the right guide rail b 35; the dust cover 36 is arranged above the cavity structure for dust prevention; the servo motor b32 is connected with the ball screw pair a33 through a coupler to drive the vertical working mechanism 4 to move on the guide rail so as to realize accurate adjustment of the processing position.

As shown in fig. 11, the vertical working mechanism 4 includes a vertical working mechanism base 41, a drilling mechanism 42, a tapping mechanism 43, and a vision mechanism 44; the drilling mechanism 42, the tapping mechanism 43 and the vision mechanism 44 are fixed on the vertical working mechanism base 41 and are respectively and sequentially adjusted to a drilling position, a tapping position and a photographing position through the traversing mechanism 3; the drilling position, tapping position and photographing position are determined by the drilling mechanism 42, tapping mechanism 43 and vision mechanism 44, respectively. In operation, because there is a certain deviation in the machining target positions on different workpieces and there is a deviation in the workpiece clamping positions, the vision mechanism 44 is required to identify the positioning and calculate the deviation from the teaching positions, thereby correcting the drilling and tapping positions to ensure the machining accuracy.

As shown in fig. 12, the drilling mechanism 42 includes a drilling mechanism bracket 421, a servo motor c422, a ball screw pair b423, a left guide rail c424, a right guide rail c425, and a drilling mechanism 426; the drilling mechanism bracket 421 is fixed on the vertical working mechanism base 41, is arranged in the vertical direction, one side of the drilling mechanism bracket is of a cavity structure, the ball screw pair b423 is positioned in the cavity structure, the left guide rail c424 and the right guide rail c425 are arranged at two sides of the cavity structure, nuts of the ball screw pair b423 are fixedly connected with the drilling mechanism base, and sliding blocks of the left guide rail c424 and the right guide rail c425 are fixedly connected with the drilling mechanism base; the servo motor c422 is connected with the ball screw pair b423 through a coupler, and the servo motor c422 drives the drilling mechanism 426 to advance and retreat so as to realize drilling.

As shown in fig. 13, the drilling mechanism 426 includes a drilling mechanism base, a servo motor d4261, a spindle head 4262, a drill rod extension rod 4263, and a drill bit 4264; the drilling mechanism base is fixed on the side surface of the drilling mechanism bracket 421; the main shaft head 4262 and the servo motor d4261 are respectively installed at the lower part and the upper part of the base of the drilling mechanism, and the main shaft head 4262 is connected with the drill bit 4264 through a drill rod extension rod 4263; the servo motor d4261 drives the spindle head 4262 to rotate, and the drill bit 4264 is driven to drill holes through the drill rod extension rod 4263; the purpose of the spindle head 4262 to which the drill rod extension 4263 is attached is to enable the drill 4264 to reach the workpiece drilling location.

The tapping mechanism 43 is identical to the drilling mechanism 42, except that a drill is used for the drilling mechanism 42, and a tap is used for the tapping mechanism 43, specifically including a tapping mechanism base, a servo motor, a spindle head, a tapping extension rod, and a tap; the main shaft head and the servo motor are respectively arranged at the lower part and the upper part of the drilling mechanism base, and the main shaft head is connected with the tap through a tapping extension rod; the servo motor drives the spindle head to rotate, and the tap is driven to tap by the tapping extension rod.

As shown in fig. 14, the vision mechanism 44 includes a bracket 441, an industrial camera 442, an illumination light source 443, and an industrial personal computer 444; the bracket 441 is mounted on the vertical working mechanism base 41, the position of the bracket 441 is adjustable, the industrial camera 442 is mounted on the bracket 441, and the position of the industrial camera 442 is adjusted through the bracket 441; the illumination light source 443 is installed at the side of the industrial camera 442; the industrial personal computer 444 is provided with an image analysis program and a control program, and the industrial personal computer 444 is used for controlling the industrial camera 442 to shoot and transmitting the acquired workpiece image to the industrial personal computer 444, and then analyzing, identifying and positioning the workpiece image and processing the target position, wherein the steps comprise offline setting and online detection.

