CN103743752B - A kind of magnetic shoe online detection instrument based on machine vision - Google Patents

Abstract

The invention discloses a kind of magnetic shoe online detection instrument based on machine vision, comprise frame and be arranged on the conveying device in frame, described conveying device is divided into two sections of detection lines, the turn-over rig for magnetic shoe turn-over is provided with between first paragraph detection line and second segment detection line, described first paragraph detection line comprises for before magnetic shoe, rear end face and fillet surface thereof, magnetic shoe is left, extrados vertical fillet surface in right side carries out image acquisition and magnetic shoe outer arcuate surface and fillet surface thereof is carried out to the station of image acquisition, described second segment detection line comprises for carrying out image acquisition and the left side to magnetic shoe to magnetic shoe inner arcuate surface, right side and fillet surface thereof carry out the station of image acquisition.The present invention carries out image acquisition by the even imaging device of magnetic shoe of conveying device and multiple station and magnetic shoe flexible imaging device, complete the inspection work to various watts of shape magnetic shoe External Defects, and by sorting equipment, defective magnetic shoe is sorted, realize the real-time online inspection to magnetic shoe.

Description

A kind of magnetic shoe online detection instrument based on machine vision

Technical field

The present invention relates to mechanical engineering lighting technical field, particularly a kind of magnetic shoe online detection instrument based on machine vision.

Background technology

Magnetic shoe is a kind of tiles ferrite permanent-magnet materials, is mainly used on magneto, and its effect replaces field copper to produce magnetic field, and be the important composition parts of magneto, be widely used at industrial circles such as automobile, household electrical appliances, electric tools, demand is huge.The performance of quality to magneto of magnetic shoe quality has a great impact.In exported product, even have the risk causing because indivedual magnetic shoe is defective returning goods by the gross.Therefore sort out defective magnetic shoe and there is very important economic worth.

Ferrite magnetic shoe production process mainly contains Preburning material preparation, powder process, shaping, sintering, mill are processed, inspection grades several step, and several factors all can cause magnetic shoe to occur defect.Ferrite magnetic shoe has all realized full-automatic production at compressing, sintering and production process such as mill processing etc.But due to due to magnetic shoe kind specification various, size and shape difference are very large, detection faces is many, output is very high, productive temp is very fast, within 1 minute, 120 can be reached, in addition the defect kind of magnetic shoe own a lot (comprise crackle, collapse rotten, chamfering, owe mill, play level, collapse rotten, play level, interlayer and spot etc.), magnetic shoe detection difficulty and workload are very large, cause all also not obtaining substantial progress up to now to the development of magnetic shoe practical online automatic detection equipment, magnetic shoe manufacturer is all still detected as master with artificial visual all the time.This artificial visual detection method due to labour intensity large, the impact that quality control is subject to looking into the human factors such as personnel's technology, experience, the state of mind and working environment is comparatively large, and detection efficiency is low, flase drop and loss higher, and unstable; Meanwhile, due to magnetic shoe out-of-shape, output is large, and critical size is also difficult to manually entirely examining, and out-of-size magnetic shoe can not be rejected, and can not carry out grading and classification to increase economic efficiency to magnetic shoe.Magnetic shoe defect inspection has been the bottleneck improving magnetic shoe production efficiency, improve the quality of products and reduce costs.

Because human resources are nervous and cost of labor constantly rises, this production feature of magnetic shoe is belonged to the product of single-piece small profits, production in enormous quantities, the an urgent demand of magnetic shoe manufacturer is developed fast, economic, harmless, non-sampling comprehensive real-time online detection sorting arrangement, to reach online high speed detection, realize automatic sorting to ensure all-round excellent product.

The detection technique of mechanical vision inspection technology a kind of like this advanced person just.Based in the detection method of machine vision, mainly comprise Image Acquisition, Image semantic classification, feature extraction and selection, pattern classification four basic steps.Along with constantly improving and development of the infotech such as computer vision, Digital Image Processing, Machine Vision Detection has become one of main method of industrial automation detection.It has fast, accurately, the outstanding advantages such as reliable and noncontact, to improve the examination and test of products consistance, improve the quality of products, reduce hand labor intensity and raising enterprises production efficiency has vital role.

In general, a set of vision system aims at specific model product design, all there is certain specificity, and be not suitable for the multiple widely different product of a set of Vision Builder for Automated Inspection detection in imaging system configuration, algorithm design and mechanism design etc.Because magnetic shoe kind specification is various, a producer just may produce 100 kinds, and magnetic shoe size and shape difference are very large, and detection faces is many, and productive temp is very fast, and output is very high, and the defect kind of magnetic shoe own is a lot of in addition, and some defect characteristic is also not obvious.The magnetic tile surface defect detection method that these reasons all result in based on machine vision is extremely difficult.The major reason that magnetic tile surface defect detection method based on machine vision is difficult to make progress is exactly the diversity due to magnetic shoe shape and size, machine vision imaging system is made to be difficult to adapt to all magnetic shoes, be difficult to obtain steady and audible image, have impact on subsequent detection treatment step.Up to now, the on-line real-time measuremen automation equipment still not adapting to the numerous watt shape magnetic tile surface defect inspection of model specification and dimensional measurement is introduced to the market.

Summary of the invention

The object of the invention is to, for above-mentioned Problems existing, provide a kind of and can adapt to the surface imperfection inspection of Multiple Type specification magnetic shoe and the magnetic shoe online detection instrument based on machine vision of critical size measurement.

Technical scheme of the present invention is achieved in that a kind of magnetic shoe online detection instrument based on machine vision, comprise frame and be arranged on the conveying device in frame, it is characterized in that: described conveying device is divided into two sections of detection lines, the turn-over rig for magnetic shoe turn-over is provided with between first paragraph detection line and second segment detection line, described first paragraph detection line comprises for before magnetic shoe, rear end face carries out image acquisition and magnetic shoe outer arcuate surface and fillet surface thereof is carried out to the station of image acquisition, described second segment detection line comprises for carrying out image acquisition and the left side to magnetic shoe to magnetic shoe inner arcuate surface, right side and fillet surface thereof carry out the station of image acquisition, before described magnetic shoe, rear end face and fillet surface thereof carry out image acquisition by the even imaging device of magnetic shoe that two are arranged on above conveying device, described magnetic shoe outer arcuate surface and fillet surface thereof, magnetic shoe inner arcuate surface and fillet surface thereof and magnetic shoe left, the magnetic shoe flexible imaging device that right side and fillet surface thereof are arranged on above conveying device by six respectively carries out image acquisition, described first paragraph detection line also comprises the station for carrying out image acquisition to the vertical fillet surface of magnetic shoe left and right side extrados, the vertical fillet surface of described magnetic shoe left and right side extrados carries out image acquisition by the even imaging device of magnetic shoe that two are arranged on above conveying device, between the image acquisition station and the image acquisition station of magnetic shoe front and rear end of the vertical fillet surface of magnetic shoe left and right side extrados, be provided with steering gear, described magnetic shoe flexible imaging device comprises second camera, secondary light source assembly, camera circular motion assembly, second camera linear motion component and camera rotary components, described second camera is connected with camera rotary components, described camera rotary components is connected with second camera linear motion component, described second camera linear motion component is connected with camera circular motion assembly, and described second camera coordinates with secondary light source assembly carries out imaging to magnetic shoe.

