CN104624522B - Bearing detecting and sorting device based on machine vision - Google Patents
Bearing detecting and sorting device based on machine vision Download PDFInfo
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- CN104624522B CN104624522B CN201510055773.4A CN201510055773A CN104624522B CN 104624522 B CN104624522 B CN 104624522B CN 201510055773 A CN201510055773 A CN 201510055773A CN 104624522 B CN104624522 B CN 104624522B
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Abstract
The invention discloses a bearing detecting and sorting device based on machine vision. The bearing detecting and sorting device comprises a charging mechanism, a detecting mechanism and a sorting mechanism; a to-be-detected workpiece sequentially passes through the charging mechanism, the detecting mechanism and the sorting mechanism; the charging mechanism is used for conveying the to-be-detected workpiece to the detecting mechanism; the detecting mechanism detects the to-be-detected workpiece by adopting a machine vision mode; the sorting mechanism sorts the corresponding to-be-detected workpiece according to a detecting signal of the detecting mechanism. The detecting mechanism comprises a supporting disc, a feeding rotation disc, a servo motor, a first unfolding disc, a first servo motor, a first detecting camera, a turnover mechanism, a second unfolding disc, a second servo motor and a second detecting camera; the turnover mechanism comprises a push rod, a tray and a turnover channel. According to the invention, the machine vision mode is adopted for detecting surface defects of a bearing, so that the surface of the bearing is subjected to complete vision covering so as to guarantee the detection accuracy; a rotation disc type structure capable of detecting continuously is adopted, so that the detecting efficiency is improved.
Description
Technical field
The invention belongs to bearing surface defect detect sorting arrangement technical field and in particular to a kind of based on machine vision
Bearing testing sorting equipment.
Background technology
In the quality testing of bearing, for the defect of bearing surface, mostly adopt artificial visual method of inspection, this kind of method
Receive human factor impact very greatly it is difficult to ensure Stability and veracity, and small defect human eye is difficult to distinguish, at present
The domestic equipment that steel ball surface defect is carried out with Aulomatizeted Detect, a kind of as disclosed in patent announcement CN102658266A
Steel ball sorting equipment based on machine vision and method, the surface defects of products based on machine vision and size detecting method are with it
The features such as untouchable, real-time, flexibility and accuracy, can efficiently solve these problems.In addition, this method is not only
Surface characteristics and the dimensional parameters of testee can be obtained, feedback information can also be provided in time according to testing result, thus
Making control decision, control the operation of subsequent execution mechanism, thus realizing the automatic operating of whole process, improving the life of enterprise
Produce efficiency.The software carrying out image procossing based on machine vision is more ripe, but does not also develop for detecting at present
The automatic detection system of bearing surface defect, its major technology bottleneck is the machinery knot covering for the complete vision of bearing surface
Structure designs, and bearing mainly has the dust cap of outer ring, inner ring, some steel balls, ball retainer and two sides to constitute, and bearing surface lacks
Sunken detection mainly includes the surface defects detection of outer ring outer wall, inner ring inwall and both sides dust cap, because bearing has two
Opposite face, thus be difficult to ensure that the complete vision of bearing surface covers and detection efficiency simultaneously.
Content of the invention
Present invention aims to the deficiencies in the prior art, provide a kind of sorting of the Bearing testing based on machine vision
Device, is detected to the surface defect of bearing by the way of machine vision, realizes the complete vision of bearing surface and covers, to protect
Card detection accuracy, using the rotary-disk type structure that can continuously detect, improves detection efficiency.
