CN103896025B - Based on flexible vibration transmission system and the method for work thereof of smart camera - Google Patents
Based on flexible vibration transmission system and the method for work thereof of smart camera Download PDFInfo
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- CN103896025B CN103896025B CN201410129290.XA CN201410129290A CN103896025B CN 103896025 B CN103896025 B CN 103896025B CN 201410129290 A CN201410129290 A CN 201410129290A CN 103896025 B CN103896025 B CN 103896025B
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- charging tray
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Abstract
The invention discloses a kind of flexible vibration transmission system based on smart camera and method of work thereof, flexible vibration transmission system involving vibrations hopper based on smart camera of the present invention, smart camera, control circuit, electromagnetic valve and air blast nozzle, vibrating bunker has inner spiral groove charging tray, air blast nozzle be fixed on charging tray discharge outlet and towards in charging tray; Smart camera to be fixed on above charging tray discharging opening and to be connected to control circuit and image processing terminal, and its image acquisition region is positioned at the inner side of charging tray top discharge mouth, and control circuit is connected to the control end of electromagnetic valve, and electromagnetic valve is series between source of the gas and air blast nozzle.This method of work utilizes smart camera to gather workpiece image above charging tray discharging opening, judges that whether the workpiece direction of discharging opening is correct, control valve and workpiece true for poor direction is blown back charging tray.The present invention have untouchable, alerting ability is high, the advantage such as good economy performance and strong adaptability.
Description
Technical field
The present invention relates to a kind of jigging conveyer, be specifically related to a kind of flexible vibration transmission system based on smart camera and method of work thereof.
Background technology
Vibration transmission system is one of important component part of automatic assembly technique.The transmission of workpiece plays important role in automatically assembling.Investigation display, the total manufacturing cost more than 50% comes from assembling, and in assembly cost more than 30% for workpiece transfer.Vibrating bunker is processing automatically and uses maximum automatic feeders in automatically assembling.On the assembling line of automation, the purposes of vibrating bunker mainly contains three, storing, feed and orientation, and wherein most important function is exactly the self-orientation to workpiece.In automatic setup system, must ensure that the attitude of workpiece is correct, need when conveying workpieces to adopt suitable attitude reference device for this reason.Traditional attitude reference device has baffle plate, slope, groove, breach, track, step etc. multiple.When carrying a kind of new workpiece, vibrating bunker needs processed offline, and attitude reference device needs reprocessing.Tradition vibrating bunker is mainly used in middle batch and production in enormous quantities, because the tooling cost of vibrating bunker is very high, and the standing time of reprocessing is very long.This mode of production is obviously difficult to meet the requirement of modern society to equipment fast adaptability.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the invention provides a kind of supermatic flexible vibration transmission system based on smart camera and method of work thereof.
Technical scheme: for solving the problems of the technologies described above, flexible vibration transmission system based on smart camera provided by the invention, involving vibrations hopper, smart camera, control circuit, electromagnetic valve and air blast nozzle, described vibrating bunker has inner spiral groove charging tray, described air blast nozzle be fixed on charging tray discharge outlet and towards in charging tray, described smart camera is fixed on above charging tray discharging opening, the image acquisition region of described smart camera is positioned at the inner side of charging tray top discharge mouth, described smart camera is connected to control circuit and image processing terminal, described control circuit is connected to the control end of electromagnetic valve, described electromagnetic valve is series between source of the gas and air blast nozzle.
Further, described image acquisition region is coated with the blacking of low reflection coefficient, thus increases the contrast ratio of workpiece image.
Further, described air blast nozzle is installed on charging tray by fixed block, described air blast nozzle and fixed block interference fit.Use bolt presses to fix after connecting, then be fixed together with charging tray, this method is conducive to the position alignment of air blast nozzle.
Further, described vibrating bunker adopts Electromagnetic Drive disc type vibrating bunker, disk decoupling type vibrating bunker device disclosed in Chinese patent CN201320118580.5.