Magnetic shoe online detection instrument based on machine vision of the present invention, the even imaging device of magnetic shoe described in it comprises first camera, first light source assembly, bracket component and first camera linear motion component, described first light source assembly is fixedly connected with the first installing plate, described first camera is connected with the first installing plate by first camera linear motion component, described first installing plate is connected with bracket component by slide mechanism, described first camera coordinates with light source assembly before magnetic shoe, rear end face and fillet surface thereof and magnetic shoe left, extrados vertical fillet surface in right side carries out even imaging.

Magnetic shoe online detection instrument based on machine vision of the present invention, described in it, the first light source assembly comprises the first lampshade, the the first lampshade base plate be connected with the first lampshade bottom and be arranged on the first lampshade base plate, be distributed in the arc light source group inside the first lampshade bottom, described first lampshade top is provided with camera imaging opening, the first shadow shield be connected with governor motion is provided with in described first lampshade, described first shadow shield moves along camera motion direction under the first governor motion effect, described first governor motion comprises adjuster bar, installation sleeve and lock-screw, described installation sleeve is connected on the first lampshade, camera imaging opening side, described adjuster bar one end is connected with the first shadow shield, described lock-screw and installation sleeve are threaded connection, its end is resisted against in the stopper slot of adjuster bar, for carrying out adjuster bar spacing and being locked.

Magnetic shoe online detection instrument based on machine vision of the present invention, first camera linear motion component described in it comprises the first base plate be fixedly connected with the first installing plate, driving mechanism, first line slideway and the first slide block, described driving mechanism comprises the first stepper motor of strap brake, the first synchronous pulley be connected with the first stepping motor power output terminal of strap brake, be arranged on the first roller on the first base plate and solderless wrapped connection on the first synchronous pulley with the first roller and the first Timing Belt of being connected by the first belt contiguous block of two ends, described first base plate is processed with the groove as the first Timing Belt space along the first line slideway surrounding, described first slide block is connected with the first belt contiguous block, and along the first line slideway moving linearly be fixed on the first base plate, described first slide block is connected with the first support by transition contiguous block, described first support is connected with first camera by camera mount pad, described transition contiguous block is provided with original point position plate and limiting plate, described first base plate is provided with and the optoelectronic switch of original point position plate corresponding matching and the limit switch with limiting plate corresponding matching.

Wherein, described bracket component comprises front vertical plate, coulisse, back vertical plate and transverse slat, described coulisse is provided with chute, described first installing plate is slidably connected by slide mechanism and coulisse, described slide mechanism comprises card extender, briquetting and the first web joint, described first web joint one end is fixedly connected with the first installing plate, and its other end is connected to the chute place of coulisse by card extender and briquetting.

Magnetic shoe online detection instrument based on machine vision of the present invention, described in it, secondary light source assembly comprises semisphere lampshade, the the second lampshade base plate be connected with semisphere lampshade bottom and be arranged on the second lampshade base plate, be distributed in the arc light source group inside semisphere lampshade bottom, magnetic shoe is set in both sides, described semisphere lampshade bottom and passes through groove, in semisphere lampshade side, camera imaging open slot is set, the second shadow shield be connected with governor motion is provided with in described semisphere lampshade, described second shadow shield axially moves up and down along semisphere lampshade under the second governor motion effect, described second governor motion comprises adjusting screw(rod), be arranged on swivel nut and the set nut at semisphere lampshade top, described adjusting screw(rod) lower end is connected with the second shadow shield and is threaded connection with swivel nut, the second shadow shield is driven to move up and down and be locked by set nut by rotating adjusting screw(rod).

Wherein, described secondary light source assembly is connected with circular arc support, described circular arc support is connected with mounting bracket by light source lifting assembly, described light source lifting assembly comprises screw rod, lifting set nut and lift adjustment nut, described screw rod upper end is connected with mounting bracket, its lower end is through circular arc support, and described lifting set nut and lift adjustment nut are placed in the upper and lower both sides of circular arc cradle top respectively and are threaded connection with screw rod.

Magnetic shoe online detection instrument based on machine vision of the present invention, described in it, camera circular motion assembly comprises curved plate, be arranged on the arc-shaped guide rail on curved plate, slide and circular motion driving mechanism, described circular motion driving mechanism comprises circular motion stepper motor and arc-shape synchronous belt, described arc-shaped guide rail is provided with the groove to arc-shape synchronous tape guide, some rollers are provided with in described groove, described roller and the roller assembly be arranged on curved plate constitute the movement locus of arc-shape synchronous belt, described slide to be contacted with arc-shaped guide rail by deep groove ball bearing that four location and installation axles are installed and surface bearing and leads, described circular motion stepper motor drives slide arcuately guide rail movement by arc-shape synchronous belt, described second camera linear motion component is connected with slide, described curved plate is provided with circular motion optoelectronic switch and circular motion limit switch, described slide is provided with the circular motion limiting plate with circular motion optoelectronic switch and circular motion limit switch corresponding matching,

Described second camera linear motion component comprises the second base plate be connected with slide, second line slideway, second slide block and the second straight line movement driving mechanism, described second straight line movement driving mechanism comprises the second rectilinear motion stepper motor, the second synchronous pulley be connected with the second rectilinear motion stepper motor clutch end, be arranged on the second roller on the second base plate and solderless wrapped connection on the second synchronous pulley with the second roller and the second Timing Belt of being connected by the second belt contiguous block of two ends, described second base plate is processed with the groove as the second Timing Belt space along the second line slideway surrounding, described second slide block is connected with the second belt contiguous block, and along the second line slideway moving linearly be fixed on the second base plate, described camera rotary components is connected with the second slide block by the second web joint, described second base plate is provided with rectilinear motion optoelectronic switch and rectilinear motion limit switch, described second slide block is provided with the rectilinear motion limiting plate with rectilinear motion optoelectronic switch and rectilinear motion limit switch corresponding matching.

Described camera rotary components comprises rectangle support and rotary drive mechanism, described rectangle support is connected with the second slide block by the second web joint, described rotary drive mechanism comprises the rotary actuation stepper motor be arranged on rectangle support, the pinion wheel be connected with rotary actuation stepper motor clutch end and the gear wheel engaged with pinion wheel, described gear wheel is connected with camera installing plate by the coupling shaft be attached thereto, described second camera is arranged on camera installing plate, described coupling shaft is provided with original point position sheet, described original point position sheet and the rotary motion optoelectronic switch corresponding matching be arranged on rectangle support.

Magnetic shoe online detection instrument based on machine vision of the present invention, turn-over rig described in it comprises base and is arranged on the sled mechanism on base, the upper end of described sled mechanism is corresponding with the output terminal of a upper conveying mechanism, its lower end is corresponding with the input end of next conveying mechanism, described sled mechanism comprises skateboard component and is separately positioned on a left side for skateboard component both sides and top, right plate and cover plate, described skateboard component, left, right plate and cover plate form the sliding space of magnetic shoe, described skateboard component is made up of two slide rails, described two slide rails are connected with first crossbeam respectively by the fixed head of correspondence, described first crossbeam connects with corresponding L-type support respectively, the sliding rail that described L-type support and base are arranged is slidably connected, a described left side, right plate bottom coordinates with skateboard component, the output terminal corresponding matching of its top and a upper conveying mechanism forms guide frame, a described left side, right plate is arranged on second cross beam respectively by governor motion, on a described left side, the arc-shaped guide plate corresponding with the output terminal of a upper conveying mechanism is respectively arranged with inside right plate, described arc-shaped guide plate lower end is corresponding with skateboard component, the bottom of described arc-shaped guide plate adopts flexible material, the output terminal correspondence of described skateboard component is provided with planker and baffle plate, described planker is slidably disposed on base by sliding slider, described planker is corresponding with the input end of next conveying mechanism, described baffle plate is connected with apron block, described apron block is slidably disposed on the sliding rail of base, lower side panel is respectively arranged with in described baffle plate both sides, baffle plate upper end is provided with lower platen, described baffle plate, lower side panel and lower platen form the discharge space of magnetic shoe.