A. Offline setting: the method comprises the following specific steps:

a. clamping a workpiece: a workpiece is held by the robot 5 and transferred to the processing position by the transfer mechanism 1.

b. And (3) tool setting operation: and (3) adjusting the circumferential position of the workpiece and the position of the vertical working mechanism 4 to drill and tool, performing trial drilling operation, recording the current coordinates as standard drilling positions after ensuring that the positioning accuracy meets the requirement, and calculating the standard photographing positions and tapping positions according to the relative distances among the drilling mechanism 42, the tapping mechanism 43 and the vision mechanism 44.

c. Setting a template: moving the vertical working mechanism 4 to a standard photographing position, collecting images, extracting shape features of a processing target, setting the shape features as a main matching template, and taking the image position of the processing target as a standard position; because the metal reflects light and the target can greatly change the characteristics of the target at different positions of the circumference, a plurality of auxiliary templates are arranged at the circumferential positions of the processing target so as to ensure that the processing target can be correctly identified at any position after entering the field of view of the industrial camera 442 and is adjusted to the standard position.

B. Online identification positioning

a. And (3) image acquisition: the workpiece is automatically fed by the mechanical arm 5 and then conveyed to a processing position, and a photographing signal is sent by the equipment main controller; after receiving the photographing signal, the vision mechanism 44 turns on the illumination light source 443 and acquires an image.

b. Template matching and positioning: in the image, first, main template matching is carried out, if not, sub template matching is carried out in sequence, if successful, pulse deviation is calculated according to the position deviation of the standard image and the proportional relation between the image pixels and the motor pulse, and the traversing mechanism 2 and the rotating mechanism 3 adjust the target to the standard image position.

c. Rotation search: if the target is not found in the step b, a signal is sent to the equipment main controller so that the rotating mechanism 2 drives the workpiece to rotate slowly, then the target is searched by continuously shooting at intervals of 5 degrees of rotation angle, after the target is found, information is sent to the equipment main controller to stop rotating, and the step b is returned to adjust the target to the standard image position.

d. And correcting the drilling position and the tapping position according to the deviation of the photographing position and the standard photographing position, and performing drilling and tapping operations.

The working flow of the invention is as follows:

during operation, the manipulator 5 firstly performs feeding, and places a workpiece between the front positioning block 132 and the rear fixing block 133 in the groove body 131 for clamping. Cylinder a124 then drives the chute 13 to travel on the conveyor 1 to the processing position, and cylinder b277 expands and contracts to rotate the cantilever bracket 23, the friction wheel 24 pressing the workpiece against free rotation. The workpiece type is judged by the front photoelectric sensor 135, the middle photoelectric sensor 136, and the rear photoelectric sensor 137. The traversing mechanism 3 drives the vertical working mechanism 4 to reach a photographing position, an image of a workpiece is photographed by the industrial camera 442 and transmitted back to the industrial computer 444 for image processing and analysis, and if a processing target is not found, the servo motor a26 drives the friction wheel 24 to rotate through the synchronous belt 25, so that the workpiece rotates to search the processing target. When the target is found (hole is found), the friction wheel 24 stops rotating, deviation information is then transmitted to the main controller by vision software to control the traversing mechanism 3 and the rotating mechanism 4 to correct the position, namely, the position deviation is detected, after each adjustment is completed, a vision system is required to confirm, when the positioning accuracy reaches the requirement, the servo motor a27 drives the traversing mechanism 2 to correct the axial deviation, the rotating mechanism 3 corrects the circumferential deviation, the traversing mechanism 3 drives the vertical working mechanism 4 to reach the drilling position (after the position is adjusted to a preset standard position in an image), the drilling position and the tapping position deviation are corrected according to the current photographing deviation, then the servo motor c422 drives the ball screw pair b423 to rotate, so that the drilling mechanism 42 descends and performs drilling processing, after the processing is completed, the servo motor c422 drives the ball screw pair b to rotate, so that the drilling mechanism 42 ascends, the processing is completed, then the servo motor b32 in the traversing mechanism 3 drives the ball screw pair a33 to rotate, so that the tapping mechanism 43 stops at a designated position right above a bottom workpiece, the processing is performed, after the completion, the cylinder a124 drives the chute 13 to return to the initial position, and the workpiece is taken by the manipulator 5, and the next workpiece is clamped.