To achieve these goals, the technical solution adopted in the present invention is：
A kind of Bearing testing sorting equipment based on machine vision, including feeding mechanism, testing agency and mechanism for sorting, treats
Sequentially through feeding mechanism, testing agency and mechanism for sorting, feeding mechanism conveys workpiece to be detected to testing agency to detection workpiece,
Testing agency is detected to this workpiece to be detected by the way of machine vision, and mechanism for sorting is believed according to the detection of testing agency
Number workpiece to be detected accordingly is sorted；Described testing agency includes support plate, feed rotary table, servomotor, the first exhibition
Opening quotation, the first servomotor, the first detection camera, switching mechanism, the second expansion disk, the second servomotor and the second detection phase
Machine；Servomotor drives feed rotary table to rotate in support plate, and the outer rim in feed rotary table is provided with the work of some equidistantly distributeds
Part storage tank, support plate is provided with first deployment aperture corresponding with described workpiece storage tank, tumble port and the second deployment aperture；The
One servomotor drives the first expansion disk to launch in the hole first and rotates, and the second servomotor drives the second expansion disk in the second exhibition
Rotate in perforate, the first detection camera is corresponding with the first expansion disk, the second detection camera is corresponding with the second expansion disk；Upset
Mechanism includes push rod, pallet and upset passage, and push rod drives pallet to move up and down in upset in the hole, the upper end import of upset passage
Positioned at the top of tumble port, the lower end outlet overturning passage is located at the top of the described workpiece storage tank adjacent with tumble port, treats
Detection workpiece is displaced to another workpiece storage tank by the realization of this switching mechanism from a workpiece storage tank and realizes upper and lower two simultaneously
Face overturns.
Wherein, the top of described tumble port is provided with column casing, and the upper end of column casing is connected with the upper end import of described upset passage,
By air cylinder driven, described push rod drives described pallet to move up and down in this column casing to described push rod.Described feed rotary table and described
Second expansion disk is flushed with described support plate, and the upper end of described pallet is provided with inclined-plane.Described feeding mechanism include charging basket and located at
Cone disk in this charging basket, by motor-driven rotation, the madial wall of charging basket is provided with block and discharging opening, outside charging basket on the chassis of charging basket
Side wall is provided with the feeding channel connecting with this discharging opening, the workpiece storage tank on the other end of feeding channel and described feed rotary table
Connect.Workpiece storage tank in described feed rotary table is circular open groove, and the opening portion of described workpiece storage tank is 1/4～1/2
Circumference, preferably 1/3 circumference, described first detection camera and described second detection camera correspond respectively to described workpiece storage tank
Opening portion.Described first detection camera and described second detection camera be in angularly disposed, its oblique shooting angle be 30 °～
60 °, preferably 45 °.The inwall of described workpiece storage tank is intilted skew wall from top to bottom.
Wherein, described support plate is additionally provided with the sorting holes corresponding with described workpiece storage tank, and sorting holes are slided by sorting
Road is connected with described mechanism for sorting.Described mechanism for sorting includes the shifting block being arranged on described sorting slideway and is located under this shifting block
The sub-material passage of side.
After technique scheme, the invention has the advantages that compared with the prior art,：
A kind of Bearing testing sorting equipment based on machine vision of the present invention, bearing component is by feeding mechanism sequentially
Send in the workpiece storage tank of feed rotary table of testing agency, feed rotary table rotated stepwise under the driving of servomotor, make
Obtain bearing component and can one by one enter in the workpiece storage tank in feed rotary table, with the rotation of feed rotary table, bearing component
Sequentially detect station, station turning and the second detection station through first；First detection station is the position residing for the first deployment aperture
Put, when feed rotary table is suspended and is rotated, the first expansion disk being rotated by simultaneously in the first servomotor of the first expansion in the hole
Drive the bearing component concomitant rotation on the first expansion disk so that the first detection camera can absorb bearing component upper surface
Complete image, the preferably first expansion disk carries out rotated stepwise under the driving of the first servomotor, in order to the first detection
Camera static state can obtain the image of bearing component so that image is apparent；Station turning is tumble port location, when sending
Material rotating disk suspends when rotating, the pallet of upset in the hole move upwards under the driving of push rod and drive bearing component on pallet with
On move, bearing component enters from the upper end import of upset passage, and skids off from the lower end outlet of upset passage, and upset passage is
Close to 180 ° of curved channel, its effect is that workpiece to be detected is displaced to another workpiece storage tank together from a workpiece storage tank
Shi Shixian upper and lower surface overturns, and then push rod drives pallet to move down reset again；Second detection station is residing for the second deployment aperture
Position, its structure and operation principle are identical with the first detection station, and effect is the complete of the upper surface after absorbing bearing component turn-over
Whole image.Image accessed by first detection station and the second detection station is sent to computer, carries out image by computer
Process and judge whether this bearing component is qualified, finally according to this detection signal, corresponding bearing component is carried out by mechanism for sorting
Sorting.This Bearing testing sorting equipment carries out Aulomatizeted Detect to the surface defect of bearing by the way of machine vision, realizes
The complete vision of bearing surface covers, and to ensure detection accuracy, using the rotary-disk type structure that can continuously detect, improves detection effect
Rate.
