CN105091765B - A kind of method of discrimination of cage retainer positive and negative - Google Patents
A kind of method of discrimination of cage retainer positive and negative Download PDFInfo
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- CN105091765B CN105091765B CN201510250867.7A CN201510250867A CN105091765B CN 105091765 B CN105091765 B CN 105091765B CN 201510250867 A CN201510250867 A CN 201510250867A CN 105091765 B CN105091765 B CN 105091765B
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Abstract
The invention discloses a kind of method of discrimination of cage retainer positive and negative, it includes：(1) the characteristic value step that Systematic selection differentiates：The inner and outer diameter size of each annulus of retainer both ends of the surface is judged as characteristic value through row or judged the size of each annulus of retainer end face as characteristic value through row；(2) the influence step of external factor is eliminated：Brightness is controlled by using the mode of closed-loop control, during brightness adjustment is consistent with a reference value, camera is ceaselessly clapped, photographed stable in certain brightness before grabbing；(3) judgment standard step is corrected：After handling the data collected, a reference value that amendment positive and negative judges is allowed in the range of determining that at one retainer positive and negative can be accurately judged to, it is ensured that follow-up accuracy of judgement.
Description
Technical field
Field is manufactured the invention belongs to a kind of retainer, and in particular to a kind of differentiation side of cage retainer positive and negative
Method.
Background technology
Cage extensive use on wheeled vehicle.Generally, cage is made up of foreign steamer, lubrication groove, some steel balls and retainer, interior
Wheel is located in foreign steamer, and retainer is arranged between lubrication groove and foreign steamer, and steel ball hole is offered on retainer.Retainer is partly wrapped up
All or part of rolling element, and move therewith, to separation roller, guide rolling element and hold it in bearing.Foreign steamer
Inner cylinder face and the convex spheroid machining of lubrication groove have the steel ball rolling channel straight trough of identical quantity.Steel ball is placed in foreign steamer, the raceway of lubrication groove
In straight trough, while it is also in the steel ball of retainer.For the guarantor in the equipment that automotive trannsmission system etc. has higher rotation speed
Frame is held, the requirement for dimensional accuracy is very high.If dimensional accuracy is not up to standard in process of production for retainer, on vehicle
Face may result in the excessive wear of retainer, influence cage service life, or the problems such as traffic safety.Mentioned by the present invention
Retainer refers to that the surfaces externally and internally formed after turning is sphere, and the class that 6 definite shapes are provided with a circumferential direction is rectangular
Shape straight hole, two ends are the hardware of plane.As shown in figure 1, in the prior art, the detection to retainer is usually by artificial right
Same batch products sampling observation, each size of hand dipping retainer.On the one hand, sampling observation is it is possible that the situation of missing inspection, no
100% verification and measurement ratio can be reached, therefore, that is, the qualification rate of each product can not be ensured, in addition, with cost of labor by
Edge up height, and this mode is more and more uneconomical.
Current domestic existing retainer automatic detection patent has：
A kind of retainer automatic detection device (patent No.：201310522733.7)：Disclose a kind of including frame, drive
Dynamic, detent mechanism, testing agency, feeding track, cutting agency, the retainer automatic detection device of measuring probe.The frame
On be provided with feeding track, be used for, make axially and radially displacement relative to retainer, the free end of measuring probe be provided with one
Probe fixed retainer is in order to the detent mechanism of detection, testing agency, blanking track, a measuring probe, the measuring probe
Can make displacement axially and radially relative to retainer under external force in the measurement position of setting, measuring probe from
One probe is provided with by end, includes the power set of the driving detent mechanism, testing agency and measuring probe action, it is described
Detent mechanism includes being used for the outside fix mechanism in the measurement position fixed retainer lateral surface of setting and the measurement position in setting
The center positioning mechanism that measuring probe is positioned on retainer central axis is put, the testing agency is optical grating ruler measurement member
Part.
A kind of detector of wind power bearing retainer (patent No.：201120131863.4)：One kind is disclosed to be worked by star
A kind of detector of wind power bearing retainer that platform, flat bolster, measurement swing arm, measurement bar, trough of belt backing plate are constituted.In star workbench
Center be equipped with gyroaxis；Rotating central hole in measurement swing arm is assembled into clock with the gyroaxis on star workbench by bearing
Put structure；It is in measurement bar insertion measurement swing arm and fixed；Measurement table is by table spiral-lock in measurement bar；Filled on star workbench
There are three flat bolsters and two trough of belt backing plates, positioning pillars are fixed on trough of belt backing plate and can moved in groove.
