CN105834120B - Full-automatic ABS gear rings defect detecting system based on machine vision - Google Patents
Full-automatic ABS gear rings defect detecting system based on machine vision Download PDFInfo
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- CN105834120B CN105834120B CN201610164014.6A CN201610164014A CN105834120B CN 105834120 B CN105834120 B CN 105834120B CN 201610164014 A CN201610164014 A CN 201610164014A CN 105834120 B CN105834120 B CN 105834120B
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- gear ring
- manipulator
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting 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
- B07C5/34—Sorting according to other particular properties
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting 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
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting 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
- B07C5/36—Sorting apparatus characterised by the means used for distribution
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0063—Using robots
Abstract
The present invention relates to a kind of full-automatic ABS gear rings defect detecting systems based on machine vision.Two workbench are disposed vertically with right angle on ground of the present invention, manipulator and its pedestal are located at center, the detection of gear ring is driven by manipulator and manipulator fixture crawl, and the defects of coordinating host computer inspection software, the defects of detecting ABS gear rings type, and gear ring is respectively placed in by type in different lower material frames.The present invention is automatic mode, can largely reduce input of the manpower financial capacity in detecting step, improves the efficiency of detection and the success rate of detection.
Description
Technical field
The present invention relates to a kind of automatic detection system more particularly to a kind of full-automatic ABS gear rings based on machine vision
Defect detecting system.
Background technology
ABS gear rings are the important components of automobile ABS brake system, its quality is very heavy to the security performance of automobile
It will.Therefore, ABS gear rings must carry out quality testing after processing, just can apply to automobile production.However, traditional tooth
It is artificial detection to enclose quality testing, gear ring surface is visually observed with the presence or absence of defect by worker, whether to judge the gear ring quality
It is qualified.This method takes time and effort, once detection time is long, will also result in great injury to the body of worker, not only such as
This, worker works for a long time can lead to the fatigue of naked eyes, so as to cause the decline of detection efficiency and detection success rate.
In order to cater to industrial intelligent production, intelligent workshop, the main trend of machine substitute human labor, design is a kind of to detect gear ring automatically
Defect, and detection speed is faster, detection has higher success rate, and the stronger detecting system of economy is particularly important.
Invention content
The deficiency of demand and background technology for application field, it is an object of the invention to design a kind of utilization machine to regard
Feel that principle detects the detecting system of gear ring qualification automatically.
In order to achieve the above objectives, the technical solution adopted by the present invention is：
The invention mainly comprises PC machine, workbench, storing frame, ABS gear rings monitor station, manipulator fixture, manipulator, machineries
At hand seat, storing frame fixed frame.
The workbench is disposed vertically with right angle orientation, and feeding storing frame is placed on first job platform, and storing frame is consolidated
Determine frame and gear ring monitor station, blanking storing frame and storing frame fixed frame are placed on second workbench.
The storing frame is divided into material frame and lower material frame, is respectively used to place gear ring to be detected and has detected gear ring, under
Material frame is divided into four classes, places the situation of corresponding to respectively：Qualification, hypodontia, hydrops and other.Each storing frame is Stackable type, tooth
It encloses and is placed for vertical table-board.
The manipulator fixture is air-actuated jaw, is divided into material clamp and blanking clamp.
The manipulator is six degree of freedom joint arm manipulator, is controlled by PLC, the size of manipulator base and manipulator
Match.
The ABS gear rings monitor station is the ABS gear ring detection devices set up based on machine vision technique.Detection
The platform back side be equipped with for communication all kinds of interfaces, detection station is naked to be exposed on the external, detection, communication and the control of itself by
MSP430 series monolithics circuits is completed.
After the supreme material position of robot movement picks up first gear ring, check bit steering is moved to, by first gear ring water
It keeping flat into check bit, returns material position, host computer starts to detect first gear ring at this time, and manipulator picks up lower No.1 gear ring,
Check bit is returned to, first gear ring folder is walked, then steering of giving up the throne after going to horizontal direction, lower No.1 gear ring to be measured is put into,
Then lower material position is moved to, change into vertical direction and first gear ring is put into corresponding lower material frame according to testing result, is finally returned
To upper material position, the testing result of first gear ring is emptied, grips lower No.1 gear ring, while start to detect in the gear ring of check bit,
So cycle, until all detection finishes gear ring.
