CN106018430A - Six-surface vision detecting device and control method thereof - Google Patents
Six-surface vision detecting device and control method thereof Download PDFInfo
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- CN106018430A CN106018430A CN201610573244.8A CN201610573244A CN106018430A CN 106018430 A CN106018430 A CN 106018430A CN 201610573244 A CN201610573244 A CN 201610573244A CN 106018430 A CN106018430 A CN 106018430A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/89—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles
- G01N21/892—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles characterised by the flaw, defect or object feature examined
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Abstract
The invention discloses a six-surface vision detecting device and a control method thereof. The six-surface vision detecting device comprises a first sucker conveying mechanism, a second sucker conveying mechanism, an image acquiring device, a first synchronous conveying mechanism, a second synchronous conveying mechanism and a control system for controlling conveyance of workpieces to be detected, wherein the first synchronous conveying mechanism is arranged below the first sucker conveying mechanism; the second synchronous conveying mechanism is arranged above the second sucker conveying mechanism; the first sucker conveying mechanism and the second sucker conveying mechanism are connected with each other in an L-shaped manner; the image acquiring device comprises a plurality of cameras; and the cameras are respectively arranged on the first synchronous conveying mechanism and the second synchronous conveying mechanism. By the six-surface vision detecting device, dimensional accuracy or appearance of the workpieces can be precisely detected quickly, accurately and efficiently.
Description
Technical field
The present invention relates to a kind of detection device and control method, be specifically related to a kind of hexahedro vision
Detection device and control method thereof.
Background technology
Vision-based detection replaces human eye to detect with photographic head exactly, and it refers to pass through machine
Photographic head the profile of object to be detected is converted into analogue signal, send special image to
Processing system, then this system is again pixel distribution in image and the information such as brightness, color,
It is transformed into digitized signal；Picture system carries out various computing to extract target to these signals
Feature, and then according to differentiate result control scene device action.Use which
The aspects such as the dimensional accuracy of workpiece or outward appearance are being detected, relatively conventional manual detection
There is the advantages such as quick, accurate, efficient.
At present in field of visual inspection, typically adopt when the dimensional accuracy of workpiece is detected
Take following two method:
1, static measurement.When using this kind of mode to detect, it is necessary to workpiece is fixed on inspection
Surveying immediately below photographic head, photographic head remains stationary with workpiece；Then photographic head is workpiece
Take pictures, by image processing system, shot image be analyzed drawing testing result the most again,
Finally workpiece is removed detection immediately below photographic head.Adopt the effect detected in this way
The best, precision is high, but there is the speed shortcoming slow, inefficient of detection.
2, dynamically detect.When using this kind of mode to detect, detection photographic head is fixed on machine
In the frame of device, by connecting gear, workpiece is moved in the past successively below photographic head, take the photograph
As head and workpiece have relative displacement, photographic head is scanned inspection to the workpiece of movement immediately below it
Survey, by image processing system, scanogram is analyzed drawing testing result the most again.
Adopting the speed detected in this way fast, efficiency is high, but due to photographic head and work during detection
Part has relative displacement, and the picture signal causing camera collection is unstable, there is the effect of detection
The shortcoming that the poorest, precision is low.
When the open defect of workpiece is detected, typically carefully to detect each surface of workpiece
The details such as color, size, integrity degree.At present, if wanting high-speed and continuous online to one six
When the square in face or cuboid packing crates carry out open defect detection, can't use at present
It is measured by vision-based detection, manually can only enter each face with human eye with hand-held workpiece
Row observation.Because the photographic head of vision-based detection can only detect a hexahedral face, by joining
Put multiple photographic head, at most can only detect 4 faces.Six faces cannot be realized the most online
Detection.The process speed using manual detection is slow, and weak effect, efficiency is low, far cannot meet
Actual job requirement.
Summary of the invention
For technical problem present in prior art, it is an object of the invention to: one is provided
Hexahedro vision inspection apparatus.
It is another object of the present invention to: in a kind of above-mentioned hexahedro vision inspection apparatus is provided
One sucker connecting gear and the control method of the second sucker connecting gear.