A kind of ball bearing retainer detection means (patent No.：201420044863.4)：A kind of dial gauge is disclosed to fix
Post is fixedly mounted on bottom plate, and dial gauge is arranged in dial gauge fixed column, and positioning seat is fixedly mounted on bottom plate, positioning seat top
End is formed with positioning short column, positioning short column and places retainer to be measured, and fixed pressure head, holding to be measured has been placed above in retainer to be measured
Standard ball is placed with the pocket hole of frame；Positioning seat upper end middle is formed with boss, and boss connects with the standard ball in retainer to be measured
Touch；Reinforcing lever fixed seat is fixedly mounted on bottom plate, is installed in reinforcing lever fixed seat and is formed with reinforcing lever；One end of spring
It is arranged on by adjusting nut on reinforcing lever, the other end is contacted with reinforcing lever fixed seat；Reinforce the level of lever fixed seat
Manufacture has bar-shaped trough respectively on direction and vertical direction.
The method or apparatus of relevant retainer detection has following features it can be seen from these current existing patents：
(1) dimensional accuracy, circularity, cylinder are carried out to the retainer of detection by mechanical test device and auxiliary body
The measurement that degree and many ribs are justified, and contrasted with standard value, solve the problems, such as the measurement of retainer.
(2) the on-line Full detection of retainer and the automatic sorting of certified products and substandard products are realized, artificial labor is reduced
Dynamic cost, mechanical structure is simple, easy to operate.
But had a disadvantage that in the method or apparatus that these retainers are detected：
(1) measuring method of Purely mechanical generally is, in large batch of detection process, due to the abrasion of mechanical component
Or the undesirable element of external environment can cause accuracy of detection to decline, it is impossible to ensure the uniformity of accuracy of detection.
(2) mechanical detection means and instrument, need certain detection time when detection, and easily by machine
The influence of the factors such as tool vibration friction, can not realize fast and accurately measure in production.
A kind of method of discrimination of cage retainer positive and negative is designed for this, detection of the device to retainer is all with stream
The form serialization of waterline is carried out, and be can be suitably used for high-volume, the retainer detection of different size, is passed through quick high pixel in detection
Camera to need detect retainer image taking is carried out directly over it, then main control computer to the image of shooting at
Reason, to judge the positive and negative of retainer, detection is rapid accurate, it is to avoid the bad shadow such as general detection efficiency is low, machine error is big
Ring.Full-automatic detection means reduces manual labor, improves the detection efficiency of retainer, can be applied to production well
In.
The content of the invention
It is an object of the invention to provide a kind of method of discrimination of cage retainer positive and negative, realize retainer it is full-automatic
Line differentiates, so as to improve the differentiation accuracy rate of retainer, low to solve existing detection efficiency, the problems such as missing inspection.
In order to achieve the above object, the technical scheme used of the invention is a kind of differentiation of cage retainer positive and negative
Method, comprises the following steps：
It includes the characteristic value step of Systematic selection differentiation；Eliminate the influence step of external factor；Correct judgment standard step
Suddenly：
The characteristic value that the Systematic selection differentiates is to regard the inner and outer diameter size of each annulus of retainer both ends of the surface as feature
Value is judged or is judged the size of each annulus of retainer end face as characteristic value；
It is that system is intended by circle that the inner and outer diameter size of each annulus of retainer both ends of the surface carries out judgement as characteristic value
The method of conjunction is maintained the interior diameter of the positive and negative two transverse plane annulus of frame and the size of overall diameter, inside and outside each end face
Size of the difference determines the positive and negative of retainer；
The both ends of the surface front end face is named as A faces, and reverse side is named as B faces, and the size of A faces transverse plane annulus interior diameter is
dA, the size of overall diameter is DA, the size of B faces transverse plane annulus interior diameter is dB, the size of overall diameter is DB；A faces inner and outer diameter
Difference DELTA HA=| DA-dA|, the difference DELTA H of B faces inner and outer diameterB=| DB-dB|；
The size of each annulus of retainer end face judge it being that system passes through to collecting as characteristic value
Image progress handles the size for the positive and negative two transverse plane annulus of frame that are maintained, and is sentenced by the size of the two annulus areas
Do not go out the positive and negative of retainer；
It is described eliminate external factor influence be to control brightness by using the mode of closed-loop control, brightness adjustment be with
During a reference value is consistent, camera is ceaselessly clapped, and is photographed stable in certain brightness before grabbing；
The amendment judgment standard is that retainer front end face is named as into A faces, and reverse side is named as B faces, according to the spy measured
The size that value indicative obtains A faces is SA, the size in B faces is SB；A can be just drawn after n retainer is measured
The area S in faceAWith the area S in B facesBDispersion, the dispersion be ΔS；This n retainer draws A faces after measuring
Area SAWith the area S in B facesBMeet normal distribution, the area S in A facesAThe peak value of normal distribution curve is SA', the face in B faces
Product SBThe peak value of normal distribution curve is SB'；
Then
The determining reference value that positive and negative can be determined is P,
(1)SA＜ SB
I.e.