The present invention proposes the method for work of the above-mentioned flexible vibration transmission system based on smart camera simultaneously, comprises the following steps:
Vibrating bunker makes the workpiece in charging tray arranged in columns along track upward movement by vibration;
Smart camera gathers workpiece image above charging tray discharging opening, and judge that whether the workpiece direction of discharging opening is correct, subsequent signal is to control circuit;
Control circuit receives from the signal of smart camera, and the break-make of Controlling solenoid valve thus:
If workpiece poor direction is true, camera sends control signal and opens electromagnetic valve, passes into pressurized air during solenoid valve conduction in air blast nozzle, and workpiece is blown back charging tray;
If workpiece is in the right direction, electromagnetic valve is normally closed, and workpiece exports from discharging opening.
Within the system, described vibrating bunker eliminates attitude reference device, automatically catches discharging opening picture, process by camera, judges that whether the workpiece of discharging opening is correct.If workpiece mal, camera sends control signal and opens electromagnetic valve, and workpiece will be blown back charging tray by pressurized air.The VisionMINI that smart camera can adopt existing MICROSCAN company to develop, its handler image processing software designs, and program is loaded in camera, and camera can depart from PC and run.
Beneficial effect: the present invention utilizes the visual performance of smart camera, instead of by software function the rapid sorting that complex mechanism realizes workpiece, is rejected before output by attitude off-square workpiece, makes workpiece get back to charging tray and rearranges.Transport different workpieces only need change recognizer, without the need to changing hardware, substantially increases the flexibility of system.This research is significant to the automated manufacturing system exploring fast responding market change.Have the following advantages:
(1) untouchable: by camera, image acquisition to be carried out to object, because do not contact measured object, so any infringement can not be caused to it, ensure that reliability;
(2) alerting ability is high: can adapt to various different detection needs, time-to-market is short, and efficiency is high;
(3) good economy performance: when needs change production process, only need update software, instead of the hardware that upgrading is expensive, use cost is low;
(4) strong adaptability: some rugged environment can be adapted to, as high temperature, poisonous Workplace etc.
Accompanying drawing explanation
Fig. 1 is the integral layout figure of the embodiment of the present invention;
Fig. 2 is the structural representation of vibrating bunker in Fig. 1;
Fig. 3 is the partial enlarged drawing of the image acquisition region in Fig. 1;
Fig. 4 is the circuit diagram of control circuit in Fig. 1;
Fig. 5 is the gas circuit connection diagram of Fig. 1;
Fig. 6 is the setting procedure figure of image processing terminal;
Fig. 7 is the operational flow diagram of image processing terminal.
In figure: 1 vibrating bunker, 2 smart cameras, 3 control circuits, 4 electromagnetic valves, 5 air blast nozzles, 6 image processing terminals, 1-1 track, 1-2 laminated spring, 1-3 base, 1-4 rubber plinth, 1-5 electromagnet, 1-6 fixed block, 1-7 image acquisition region.
Detailed description of the invention
Embodiment: the integral layout of the flexible vibration transmission system based on smart camera of the present embodiment as shown in Figure 1, involving vibrations hopper 1, smart camera 2, control circuit 3, electromagnetic valve 4 and air blast nozzle 5, wherein vibrating bunker 1 has inner spiral groove charging tray, air blast nozzle 5 be fixed on charging tray discharge outlet and towards in charging tray, preferably point to the center of circle of charging tray, smart camera 2 to be fixed on above charging tray discharging opening and to be connected to control circuit 3 and image processing terminal 6, the image acquisition region of smart camera 2 is positioned at the inner side of charging tray top discharge mouth, control circuit 3 is connected to the control end of electromagnetic valve 4, electromagnetic valve 4 is series between source of the gas and air blast nozzle 5.
