CN105834120A - Fully automatic ABS gear ring defect detection system based on machine vision - Google Patents

Fully automatic ABS gear ring defect detection system based on machine vision Download PDF

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Publication number
CN105834120A
CN105834120A CN201610164014.6A CN201610164014A CN105834120A CN 105834120 A CN105834120 A CN 105834120A CN 201610164014 A CN201610164014 A CN 201610164014A CN 105834120 A CN105834120 A CN 105834120A
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China
Prior art keywords
gear ring
blanking
mechanical hand
detection
frame
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CN201610164014.6A
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CN105834120B (en
Inventor
陆枫
胡佳成
陈爱军
常旭
查新龙
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China Jiliang University
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China Jiliang University
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34Sorting according to other particular properties
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/02Measures preceding sorting, e.g. arranging articles in a stream orientating
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36Sorting apparatus characterised by the means used for distribution
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C2501/00Sorting according to a characteristic or feature of the articles or material to be sorted
    • B07C2501/0063Using robots

Abstract

The invention relates to a fully automatic ABS gear ring defect detection system based on machine vision. Two working tables on the ground are vertically placed in a right-angle form, and a manipulator and a base are located at the center; detection of gear rings is driven by grabbing of the manipulator and manipulator fixtures, defect detection software of an upper computer is used for cooperation, the type of defects of the ABS gear rings is detected, and the gear rings are placed in different material dropping frames according to the types respectively. The system adopts an automatic mode, can greatly reduce the investment of manpower and financial resources in the detection step, and improves the detection efficiency and the detection success rate.