Brief description
The present invention is further described with reference to the accompanying drawings and examples：
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation of testing agency of the present invention；
Fig. 3 is the perspective view of the present invention；
Fig. 4 is another perspective view of the present invention；
Fig. 5 is the structural representation of feed rotary table of the present invention；
Fig. 6 is the structural representation of support plate of the present invention；
Fig. 7 is the structural representation of mechanism for sorting of the present invention.
In figure：1st, feeding mechanism；2nd, testing agency；3rd, mechanism for sorting；4th, support plate；5th, feed rotary table；6th, servomotor；
7th, the first expansion disk；8th, the first servomotor；9th, the first detection camera；10th, switching mechanism；11st, the second expansion disk；12nd, second
Servomotor；13rd, the second detection camera；14th, workpiece storage tank；15th, the first deployment aperture；16th, tumble port；17th, the second deployment aperture；
18th, push rod；19th, pallet；20th, overturn passage；21st, column casing；22nd, cylinder；23rd, charging basket；24th, cone disk；25th, block；26th, discharging
Mouthful；27th, feeding channel；28th, sorting holes；29th, sort slideway；30th, shifting block；31st, sub-material passage；32nd, the first detection station；33、
Station turning；34th, the second detection station；35th, sortation process.
Specific embodiment
Described below is only presently preferred embodiments of the present invention, is not intended to limit the scope of the present invention.
Referring to Fig. 1-Fig. 7, a kind of Bearing testing sorting equipment based on machine vision, including feeding mechanism 1, testing agency
2 and mechanism for sorting 3, sequentially through feeding mechanism 1, testing agency 2 and mechanism for sorting 3, feeding mechanism 1 is to detection for workpiece to be detected
Mechanism 2 conveys workpiece to be detected, and testing agency 2 is detected to this workpiece to be detected by the way of machine vision, sorter
Structure 3 sorts to workpiece to be detected accordingly according to the detection signal of testing agency 2.
Feeding mechanism 1 includes charging basket 23 and the cone disk 24 in this charging basket 23, and the chassis of charging basket 23 is turned by Motor drive
Dynamic, the madial wall of charging basket 23 is provided with block 25 and discharging opening 26, and the lateral wall of charging basket 23 is provided with and sending that this discharging opening 26 connects
Material passage 27.Bearing component put in charging basket 23 after under self gravitation effect, along cone disk 24 conical surface landing to charging basket 23
Periphery, bearing component rotates with charging basket 23 chassis, sequentially from discharging under the position-limiting action of the block 25 on charging basket 23 side wall
Mouth 26 skids off, and one by one enters in feeding channel 27.This feeding mechanism 1 compared with vibration-type feed mechanism, feeding steadily and
Efficiency high, can avoid bearing surface being caused damage.
Testing agency 2 include support plate 4, feed rotary table 5, servomotor 6, the first expansion disk 7, the first servomotor 8,
One detection camera 9, switching mechanism 10, the second expansion disk 11, the second servomotor 12 and the second detection camera 13.Servomotor 6
Feed rotary table 5 is driven to rotate in support plate 4, the outer rim in feed rotary table 5 is provided with the workpiece storage tank of some equidistantly distributeds
14., in the workpiece storage tank 14 that feeding channel 27 sequentially enters feed rotary table 5, feed rotary table 5 is in servomotor 6 for bearing component
Driving under rotated stepwise so that bearing component can one by one enter in the workpiece storage tank 14 in feed rotary table 5, this reality
Apply the pitch angle between 5 liang of adjacent workpieces storage tanks 14 of feed rotary table in example equal with the step angle of servomotor 6, feed rotary table 5
Often rotate and a bearing component is once just taken away from feeding channel 27.The inwall of described workpiece storage tank 14 be from top to bottom to
Tilted skew wall so that bearing component enter workpiece storage tank 14 in when can under the guide effect of skew wall horizontal positioned.