The purpose of the present invention is achieved through the following technical solutions: a kind of hexahedro vision inspection apparatus,
Including the first sucker connecting gear, the second sucker connecting gear, image collecting device, first
Synchronous transfer mechanism, the second synchronous transfer mechanism and for control workpiece for measurement transmission control
System processed, the first synchronous transfer mechanism is arranged at below the first sucker connecting gear, and second is same
Step transmission mechanism is arranged at above the second sucker connecting gear, the first sucker connecting gear and the
Two sucker connecting gears are connected L-shaped setting, and image collecting device is used for gathering workpiece for measurement six
The view data of face view, including multiple photographic head, photographic head is respectively provided to the first synchronization
On transmission mechanism and the second synchronous transfer mechanism, wherein the first synchronous transfer mechanism gathers to be measured
Workpiece downside, workpiece for measurement left surface and the view data of workpiece for measurement right flank, the
Two synchronous transfer mechanisms gather workpiece for measurement leading flank and the picture number of workpiece for measurement trailing flank
According to, the view data of workpiece for measurement upper side is synchronized to pass by the first synchronous transfer mechanism or second
Transfer mechanism is acquired.
Preferably, described first synchronous transfer mechanism all includes watching with the second synchronous transfer mechanism
Taking motor, sprocket wheel, chain and frame, servomotor passes through chain wheel drive carrier chain
Bar rotates, and frame is installed on chain, and image collecting device is arranged in frame.
Preferably, the first synchronous transfer mechanism and the second synchronous transfer mechanism are additionally provided with auxiliary
Sweep mechanism, sub-scanning mechanism is helped to include driving motor, leading screw slide unit and connection sliding block,
Driving motor for driving the screw turns of leading screw slide unit, connection sliding block is connected to leading screw slide unit
Leading screw on, connection sliding block moving direction and workpiece for measurement transmission direction is parallel, described frame
It is connected with connection sliding block；
Described frame takes the shape of the letter U setting, the photographic head of image collecting device be separately positioned on first with
Step transmission mechanism and the frame both ends that take the shape of the letter U of the second synchronous transfer mechanism and/or middle part.
Preferably, it is additionally provided with workpiece auxiliary gatherer, workpiece auxiliary gatherer output
Mouth is connected with the first sucker connecting gear or the second sucker connecting gear, and workpiece auxiliary imports dress
Put and include that conveyer device, left importing plate and right importing plate, left importing plate and right importing plate divide
Be not arranged on the support body of conveyer belt both sides of conveyer device, left importing plate and right importing plate it
Between formed and ajust passage along transmission direction diminishing workpiece.
Preferably, described first sucker connecting gear and the second sucker connecting gear all include passing
Sending band, electromagnetic valve and multiple sucker, sucker is respectively arranged on conveyer belt, and sucker is the most convex
For the zone face of conveyer belt, electromagnetic valve is multiple, is connected with sucker respectively, is used for controlling sucker
It is turned on and off；
Control system for by control each electromagnetic valve make sucker open when workpiece enters and
Close during workpiece output.
Preferably, described sucker becomes multiple rows of and is uniformly arranged on a moving belt, the suction between two rows
Dish is apart from equal, and electromagnetic valve is multiple, respectively with often arrange sucker and be connected, often arrange for controlling
Sucker is turned on and off；
Control system includes control equipment, workpiece detector and sucker sensor, and workpiece is examined
Survey device and sucker sensor respectively with control equipment and be connected, each electromagnetic valve respectively with control equipment
Connecting, workpiece detector and sucker sensor are arranged on conveyer belt porch；
Workpiece detector is for detecting whether there is workpiece to enter；
Sucker sensor arrives the sucker of conveyer belt porch for detecting；
Control equipment is opened when workpiece enters and is positioned at the electromagnetic valve of sucker below workpiece, with
And according to the distance between sucker sensor detection data and two row's suckers, obtain below workpiece
Judge whether workpiece arrives institute compared with the workpiece transmission range set after the displacement of sucker
Position need to be transmitted, the most then control the closed electromagnetic valve of corresponding sucker.