Furtherly, any a kind of lower material frame under four classes in material frame can place 63 and detect gear ring, using 3 row, 21 row
Form is arranged.
Furtherly, the brachium of the manipulator is 1.5 meters.
Furtherly, at the monitor station internal rotating motor sliding rail and push rod design, can replace diameter not
With gear ring model when, more easily make to return at gear ring front end center at light-resource fousing, and camera position need not be adjusted, improve
Efficiency reduces detection error.
Furtherly, the online software in the PC machine can automatic data collection and identify ABS gear rings defect carry out
Classification, and blanking is carried out according to the corresponding lower material frame of classification results control machinery hand selection.And PC machine can be placed in arbitrarily easily
Position is operated for worker.
Compared with background technology, gain effect of the invention is：
1. the present invention realizes the identification classification of ABS gear ring defects, automatic sorting during gear ring blanking is also achieved, simultaneously
Entire detection process is automatic mode, saves a large amount of manpower financial capacities, improves efficiency and detection success rate.
2. the ABS gear rings defect detecting technique based on machine vision technique is applied to industrial detection, system by the present invention
Into monitor station so that gear ring detection it is more convenient with it is direct.
3. the storing frame of the present invention is designed to Stackable type to save space, the mode of gear ring arranged orthogonal makes full use of
The space of storing frame, increase storing frame replace needed for time, improve efficiency.
Description of the drawings
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 automatic detection general flow chart of the present invention.
Fig. 7 is robot movement sequence diagram 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.
Specific embodiment
As shown in Figure 1, two workbench 1 are disposed vertically with right angle on ground, manipulator base 7 is located at center, bottom
Manipulator 6 is placed on seat upper 7, manipulator air-actuated jaw 5 is connected on 6 top of manipulator, fixture 5 is used to grip ABS gear rings 3.
Upper material frame 2 and monitor station 4 are placed on workbench 1-1, lower material frame 2 is placed on workbench 1-2, totally 4, is respectively used to place and close
Lattice, hypodontia, hydrops and other totally 4 classes.Fixed 4 storing frames fixed frame 8 is limited around each storing frame 2.PC
Machine can be put in place according to practice in factory, not drawn first in figure.
Monitor station schematic three dimensional views are illustrated in figure 2,4-1 is monitor station shell, and top layer sets rotatable head cover, starts top
Lid is adjustable and checks interior instrument, and 4-2 is 4 result indicator lights, respectively corresponding qualification, hypodontia, hydrops and other totally 4 classes inspections
It surveys as a result, after detection, as a result indicator light can be corresponded to and be lighted.4-3 adjusts push rod for check bit, can be according to ABS gear rings to be measured
The big minor adjustment electric rotating machine position of model just because of this, is designed with empty slot side to reach optimum detection position at electric rotating machine
Just the adjusting of motor position.4-4 is power supply indicator, and 4-5 is power switch.