Claims (5)

1. The automatic positioning and processing equipment for the surface holes of the cylindrical parts based on the machine vision is characterized by comprising a conveying mechanism (1), a rotating mechanism (2), a traversing mechanism (3), a vertical working mechanism (4) and a manipulator (5); the conveying mechanism (1) is used for conveying the workpiece back and forth between a processing position and a loading and unloading position; the transverse moving mechanism (3) is used for adjusting the vertical working mechanism (4) to a preset position; the vertical working mechanism (4) is used for installing a visual mechanism to search a machining target and performing drilling and tapping operations; the rotating mechanism (2) is used for rotating the workpiece, so that the vision mechanism can search a target in the circumferential direction of the workpiece, and position adjustment is performed according to feedback of the vision mechanism; the manipulator (5) is used for feeding and discharging; wherein:

the conveying mechanism (1) comprises a conveying mechanism base (11), a workpiece conveying table (12) and a trough (13); a conveying table (12) is fixedly arranged on the conveying mechanism base (11); the conveying table (12) is driven by a rodless cylinder to slide by a trough (13), so that the trough (13) is conveyed back and forth between a processing position and a loading and unloading position;

the workpiece conveying table (12) comprises a table body (121), a left guide rail a (122), a right guide rail b (123) and a cylinder a (124); the table body (121) is of a groove structure, is fixed on the conveying mechanism base (11), and a left guide rail a (122) and a right guide rail b (123) are fixed on the left side and the right side in the groove of the table body (121) and are used for supporting the trough (13); the cylinder a (124) is fixed at the middle position in the groove of the table body (121); the bottom of the trough (13) is connected with the left guide rail a (122), the right guide rail b (123) and the sliding block of the air cylinder a (124), so that the trough (13) is pulled by the air cylinder a (124) and slides along the guide rails;

the trough (13) comprises a trough body (131), a front positioning block (132), a pulley block (133), a rear positioning block (134), a front photoelectric sensor (135), a middle photoelectric sensor (136) and a rear photoelectric sensor (137); the front positioning block (132) and the rear positioning block (134) are arranged in the groove body (131) and used for limiting the axial movement of the workpiece; the rear positioning block (134) can be adjusted in position or replaced according to different workpiece types; the pulley block (133) is arranged in the groove body (131) and positioned between the front positioning block (132) and the rear positioning block (134), and supports the workpiece below the workpiece and enables the workpiece to rotate; the side surface of the trough body (131) is provided with a strip hole for installing a front photoelectric sensor (135), a middle photoelectric sensor (136) and a rear photoelectric sensor (137), and the positions are adjusted according to workpiece parameters and used for identifying the types of workpieces in the trough (13); the front photoelectric sensor (135) is arranged at a position closest to the workpiece, the middle photoelectric sensor (136) is arranged at an intermediate position, and the rear photoelectric sensor (137) is arranged at the rear part; the workpiece is in a material shortage state when no three sensors sense the workpiece, is a small workpiece when only the front photoelectric sensor (135) senses the workpiece, is a medium workpiece when only the rear photoelectric sensor (137) does not sense the workpiece, and is a large workpiece when all three sensors sense the workpiece;

the front positioning block (132) comprises a turntable a (1321), a spring collar a (1322), a ball bearing a (1323), a support plate a (1324), an adjusting nut a (1325), a shaft a (1326) and a locking nut a (1327); the turntable a (1321) is mounted on the shaft a (1326) through a ball bearing a (1323), and a spring collar a (1322) is used for axially positioning the ball bearing a (1323); the shaft a (1326) is mounted on the support plate a (1324) and is fixed by an adjusting nut a (1325), and the locking nut a (1327) is used for preventing the adjusting nut a (1325) from loosening;

the pulley block (133) comprises a pulley support (1331), a ball bearing b (1332), a shaft b (1333) and a pulley (1334); the pulley support (1331) is used for mounting and fixing a ball bearing b (1332) and a shaft b (1333), and the shaft b (1333) is used for mounting a pulley (1334) and enabling the pulley (1334) to radially rotate and axially fix;

the rear positioning block (134) comprises a rotary table b (1341), a spring collar b (1342), a ball bearing c (1343), a spring (1344), a support plate b (1345), an adjusting nut b (1346), a shaft c (1347) and a locking nut b (1348); the turntable b (1341) is mounted on the shaft c (1347) through a ball bearing c (1343), and a spring collar b (1342) is used for axial positioning of the ball bearing c (1343); the shaft c (1347) is mounted on the support plate a (1324) and is fixed by an adjusting nut b (1346), and the locking nut b (1348) is used for preventing the adjusting nut b (1346) from loosening; the spring (1344) is arranged on the shaft c (1347) and between the supporting plate b (1345) and the rotary table b (1341) for conveniently installing a workpiece and pressing the rotary table b (1341) on the workpiece;