Preferably, described control system includes control equipment, entrance workpiece detector, outlet
Workpiece detector, enter oral sucker sensor and go out oral sucker sensor, entrance workpiece sensing
Device, export workpiece detector, enter oral sucker sensor and go out oral sucker sensor respectively with
Control equipment connects, and each electromagnetic valve is connected with control equipment respectively；
Entrance workpiece detector and enter oral sucker sensor and be arranged on conveyer belt porch；
Outlet workpiece detector and go out oral sucker sensor and be arranged on conveyer belt exit；
Entrance workpiece detector is for detecting whether there is workpiece to enter；
Outlet workpiece detector is for detecting whether there is workpiece to arrive conveyer belt outlet；
Enter oral sucker sensor for detecting the sucker arriving conveyer belt porch；
Go out oral sucker sensor for detecting the sucker arriving conveyer belt exit；
Control equipment is used for receiving entrance workpiece detector, outlet workpiece detector, entrance suction
Dish sensor and go out oral sucker sensor send data, and according to the data received lead to
Cross control each electromagnetic valve make sucker open when workpiece enters and when workpiece exports close.
Preferably, the first synchronous transfer mechanism, the second synchronous transfer mechanism are equipped with location
Sensor, control system includes control equipment；
The servomotor of the first synchronous transfer mechanism, the driving motor of the first synchronous transfer mechanism,
The servomotor of the second synchronous transfer mechanism, the driving motor of the second synchronous transfer mechanism and fixed
Level sensor is connected with control equipment respectively；
Alignment sensor is respectively used to detect the position of workpiece；
Control equipment is for receiving the detection information of two alignment sensors, and according to receiving
Detection information starts the first corresponding synchronous transfer mechanism and the second synchronous transfer mechanism.
Preferably, the first sucker connecting gear includes the 3rd sucker connecting gear and the 4th suction
Dish connecting gear, the 3rd sucker connecting gear and the 4th sucker connecting gear are that in-line connects,
4th sucker connecting gear and the second sucker connecting gear are connected L-shaped setting, and first synchronizes to pass
Transfer mechanism is two, the respectively the 3rd synchronous transfer mechanism and the 4th synchronous transfer mechanism,
3rd synchronous transfer mechanism is arranged at above the 3rd sucker connecting gear, the 4th synchronous transfer machine
Structure is arranged at below the 4th sucker connecting gear, and the 4th synchronous transfer mechanism is used for gathering to be measured
The view data of workpiece downside, workpiece for measurement left surface and the figure of workpiece for measurement right flank
As data are acquired by the 3rd synchronous transfer mechanism or the 4th synchronous transfer mechanism；
The view data of workpiece for measurement upper side is synchronized to pass by the 3rd synchronous transfer mechanism or second
Transfer mechanism is acquired.
A kind of the first above-mentioned sucker connecting gear and the controlling party of the second sucker connecting gear
Method, comprises the following steps:
Sucker identification:
S1: conveyer belt rotates and drives often row's sucker to move from sucker sensor front；
S2: often arrange the sucker from sucker sensor front process and all trigger sucker sensor once,
The signal being triggered is fed back to control equipment by sucker sensor successively；
S3: control the equipment feedback signal according to sucker sensor, by the sequencing of feedback
Feedback signal is numbered successively, until it reaches stop during the total row of sucker being numbered,
Thus each sucker is numbered, and by numbering, each row's sucker is identified；
Control to carry:
After S4: workpiece detector detects that workpiece enters, send signal to control equipment；
S5: when control equipment receives the signal that workpiece detector sends, according to sucker
The feedback signal of sensor judges the sucker being now placed in below workpiece, and controls corresponding to work
The electromagnetic valve of the sucker below part is opened, and workpiece is adsorbed by this sucker air-breathing；
Workpiece transmits with this sucker, and during transmitting, sucker sensor continues quilt
Trigger；
S6: control equipment is recorded sucker sensor when workpiece transmits and is triggered number of times, passes through
Number of times that sucker sensor is triggered be multiplied by adjacent two row's interambulacrum distances obtain workpiece move away from
From, then the workpiece displacement judgement workpiece compared with the workpiece transmission range of setting that will obtain
Whether arrive desired location, the most then control the closed electromagnetic valve of sucker below this workpiece,
Sucker stops suction, and completes the transmission of workpiece.