Monitor station three-dimensional internal schematic diagram is illustrated in figure 3,4-6 is linear CCD camera, and front end connects camera lens 4-
7, camera 4-6 bottom are fixed with camera fixing piece 4-17, and fixing piece 4-17 is connected with the sliding block of sliding rail 4-16, and sliding block front and rear can move
Dynamic adjusting camera initial makeup location, the camera lens 4-7 left and right sides one array light source 4-13 of oblique each placement, light source 4-13 light
3 front end center of focus point alignment ABS gear rings, each light source side is fixed there are one light source fixing part 4-14, under light source
Small-sized fans 4-12 is placed with for radiating.It is electric rotating machine module immediately ahead of camera lens, electric rotating machine 4-10 is fixed on sliding rail cunning
On block 4-11, fixed gear ring saddle 4-9 above electric rotating machine 4-10, saddle 4-9 rotate for placing ABS gear rings 3 to be detected
Motor front and back position can be pushed by push rod 4-3 and be adjusted.4-15 is bottom plate, and monitor station is divided into two layers up and down by bottom plate 4-15, on
Layer is as shown in the figure, lower floor is used to place all kinds of electronic devices, such as single chip microcomputer circuit board, light source controller, Switching Power Supply etc..It is whole
A monitor station 4 is by 3 surface of linear array CCD camera 4-6 scannings ABS gear rings, is sentenced according to being in image after scanning, then by detection algorithm
The qualified or not principle of teeth is designed.When replacing gear ring model, it may appear that the different situation of diameter ring gear, at this time
The focus point of light source can deviate at gear ring front end center, and sliding rail that such design can be simply at pushing motor to focus on
Place is come back at center, and the distance of camera to tested point will not change at this time, so need not just adjust light source and phase
Seat in the plane is put, and becomes easier, is not also allowed error-prone.In addition label can be done beside motor, change in this way gear ring model when
As long as time allows motor to be moved to fixed position.
Storing mount structure schematic diagram is illustrated in figure 4, each storing frame 2 often arranges 21 slot positions, altogether 3 row, totally 63 slots
Position, each slot position can place ABS gear rings 3 vertically, and 2 low side of storing frame opens 3 emptying slots, and the size of empty slot corresponds to the protrusion of gear ring 3
Part can allow storing frame 2 to be up superimposed placement.
It is illustrated in figure 5 manipulator fixture module diagram, 5 be manipulator air-actuated jaw, extroversion gripping gear ring during gripping
3, fixture 5 is connect with the top of joint arm manipulator 6.
Automatic detection general flow chart is illustrated in figure 6, before start-up operation, corresponding instrument is adjusted according to gear ring model to be measured
Device and a series of preliminary preparations, after start-up operation, manipulator grips first gear ring into check bit, then starts to detect,
At the same time, manipulator returns upper material position and grips second gear ring, and the upper gear ring detected is taken away, gear ring to be measured is put
Enter, the gear ring detected be then put into corresponding lower material frame according to testing result, material position is finally returned to and grips next gear ring,
Empty a testing result simultaneously.Before upper material position grips next gear ring, whether material frame or lower material frame have pressed from both sides in judgement
Or pile and alert notice worker replaces, after replacement, grip next gear ring and start simultaneously at and be detected a upper ring gear
Detection.Iterative cycles, until whole gear ring detections finish.
Robot movement sequence diagram is illustrated in figure 7, manipulator coordinates work according to upper material position, check bit and lower material position
Position coordinate, the state and the design using a manipulator fit on material clamp and blanking clamp that gear ring is longitudinally put, is formulated
Go out the motion flow of complete set.First, the supreme material position of robot movement picks up first gear ring, moves to check bit steering,
Level is put into check bit, returns material position, and host computer starts to detect No.1 gear ring at this time, and manipulator picks up lower No.1 gear ring,
Check bit is returned to, tested gear ring folder is walked, then steering of giving up the throne after going to horizontal direction, gear ring to be measured is put into, is then moved to
Lower material position changes into vertical direction and tested gear ring is put into corresponding lower material frame according to testing result, eventually passes back to material position, empty
The testing result of a upper gear ring grips lower No.1 gear ring, while starts to detect in the gear ring of check bit, so recycles, until
All detection finishes gear ring.
Software flow pattern is illustrated in figure 8, first according to gear ring model setup parameter to be measured, after work, when gear ring is placed
After finishing signal input, PC control capture card starts gathered data gear ring surface data, data be transmitted to detection algorithm into
Row detection if detection algorithm malfunctions, alarms and worker is allowed to check whether check bit gear ring is put in place, shown after detection
As a result, and preserve the image of scanning, then empty this time as a result, when manipulator reset prepare to grip next gear ring when, judge
Whether upper and lower material frame has been pressed from both sides or has been piled, and alert notice worker replaces, and is finally detected while next gear ring is gripped
The detection of position upper ring gear.