Workpiece storage tank 14 in feed rotary table 5 is circular open groove, and the effect that workpiece storage tank 14 opens up opening portion is
It is easy to detect that camera absorbs the surface image of bearing component outer ring by this opening portion, this opening portion is not to be exceeded workpiece storage tank
14 1/2 circumference, otherwise feed rotary table 5 rotate when bearing component can drop out workpiece storage tank 14, and this opening portion also should
Too small, otherwise it is not easy to detect camera picked-up image, the therefore opening portion of workpiece storage tank 14 is 1/4～1/2 circumference, preferably
1/3 circumference.
Support plate 4 is provided with first deployment aperture 15 corresponding with described workpiece storage tank 14, tumble port 16, second launches
Hole 17 and sorting holes 28；First deployment aperture 15, tumble port 16, the second deployment aperture 17 and sorting holes 28 turning along feed rotary table 5
Dynamic direction is sequentially arranged.First servomotor 8 drives the first expansion disk 7 to rotate in the first deployment aperture 15, the second servomotor
12 drive the second expansion disk 11 to launch in the hole second rotates, and the first detection camera 9 is corresponding with the first expansion disk 7, the second inspection
Survey camera 13 corresponding with the second expansion disk 11.Feed rotary table 5 and the second expansion disk 11 flushes with described support plate 4 so that axle
Hold workpiece and can unhinderedly enter or skid off feed rotary table 5 and the second expansion disk 11 under the drive of feed rotary table 5.
With the rotation of feed rotary table 5, bearing component sequentially detects station 32, station turning 33, second inspection through first
Survey station 34 and sortation process 35.
First detection station 32 is the first deployment aperture 15 location, when feed rotary table 5 is suspended and is rotated, the first expansion
The first expansion disk 7 in hole 15 the first servomotor 8 be rotated by and drive bearing component on the first expansion disk 7 with
Rotation so that the first detection camera 9 can absorb the complete image of bearing component upper surface, the preferably first expansion disk 7
Carry out rotated stepwise under the driving of the first servomotor 8, static can obtain bearing component in order to the first detection camera 9
Image so that image is apparent, in the present embodiment, the rotational angle of the first expansion disk 7 is 120 °, itself and workpiece storage tank 14
Opening portion match, often rotate once off time first detection camera 9 picked-up piece image, i.e. 7 turns of the first expansion disk
The dynamic full images that just can absorb bearing component outer ring, inner ring and upper surface for three times, are to ensure that accuracy rate can reduce the certainly
The rotational angle of one expansion disk 7, increases the number of times that the first detection camera 9 absorbs image, can also arrange two detection phases simultaneously
Machine is absorbing image.First detection camera 9 is in angularly disposed and relative with the opening portion of workpiece storage tank 14, its oblique shooting
Angle is 30 °～60 °, and preferably 45 °, the impact of the lower image information perspective distortion being absorbed of this shooting angle is less.
Station turning 33 is tumble port 16 location, and switching mechanism 10 includes push rod 18, pallet 19 and upset passage
20, push rod 18 drives pallet 19 to move up and down in tumble port 16, and the upper end import of upset passage 20 is located at the upper of tumble port 16
Side, the lower end outlet of upset passage 20 is located at the top of the described workpiece storage tank 14 adjacent with tumble port 16, workpiece to be detected
Realize being displaced to another workpiece storage tank 14 from a workpiece storage tank 14 by this switching mechanism 10 and realize upper and lower surface simultaneously
Upset.The top of tumble port 16 is provided with column casing 21, and the upper end of column casing 21 is connected with the upper end import of upset passage 20, push rod 18 by
Cylinder 22 drives, and push rod 18 drives described pallet 19 to move up and down in this column casing 21.The upper end of pallet 19 is provided with inclined-plane, works as support
Disk 19 is easy to bearing component along this inclined-plane landing to the entrance point overturning passage 20 when being located at the upper end of column casing 21.When feeding turns
When disk 5 suspends rotation, the pallet 19 in tumble port 16 moves upwards under the driving of push rod 18 and drives the bearing on pallet 19
Workpiece with move, bearing component enters from the upper end import of upset passage 20, and skids off from the lower end outlet of upset passage 20,
Upset passage 20 is the curved channel close to 180 °, and its effect is to be displaced to separately workpiece to be detected from a workpiece storage tank 14
One workpiece storage tank 14 realizes upper and lower surface upset simultaneously, and then push rod 18 drives pallet 19 to move down reset again.