Description

Full-automatic ABS gear ring defect detecting system based on machine vision
Technical field
The present invention relates to a kind of automatic detection system, particularly relate to a kind of full-automatic ABS gear ring defect detecting system based on machine vision.
Background technology
ABS gear ring is the important component part of automobile ABS brake system, and its quality is extremely important to the security performance of automobile.Therefore, ABS gear ring must carry out quality testing after processing, just can apply to automobile production.But, traditional gear ring quality testing is manual detection, by workman's perusal gear ring surface whether existing defects, judges that this gear ring quality is the most qualified.This method takes time and effort, and once detects overlong time, and the health of workman be will also result in injury greatly, and moreover, workman's work for a long time can cause the fatigue of naked eyes, thus causes detection efficiency and the decline of detection success rate.
Producing to cater to industrial intelligent, intelligence workshop, the main trend that machine is substituted, design one can detect gear ring defect automatically, and detection speed is faster, and detection has higher success rate, and the higher detecting system of economy is particularly important.
Summary of the invention
For demand and the deficiency of background technology of application, it is an object of the invention to design a kind of detecting system utilizing machine vision principle automatically to detect gear ring qualification.
For reaching above-mentioned purpose, the technical solution used in the present invention is:
The invention mainly comprises PC, workbench, storing frame, ABS gear ring monitor station, manipulator fixture, mechanical hand, mechanical hand base, storing frame fixed mount.
Described workbench is disposed vertically with right angle orientation, first job platform is placed feeding storing frame, storing frame fixed mount and gear ring monitor station, second workbench is placed blanking storing frame and storing frame fixed mount.
Described storing frame is divided into feeding frame and blanking frame, is respectively used to lay gear ring to be detected and detected gear ring, and blanking frame is divided into four classes, lays respectively corresponding to situation: qualified, hypodontia, hydrops and other.Each storing frame is Stackable type, and gear ring is that vertical table-board is laid.
Described manipulator fixture is air-actuated jaw, is divided into material clamp and blanking clamp.
Described mechanical hand is six degree of freedom joint arm mechanical hand, and by PLC control, mechanical hand base matches with the size of mechanical hand.
Described ABS gear ring monitor station is the ABS gear ring detection device set up based on machine vision technique.The monitor station back side is equipped with each class interface for communication, and station is naked is exposed on the external in detection, and the detection of itself, communication are completed by MSP430 series monolithic circuit with control.
After robot movement to feeding position picks up first gear ring, move to detecting position turn to, first gear ring level is put into detecting position, return feeding position, now host computer starts to detect first gear ring, mechanical hand picks up next number gear ring, return to detecting position, after forwarding horizontal direction to, first gear ring folder is walked, give up the throne again and turn to, next number gear ring to be measured is put into, then blanking position is moved to, change into vertical direction and according to testing result, first gear ring put into corresponding blanking frame, eventually pass back to feeding position, empty the testing result of first gear ring, grip next number gear ring, gear ring at detecting position starts detection simultaneously, so circulation, until gear ring all detects complete.
Furtherly, the arbitrary class blanking frame in four class blanking frames can be laid 63 and detect gear ring, uses 3 row 21 row form arrangements.
Furtherly, the brachium of described mechanical hand is 1.5 meters.
Furtherly, slide rail and the design of push rod at described monitor station internal rotating motor, can be when the gear ring model that replacing diameter is different, more easily make to return at gear ring front end center at light-resource fousing, and without regulating camera position, improve efficiency, reduce detection error.
Furtherly, the online software on described PC can automatic data collection identify that ABS gear ring defect is classified, and control mechanical hand according to classification results and select corresponding blanking frame to carry out blanking.And PC is placed in position the most easily and operates for workman.
Compared with background technology, the gain effect of the present invention is:
1. present invention achieves the identification classification of ABS gear ring defect, also achieve automatic sorting during gear ring blanking, the most whole detection process is automatic mode, saves a large amount of manpower financial capacity, improves efficiency and detection success rate.
2. the ABS gear ring defect detecting technique based on machine vision technique is applied to industrial detection by the present invention, makes monitor station so that gear ring detection is convenient and direct.
3. the storing frame of the present invention is designed to Stackable type to save space, and the mode of its gear ring arranged orthogonal takes full advantage of the space of storing frame, increases the time needed for storing frame is changed, improves efficiency.
Accompanying drawing explanation
Fig. 1 is schematic three dimensional views of the present invention.
Fig. 2 is monitor station schematic three dimensional views of the present invention.
Fig. 3 is monitor station internal structure schematic diagram of the present invention.
Fig. 4 is storing frame schematic three dimensional views of the present invention.
Fig. 5 is manipulator fixture module diagram of the present invention.
Fig. 6 is Aulomatizeted Detect general flow chart of the present invention.
Fig. 7 is robot movement sequential chart of the present invention.
Fig. 8 is invention software flow chart.
Fig. 9 is circuit module figure of the present invention.
Figure 10 is upper computer detection result illustration of the present invention.
Detailed description of the invention
As it is shown in figure 1, two Zhang Gong's station 1 are disposed vertically with right angle on ground, mechanical hand base 7 is positioned at center, base is placed on 7 mechanical hand 6, connects on mechanical hand 6 top and have mechanical tinea manus to move fixture 5, and fixture 5 is used for gripping ABS gear ring 3.Placing feeding frame 2 and monitor station 4 on workbench 1-1, placement blanking frame 2 workbench 1-2 on, totally 4, it is qualified to be respectively used to place, hypodontia, hydrops and other totally 4 classes.Around each storing frame 2, fixed 4 storing frame fixed mounts 8 carry out spacing.PC can be put in place according to practice in factory, does not first draw in figure.