Determining reference value
The positive and negative of retainer can accurately now be judged；
(2)SA>SB
I.e.
①ΔsTakeWithIn less one
IfDetermining reference value
IfDetermining reference value
The positive and negative of retainer can be now judged just；
②ΔsTakeWithIn less one
Determining reference value P can not be determined
The positive and negative of retainer can not now be judged.
This described n retainer dispersion is calculated and obtained by such as following formula：
Wherein, ΔsRepresent the dispersion of retainer characteristic value, xiThe characteristic value of i-th of retainer is represented, n represents retainer
Number.
It is described to control brightness to comprise the following steps by using the mode of closed-loop control：
(1) before manipulator grabbing workpiece, camera reads the brightness of lower images, i.e. intensity profile, now reads
Image is original image.
(2) original image is contrasted with benchmark image set in advance, dropped if original image is than benchmark image brighter
Low light-source brightness, otherwise enhancing light-source brightness.
(3) camera ceaselessly captures image during light-source brightness regulation, until identical with benchmark image brightness.
Due to the use of above-mentioned technical proposal, compared with prior art, the present invention has advantages below：
1. the present invention is differentiated using camera to retainer positive and negative, in detection, retainer is entered with camera
Row is taken pictures, and the positive and negative of retainer is differentiated by reading the diameter difference of retainer both ends of the surface annulus or the size of two annulus
Face, testing agency is simple, improves automaticity and production efficiency.
2. eliminating the influence of the external environment in addition to camera factor itself in further technical scheme, make to take the photograph
As head imaging is more stablized, it is ensured that the accuracy that retainer positive and negative differentiates.
3. in retainer deterministic process, retainer positive and negative a reference value is constantly repaiied using the method for self-correction
Just, make accuracy rate of each retainer when positive and negative judges higher, it is to avoid base caused by mechanism run time is long
Standard is inaccurate and judges by accident.
Brief description of the drawings
Fig. 1 is the structural representation of retainer in the present invention.
Embodiment
Below in conjunction with the accompanying drawings 1 and embodiment the invention will be further described, but protection scope of the present invention is not limited to
This.
Referring to shown in accompanying drawing 1, the retainer 1 mentioned in the present invention refers to that the inner and outer surfaces formed after turning are
Sphere, two ends are the metal structure of plane.
Cage retainer, when being punched out processing using one of end face as reference plane during processing, but by
In not needing reference plane in process before, the retainer when entering punching operation is processed not necessarily same by one
Individual reference plane direction enters, so being to ensure that retainer is all that same direction enters punching operation it is necessary to each holding
Frame is judged, is turned out before the retainer in reverse side is entered punching operation.
Using two end faces of retainer as basis for estimation when judgement, first by way of streamline, holding is allowed
Frame one by one enter discriminating gear, into post-positioning device to retainer position, positioning complete after high-pixel camera it is first
The figure of whole retainer is taken, because in the case where there is illumination, retainer end face can be reflective into an annulus, can be by sentencing
The size of the ring of disconnected annulus judges the positive and negative of retainer.
A kind of method of discrimination of cage retainer positive and negative, comprises the following steps：
(1) characteristic value that selection differentiates
1. the inner and outer diameter size of each annulus of retainer both ends of the surface is judged as characteristic value：
It is maintained the interior diameter of the positive and negative two transverse plane annulus of frame and the size of overall diameter using the method for circle fitting.
Here retainer front end face is named as A faces, reverse side is named as B faces, and assumes A faces transverse plane annulus interior diameter
Size is dA, the size of overall diameter is DA, the size of B faces transverse plane annulus interior diameter is dB, the size of overall diameter is DB。
The difference DELTA H of A faces inner and outer diameterA=| DA-dA|, the difference DELTA H of B faces inner and outer diameterB=| DB-dB|。
The positive and negative of retainer can just then be determined according to the difference of the two end faces.
2. the area of each annulus of retainer end face is judged as characteristic value：
The size for the positive and negative two transverse plane annulus of frame that are maintained is handled by the image progress to collecting.
Here retainer front end face is named as A faces, reverse side is named as B faces, and assumes that the size for obtaining A faces area is
SA, the size of B faces area is SB。
The positive and negative of retainer then can be directly determined by the size of the area of the two annulus.