Second detection station 34 is the second deployment aperture 17 location, and its structure and operation principle detect station with first
32 is identical, repeats no more here, and its effect is the complete image of the upper surface after absorbing bearing component turn-over.First detection station
32 and second detect that the image accessed by station 34 is sent to computer, carry out image procossing by computer and judge this bearing
Whether workpiece is qualified, finally corresponding bearing component is sorted according to this detection signal by mechanism for sorting 3.
Sortation process 35 is sorting holes 28 location, and sorting holes 28 are passed through sorting slideway 29 and are connected with mechanism for sorting 3.
The sub-material passage 31 that mechanism for sorting 3 includes the shifting block 30 being arranged on sorting slideway 29 and is located at this shifting block 30 lower section, bearing work
Part falls in sorting slideway 29 at sorting holes 28, and shifting block 30 swings on sorting slideway 29 according to detection signal, makes
Obtain bearing component to be only capable of skidding off from the powder passage in shifting block 30 left side or right side, thus realizing the sorting of bearing component.This bearing
Detection sorting equipment carries out Aulomatizeted Detect to the surface defect of bearing by the way of machine vision, realizes bearing surface complete
Vision covers, and to ensure detection accuracy, using the rotary-disk type structure that can continuously detect, improves detection efficiency.
Embodiment described above is not limited to the present invention, for a person skilled in the art, the present invention's
Within spirit and principle, equivalent is carried out to wherein some technical characteristics, should be included within the scope of the present invention.
Claims (9)
1. a kind of Bearing testing sorting equipment based on machine vision, including feeding mechanism (1), testing agency (2) and sorter
Structure (3), sequentially through feeding mechanism (1), testing agency (2) and mechanism for sorting (3), feeding mechanism (1) is to inspection for workpiece to be detected
Survey mechanism (2) and convey workpiece to be detected, testing agency (2) is detected to this workpiece to be detected by the way of machine vision,
Mechanism for sorting (3) sorts to workpiece to be detected accordingly according to the detection signal of testing agency (2)；It is characterized in that：
Testing agency (2) includes support plate (4), feed rotary table (5), servomotor (6), the first expansion disk (7), the first servo electricity
Machine (8), the first detection camera (9), switching mechanism (10), the second expansion disk (11), the second servomotor (12) and the second detection
Camera (13)；
Servomotor (6) drives feed rotary table (5) in the upper rotation of support plate (4), and the outer rim in feed rotary table (5) is provided with some etc.
The workpiece storage tank (14) of spacing distribution, support plate (4) is provided with first expansion corresponding with described workpiece storage tank (14)
Hole (15), tumble port (16) and the second deployment aperture (17)；
First servomotor (8) drives the first expansion disk (7) to rotate in the first deployment aperture (15), and the second servomotor (12) drives
Dynamic second expansion disk (11) rotates in the second deployment aperture (17), and the first detection camera (9) is corresponding with the first expansion disk (7),
Second detection camera (13) is corresponding with the second expansion disk (11)；
Switching mechanism (10) includes push rod (18), pallet (19) and upset passage (20), and push rod (18) drives pallet (19) turning over
Move up and down in turn hole (16), the upper end import of upset passage (20) is located at the top of tumble port (16), upset passage (20)
Lower end outlet is located at the top of the described workpiece storage tank (14) adjacent with tumble port (16), and workpiece to be detected passes through this tipper
Structure (10) realization is displaced to another workpiece storage tank (14) from a workpiece storage tank (14) and realizes upper and lower surface upset simultaneously.