It is illustrated in figure 2 monitor station schematic three dimensional views, 4-1 is monitor station shell, top layer arranges rotatable top cover, start top cover scalable and check interior instrument, 4-2 is 4 result display lamps, respectively corresponding qualified, hypodontia, hydrops and other totally 4 class testing results, after detection, result display lamp can correspondence light.4-3 is that detecting position regulates push rod, just because of this according to ABS gear ring model size adjustment electric rotating machine position to be measured to reach optimum detection position, can be designed with dead slot and facilitate the regulation of motor position at electric rotating machine.4-4 is power supply indicator, and 4-5 is on and off switch.
It is illustrated in figure 3 monitor station three-dimensional internal schematic diagram, 4-6 is linear CCD camera, front end connects camera lens 4-7, camera fixture 4-17 it is fixed with bottom camera 4-6, fixture 4-17 is connected with the slide block of slide rail 4-16, slide block can move forward and backward regulation camera initial makeup location, one array light source 4-13 of the oblique each placement in the camera lens 4-7 left and right sides, focus point alignment ABS gear ring 3 front end center of light source 4-13 light, each light source side has a light source fixing part 4-14 to be fixed, and is placed with small-sized fans 4-12 for dispelling the heat under light source.Camera lens dead ahead is electric rotating machine module, and electric rotating machine 4-10 is fixed on sliding-rail sliding 4-11, and electric rotating machine 4-10 gear ring fixed above saddle 4-9, saddle 4-9 are for placing ABS gear ring 3 to be detected, and electric rotating machine front and back position can promote regulation by push rod 4-3.4-15 is base plate, and monitor station is divided into upper and lower two-layer by base plate 4-15, and upper strata is as it can be seen, lower floor is used for placing all kinds of electronic device, such as single chip microcomputer circuit board, light source controller, Switching Power Supply etc..Whole monitor station 4 is to be scanned ABS gear ring 3 surface by linear array CCD camera 4-6, and according to institute after scanning in image, more whether qualified principle is designed to be judged gear ring by detection algorithm.When changing gear ring model, there will be the different situation of diameter ring gear, now the focus point of light source can deviate at gear ring front end center, this kind of design simply slide rail at pushing motor can make to come back at focusing center, and now camera also will not change to the distance of tested point, so it is no need for regulating light source and camera position, becomes easier, be also not easy to make mistakes.Additionally can do a labelling on motor side, as long as allowing motor move to fixed position when of so changing gear ring model.
Being illustrated in figure 4 storing mount structure schematic diagram, each storing frame 2 often arranges 21 groove positions, altogether 3 rows, totally 63 groove positions, each groove position can vertically place ABS gear ring 3, and storing frame 2 low side leaves 3 emptying grooves, the ledge of the size correspondence gear ring 3 of dead slot, can allow storing frame 2 up superposition place.
Being illustrated in figure 5 manipulator fixture module diagram, 5 is mechanical hand air-actuated jaw, and extroversion gripping gear ring 3 during gripping, fixture 5 is connected with the top of joint arm mechanical hand 6.
It is illustrated in figure 6 Aulomatizeted Detect general flow chart, before starting working, corresponding instrument and a series of preliminary preparation is regulated according to gear ring model to be measured, after starting working, mechanical hand first gear ring of gripping enters detecting position, then detection is started, meanwhile, mechanical hand returns second gear ring of feeding position gripping, the upper gear ring detected is taken away, gear ring to be measured is put into, then according to testing result, the gear ring detected put into corresponding blanking frame, finally return to the next gear ring of feeding position gripping, empty a testing result simultaneously.Before the next gear ring of feeding position gripping, it is judged that whether feeding frame or blanking frame have pressed from both sides or piled and alert notice workman changes, after replacing, the next gear ring of gripping also starts simultaneously at the detection carrying out detecting position upper ring gear.Iterative cycles, until all gear ring detection is complete.
It is illustrated in figure 7 robot movement sequential chart, mechanical hand is according to feeding position, detecting position and blanking position, coordinate station coordinate, state that gear ring is longitudinally put and utilize a mechanical hand fit on material clamp and the design of blanking clamp, make the motion flow of complete set.First, robot movement to feeding position picks up first gear ring, move to detecting position turn to, level puts into detecting position, return feeding position, now host computer starts to detect a gear ring, mechanical hand picks up next number gear ring, return to detecting position, after forwarding horizontal direction to, tested gear ring folder is walked, give up the throne again and turn to, gear ring to be measured is put into, then blanking position is moved to, change into vertical direction and according to testing result, tested gear ring put into corresponding blanking frame, eventually pass back to feeding position, empty the testing result of a gear ring, grip next number gear ring, gear ring at detecting position starts detection simultaneously, so circulation, until gear ring all detects complete.
It is illustrated in figure 8 software flow pattern, first according to gear ring model setup parameter to be measured, after work, after the input of complete signal laid by gear ring, PC control capture card starts to gather data gear ring surface data, data are passed to detection algorithm and are detected, if detection algorithm is made mistakes, report to the police and allow workman check whether detecting position gear ring is put in place, result is shown after detection, and preserve the image of scanning, then this result is emptied, when mechanical hand resets and prepares to grip next gear ring, judge whether loading and unloading frame has pressed from both sides or piled, and alert notice workman changes, while the next gear ring of gripping, finally carry out the detection of detecting position upper ring gear.
It is illustrated in figure 9 circuit module figure, utilize RS232 to turn USB between host computer and MSP430 circuit board to communicate, circuit board utilizes RS485 Yu PLC to communicate and then controls mechanical hand, recycles other port controlling air-actuated jaw controllers, and then controls the motion of fixture.
Being two ABS gear ring model testing result schematic diagrams as shown in Figure 10, rejected region is irised out by different colours circle, and each color represents a class defect.Thus gear ring can be clearly seen the most qualified, and judge to there is which kind of defect, if a gear ring has defect type the most of the same race, put in corresponding blanking frame more than other priority more than hydrops according to hypodontia during blanking.Figure and statistical data that host computer preserves also are available for producer's reference and see again.