Can select one of characteristic value (diameter or area) above as the positive and negative for differentiating retainer judgement according to
According to, or in order to improve the accuracy of differentiation using being both used as basis for estimation.
(2) influence of external factor is eliminated
Due to external environment brightness, the change of temperature and the influence of other external factor during positive and negative differentiation,
The picture quality that camera is shot can also be changed.In order to which maximum elimination external environment influences, it is ensured that camera working stability,
Brightness is corrected by the way of closed-loop control：
(1) before manipulator grabbing workpiece, camera reads the brightness of lower images, i.e. intensity profile, now reads
Image is original image.
(2) original image is contrasted with benchmark image set in advance, just dropped if original image is than benchmark image brighter
Low light-source brightness, otherwise enhancing light-source brightness.
(3) camera ceaselessly captures image during light-source brightness regulation, until identical with benchmark image brightness.
Separated in time is generally during positive and negative is judged and does a gamma correction, but in order that video camera
The value of reading is consistent as far as possible, and each retainer can do before judging and once correct.
(3) judgment standard is corrected
Retainer every time enter discriminating device after, camera to retainer clap one figure, by after image procossing with
A reference value is contrasted, so as to differentiate positive and negative.By taking the size of each annulus of eigenvalue retainer end face as an example, base is made
Quasi- value is P, and retainer front end face area is SAReverse side area is SB, triangular relation is SA<P<SB.Obtained after image procossing
The face area S obtained is A faces less than P.Therefore the setting of a reference value is the key for differentiating success or not, but is due to that workpiece adds
Randomness during work, can not possibly cover whole batch as the sample space of study workpiece, therefore this method provides judgement
The modification method of benchmark, could so keep the accuracy subsequently judged.
Modification method：
Here retainer front end face is named as A faces, reverse side is named as B faces, and the face in A faces is worth to according to the feature measured
Product size is SA, the size in B faces is SB。
Assuming that the area S in A faces can be drawn after being measured to n retainerAWith the area S in B facesBDispersion ΔS。
This n retainer dispersion is calculated and obtained by such as following formula：
Wherein, ΔsRepresent the dispersion of retainer characteristic value, xiThe characteristic value of i-th of retainer is represented, n represents retainer
Number.
This n retainer draws the area S in A faces after measuringAWith the area S in B facesBMeet normal distribution, it is assumed that
The area S in A facesAThe peak value of normal distribution curve is SA', the area S in B facesBThe peak value of normal distribution curve is SB'。
Then
Assuming that the determining reference value that can determine positive and negative is P,
(1)SA＜ SB
I.e.
Determining reference value
The positive and negative of retainer can accurately now be judged；
(2)SA>SB
I.e.
①ΔsTakeWithIn less one
IfDetermining reference value
IfDetermining reference value
The positive and negative of retainer can be now judged just；
②ΔsTakeWithIn less one
Determining reference value P can not be determined
The positive and negative of retainer can not now be judged.
So being made it stable during camera judges by the current determining reference value P of each amendment
One can be accurately judged in the range of retainer positive and negative, so ensure that follow-up accuracy of judgement without erroneous judgement.
Above-described embodiment is presently preferred embodiments of the present invention, is not the limitation to technical solution of the present invention, as long as
The technical scheme that can be realized without creative work on the basis of above-described embodiment, is regarded as falling into patent of the present invention
Rights protection scope in.
Claims (3)
1. a kind of method of discrimination of cage retainer positive and negative, it is characterised in that：It includes the characteristic value step of Systematic selection differentiation
Suddenly；Eliminate the influence step of external factor；Correct judgment standard step；
The characteristic value that the Systematic selection differentiates is to enter the inner and outer diameter size of each annulus of retainer both ends of the surface as characteristic value
Row judges or is judged the size of each annulus of retainer end face as characteristic value；
The inner and outer diameter size of each annulus of retainer both ends of the surface judge it being that system is fitted by circle as characteristic value
Method is maintained the interior diameter of the positive and negative two transverse plane annulus of frame and the size of overall diameter, according to the difference inside and outside each end face
Size determines the positive and negative of retainer；
The both ends of the surface front end face is named as A faces, and reverse side is named as B faces, and the size of A faces transverse plane annulus interior diameter is dA, outside
The size of diameter is DA, the size of B faces transverse plane annulus interior diameter is dB, the size of overall diameter is DB；The difference of A faces inner and outer diameter
It is worth Δ HA=| DA-dA|, the difference DELTA H of B faces inner and outer diameterB=| DB-dB|；
The size of each annulus of retainer end face judge it being that system passes through the image to collecting as characteristic value
Progress handles the size for the positive and negative two transverse plane annulus of frame that are maintained, and is determined by the size of the two annulus areas
The positive and negative of retainer；
The influence for eliminating external factor is to control brightness by using the mode of closed-loop control；
The amendment judgment standard is that retainer front end face is named as into A faces, and reverse side is named as B faces, according to the characteristic value measured
The size for obtaining A faces is SA, the size in B faces is SB；A faces can be just drawn after n retainer is measured
Area SAWith the area S in B facesBDispersion, the dispersion be ΔS；This n retainer draws the face in A faces after measuring
Product SAWith the area S in B facesBMeet normal distribution, the area S in A facesAThe peak value of normal distribution curve is SA', the area S in B facesB
The peak value of normal distribution curve is SB'；
Then
The determining reference value that positive and negative can be determined is P,
(1)SA＜ SB
I.e.