Magnetic shoe online detection instrument based on machine vision of the present invention, steering gear described in it comprises the importing assembly that the tape transport direction along conveying device is arranged successively, steering assembly and guide component, described importing assembly, steering assembly and guide component are slidably disposed on guide assembly respectively, described importing assembly is comprised and is slidably disposed on importing support on guide assembly and is arranged on the deflector apron imported on support by governor motion, described deflector apron is arranged along tape transport direction, described steering assembly comprises the turning rack be slidably disposed on guide assembly and the gear tongue be arranged on by governor motion on turning rack, described gear tongue is arranged along the throughput direction perpendicular to conveying belt, described guide component comprises the guiding trestle be slidably disposed on guide assembly and the two groups of guide plates be arranged on by governor motion on guiding trestle, described two groups of guide plates coordinate form magnetic shoe pass through passage, described deflector apron and gear tongue are separately positioned on the both sides of conveying belt along throughput direction center line, described guiding trestle is provided with orienting lug by governor motion, described orienting lug is positioned at gear tongue front, described deflector apron front portion expands gradually to conveying belt side, the magnetic shoe that described two groups of guide plates are formed is by passage flare, described guide assembly comprises the guide rail being arranged on conveying belt both sides and the moving slider be slidably disposed on guide rail, and described importing support, turning rack and guiding trestle are fixedly connected with corresponding moving slider respectively.

The present invention carries out image acquisition by the even imaging device of magnetic shoe of station multiple in conveying device and conveying device and magnetic shoe flexible imaging device, in magnetic shoe course of conveying, complete magnetic shoe by steering gear to turn to, magnetic shoe turn-over is completed by turn-over rig, by sorting equipment, defective magnetic shoe is sorted, complete the inspection work to various watts of shape magnetic shoe External Defects, thus realize the real-time online inspection to magnetic shoe.

Owing to have employed technique scheme, the invention has the beneficial effects as follows:

1, in the present invention, the even imaging device of magnetic shoe mainly completes magnetic shoe front/rear end and fillet surface thereof, the image acquisition work of the vertical fillet surface of magnetic shoe extrados, wherein camera linear motion component integrally can do adaptive movement according to detecting the different of magnetic shoe model from light source assembly on bracket component, camera linear motion component again can relative to light source assembly moving linearly simultaneously, and manually regulate the position of shadow shield in light source assembly, the illumination ratio of magnetic shoe front/rear end and fillet surface thereof can be controlled, Polaroidly can obtain the steady and audible image of magnetic shoe front end face and fillet surface thereof and magnetic shoe rear end face and fillet surface thereof, reduce imaging station, reduce image real time transfer amount, improve magnetic shoe real-time online detection speed.

2, in the present invention, magnetic shoe flexible imaging device can according to different magnetic shoe specification and physical dimension, and camera can arcuately guide rail and line slideway motion in magnetic shoe imaging two dimensional surface, thus adjustment camera position, control image-forming range and imaging size; Simultaneously, camera can rotate by similar human eye up and down, the relative angle of adjustment magnetic shoe imaging surface and camera, coordinate light illumination, by Prosthetic Hand function, Automatic-searching optimal imaging position and angle, adapt to the imaging of Multiple Type specification magnetic shoe inner-outer arc surface and fillet surface, left and right end face and fillet surface thereof; According to different imaging station, the present invention, by Polaroid, can obtain the picture rich in detail of magnetic shoe inner-outer arc surface and fillet surface, left side and fillet surface thereof and right side and fillet surface thereof respectively.

3, in the present invention, turn-over rig is by being arranged between first paragraph detection line and second segment detection line, magnetic shoe is utilized automatically to be glided by sliding space after the turn-over of whereabouts, and according to the magnetic shoe of different size, accommodation is carried out to parts each in turn-over rig, thus guarantee magnetic shoe there will not be in downslide process turn to, the phenomenon such as rolling, make it meet the requirement of subsequent detection.

4, in the present invention, steering gear coordinates by what import assembly and steering assembly the go to action realizing magnetic shoe on conveying belt, finally recycle guide component and correcting arrangement is carried out to the magnetic shoe turning to rear position regular not, make its position meeting subsequent detection station completely and direction requirement.

Accompanying drawing explanation

Fig. 1 is a kind of typical magnetic shoe.

Fig. 2 is another kind of typical magnetic shoe.

Fig. 3 is front view of the present invention.

Fig. 4 is vertical view of the present invention.

Fig. 5 is the front view of the even imaging device of magnetic shoe in the present invention.

Fig. 6 is the left view of Fig. 5.

Fig. 7 is the vertical view of Fig. 5.

Fig. 8 is the structural representation of the first light source assembly in the even imaging device of magnetic shoe.

Fig. 9 is the vertical view of the even imaging device using state of magnetic shoe.

Figure 10 is the front view of magnetic shoe flexible imaging device in the present invention.

Figure 11 is camera linear motion component and the vertical view of camera rotary components when horizontal level in magnetic shoe flexible imaging device.

Figure 12 is camera linear motion component and the side view of camera rotary components when upright position in magnetic shoe flexible imaging device, not shown adjusting screw(rod).

Figure 13 is A portion enlarged drawing in Figure 12.

Figure 14 is the structural representation of secondary light source assembly in magnetic shoe flexible imaging device.

Figure 15 is the structural representation that secondary light source assembly is connected with light source lifting assembly.

Figure 16 is the structural representation of turn-over rig in the present invention.

Figure 17 is the front view of Figure 16.

Figure 18 is the side view of Figure 16.

Figure 19 is the vertical view of Figure 16.

Figure 20 is the structural representation of steering gear in the present invention.

Figure 21 is the front view of Figure 20.

Figure 22 is the side view of Figure 20.

Figure 23 is the vertical view of Figure 20.