2. the Bearing testing sorting equipment based on machine vision according to claim 1 it is characterised in that：Described tumble port
(16) top is provided with column casing (21), and the upper end of column casing (21) is connected with the upper end import of described upset passage (20), described pushes away
Bar (18) is driven by cylinder (22), and described push rod (18) drives described pallet (19) to move up and down in this column casing (21).
3. the Bearing testing sorting equipment based on machine vision according to claim 1 it is characterised in that：Described feeding turns
Disk (5) and described second expansion disk (11) are flushed with described support plate (4), and the upper end of described pallet (19) is provided with inclined-plane.
4. the Bearing testing sorting equipment based on machine vision according to claim 1 it is characterised in that：Described charger
Structure (1) includes charging basket (23) and the cone disk (24) in this charging basket (23), and the chassis of charging basket (23), by motor-driven rotation, is expected
The madial wall of bucket (23) is provided with block (25) and discharging opening (26), and the lateral wall of charging basket (23) is provided with and is connected with this discharging opening (26)
Feeding channel (27), the other end of feeding channel (27) connected with the workpiece storage tank (14) in described feed rotary table (5).
5. the Bearing testing sorting equipment based on machine vision according to claim 1 it is characterised in that：Described feeding turns
Workpiece storage tank (14) on disk (5) is circular open groove, and the opening portion of described workpiece storage tank (14) is 1/4～1/2 circumference,
Described first detection camera (9) and described second detects that camera (13) corresponds respectively to the opening of described workpiece storage tank (14)
Portion.
6. the Bearing testing sorting equipment based on machine vision according to claim 5 it is characterised in that：Described first inspection
It is in angularly disposed for surveying camera (9) and described second detection camera (13), and its oblique shooting angle is 30 °～60 °.
7. the Bearing testing sorting equipment based on machine vision according to claim 1 it is characterised in that：Described workpiece holds
The inwall putting groove (14) is intilted skew wall from top to bottom.
8. the Bearing testing sorting equipment based on machine vision according to claim 1 it is characterised in that：Described support plate
(4) be additionally provided with the sorting holes (28) corresponding with described workpiece storage tank (14), sorting holes (28) pass through sort slideway (29) with
Described mechanism for sorting (3) connects.
9. the Bearing testing sorting equipment based on machine vision according to claim 8 it is characterised in that：Described sorter
Structure (3) includes the shifting block (30) being arranged on described sorting slideway (29) and is located at the sub-material passage below this shifting block (30)
(31).
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| CN201510055773.4A CN104624522B (en) | 2015-02-04 | 2015-02-04 | Bearing detecting and sorting device based on machine vision |
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| CN201510055773.4A CN104624522B (en) | 2015-02-04 | 2015-02-04 | Bearing detecting and sorting device based on machine vision |
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| CN104624522A CN104624522A (en) | 2015-05-20 |
| CN104624522B true CN104624522B (en) | 2017-02-22 |
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| CN105806228A (en) * | 2016-04-25 | 2016-07-27 | 电子科技大学中山学院 | Bearing outer ring detection method and device |
| CN106706648B (en) * | 2016-12-28 | 2023-05-23 | 重庆远创光电科技有限公司 | Copper sheathing lacks automatic online vision detecting system of material |
| CN106645175B (en) * | 2016-12-28 | 2023-09-05 | 重庆远创光电科技有限公司 | Copper sheet lack of material automatic on-line vision detecting system |
| CN106984559A (en) * | 2017-05-16 | 2017-07-28 | 华中科技大学温州先进制造技术研究院 | button automatic sorting method and device |
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| CN108940924B (en) * | 2018-09-11 | 2023-07-04 | 中国计量大学 | Automatic quality detection and sorting method and device for plane thrust bearing retainer finished product |
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| CN109436737A (en) * | 2018-10-23 | 2019-03-08 | 深圳圣鑫自动化设备有限公司 | A kind of arranging machine |
| CN109821755B (en) * | 2019-02-18 | 2020-09-25 | 江苏大学 | Automatic detection and sorting device for circuit boards |
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