The present invention has such advantages as relative to prior art and effect:
1, the present invention when detection can quickly, dimensional accuracy to workpiece accurately and efficiently
Or outward appearance carries out Precision measurement, the present invention collects static detection and the advantage of dynamically detection, rejects
Its shortcoming, detection time by the second synchronous transfer mechanism, the 3rd synchronous transfer mechanism and
4th synchronous transfer mechanism makes image collecting device do synchronous transport motion together with workpiece, makes
Both keeps the most motionless in doing motion the most in the same direction, or controlled relative motion, real
Existing image collecting device is admitted to the second sucker connecting gear, the 3rd sucker conveyer to all
The workpiece of structure and the 4th sucker connecting gear move in static detection or scanning inspection
Survey.Image collecting device can return to again initial position after completing detection is carried out next workpiece
Detection, thus can enable image collecting device detect the workpiece of conveying continuously,
When can guarantee that again detection, image collecting device opposite piece is static or does controlled relative fortune
Dynamic, so can draw the benefit that Static Detection is effective and precision is high, can guarantee that again it has
There is kinetic measurement speed fast, the advantage that efficiency is high, can reach both to have concentrated static detection and dynamically
The advantage of detection, rejects again the purpose of its shortcoming.The second sucker connecting gear of the present invention,
3rd sucker connecting gear and the 4th sucker connecting gear coordinate special multi-angle shooting
Head, can detect in detail to the outward appearance on each surface of workpiece, to ensure at a high speed,
Efficiently, high-precision Detection results.
2, the second sucker connecting gear, the 3rd sucker connecting gear and that the present invention uses
Four sucker connecting gears are by one of them surface of sucker suction workpiece thus realize transmitting,
Wherein the 3rd sucker connecting gear is by absorption workpiece end face, is suspended in by workpiece and carries out in the air
Vision-based detection, it is possible to ensure that image collecting device can completely be swept when carrying out Video Detection
Retouch whole bottom surface and the side of workpiece, and the second sucker connecting gear, the 3rd sucker conveyer
Sucker on structure and the 4th sucker connecting gear all protrudes from the zone face of conveyer belt, and this is permissible
Avoid when directly using flat belt conveying, due to regarding that the refraction on flat belt surface causes
Feel and detect error, make the view data collected more accurate.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the structural representation that the present invention is lateral.
Fig. 3 is the 3rd synchronous transfer mechanism or the second synchronous transfer mechanism drive three of the present invention
The schematic diagram of individual camera collection view data.
Fig. 4 is that the 4th synchronous transfer mechanism of the present invention drives three camera collection picture number
According to schematic diagram.
Fig. 5 is the 3rd synchronous transfer mechanism or the second synchronous transfer mechanism drive two of the present invention
The schematic diagram of individual camera collection view data.
Fig. 6 is the structural representation of the sub-scanning mechanism of the present invention.
Fig. 7 is the structural representation of the workpiece auxiliary gatherer of the present invention.
When Fig. 8 is the 3rd sucker connecting gear and the work of the 3rd synchronous transfer mechanism of the present invention
Schematic diagram.
When Fig. 9 is the 4th sucker connecting gear and the work of the 4th synchronous transfer mechanism of the present invention
Schematic diagram.
Figure 10 is the second sucker connecting gear and the structure of the second synchronous transfer mechanism of the present invention
Schematic diagram.
Figure 11 is the schematic diagram during conveyer belt of the workpiece entrance present invention.
Figure 12 is that the 3rd sucker connecting gear and the 4th sucker connecting gear are when work delivery
Schematic diagram.
Figure 13 be workpiece on sucker time carry out the schematic diagram of image data acquiring.
Figure 14 be workpiece when flat belt surface transport carries out image data acquiring due to refraction draw
The schematic diagram of the vision-based detection error risen.
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but this
Bright embodiment is not limited to this.
Embodiment one:
A kind of hexahedro vision inspection apparatus, passes including the first sucker connecting gear, the second sucker
Send mechanism 1, image collecting device, the first synchronous transfer mechanism, the second synchronous transfer mechanism 2
And for controlling the control system of workpiece for measurement transmission, the first synchronous transfer mechanism is arranged at
Below first sucker connecting gear, the second synchronous transfer mechanism is arranged at the second sucker conveyer
Above structure, the first sucker connecting gear and the second sucker connecting gear are connected L-shaped setting, figure
As harvester is for gathering the view data of the hexahedro view of workpiece for measurement, including six or extremely
Few six photographic head 3, photographic head is respectively provided to the first synchronous transfer mechanism and second and synchronizes to pass
On transfer mechanism, wherein the first synchronous transfer mechanism gathers workpiece for measurement downside, workpiece for measurement
Left surface and the view data of workpiece for measurement right flank, the second synchronous transfer mechanism gathers and treats
Survey workpiece leading flank and the view data of workpiece for measurement trailing flank, the figure of workpiece for measurement upper side
As data are acquired by the first synchronous transfer mechanism or the second synchronous transfer mechanism.