Mark in figure: 1 is frame, 2 is conveying device, 3 is turn-over rig, 4 is the even imaging device of magnetic shoe, 5 is magnetic shoe flexible imaging device, 6 is steering gear, 7 is first camera, 8 is the first installing plate, 9 is the first lampshade, 10 is the first lampshade base plate, 11 is camera imaging opening, 12 is the first shadow shield, 13 is adjuster bar, 14 is installation sleeve, 15 is lock-screw, 16 is the first base plate, 17 is the first line slideway, 18 is the first slide block, 19 is the first stepper motor, 20 is the first synchronous pulley, 21 is the first roller, 22 is the first belt contiguous block, 23 is the first Timing Belt, 24 is the first support, 25 is transition contiguous block, 26 is camera mount pad, 27 is original point position plate, 28 is limiting plate, 29 is optoelectronic switch, 30 is limit switch, 31 is front vertical plate, 32 is coulisse, 33 is back vertical plate, 34 is transverse slat, 35 is card extender, 36 is briquetting, 37 is the first web joint, 38 is second camera, 39 is semisphere lampshade, 40 is the second lampshade base plate, 41 pass through groove for magnetic shoe, 42 is camera imaging open slot, 43 is the second shadow shield, 44 is adjusting screw(rod), 45 is swivel nut, 46 is set nut, 47 is circular arc support, 48 is mounting bracket, 49 is screw rod, 50 is lifting set nut, 51 is lift adjustment nut, 52 is curved plate, 53 is arc-shaped guide rail, 54 is slide, 55 is circular motion stepper motor, 56 is arc-shape synchronous belt, 57 is roller, 58 is roller assembly, 59 is location and installation axle, 60 is deep groove ball bearing, 61 is surface bearing, 62 is circular motion limit switch, 63 is circular motion optoelectronic switch, 64 is circular motion limiting plate, 65 is the second base plate, 66 is the second line slideway, 67 is the second slide block, 68 is the second rectilinear motion stepper motor, 69 is the second synchronous pulley, 70 is the second roller, 71 is the second belt contiguous block, 72 is the second Timing Belt, 73 is the second web joint, 74 is rectilinear motion optoelectronic switch, 75 is rectilinear motion limit switch, 76 is rectilinear motion limiting plate, 77 is rectangle support, 78 is rotary actuation stepper motor, 79 is pinion wheel, 80 is gear wheel, 81 is coupling shaft, 82 is camera installing plate, 83 is original point position sheet, 84 is rotary motion optoelectronic switch, 85 is base, 86a, 86b is left, right plate, 87 is cover plate, 88 is magnetic shoe, 89 is slide rail, 90 is fixed head, 91 is first crossbeam, 92 is L-type support, 93 is sliding rail, 94 is second cross beam, 95 is arc-shaped guide plate, 96 is planker, 97 is baffle plate, 98 is sliding slider, 99 is apron block, 100 is lower side panel, 101 is lower platen, 102 is conveying belt, 103 for importing support, 104 is deflector apron, 105 is turning rack, 106 is gear tongue, 107 is guiding trestle, 108 is guide plate, 109 is orienting lug, 110 is guide rail, 111 is moving slider, 112 is sorting equipment, 113 is right side, 114 is rear end face, 115 is extrados, 116 is left side, 117 is fillet surface, 118 is intrados, 119 is front end face, 120 is the vertical fillet surface of left side extrados, 121 is the vertical fillet surface of right side extrados.

Embodiment

Below in conjunction with accompanying drawing, the present invention is described in detail.

In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.

As shown in Figures 3 and 4, a kind of magnetic shoe online detection instrument based on machine vision, comprise frame 1 and be arranged on the conveying device 2 in frame 1, described conveying device is divided into two sections of detection lines, the turn-over rig 3 for magnetic shoe turn-over is provided with between first paragraph detection line and second segment detection line, described first paragraph detection line comprises for before magnetic shoe, rear end face carries out image acquisition and magnetic shoe outer arcuate surface and fillet surface thereof is carried out to the station of image acquisition, described second segment detection line comprises for carrying out image acquisition and the left side to magnetic shoe to magnetic shoe inner arcuate surface, right side and fillet surface thereof carry out the station of image acquisition, before described magnetic shoe, rear end face and fillet surface thereof carry out image acquisition by the even imaging device 4 of magnetic shoe that two are arranged on above conveying device 2, described magnetic shoe outer arcuate surface and fillet surface thereof, magnetic shoe inner arcuate surface and fillet surface thereof and magnetic shoe left, the magnetic shoe flexible imaging device 5 that right side and fillet surface thereof are arranged on above conveying device 2 by six respectively carries out image acquisition.Conveying device, by tape transport magnetic shoe, gathers image by the even imaging device of magnetic shoe, magnetic shoe flexible imaging device at magnetic shoe through each detection station respectively; In magnetic shoe course of conveying, complete magnetic shoe by steering gear and turn to, complete magnetic shoe turn-over by turn-over rig, by sorting equipment, defective magnetic shoe is sorted.

Wherein, described first paragraph detection line also comprises the station for carrying out image acquisition to the vertical fillet surface of magnetic shoe left and right side extrados, the vertical fillet surface of described magnetic shoe left and right side extrados carries out image acquisition by the even imaging device 4 of magnetic shoe that two are arranged on above conveying device 2, between the image acquisition station and the image acquisition station of magnetic shoe front and rear end of the vertical fillet surface of magnetic shoe left and right side extrados, be provided with steering gear 6.

In the present embodiment, complete the work of magnetic shoe outer surfaces image acquisition respectively by ten stations, first paragraph detection line six stations, second segment detection line four stations, two sections of detection lines are by the tape transport magnetic shoe of conveying device.Between second and third station of first paragraph detection line, be provided with magnetic shoe steering device 6 and sorting equipment 112, between two sections of detection lines, be provided with turn-over rig 3 and sorting equipment 112; Sorting equipment 112 is provided with at second segment detection line end.As illustrated in fig. 1 and 2, specifically, image acquisition is carried out at the vertical fillet surface 120,121 of station one and station two pairs of magnetic shoe left and right side extrados; Image acquisition is carried out in station three and station four pairs of magnetic shoe front and rear ends 119,114 and fillet surface 117 thereof; Image acquisition is carried out at station five and station six pairs of magnetic shoe extrados 115 and fillet surface thereof; Image acquisition is carried out at station seven and station eight pairs of magnetic shoe intrados 118; Image acquisition is carried out at station nine and the left and right end face 116,113 of station ten pairs of magnetic shoes and fillet surface thereof.

Wherein, image acquisition station has very large dirigibility and adaptability, to be easy to according to magnetic shoe specifications and models adjustment camera imaging position and imaging angle, to obtain steady and audible image, gather station number and be also easy to carry out according to actual needs expanding or reducing.

As shown in Fig. 5,6 and 7, the even imaging device 4 of described magnetic shoe comprises first camera 7, first light source assembly, bracket component and first camera linear motion component, described first light source assembly is fixedly connected with the first installing plate 8, described first camera 7 is connected with the first installing plate 8 by first camera linear motion component, described first installing plate 8 is connected with bracket component by slide mechanism, and described first camera 7 coordinates with light source assembly carries out even imaging to magnetic shoe front and rear end and fillet surface thereof and the vertical fillet surface of magnetic shoe left and right side extrados.

As shown in Figure 8, described first light source assembly comprises the first lampshade 9, the the first lampshade base plate 10 be connected with bottom the first lampshade 9 and be arranged on the first lampshade base plate 10, be distributed in the arc light source group of the first lampshade 9 bottom inside, described lampshade is 1/4 ball-type, described first lampshade 9 top is provided with camera imaging opening 11, the first shadow shield 12 be connected with governor motion is provided with in described first lampshade 9, described first shadow shield 12 moves along camera motion direction under the first governor motion effect, described first governor motion comprises adjuster bar 13, installation sleeve 14 and lock-screw 15, described installation sleeve 14 is connected on the first lampshade 9, camera imaging opening 11 side, described adjuster bar 13 one end is connected with the first shadow shield 12, described lock-screw 15 is threaded connection with installation sleeve 14, its end is resisted against in the stopper slot of adjuster bar 13, for being locked to adjuster bar 13.

As illustrated in Figures 5 and 6, described first camera linear motion component comprises the first base plate 16 be fixedly connected with the first installing plate 8, driving mechanism, first line slideway 17 and the first slide block 18, described driving mechanism comprises the first stepper motor 19 of strap brake, the first synchronous pulley 20 be connected with the first stepper motor 19 clutch end of strap brake, be arranged on the first roller 21 on the first base plate 16 and solderless wrapped connection on the first synchronous pulley 20 with the first roller 21 and the first Timing Belt 23 of being connected by the first belt contiguous block 22 of two ends, described first base plate 16 is processed with the groove as the first Timing Belt 23 space along the first line slideway 17 surrounding, described first slide block 18 is connected with the first belt contiguous block 22, and along the first line slideway 17 moving linearly be fixed on the first base plate 16, described first slide block 18 is connected with the first support 24 by transition contiguous block 25, described first support 24 is connected with first camera 7 by camera mount pad 26, described transition contiguous block 25 is provided with original point position plate 27 and limiting plate 28, described first base plate 16 is provided with and the optoelectronic switch 29 of original point position plate 27 corresponding matching and the limit switch 30 with limiting plate 28 corresponding matching.After the first slide block movement to assigned position, the brake of the first stepper motor is worked, and the first slide block is remained on assigned position; Wherein, original point position plate is used for triggering the initial point signal that optoelectronic switch sends the first slide block movement, and limiting plate is used for triggering the limit position signal that limit switch sends the first slide block movement.