As shown in Figure 2, vibrating bunker selects Electromagnetic Drive disc type vibrating bunker, vibrating bunker whole height 160mm, and the charging tray 1-1 that sidewall has helical orbit adopts stainless steel material to be welded, and forms inside spin bin design, diameter 250mm, channel width 15mm.Charging tray 1-1 is arranged on base 1-3 by four well-distributed stay bearing plate spring 1-2, and the 1-2 length of four laminated springs, width, thickness, material are all consistent.The effect of rubber plinth 1-4 is that absorbing is carried out in the useless vibration produced to vibrating bunker, thus the vibration that reduction vibrating bunker produces is on the impact of system other parts, also can reduce the noise that vibrating bunker produces simultaneously, native system adopts four cylindrical rubber bearing 1-4, and diameter is 28mm, height 30mm.Rely on the interaction of the 1-2 of the electromagnet 1-5 below charging tray 1-1 and armature (not shown) and laminated spring to produce to vibrate, in native system, vibrating bunker parameter is
,
,
, natural frequency
.Vibrating bunker exciting frequency is
, be in subresonance region.Vibrating bunker is usually used in the orientation conveying of small workpiece, and therefore, native system is also aimed at some small workpiece.Some small workpiece of experiment are as follows:
Workpiece I has two circular holes, and pros and cons is plane, smooth surface.
Workpiece II has a circular hole, and both sides appearance etc., surface ratio is more coarse.
Workpiece III has a hole, and surface ratio is more coarse.
Workpiece IV is the bolt of M5.
As shown in Figure 3, the quality of valve and 1-6 fixed block 1-7 is very little, therefore together with it is fixed with charging tray, slight interference is adopted to be connected between air blast nozzle 1-6 and fixed block 1-7, bolt presses is used to fix after connecting, together with being fixed on charging tray, the fast connector of air blast nozzle in an experiment does not occur to loosen and gas leakage in the case of vibrations, and this method is conducive to the position alignment of air blast nozzle again.
The blacking that charging tray reflection coefficient is very little in the spout area of vibrating bunker by charging tray blacking, thus increases the contrast ratio of workpiece image.Because workpiece is argenteous, and surface reflection is than stronger, uses the little black background of reflection coefficient to can be good at the picture contrast of outstanding workpiece, convenient image procossing below.
Smart camera selected by native system is the VisionMINI series of MICROSCAN company exploitation, and this camera is integrated with camera lens and light source, and camera has a USB interface, is communicated with computer by this interface; Separately have 15 needle interfaces, this interface is responsible for powering to camera, and provides digital I/O, and each pin function of this interface is as shown in the table.The low and high level mainly utilizing pin 7 and 14 to export in native system carries out logical combination, controls actuating unit action.
Control circuit as shown in Figure 4.Use STC89C52 chip as treater, use Control and drive electromagnetic valve, use power drive device ULN2003 to drive relay.
As shown in Figure 5, native system uses two bi-bit bi-pass HNDA air-operated solenoid valves to control two air blast nozzle work to gas circuit, and one to give over to Function Extension for subsequent use.Source of the gas is compressor, and air compressing to certain pressure intensity value, is flowed to electromagnetic valve through source of the gas process by compressor, completes jet action by the break-make of control circuit Controlling solenoid valve, and air-operated solenoid valve parameter is as following table:
| Response time | Maximum operating frequency | Use range of pressure |
| 50ms | 10Hz | 1.5~8kgf/cm 2 |
Fig. 6 is setting procedure figure.Smart camera captures the workpiece image of discharging opening, arranges as follows in image processing software: 1. use CountBlobs instrument (Blob refers to foreground target block).Search box is set; Parameters: the white object in search black matrix, ignores boundary connected territory, range of sizes 1000-100000, threshold value 90, allows to occur target number 1-3 in the search box.2. use CountShape instrument.Search box (overlapping with the search box of CountBlobs here) is set; Template (true workpiece of making a comment or criticism is with template during correct attitude motion) is set; Parameters: matching precision 0.65, allows the anglec of rotation ± 60 degree, allows to occur target number 1-3 in the search box.3. output is set.Have 3 numerals to export, Output1 corresponding pin 7, Output2 corresponding pin 14, Output3 corresponding pin 11.Arrange as follows: if CountBlobsPassed, then Output1 exports high level latch; If CountShapeFailed, then Output2 exports high level pulse, pulse width 60ms; Output3 is for subsequent use as Function Extension.The digital output of smart camera connects micro controller system input port, writes SCM program, when micro controller system two is inputted simultaneously for high level, exports as high level.Micro controller system exports high level and opens relay through power drive device ULN2003, and relay drives solenoid valve conduction, and pressurized air flows to air blast nozzle through electromagnetic valve, and air blast nozzle completes jet action.