Preferably, described first synchronous transfer mechanism all includes watching with the second synchronous transfer mechanism
Taking motor 4, sprocket wheel 5, chain 6 and frame 7, servomotor is defeated by chain wheel drive
Sending chain to rotate, frame is installed on chain, and image collecting device is arranged in frame.
Preferably, the first synchronous transfer mechanism and the second synchronous transfer mechanism are additionally provided with auxiliary
Sweep mechanism 8, sub-scanning mechanism is helped to include driving motor 9, leading screw slide unit 10 and connecting
Slide block 11, drives motor for driving the screw turns of leading screw slide unit, and connection sliding block is connected to
On the leading screw of leading screw slide unit, connection sliding block moving direction is parallel with workpiece for measurement transmission direction,
Described frame is connected with connection sliding block.
Preferably, described frame takes the shape of the letter U setting, and the photographic head of image collecting device is respectively provided with
The frame both ends that take the shape of the letter U with the second synchronous transfer mechanism in the first synchronous transfer mechanism and/or
Middle part.
For improving efficiency, can be on the first sucker connecting gear and the second sucker connecting gear
Multiple first synchronous transfer mechanism and the second synchronous transfer mechanism are set, and same each first
On step transmission mechanism and the second synchronous transfer mechanism, sub-scanning mechanism is set, so can be many
Individual first synchronous transfer mechanism and the second synchronous transfer mechanism take turns to operate, and improve work efficiency.
Preferably, being additionally provided with workpiece auxiliary gatherer 12, workpiece auxiliary gatherer is defeated
Outlet is connected with the first sucker connecting gear or the second sucker connecting gear, and workpiece auxiliary imports
Device includes conveyer device 13, left importing plate 14 and right importing plate 15, left importing plate and the right side
Import plate to be separately positioned on the support body of conveyer belt both sides of conveyer device, left importing plate and the right side
Import to be formed between plate and ajust passage 16 along the diminishing workpiece in transmission direction.
The front end of left importing plate and right importing plate importing direction is bolt-connected to defeated respectively
Send on the support body of conveyer belt both sides of device.
Preferably, described first sucker connecting gear and the second sucker connecting gear all include passing
Sending band 17, electromagnetic valve and multiple sucker 18, sucker is respectively arranged on conveyer belt, sucker
All protruding from the zone face of conveyer belt, electromagnetic valve is multiple, is connected with sucker respectively, is used for controlling
Sucker processed is turned on and off；
Control system for by control each electromagnetic valve make sucker open when workpiece enters and
Close during workpiece output.
Preferably, described sucker becomes multiple rows of and is uniformly arranged on a moving belt, the suction between two rows
Dish is apart from equal, and electromagnetic valve is multiple, respectively with often arrange sucker and be connected, often arrange for controlling
Sucker is turned on and off；
Control system includes control equipment, workpiece detector 19 and sucker sensor 20, work
Part detector and sucker sensor respectively with control equipment be connected, each electromagnetic valve respectively with control
Equipment connects, and workpiece detector and sucker sensor are arranged on conveyer belt porch；
Workpiece detector is for detecting whether there is workpiece to enter；
Sucker sensor arrives the sucker of conveyer belt porch for detecting；
Control equipment is opened when workpiece enters and is positioned at the electromagnetic valve of sucker below workpiece, with
And according to the distance between sucker sensor detection data and two row's suckers, obtain below workpiece
Judge whether workpiece arrives institute compared with the workpiece transmission range set after the displacement of sucker
Position need to be transmitted, the most then control the closed electromagnetic valve of corresponding sucker.