Wherein, described bracket component comprises front vertical plate 31, coulisse 32, back vertical plate 33 and transverse slat 34, described coulisse 32 is provided with chute, described first installing plate 8 is slidably connected by slide mechanism and coulisse 32, described slide mechanism comprises card extender 35, briquetting 36 and the first web joint 37, described first web joint 37 one end is fixedly connected with the first installing plate 8, and its other end is connected to the chute place of coulisse 32 by card extender 35 and briquetting 36.

As the using state schematic diagram that Fig. 9 is the even imaging device of magnetic shoe, by horizontally disposed in conveying device both sides for even for magnetic shoe imaging device alternative expression ground, four stations be set altogether and respectively image acquisition work carried out to magnetic shoe front/rear end and fillet surface thereof, the vertical fillet surface of magnetic shoe left and right sides extrados; If magnetic shoe is not containing the vertical fillet surface of left and right sides extrados, then station 1 and station 2 do not work.Wherein, first camera linear motion component is used for regulating the position of first camera, and the first light source assembly is used for providing suitable illumination to magnetic shoe, magnetic shoe is coordinated, even imaging with camera.First camera linear motion component and the first light source assembly are integrally, can slide on bracket component, to regulate light source part relative to the position of various model specification magnetic shoe front/rear end, the first light source assembly adjusting position by graduation indication, and can be locked by latch mechanism.

As shown in Figure 10, described magnetic shoe flexible imaging device 5 comprises second camera 38, secondary light source assembly, camera circular motion assembly, second camera linear motion component and camera rotary components, described second camera 38 is connected with camera rotary components, described camera rotary components is connected with second camera linear motion component, described second camera linear motion component is connected with camera circular motion assembly, and described second camera 38 coordinates with secondary light source assembly carries out imaging to magnetic shoe.

As shown in figure 14, described secondary light source assembly comprises semisphere lampshade 39, the the second lampshade base plate 40 be connected with bottom semisphere lampshade 39 and be arranged on the second lampshade base plate 40, be distributed in the arc light source group of semisphere lampshade 39 bottom inside, in both sides, described semisphere lampshade 39 bottom, magnetic shoe is set by groove 41, as the space of magnetic shoe by secondary light source assembly, in semisphere lampshade 39 side, camera imaging open slot 42 is set, camera is taken pictures to the magnetic shoe on transport tape in light source by this groove, the second shadow shield 43 be connected with governor motion is provided with in described semisphere lampshade 39, described second shadow shield 43 axially moves up and down along semisphere lampshade 39 under the second governor motion effect, described second governor motion comprises adjusting screw(rod) 44, be arranged on swivel nut 45 and the set nut 46 at semisphere lampshade 39 top, described adjusting screw(rod) 44 lower end is connected with the second shadow shield 43 and is threaded connection with swivel nut 45, described adjusting screw(rod) is carved with scale, in order to indicate the adjusting position of shadow shield, the second shadow shield 43 is driven to move up and down and be locked by set nut 46 by rotating adjusting screw(rod) 44.

As shown in figure 15, described secondary light source assembly is connected with circular arc support 47, described circular arc support 47 is connected with mounting bracket 48 by light source lifting assembly, described light source lifting assembly comprises screw rod 49, lifting set nut 50 and lift adjustment nut 51, described screw rod is carved with scale, in order to the height and position of pilot light source component, described screw rod 49 upper end is connected with mounting bracket 48, its lower end is through circular arc support 47, described lifting set nut 50 and lift adjustment nut 51 are placed in upper and lower both sides, circular arc support 47 top respectively and are threaded connection with screw rod 49, after secondary light source assembly is adjusted to the height of needs, locked by lifting set nut.

As shown in figures 10-13, described camera circular motion assembly comprises curved plate 52, be arranged on the arc-shaped guide rail 53 on curved plate 52, slide 54 and circular motion driving mechanism, described arc-shaped guide rail is connected with two sections of line slideway transition by quadrant arc guide rail, described circular motion driving mechanism comprises circular motion stepper motor 55 and arc-shape synchronous belt 56, described arc-shaped guide rail 53 is provided with the groove led to arc-shape synchronous belt 56, some rollers 57 are provided with in described groove, described roller 57 and the roller assembly 58 be arranged on curved plate 52 constitute the movement locus of arc-shape synchronous belt 56, described slide 54 to be contacted with arc-shaped guide rail 53 by deep groove ball bearing 60 that four location and installation axles 59 are installed and surface bearing 61 and leads, to reduce the friction force of slide movement, described circular motion stepper motor 55 by arc-shape synchronous belt 56 drive slide 54 arcuately guide rail 53 move, after slide moves to assigned position, the braking action of the second stepper motor, slide is remained on assigned position, described second camera linear motion component is connected with slide 54, described curved plate 52 is provided with circular motion optoelectronic switch 63 and circular motion limit switch 62, described slide 54 is provided with the circular motion limiting plate 64 with circular motion optoelectronic switch 63 and circular motion limit switch 62 corresponding matching, in order to trigger initial point signal and the limit position signal of slide motion.

Described second camera linear motion component comprises the second base plate 65 be connected with slide 54, second line slideway 66, second slide block 67 and the second straight line movement driving mechanism, described second straight line movement driving mechanism comprises the second rectilinear motion stepper motor 68, the second synchronous pulley 69 be connected with the second rectilinear motion stepper motor 68 clutch end, be arranged on the second roller 70 on the second base plate 65 and solderless wrapped connection on the second synchronous pulley 69 with the second roller 70 and the second Timing Belt 72 of being connected by the second belt contiguous block 71 of two ends, described second base plate 65 is processed with the groove as the second Timing Belt 72 space along the second line slideway 66 surrounding, described second slide block 67 is connected with the second belt contiguous block 71, and along the second line slideway 66 moving linearly be fixed on the second base plate 65, after the second slide block movement to assigned position, the braking action of the second stepper motor, second slide block is remained on assigned position, described camera rotary components is connected with the second slide block 67 by the second web joint 73, described second base plate 65 is provided with rectilinear motion optoelectronic switch 74 and rectilinear motion limit switch 75, described second slide block 67 is provided with the rectilinear motion limiting plate 76 with rectilinear motion optoelectronic switch 74 and rectilinear motion limit switch 75 corresponding matching, in order to trigger initial point signal and the limit position signal of slide block movement.

Wherein, described camera rotary components comprises rectangle support 77 and rotary drive mechanism, described rectangle support 77 is connected with the second slide block 67 by the second web joint 73, described rotary drive mechanism comprises the rotary actuation stepper motor 78 be arranged on rectangle support 77, the pinion wheel 79 be connected with rotary actuation stepper motor 78 clutch end and the gear wheel 80 engaged with pinion wheel 79, described gear wheel 80 is connected with camera installing plate 82 by the coupling shaft 81 be attached thereto, described second camera 38 is arranged on camera installing plate 82, after second camera rotates to assigned position, the brake of rotary actuation stepper motor 78 is worked, second camera is remained on assigned position, described coupling shaft 81 is provided with original point position sheet 83, described original point position sheet 83 and rotary motion optoelectronic switch 84 corresponding matching be arranged on rectangle support 77, described rotary motion optoelectronic switch is used for sending the initial point signal of camera rotary motion, and original point position sheet is in order to trigger the initial point signal of camera rotary motion.