Claims (5)

1. full-automatic ABS gear ring defect detecting system based on machine vision, including PC workbench, storing frame, ABS gear ring monitor station, manipulator fixture, mechanical hand, mechanical hand base, storing frame fixed mount;It is characterized in that:
Described workbench is disposed vertically with right angle orientation, first job platform is placed feeding storing frame, storing frame fixed mount and gear ring monitor station, second workbench is placed blanking storing frame and storing frame fixed mount;
Described storing frame is divided into feeding frame and blanking frame, is respectively used to lay gear ring to be detected and detected gear ring, and blanking frame is divided into four classes, lays respectively corresponding to situation: qualified, hypodontia, hydrops and other;Each storing frame is Stackable type, and gear ring is that vertical table-board is laid;
Described manipulator fixture is air-actuated jaw, is divided into material clamp and blanking clamp;
Described mechanical hand is six degree of freedom joint arm mechanical hand, and by PLC control, mechanical hand base matches with the size of mechanical hand;
Described ABS gear ring monitor station is the ABS gear ring detection device set up based on machine vision technique;The monitor station back side is equipped with each class interface for communication, and station is naked is exposed on the external in detection, and the detection of itself, communication are completed by MSP430 series monolithic circuit with control;
After robot movement to feeding position picks up first gear ring, move to detecting position turn to, first gear ring level is put into detecting position, return feeding position, now host computer starts to detect first gear ring, mechanical hand picks up next number gear ring, return to detecting position, after forwarding horizontal direction to, first gear ring folder is walked, give up the throne again and turn to, next number gear ring to be measured is put into, then blanking position is moved to, change into vertical direction and according to testing result, first gear ring put into corresponding blanking frame, eventually pass back to feeding position, empty the testing result of first gear ring, grip next number gear ring, gear ring at detecting position starts detection simultaneously, so circulation, until gear ring all detects complete.
Full-automatic ABS gear ring defect detecting system based on machine vision the most according to claim 1, it is characterised in that: the arbitrary class blanking frame in four class blanking frames can be laid 63 and detect gear ring, uses 3 row 21 row form arrangements.
Full-automatic ABS gear ring defect detecting system based on machine vision the most according to claim 1, it is characterised in that: the brachium of described mechanical hand is 1.5 meters.
Full-automatic ABS gear ring defect detecting system based on machine vision the most according to claim 1, it is characterized in that: slide rail and the design of push rod at described monitor station internal rotating motor, can be when the gear ring model that replacing diameter is different, light-resource fousing point is more easily made to return at gear ring front end center, and without regulating camera and light source position, improve efficiency, reduce detection error.
Full-automatic ABS gear ring defect detecting system based on machine vision the most according to claim 1, it is characterized in that: the online software on described PC is capable of identify that ABS gear ring defect and classifies, and the blanking frame controlling mechanical hand selection corresponding according to classification results carries out blanking.
CN201610164014.6A 2016-03-19 2016-03-19 Full-automatic ABS gear rings defect detecting system based on machine vision Active CN105834120B (en)

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CN107335624A (en) * 2016-12-24 2017-11-10 重庆都英科技有限公司 A kind of gunlock chaeta base automatic detection device
CN108181311A (en) * 2017-12-16 2018-06-19 武汉谷丰光电科技有限公司 The arm-type small potted plant plant detection platform of three shaft mechanicals
CN109663746A (en) * 2018-12-21 2019-04-23 浙江罗尔科精密工业有限公司 A kind of spinning clamp clamps shedding mechanism automatically
CN110217430A (en) * 2019-05-17 2019-09-10 中山展晖电子设备有限公司 The collating sort feeding structure and its working method of two-wire packet
CN110303320A (en) * 2019-07-24 2019-10-08 珠海格力智能装备有限公司 The processing method and processing device of material, storage medium, processor

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CN109663746A (en) * 2018-12-21 2019-04-23 浙江罗尔科精密工业有限公司 A kind of spinning clamp clamps shedding mechanism automatically
CN110217430A (en) * 2019-05-17 2019-09-10 中山展晖电子设备有限公司 The collating sort feeding structure and its working method of two-wire packet
CN110303320A (en) * 2019-07-24 2019-10-08 珠海格力智能装备有限公司 The processing method and processing device of material, storage medium, processor

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