the rotating mechanism (2) comprises a rotating mechanism base (21), a supporting column (22), a cantilever bracket (23), a friction wheel (24), a synchronous belt (25), a servo motor a (26) and a cylinder assembly (27); the rotating mechanism base (21) is used for installing the rotating mechanism on the conveying mechanism base (11); the lower end of the supporting column (22) is fixed on the rotating mechanism base (21), and the upper end is hinged with the cantilever bracket (23); the cylinder rod (278) stretches out and retracts to drive the cantilever bracket (23) to rotate around the rotary support column (22) so as to press and release the workpiece; the friction wheel (24) is arranged on the side surface of one end of the cantilever bracket (23), the synchronous belt (25) is arranged on the other side of the cantilever bracket (23), the friction wheel (24) is connected with the synchronous belt (25), the servo motor a (26) is connected with the synchronous belt (25), and the servo motor a (26) drives the friction wheel (24) to rotate through the synchronous belt (25); the cylinder rod (278) is connected with the other end of the cantilever bracket (23), the cylinder assembly (27) drives the end part of the cantilever bracket (23) provided with the friction wheel (24) to be pressed down, a rubber pad is arranged on the circumference of the friction wheel (24), and friction force is generated under the pressure of the cylinder assembly (27) to rotate the workpiece;

the cylinder assembly (27) comprises a bearing seat (271), a bearing (272), a spring collar c (273), a shaft d (274), a cylinder seat (275), an inner hexagonal screw (276), a cylinder b (277) and a cylinder rod (278); two bearing seats (271) are respectively fixed on the rotating mechanism base (21) through bolts; the cylinder b (277) is fixed on the cylinder seat (275) through an inner hexagon screw (276); two ends of the cylinder seat (275) are fixed with two shafts d (274), and the shafts d (274) are arranged in inner holes of bearings (272) in the bearing seat (271) and are axially fixed through spring clamping rings c (273); the cylinder assembly (27) swings back and forth so that the cantilever bracket (23) swings up and down by taking the supporting column (22) as a supporting point;

the transverse moving mechanism (3) comprises a transverse moving mechanism base (31), a servo motor b (32), a ball screw pair a (33), a left guide rail b (34), a right guide rail b (35) and a dust cover (36); the traversing mechanism base (31) is fixed on the conveying mechanism base (11); the upper part of the traversing mechanism base (31) is of a cavity structure, a left guide rail b (34) and a right guide rail b (35) are arranged on two sides of the upper part of the cavity, a ball screw pair a (33) is arranged in the middle of the cavity, a vertical working mechanism base (41) is arranged on the left guide rail b (34) and the right guide rail b (35), and the bottom of the vertical working mechanism base (41) is fixedly connected with nuts of the ball screw pair a (33) and sliding blocks of the left guide rail b (34) and the right guide rail b (35); the dust cover (36) is arranged above the cavity structure and used for preventing dust; the servo motor b (32) is connected with the ball screw pair a (33) through a coupler to drive the vertical working mechanism (4) to move on the guide rail so as to realize accurate adjustment of the processing position;

the vertical working mechanism (4) comprises a vertical working mechanism base (41), a drilling mechanism (42), a tapping mechanism (43) and a visual mechanism (44); the drilling mechanism (42), the tapping mechanism (43) and the vision mechanism (44) are fixed on the vertical working mechanism base (41) and are respectively and sequentially adjusted to a drilling position, a tapping position and a photographing position through the traversing mechanism (3); the drilling position, the tapping position and the photographing position are respectively determined by a drilling mechanism (42), a tapping mechanism (43) and a vision mechanism (44);

the drilling mechanism (42) comprises a drilling mechanism bracket (421), a servo motor c (422), a ball screw pair b (423), a left guide rail c (424), a right guide rail c (425) and a drilling mechanism (426); the drilling mechanism support (421) is fixed on the vertical working mechanism base (41), is arranged in the vertical direction, one side of the drilling mechanism support is of a cavity structure, the ball screw pair b (423) is positioned in the cavity structure, the left guide rail c (424) and the right guide rail c (425) are arranged on two sides of the cavity structure, nuts of the ball screw pair b (423) are fixedly connected with the drilling mechanism base, and sliding blocks of the left guide rail c (424) and the right guide rail c (425) are fixedly connected with the drilling mechanism base; the servo motor c (422) is connected with the ball screw pair b (423) through a coupler, and the servo motor c (422) drives the drilling mechanism (426) to advance and retreat so as to realize drilling processing;