Preferably, the first synchronous transfer mechanism, the second synchronous transfer mechanism are equipped with location
Sensor；
The servomotor of the first synchronous transfer mechanism, the driving motor of the first synchronous transfer mechanism,
The servomotor of the second synchronous transfer mechanism, the driving motor of the second synchronous transfer mechanism and fixed
Level sensor is connected with control equipment respectively；
Alignment sensor is respectively used to detect the position of workpiece；
Control equipment is for receiving the detection information of two alignment sensors, and according to receiving
Detection information starts the first corresponding synchronous transfer mechanism and the second synchronous transfer mechanism.
Preferably, the first sucker connecting gear is two, the respectively the 3rd sucker connecting gear
21 and the 4th sucker connecting gear 22, the 3rd sucker connecting gear and the 4th sucker conveyer
Structure is that in-line connects, and the 4th sucker connecting gear and the second sucker connecting gear are connected L-shaped
Arrange, the first synchronous transfer mechanism is two, the respectively the 3rd synchronous transfer mechanism 23 and
4th synchronous transfer mechanism 24, the 3rd synchronous transfer mechanism is arranged at the 3rd sucker connecting gear
Top, the 4th synchronous transfer mechanism is arranged at below the 4th sucker connecting gear, and the 4th synchronizes
Transmission mechanism for gathering the view data of workpiece for measurement downside, workpiece for measurement left surface with
And the view data of workpiece for measurement right flank is by the 3rd synchronous transfer mechanism or the 4th synchronous transfer
Mechanism is acquired；
The view data of workpiece for measurement upper side is synchronized to pass by the 3rd synchronous transfer mechanism or second
Transfer mechanism is acquired.
The work process of the present invention and operation principle: workpiece 25 is respectively put into workpiece auxiliary
On the conveyer belt of gatherer, workpiece transmits with conveyer belt, then into left importing
The workpiece formed between plate and right importing plate is ajusted in passage, if workpiece is ajusted the most on request
Or when not putting setting position, workpiece enters into after workpiece ajusts passage, owing to workpiece is put
Positive passage is gradually reduced along transmission direction, and workpiece ajusts the outlet size of passage equal to workpiece
Width or more than width of the workpiece 1-5mm, therefore, workpiece during advancing with left importing plate
And/or the contact of right importing plate, the power simultaneously advanced by means of conveyer belt, left importing plate and the right side
Importing plate makes workpiece rotate and/or generation is moved thus corrects workpiece, it is ensured that postorder journey
Image collecting device energy accurate acquisition in sequence is to the view data of six outer surfaces of workpiece.
Workpiece enters into the 3rd sucker connecting gear after passage output ajusted by workpiece；
The work process of the 3rd sucker connecting gear and operation principle:
After workpiece detector detects that workpiece enters, send signal to control equipment；
When control equipment receives the signal that workpiece detector sends, sense according to sucker
The feedback signal of device judges the sucker being now placed in below workpiece, and controls corresponding under workpiece
The electromagnetic valve of the sucker of side is opened, and workpiece is adsorbed by this sucker air-breathing；
Sucker distance between two rows is set to less than workpiece bottom length, it is ensured that at least
Workpiece can be adsorbed by two row's suckers simultaneously, it is achieved the stable transmission of workpiece.
Workpiece transmits with this sucker, and during transmitting, sucker sensor continues quilt
Trigger；
Control equipment is recorded sucker sensor when workpiece transmits and is triggered number of times, by inhaling
The dish sensor number of times that is triggered is multiplied by adjacent two row's interambulacrum distances and obtains workpiece displacement,
Again whether the workpiece displacement obtained is judged workpiece compared with the workpiece transmission range of setting
Arrive desired location, the most then control the closed electromagnetic valve of sucker below this workpiece, inhale
Dish stops suction, and now workpiece arrives the 3rd sucker connecting gear and the 4th sucker connecting gear
Junction, i.e. workpiece now enters into the conveyer belt porch of the 4th sucker connecting gear；
The work process of the 3rd synchronous transfer mechanism and operation principle:
When workpiece transmits at the 3rd sucker connecting gear, workpiece can trigger the first synchronization
The alignment sensor of transmission mechanism.