In the present invention, in described second camera camera lens front end, the cone that utilized lens interface to install, in order to block the useless light beyond visual field, avoid interference, improve magnetic shoe image quality, the cone other end is processed with the hickey matched with optical filtering interface, can according to circumstances install suitable optical filtering additional.By regulating the position of the second shadow shield in the height of secondary light source assembly and secondary light source assembly, the incident intensity ratio of magnetic shoe inner-outer cambered surface and fillet surface, left and right end face and fillet surface thereof can be controlled, can be formed into as uniform illuminating effect Multiple Type specification magnetic shoe curved surfaces and fillet surface, left and right end face and fillet surface thereof.Meanwhile, camera can arcuately guide rail and line slideway motion in magnetic shoe imaging two dimensional surface, thus the relative position of adjustment camera and magnetic shoe, control image-forming range and imaging size; Second camera, by rotating, can adjust the imaging angle on second camera and magnetic shoe surface.According to magnetic shoe model specification, regulate the height of secondary light source assembly and the position of the second shadow shield, simultaneous computer control system is controlled second camera and is moved by Prosthetic Hand, Automatic-searching optimal imaging position and angle, adapt to the imaging of Multiple Type specification magnetic shoe inner-outer arc surface and fillet surface, left and right end face and fillet surface thereof.According to different imaging station, by Polaroid, the picture rich in detail of magnetic shoe inner-outer arc surface and fillet surface, left side and fillet surface thereof and right side and fillet surface thereof can be obtained respectively.

If automaticity will be improved further, then shadow shield position adjusting mechanism in light source elevating mechanism, the first light source assembly and secondary light source assembly in light source lifting assembly can be changed into leading screw and nut mechanism driven by stepper motors or synchronous belt drive mechanism, or the automatic controls of step-by-step linear electric motor Direct driver.

As illustrated in figs. 16-19, the sled mechanism that described turn-over rig 3 comprises base 85 and is arranged on base 85, the upper end of described sled mechanism is corresponding with the output terminal of a upper conveying mechanism, its lower end is corresponding with the input end of next conveying mechanism, described sled mechanism comprises skateboard component and is separately positioned on a left side for skateboard component both sides and top, right plate 86a, 86b and cover plate 87, described skateboard component, left, right plate and cover plate 87 form the sliding space of magnetic shoe 88, a described left side, right plate bottom coordinates with skateboard component, the output terminal corresponding matching of its top and a upper conveying mechanism forms guide frame, a described left side, right plate is arranged on second cross beam 94 respectively by governor motion, on a described left side, the arc-shaped guide plate 95 corresponding with the output terminal of a upper conveying mechanism is respectively arranged with inside right plate, described arc-shaped guide plate 95 lower end is corresponding with skateboard component, the bottom of described arc-shaped guide plate 95 adopts flexible material, arc-shaped guide plate effectively can lead to the magnetic shoe of turn-over, break when bottom adopts flexible material that magnetic shoe can be avoided to fall, the magnetic shoe fallen from a upper conveying mechanism drops on skateboard component after arc-shaped guide plate.

Wherein, described skateboard component is made up of two slide rails 89, described two slide rails 89 are connected with first crossbeam 91 respectively by the fixed head 90 of correspondence, and described first crossbeam 91 connects with corresponding L-type support 92 respectively, and the sliding rail 93 that described L-type support 92 and base 85 are arranged is slidably connected.Described slide rail can transversely with longitudinally adjust, to adapt to the magnetic shoe of different size.

In actual use, if when the throughput direction of next conveying mechanism and the magnetic shoe glide direction on skateboard component is contrary, the output terminal correspondence of described skateboard component is provided with planker 96 and baffle plate 97, described planker 96 is slidably disposed on base 85 by sliding slider 98, described planker 96 is corresponding with the input end of next conveying mechanism, described baffle plate 97 is connected with apron block 99, described apron block 99 is slidably disposed on the sliding rail 93 of base 85, lower side panel 100 is respectively arranged with in described baffle plate 97 both sides, baffle plate 97 upper end is provided with lower platen 101, described baffle plate 97, lower side panel 100 and lower platen 101 form the discharge space of magnetic shoe 88.Magnetic shoe is when skidding off skateboard component, and its leading section is dropped on planker, and then rear portion is dropped on next conveyer belt again, effective like this problem avoiding magnetic shoe directly to drop on break-in or upset after on next conveyer belt.

As depicted in figs. 20-23, described steering gear 6 comprises importing assembly, steering assembly and the guide component that conveying belt 102 throughput direction along conveying device 2 is arranged successively, described importing assembly, steering assembly and guide component are slidably disposed on guide assembly respectively, according to its correct position on guide assembly of magnetic shoe size adjustment.

Described importing assembly is comprised and is slidably disposed on importing support 103 on guide assembly and is arranged on the deflector apron 104 imported on support 103 by governor motion, described deflector apron 104 is arranged along conveying belt 102 throughput direction, and described deflector apron 104 front portion expands gradually to conveying belt 102 side, described steering assembly comprises the turning rack 105 be slidably disposed on guide assembly and the gear tongue 106 be arranged on by governor motion on turning rack 105, described gear tongue 106 is arranged along the throughput direction perpendicular to conveying belt 102, it is scalable, collapsing length regulates according to magnetic shoe size, described deflector apron 104 and gear tongue 106 are separately positioned on the both sides of conveying belt 102 along throughput direction center line, described guiding trestle 107 is provided with orienting lug 109 by governor motion, described orienting lug 109 is positioned at gear tongue 106 front, for adjusting guiding further to the magnetic shoe before turning to, described guide component comprises the guiding trestle 107 be slidably disposed on guide assembly and the two groups of guide plates 108 be arranged on by governor motion on guiding trestle 107, described two groups of guide plates 108 coordinate form magnetic shoe pass through passage, the magnetic shoe that described two groups of guide plates 108 are formed is by passage flare, for carrying out correcting arrangement to the magnetic shoe turning to rear position regular not, make its position meeting subsequent detection station completely and direction requirement.

Wherein, described guide assembly comprises the guide rail 110 being arranged on conveying belt 102 both sides and the moving slider 111 be slidably disposed on guide rail 110, and described importing support 103, turning rack 105 and guiding trestle 107 are fixedly connected with corresponding moving slider 111 respectively.

Steering gear in actual use, according to the size of different magnetic shoe, described baffle plate, gear tongue, guide plate and orienting lug all can move as adaptability along tape transport direction or perpendicular to tape transport direction under the effect of corresponding adjusting mechanism, turn to required space requirement to meet different size specification magnetic shoe.

Computer control system described in the present invention is primarily of compositions such as computing machine, router, image pick-up card, motion control card, PLC, stepper motor driver, relay, power supply, high-power power switch, optoelectronic switches.Computing machine and router, image pick-up card, motion control card, PLC and each camera form high-speed LANs.Computer control system mainly completes the control of following aspect:

1, the initialization of camera imaging position and angle controls

Computer control system, according to the model specification of different magnetic shoe, in the even imaging source device of magnetic shoe, regulates the horizontal level of camera and magnetic shoe end face by controlling stepper motor in camera parts moving linearly; In magnetic shoe flexible imaging device, regulate the relative position of camera and magnetic shoe respectively by the stepper motor controlled in circular motion parts and parts moving linearly, control image-forming range and imaging size; The corner of camera is controlled by the stepper motor controlled in camera rotary part, to adjust the imaging angle on camera and magnetic shoe surface in magnetic shoe flexible imaging device.