the drilling mechanism (426) comprises a drilling mechanism base, a servo motor d (4261), a main shaft head (4262), a drill rod extension rod (4263) and a drill bit (4264); the drilling mechanism base is fixed on the side surface of the drilling mechanism bracket (421); the main shaft head (4262) and the servo motor d (4261) are respectively arranged at the lower part and the upper part of the drilling mechanism base, and the main shaft head (4262) is connected with the drill bit (4264) through a drill rod extension rod (4263); the servo motor d (4261) drives the spindle head (4262) to rotate, and the drill bit (4264) is driven to drill holes through the drill rod extension rod (4263);

the tapping mechanism (43) has the same structure as the drilling mechanism (42), except that a drill bit (4264) is replaced by a tap;

the vision mechanism (44) comprises a bracket (441), an industrial camera (442), an illumination light source (443) and an industrial personal computer (444); the bracket (441) is arranged on the vertical working mechanism base (41) and is adjustable in position, the industrial camera (442) is arranged on the bracket (441), and the position of the industrial camera (442) is adjusted through the bracket (441); the illumination light source (443) is mounted on the side of the industrial camera (442); the industrial personal computer (444) is internally provided with an image analysis program and a control program, and the industrial camera (442) is controlled to shoot and transmit the acquired workpiece image to the industrial personal computer (444), so that the workpiece image is analyzed, identified and the processing target position is positioned.

2. The machine vision based automatic positioning and machining equipment for surface holes of cylindrical parts according to claim 1, wherein the drilling and tapping machining project is adjusted according to practical conditions and technological requirements, and comprises expanding drilling, matching reaming, tapping and milling.

3. The machine vision based automatic positioning and machining device for surface holes of cylindrical parts according to claim 1 or 2, wherein the material bag of the workpiece is metal, plastic or wood.

4. The machine vision-based automatic positioning and machining apparatus for cylindrical surface holes according to claim 1 or 2, characterized in that the shape of the workpiece comprises a cylindrical portion, which is driven in rotation by the friction wheel (24).

5. The machine vision-based automatic positioning and processing device for the surface hole of the cylindrical member according to claim 1 or 2, wherein after the industrial camera (442) is controlled to take a picture and transmit the acquired workpiece image to the industrial control computer (444), the workpiece image is analyzed, identified and the processing target position is positioned, and the method is divided into two steps of offline setting and online detection;

A. offline setting: the method comprises the following specific steps:

a. clamping a workpiece: clamping a workpiece by a mechanical arm (5) and conveying the workpiece to a processing position by a conveying mechanism (1);

b. and (3) tool setting operation: adjusting the circumferential position of a workpiece and the position of a vertical working mechanism (4) to drill and perform tool setting, performing trial drilling operation, recording the current coordinates as standard drilling positions after ensuring that the positioning accuracy meets the requirement, and calculating the standard photographing positions and tapping positions according to the relative distances among a drilling mechanism (42), a tapping mechanism (43) and a vision mechanism (44);

c. setting a template: moving the vertical working mechanism (4) to a standard photographing position, collecting images, extracting shape features of a processing target, setting the shape features as a main matching template, and taking the image position of the processing target as a standard position; because the metal reflects light and the target can greatly change the characteristics of the target at different positions of the circumference, a plurality of auxiliary templates are arranged at the circumferential positions of the processing target, so that the processing target can be accurately identified at any position after entering the field of view of an industrial camera (442), and is adjusted to the standard position;

B. online identification positioning

a. And (3) image acquisition: the workpiece is automatically fed by a manipulator (5) and then conveyed to a processing position, and a photographing signal is sent by a main controller of the equipment; after the vision mechanism (44) receives the photographing signal, an illumination light source (443) is turned on and an image is acquired;

b. template matching and positioning: firstly, carrying out main template matching in an image, if not, carrying out auxiliary template matching in sequence, if so, calculating pulse deviation according to the position deviation of the standard image and the proportional relation between image pixels and motor pulses, and regulating the target to the standard image position by a traversing mechanism 2 and a rotating mechanism 3;

c. rotation search: if the target is not found in the step b, a signal is sent to the equipment main controller so that the rotating mechanism (2) drives the workpiece to rotate slowly, then the target is continuously shot and searched at intervals of 5 degrees of rotation angle, after the target is found, information is sent to the equipment main controller to stop rotating, and the step b is returned to adjust the target to the standard image position;

d. and correcting the drilling position and the tapping position according to the deviation of the photographing position and the standard photographing position, and performing drilling and tapping operations.