Owing to the photographic head of frame now and image collecting device is respectively positioned on the first synchronous transfer
When alignment sensor, the surface of the alignment sensor of mechanism, therefore detects that workpiece is before it
During Fang Yidong, the driven by servomotor first that control equipment controls the first synchronous transfer mechanism is same
Photographic head in the frame of step transmission mechanism moves with identical speed with workpiece, moves at photographic head
During Dong, the image information of camera collection workpiece；
Owing to being provided with sub-scanning mechanism in the 3rd synchronous transfer mechanism, when workpiece is longer,
When photographic head can not gather workpiece image information the most completely, the 3rd synchronous transfer mechanism auxiliary
Help the driving electric motor starting of sweep mechanism, make frame edge by leading screw slide unit and connection sliding block
Outer surface of workpiece moves, and photographic head carries out image information collecting to workpiece simultaneously, i.e. reaches to sweep
Retouch the effect of detection, thus gather the image information that workpiece is complete.Further, it is also possible to pass through
The driving motor driven carriage of the sub-scanning mechanism of the 3rd synchronous transfer mechanism is repeatedly moved
Dynamic, after often moving a segment distance, work is taken pictures, move another to workpiece more again
Some is taken pictures, until clapping complete outer surface of workpiece, completes the image information of workpiece
Gather.
4th sucker connecting gear and the operation principle of the second sucker connecting gear and work process
Similar to the 3rd sucker connecting gear, the 4th synchronous transfer mechanism and the second synchronous transfer mechanism
Operation principle similar to the 3rd synchronous transfer mechanism with work process, additionally, the 4th synchronize
Sub-scanning mechanism it is also equipped with on transmission mechanism.
It should be noted that workpiece sends into the 4th sucker conveyer from the 3rd sucker connecting gear
During structure, workpiece transmits from the bottom surface of the 4th sucker connecting gear, thus by the end of workpiece
Face is unsettled, and the 3rd synchronous transfer mechanism drives photographic head pair below the 4th sucker connecting gear
The bottom surface of workpiece carries out image information collecting.
Workpiece when the 4th sucker connecting gear sends into the second sucker connecting gear, due to,
Four sucker connecting gears and the second sucker connecting gear are connected L-shaped setting, and therefore, workpiece exists
When entering the second sucker connecting gear, direction of transfer creates the break-in of 90 degree, forms commutation
Effect, i.e. the end face of workpiece and remaining do not have collected two outer surface to be respectively facing the
Photographic head in two synchronous transfer mechanisms, therefore, the second synchronous transfer mechanism can drive shooting
Head gathers the image information that workpiece is left not have collected two outer surface, thus by workpiece
The image information of six outer surfaces is collected.
And photographic head can be 9, frame, the 3rd synchronization in the second synchronous transfer mechanism pass
It is respectively provided with three in the frame of transfer mechanism and the frame of the 4th synchronous transfer mechanism；
Photographic head can be 6, one of them photographic head be arranged on the 4th synchronous transfer mechanism in
The central rack of U-shaped, for gathering the view data of workpiece for measurement downside；
Two photographic head are separately positioned on the frame both ends that the second synchronous transfer mechanism takes the shape of the letter U,
For gathering the view data of workpiece for measurement downside；
Two photographic head are separately positioned on the frame both ends that the 3rd synchronous transfer mechanism takes the shape of the letter U
Or the 4th frame both ends of taking the shape of the letter U of synchronous transfer mechanism, it is used for gathering workpiece for measurement left surface
And the view data of workpiece for measurement right flank；
One photographic head is arranged on the central rack or second that the 3rd synchronous transfer mechanism takes the shape of the letter U
The central rack that synchronous transfer mechanism takes the shape of the letter U, for gathering the picture number of workpiece for measurement upper side
According to.
Embodiment two:
Preferably, described control system also includes entrance workpiece detector, outlet workpiece sensing
Device, enter oral sucker sensor and go out oral sucker sensor, entrance workpiece detector, outlet
Workpiece detector, enter oral sucker sensor and go out oral sucker sensor respectively with control equipment
Connecting, each electromagnetic valve is connected with control equipment respectively；
Entrance workpiece detector and enter oral sucker sensor and be arranged on conveyer belt porch；
Outlet workpiece detector and go out oral sucker sensor and be arranged on conveyer belt exit；
Entrance workpiece detector is for detecting whether there is workpiece to enter；
Outlet workpiece detector is for detecting whether there is workpiece to arrive conveyer belt outlet；
Enter oral sucker sensor for detecting the sucker arriving conveyer belt porch；
Go out oral sucker sensor for detecting the sucker arriving conveyer belt exit；
Control equipment is used for receiving entrance workpiece detector, outlet workpiece detector, entrance suction
Dish sensor and go out oral sucker sensor send data, and according to the data received lead to
Cross control each electromagnetic valve make sucker open when workpiece enters and when workpiece exports close.