Fig. 7 is operational flow diagram.If there is no complete workpiece in search box, i.e. CountBlobsFailed, then Output1 output low level, closed electromagnetic valve; If occur complete workpiece in search box, but do not mate with template, i.e. CountBlobsPassed and CountShapeFailed, then Output1 exports high level, and Output2 exports high level, and electromagnetic valve is opened, and workpiece is blown back charging tray.If there is complete workpiece in search box, and and template matches, i.e. CountBlobsPassed and CountShapePassed, then Output1 exports high level, Output2 output low level, closed electromagnetic valve.
Adjustment search box, to suitable size, ensures image processing speed, is the prerequisite effectively realizing workpiece sorting.
With above-mentioned according to desirable embodiment of the present invention for enlightenment, by above-mentioned description, relevant staff in the scope not departing from this invention technological thought, can carry out various change and amendment completely.The technical scope of this invention is not limited to the content on specification sheets, must determine its technical scope according to right.
Claims (4)
1. the flexible vibration transmission system based on smart camera, it is characterized in that comprising: vibrating bunker, smart camera, control circuit, electromagnetic valve and air blast nozzle, described vibrating bunker has inner spiral groove charging tray, described air blast nozzle be fixed on charging tray discharge outlet and towards in charging tray, described smart camera is fixed on above charging tray discharging opening, the image acquisition region of described smart camera is positioned at the inner side of charging tray top discharge mouth, described smart camera is connected to control circuit and image processing terminal, described control circuit is connected to the control end of electromagnetic valve, described electromagnetic valve is series between source of the gas and air blast nozzle, the method of work of this system is as follows:
Vibrating bunker makes the workpiece in charging tray arranged in columns along track upward movement by vibration;
Smart camera gathers workpiece image above charging tray discharging opening, judges that whether the workpiece direction of discharging opening is correct;
Control circuit receives from the signal of smart camera, and the break-make of Controlling solenoid valve thus:
If workpiece poor direction is true, camera sends control signal and opens electromagnetic valve, passes into pressurized air during solenoid valve conduction in air blast nozzle, and workpiece is blown back charging tray;
If workpiece is in the right direction, electromagnetic valve is normally closed, and workpiece exports from discharging opening.
2. the flexible vibration transmission system based on smart camera according to claim 1, is characterized in that: described image acquisition region is coated with the blacking of low reflection coefficient.
3. the flexible vibration transmission system based on smart camera according to claim 1, is characterized in that: described air blast nozzle is installed on charging tray by fixed block, described air blast nozzle and fixed block interference fit.
4. the flexible vibration transmission system based on smart camera according to claim 1, is characterized in that: described vibrating bunker is Electromagnetic Drive disc type vibrating bunker.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| EP3677350A4 (en) * | 2017-09-20 | 2020-11-25 | Nanjing University | Grayscale state sequence based feed sorting device |
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| CN104773446B (en) * | 2015-03-26 | 2017-02-22 | 宁波科瑞特光电技术有限公司 | Vibrating disk feeding system for reinforcement steel sheets |
| CN105841632A (en) * | 2015-12-01 | 2016-08-10 | 广东工业大学 | High-precision measurement method for reflective workpiece based on machine vision |
| CN106081565A (en) * | 2016-07-29 | 2016-11-09 | 深圳华夏恒泰电子有限公司 | Insert shaft core feed mechanism |
| CN108423379A (en) * | 2018-04-19 | 2018-08-21 | 深圳市富优驰科技有限公司 | A kind of MIM full-automatic visions guided robot feeding device |
| CN112604983B (en) * | 2020-11-30 | 2022-06-14 | 深圳市华力宇电子科技有限公司 | IC chip detection device |
| CN113171998B (en) * | 2021-05-27 | 2022-11-18 | 慕贝尔汽车部件（太仓）有限公司 | Automatic detection method and device for workpiece surface flaws |
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