Circuit module figure is illustrated in figure 9, turning USB using RS232 between host computer and MSP430 circuit boards communicates, electricity
Road plate is communicated using RS485 with PLC and then control machinery hand, recycles other port controlling air-actuated jaw controllers, into
And control the movement of fixture.
It is as shown in Figure 10 two ABS gear ring model testing result schematic diagrames, rejected region is by different colours circle circle
Go out, each color represents a kind of defect.It is possible thereby to which whether be clearly seen gear ring qualified, and judge there are which kind of defect, if
One gear ring possesses defect type not of the same race, during blanking according to hypodontia be more than hydrops be more than other priorities be put into it is corresponding under
In material frame.The figure and statistical data that host computer preserves also are available for producer's reference and see again.
Claims (4)
1. the full-automatic ABS gear rings defect detecting system based on machine vision, including PC machine workbench, storing frame, the inspection of ABS gear rings
Scaffold tower, manipulator fixture, manipulator, manipulator base, storing frame fixed frame；It is characterized in that：
The workbench is disposed vertically with right angle orientation, and feeding storing frame, storing frame fixed frame are placed on first job platform
And gear ring monitor station, blanking storing frame and storing frame fixed frame are placed on second workbench；
The storing frame is divided into material frame and lower material frame, is respectively used to place gear ring to be detected and has detected gear ring, lower material frame
It is divided into four classes, places the situation of corresponding to respectively：Qualification, hypodontia, hydrops and other；Each storing frame is Stackable type, and gear ring is
Vertical table-board is placed；
The manipulator fixture is air-actuated jaw, is divided into material clamp and blanking clamp；
The manipulator is six degree of freedom joint arm manipulator, is controlled by PLC, manipulator base and the size phase of manipulator
Match；
The ABS gear rings monitor station is the ABS gear ring detection devices set up based on machine vision technique；Monitor station is carried on the back
Face is equipped with all kinds of interfaces for communication, and detection station is naked to be exposed on the external, and detection, communication and the control of itself are by MSP430 systems
Row single chip circuits is completed；The design of sliding rail and push rod at the monitor station internal rotating motor can replace diameter
During different gear ring model, light-resource fousing point is more easily made to return at gear ring front end center, and camera and light source need not be adjusted
Efficiency is improved in position, reduces detection error；
After the supreme material position of robot movement picks up first gear ring, check bit steering is moved to, first gear ring level is put
Enter check bit, return material position, host computer starts to detect first gear ring at this time, and manipulator picks up lower No.1 gear ring, returns to
First gear ring folder after going to horizontal direction is walked, then steering of giving up the throne, lower No.1 gear ring to be measured is put into, then by check bit
Lower material position is moved to, change into vertical direction and first gear ring is put into corresponding lower material frame according to testing result, is eventually passed back to
Material position empties the testing result of first gear ring, grips lower No.1 gear ring, while start to detect in the gear ring of check bit, so
Cycle, until all detection finishes gear ring.
2. the full-automatic ABS gear rings defect detecting system according to claim 1 based on machine vision, it is characterised in that：
Any a kind of lower material frame under four classes in material frame places 63 and has detected gear ring, is arranged using 3 row, 21 row form.
3. the full-automatic ABS gear rings defect detecting system according to claim 1 based on machine vision, it is characterised in that：
The brachium of the manipulator is 1.5 meters.
4. the full-automatic ABS gear rings defect detecting system according to claim 1 based on machine vision, it is characterised in that：
Online software in the PC machine can identify ABS gear rings defect and classify, and according to classification results control machinery hand
Corresponding lower material frame is selected to carry out blanking.
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| CN201610164014.6A CN105834120B (en) | 2016-03-19 | 2016-03-19 | Full-automatic ABS gear rings defect detecting system based on machine vision |
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| CN201610164014.6A CN105834120B (en) | 2016-03-19 | 2016-03-19 | Full-automatic ABS gear rings defect detecting system based on machine vision |
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| CN105834120B true CN105834120B (en) | 2018-06-26 |
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