2, light source control and image acquisition control

Magnetic shoe is real-time online inspection, and computer system gathers magnetic shoe image in magnetic shoe motion process.Because movement velocity is very fast, for avoiding motion blur, light-source brightness is very high, and power is very large, and for solving light source heat radiation problem, light source adopts stroboscopic illumination mode; Decline on the impact of light-source brightness for avoiding temperature and light, light-source brightness is made to keep stablizing and extend light source serviceable life, light source power adopts constant current source, and computer control system, by the detection analysis to light-source brightness, controls constant current source size of current and makes light-source brightness keep stable.After magnetic shoe arrives image capture position, sending magnetic shoe position arriving signal by optoelectronic switch, after PLC receives this signal, making light source stroboscopic light certain hour by controlling high-power power switch, after light-source brightness is stable, PLC controls collected by camera magnetic shoe image.

3, image procossing

Computer control system obtains each camera image by high-speed LANs and carries out image procossing, controls sorting equipment and sorts defective magnetic shoe, complete the On line inspection to various watts of shape magnetic shoe External Defects and sorting work according to processing result image.

The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.

Claims (8)

1. the magnetic shoe online detection instrument based on machine vision, comprise frame (1) and be arranged on the conveying device (2) in frame (1), it is characterized in that: described conveying device is divided into two sections of detection lines, the turn-over rig (3) for magnetic shoe turn-over is provided with between first paragraph detection line and second segment detection line, described first paragraph detection line comprises for before magnetic shoe, rear end face and fillet surface thereof carry out image acquisition and magnetic shoe outer arcuate surface and fillet surface thereof are carried out to the station of image acquisition, described second segment detection line comprises for carrying out image acquisition and the left side to magnetic shoe to magnetic shoe inner arcuate surface, right side and fillet surface thereof carry out the station of image acquisition, before described magnetic shoe, rear end face and fillet surface thereof carry out image acquisition by the even imaging device of magnetic shoe (4) that two are arranged on conveying device (2) top, described magnetic shoe outer arcuate surface and fillet surface thereof, magnetic shoe inner arcuate surface and fillet surface thereof and magnetic shoe left, the magnetic shoe flexible imaging device (5) that right side and fillet surface thereof are arranged on conveying device (2) top by six respectively carries out image acquisition, described first paragraph detection line also comprises the station for carrying out image acquisition to the vertical fillet surface of magnetic shoe left and right side extrados, the vertical fillet surface of described magnetic shoe left and right side extrados carries out image acquisition by the even imaging device of magnetic shoe (4) that two are arranged on conveying device (2) top, between the image acquisition station and the image acquisition station of magnetic shoe front and rear end of the vertical fillet surface of magnetic shoe left and right side extrados, be provided with steering gear (6), described magnetic shoe flexible imaging device (5) comprises second camera (38), secondary light source assembly, camera circular motion assembly, second camera linear motion component and camera rotary components, described second camera (38) is connected with camera rotary components, described camera rotary components is connected with second camera linear motion component, described second camera linear motion component is connected with camera circular motion assembly, and described second camera (38) coordinates with secondary light source assembly carries out imaging to magnetic shoe, image is gathered by the even imaging device of magnetic shoe (4), magnetic shoe flexible imaging device (5) respectively through each detection station at magnetic shoe, in magnetic shoe course of conveying, complete magnetic shoe by steering gear (6) to turn to, complete magnetic shoe turn-over by turn-over rig (3), by sorting equipment (112), defective magnetic shoe is sorted.

2. the magnetic shoe online detection instrument based on machine vision according to claim 1, it is characterized in that: the even imaging device of described magnetic shoe (4) comprises first camera (7), first light source assembly, bracket component and first camera linear motion component, described first light source assembly is fixedly connected with the first installing plate (8), described first camera (7) is connected with the first installing plate (8) by first camera linear motion component, described first installing plate (8) is connected with bracket component by slide mechanism, described first camera (7) coordinates with light source assembly before magnetic shoe, rear end face and fillet surface thereof and magnetic shoe left, extrados vertical fillet surface in right side carries out even imaging.

3. the magnetic shoe online detection instrument based on machine vision according to claim 2, it is characterized in that: described first light source assembly comprises the first lampshade (9), with the first lampshade (9) the first lampshade base plate (10) of being connected of bottom and be arranged on the first lampshade base plate (10), be distributed in the arc light source group of the first lampshade (9) bottom inside, described first lampshade (9) top is provided with camera imaging opening (11), the first shadow shield (12) be connected with governor motion is provided with in described first lampshade (9), described first shadow shield (12) is moved along camera motion direction under the first governor motion effect, described first governor motion comprises adjuster bar (13), installation sleeve (14) and lock-screw (15), described installation sleeve (14) is connected on the first lampshade (9), camera imaging opening (11) side, described adjuster bar (13) one end is connected with the first shadow shield (12), described lock-screw (15) and installation sleeve (14) are threaded connection, its end is resisted against in the stopper slot of adjuster bar (13), for carrying out adjuster bar (13) spacing and being locked.

4. the magnetic shoe online detection instrument based on machine vision according to claim 3, it is characterized in that: described first camera linear motion component comprises the first base plate (16) be fixedly connected with the first installing plate (8), driving mechanism, first line slideway (17) and the first slide block (18), described driving mechanism comprises first stepper motor (19) of strap brake, the first synchronous pulley (20) be connected with the first stepper motor (19) clutch end of strap brake, be arranged on the first Timing Belt (23) that the first roller (21) on the first base plate (16) and solderless wrapped connection are connected by the first belt contiguous block (22) at the first synchronous pulley (20) and two ends upper with the first roller (21), described first base plate (16) is processed with the groove as the first Timing Belt (23) space along the first line slideway (17) surrounding, described first slide block (18) is connected with the first belt contiguous block (22), and along the first line slideway (17) moving linearly be fixed on the first base plate (16), described first slide block (18) is connected with the first support (24) by transition contiguous block (25), described first support (24) is connected with first camera (7) by camera mount pad (26), described transition contiguous block (25) is provided with original point position plate (27) and limiting plate (28), described first base plate (16) is provided with and the optoelectronic switch (29) of original point position plate (27) corresponding matching and the limit switch (30) with limiting plate (28) corresponding matching,

Wherein, described bracket component comprises front vertical plate (31), coulisse (32), back vertical plate (33) and transverse slat (34), described coulisse (32) is provided with chute, described first installing plate (8) is slidably connected by slide mechanism and coulisse (32), described slide mechanism comprises card extender (35), briquetting (36) and the first web joint (37), described first web joint (37) one end is fixedly connected with the first installing plate (8), and its other end is connected to the chute place of coulisse (32) by card extender (35) and briquetting (36).