Determining reference value
The positive and negative of retainer can accurately now be judged；
(2)SA>SB
I.e.
①ΔsTakeWithIn less one
IfDetermining reference value
IfDetermining reference value
The positive and negative of retainer can be now judged just；
②ΔsTakeWithIn less one
Determining reference value P can not be determined
The positive and negative of retainer can not now be judged.
2. a kind of method of discrimination of cage retainer positive and negative according to claim 1, it is characterised in that：This described n
Retainer dispersion is calculated and obtained by such as following formula：
<mrow>
<msub>
<mi>&Delta;</mi>
<mi>S</mi>
</msub>
<mo>=</mo>
<msqrt>
<mfrac>
<mrow>
<msubsup>
<mo>&Sigma;</mo>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>n</mi>
</msubsup>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>x</mi>
<mi>i</mi>
</msub>
<mo>-</mo>
<mover>
<mi>x</mi>
<mo>&OverBar;</mo>
</mover>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
</mrow>
<mrow>
<mi>n</mi>
<mrow>
<mo>(</mo>
<mi>n</mi>
<mo>-</mo>
<mn>1</mn>
<mo>)</mo>
</mrow>
</mrow>
</mfrac>
</msqrt>
<mo>,</mo>
<mover>
<mi>x</mi>
<mo>&OverBar;</mo>
</mover>
<mo>=</mo>
<mfrac>
<mrow>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>n</mi>
</munderover>
<msub>
<mi>x</mi>
<mi>i</mi>
</msub>
</mrow>
<mi>n</mi>
</mfrac>
</mrow>
Wherein, ΔsRepresent the dispersion of retainer characteristic value, xiThe characteristic value of i-th of retainer is represented, n represents of retainer
Number.
3. a kind of method of discrimination of cage retainer positive and negative according to claim 1, it is characterised in that：It is described by adopting
Brightness is controlled to comprise the following steps with the mode of closed-loop control：
(1) before manipulator grabbing workpiece, camera reads the brightness of lower images, i.e. intensity profile, the image now read
For original image；
(2) original image is contrasted with benchmark image set in advance, light is reduced if original image is than benchmark image brighter
Source brightness, otherwise enhancing light-source brightness；
(3) camera ceaselessly captures image during light-source brightness regulation, until identical with benchmark image brightness.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107179317B (en) * | 2017-04-20 | 2020-05-26 | 浙江工商大学 | Self-adaptive method for image threshold of retainer suitable for judging front and back surfaces of retainer |
| CN107064144B (en) * | 2017-04-20 | 2020-05-22 | 浙江工商大学 | LED lamp brightness self-adaptive adjusting method suitable for judging front side and back side of retainer |
| CN107234412B (en) * | 2017-07-18 | 2023-07-25 | 河北工程大学 | Device for detecting forward and reverse directions of sleeve and device for sorting and assembling sleeve |
| CN110470217B (en) * | 2019-08-09 | 2021-11-16 | 无锡先导智能装备股份有限公司 | Method for detecting ending state of battery cell |
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| CN101718528A (en) * | 2009-12-10 | 2010-06-02 | 北京科技大学 | Digital image based rapid solving method of circle parameters |
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| JP2006226949A (en) * | 2005-02-21 | 2006-08-31 | Olympus Corp | Holder device |
| US8379978B2 (en) * | 2008-03-17 | 2013-02-19 | Tokyo University Of Agriculture And Technology | Contact area measurement device and method for measuring contact area |
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| CN101718528A (en) * | 2009-12-10 | 2010-06-02 | 北京科技大学 | Digital image based rapid solving method of circle parameters |
| CN102778205A (en) * | 2012-07-10 | 2012-11-14 | 昆山腾宇鑫金属制品有限公司 | Method and device for detecting diameter of grinding rod |
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