5. the magnetic shoe online detection instrument based on machine vision as claimed in any of claims 1 to 4, it is characterized in that: described secondary light source assembly comprises semisphere lampshade (39), with semisphere lampshade (39) the second lampshade base plate (40) of being connected of bottom and be arranged on the second lampshade base plate (40), be distributed in the arc light source group of semisphere lampshade (39) bottom inside, in described semisphere lampshade (39) both sides, bottom, magnetic shoe is set by groove (41), in semisphere lampshade (39) side, camera imaging open slot (42) is set, the second shadow shield (43) be connected with governor motion is provided with in described semisphere lampshade (39), described second shadow shield (43) axially moves up and down along semisphere lampshade (39) under the second governor motion effect, described second governor motion comprises adjusting screw(rod) (44), be arranged on swivel nut (45) and the set nut (46) at semisphere lampshade (39) top, described adjusting screw(rod) (44) lower end is connected with the second shadow shield (43) and is threaded connection with swivel nut (45), drive the second shadow shield (43) to move up and down by rotating adjusting screw(rod) (44) and be locked by set nut (46),

Wherein, described secondary light source assembly is connected with circular arc support (47), described circular arc support (47) is connected with mounting bracket (48) by light source lifting assembly, described light source lifting assembly comprises screw rod (49), lifting set nut (50) and lift adjustment nut (51), described screw rod (49) upper end is connected with mounting bracket (48), its lower end is through circular arc support (47), and described lifting set nut (50) and lift adjustment nut (51) are placed in upper and lower both sides, circular arc support (47) top respectively and are threaded connection with screw rod (49).

6. the magnetic shoe online detection instrument based on machine vision according to claim 5, it is characterized in that: described camera circular motion assembly comprises curved plate (52), be arranged on the arc-shaped guide rail (53) on curved plate (52), slide (54) and circular motion driving mechanism, described circular motion driving mechanism comprises circular motion stepper motor (55) and arc-shape synchronous belt (56), described arc-shaped guide rail (53) is provided with the groove led to arc-shape synchronous belt (56), some rollers (57) are provided with in described groove, described roller (57) and the roller assembly (58) be arranged on curved plate (52) constitute the movement locus of arc-shape synchronous belt (56), described slide (54) to be contacted with arc-shaped guide rail (53) by the upper deep groove ball bearing (60) installed of four location and installation axles (59) and surface bearing (61) and leads, described circular motion stepper motor (55) drives slide (54) arcuately guide rail (53) motion by arc-shape synchronous belt (56), described second camera linear motion component is connected with slide (54), described curved plate (52) is provided with circular motion optoelectronic switch (63) and circular motion limit switch (62), described slide (54) is provided with the circular motion limiting plate (64) with circular motion optoelectronic switch (63) and circular motion limit switch (62) corresponding matching,

Described second camera linear motion component comprises the second base plate (65) be connected with slide (54), second line slideway (66), second slide block (67) and the second straight line movement driving mechanism, described second straight line movement driving mechanism comprises the second rectilinear motion stepper motor (68), the second synchronous pulley (69) be connected with the second rectilinear motion stepper motor (68) clutch end, be arranged on the second Timing Belt (72) that the second roller (70) on the second base plate (65) and solderless wrapped connection are connected by the second belt contiguous block (71) at the second synchronous pulley (69) and two ends upper with the second roller (70), described second base plate (65) is processed with the groove as the second Timing Belt (72) space along the second line slideway (66) surrounding, described second slide block (67) is connected with the second belt contiguous block (71), and along the second line slideway (66) moving linearly be fixed on the second base plate (65), described camera rotary components is connected with the second slide block (67) by the second web joint (73), described second base plate (65) is provided with rectilinear motion optoelectronic switch (74) and rectilinear motion limit switch (75), described second slide block (67) is provided with the rectilinear motion limiting plate (76) with rectilinear motion optoelectronic switch (74) and rectilinear motion limit switch (75) corresponding matching,

Described camera rotary components comprises rectangle support (77) and rotary drive mechanism, described rectangle support (77) is connected with the second slide block (67) by the second web joint (73), described rotary drive mechanism comprises the rotary actuation stepper motor (78) be arranged on rectangle support (77), the pinion wheel (79) be connected with rotary actuation stepper motor (78) clutch end and the gear wheel (80) engaged with pinion wheel (79), described gear wheel (80) is connected with camera installing plate (82) by the coupling shaft (81) be attached thereto, described second camera (38) is arranged on camera installing plate (82), described coupling shaft (81) is provided with original point position sheet (83), described original point position sheet (83) and rotary motion optoelectronic switch (84) corresponding matching be arranged on rectangle support (77).

7. the magnetic shoe online detection instrument based on machine vision according to claim 1, it is characterized in that: the sled mechanism that described turn-over rig (3) comprises base (85) and is arranged on base (85), the upper end of described sled mechanism is corresponding with the output terminal of a upper conveying mechanism, its lower end is corresponding with the input end of next conveying mechanism, described sled mechanism comprises skateboard component and is separately positioned on a left side for skateboard component both sides and top, right plate (86a, 86b) with cover plate (87), described skateboard component, left, right plate (86a, 86b) form the sliding space of magnetic shoe (88) with cover plate (87), described skateboard component is made up of two slide rails (89), described two slide rails (89) are connected with first crossbeam (91) respectively by the fixed head (90) of correspondence, described first crossbeam (91) connects with corresponding L-type support (92) respectively, described L-type support (92) is slidably connected with the upper sliding rail (93) arranged of base (85), a described left side, right plate (86a, 86b) bottom coordinates with skateboard component, the output terminal corresponding matching of its top and a upper conveying mechanism forms guide frame, a described left side, right plate (86a, 86b) be arranged on second cross beam (94) respectively by governor motion, on a described left side, right plate (86a, 86b) inner side is respectively arranged with the arc-shaped guide plate (95) corresponding with the output terminal of a upper conveying mechanism, described arc-shaped guide plate (95) lower end is corresponding with skateboard component, the bottom of described arc-shaped guide plate (95) adopts flexible material, the output terminal correspondence of described skateboard component is provided with planker (96) and baffle plate (97), described planker (96) is slidably disposed on base (85) by sliding slider (98), described planker (96) is corresponding with the input end of next conveying mechanism, described baffle plate (97) is connected with apron block (99), described apron block (99) is slidably disposed on the sliding rail (93) of base (85), lower side panel (100) is respectively arranged with in described baffle plate (97) both sides, baffle plate (97) upper end is provided with lower platen (101), described baffle plate (97), lower side panel (100) and lower platen (101) form the discharge space of magnetic shoe (88).

8. the magnetic shoe online detection instrument based on machine vision according to claim 7, it is characterized in that: described steering gear (6) comprises the importing assembly that conveying belt (102) throughput direction along conveying device (2) is arranged successively, steering assembly and guide component, described importing assembly, steering assembly and guide component are slidably disposed on guide assembly respectively, described importing assembly is comprised and is slidably disposed on importing support (103) on guide assembly and is arranged on the deflector apron (104) imported on support (103) by governor motion, described deflector apron (104) is arranged along conveying belt (102) throughput direction, described steering assembly comprises the turning rack (105) be slidably disposed on guide assembly and the gear tongue (106) be arranged on by governor motion on turning rack (105), described gear tongue (106) is arranged along the throughput direction perpendicular to conveying belt (102), described guide component comprises the guiding trestle (107) be slidably disposed on guide assembly and the two groups of guide plates (108) be arranged on by governor motion on guiding trestle (107), what form magnetic shoe described two groups of guide plates (108) cooperation passes through passage, described deflector apron (104) and gear tongue (106) are separately positioned on the both sides of conveying belt (102) along throughput direction center line, described guiding trestle (107) is provided with orienting lug (109) by governor motion, described orienting lug (109) is positioned at gear tongue (106) front, described deflector apron (104) front portion expands gradually to conveying belt (102) side, the magnetic shoe that described two groups of guide plates (108) are formed is by passage flare, described guide assembly comprises the guide rail (110) being arranged on conveying belt (102) both sides and the moving slider (111) be slidably disposed on guide rail (110), described importing support (103), turning rack (105) and guiding trestle (107) are fixedly connected with corresponding moving slider (111) respectively.