Embodiment three:
The first sucker connecting gear described in a kind of embodiment one and the second sucker connecting gear
Control method, comprises the following steps:
Sucker identification:
Total for sucker row parameter and two interambulacrum distance parameters are input to control equipment；
S1: conveyer belt rotates and drives often row's sucker to move from sucker sensor front；
S2: often arrange the sucker from sucker sensor front process and all trigger sucker sensor once,
The signal being triggered is fed back to control equipment by sucker sensor successively；
S3: control the equipment feedback signal according to sucker sensor, by the sequencing of feedback
Feedback signal is numbered successively, until it reaches stop during the total row of sucker being numbered,
Thus each sucker is numbered, and by numbering, each row's sucker is identified；
Control to carry:
After S4: workpiece detector detects that workpiece enters, send signal to control equipment；
S5: when control equipment receives the signal that workpiece detector sends, according to sucker
The feedback signal of sensor judges the sucker being now placed in below workpiece, and controls corresponding to work
The electromagnetic valve of the sucker below part is opened, and workpiece is adsorbed by this sucker air-breathing；
Workpiece transmits with this sucker, and during transmitting, sucker sensor continues quilt
Trigger；
S6: control equipment is recorded sucker sensor when workpiece transmits and is triggered number of times, passes through
Number of times that sucker sensor is triggered be multiplied by adjacent two row's interambulacrum distances obtain workpiece move away from
From, then the workpiece displacement judgement workpiece compared with the workpiece transmission range of setting that will obtain
Whether arrive desired location, the most then control the closed electromagnetic valve of sucker below this workpiece,
Sucker stops suction, and completes the transmission of workpiece.
Above-described embodiment is the present invention preferably embodiment, but embodiments of the present invention are also
Being not restricted to the described embodiments, other any spirit without departing from the present invention is with former
Change that reason is lower to be made, modify, substitute, combine, simplify, all should be the displacement side of equivalence
Formula, within being included in protection scope of the present invention.
Claims (10)
1. a hexahedro vision inspection apparatus, it is characterised in that: include the first sucker conveyer
Structure, the second sucker connecting gear, image collecting device, the first synchronous transfer mechanism, second
Synchronous transfer mechanism and for control workpiece for measurement transmission control system, first synchronize pass
Transfer mechanism is arranged at below the first sucker connecting gear, and the second synchronous transfer mechanism is arranged at
Above two sucker connecting gears, the first sucker connecting gear and the second sucker connecting gear are connected
L-shaped setting, image collecting device is used for gathering the view data of the hexahedro view of workpiece for measurement,
Including multiple photographic head, photographic head is respectively provided to the first synchronous transfer mechanism and second and synchronizes
On transmission mechanism, wherein the first synchronous transfer mechanism gathers workpiece for measurement downside, work to be measured
Part left surface and the view data of workpiece for measurement right flank, the second synchronous transfer mechanism gathers
Workpiece for measurement leading flank and the view data of workpiece for measurement trailing flank, workpiece for measurement upper side
View data is acquired by the first synchronous transfer mechanism or the second synchronous transfer mechanism.
Hexahedro vision inspection apparatus the most according to claim 1, it is characterised in that: institute
State the first synchronous transfer mechanism and the second synchronous transfer mechanism all include servomotor, sprocket wheel,
Chain and frame, servomotor is rotated by chain wheel drive chain, and frame is pacified
Being loaded on chain, image collecting device is arranged in frame.
Hexahedro vision inspection apparatus the most according to claim 2, it is characterised in that: the
One synchronizes to be additionally provided with sub-scanning mechanism in transmission mechanism and the second synchronous transfer mechanism, auxiliary
Help sweep mechanism to include driving motor, leading screw slide unit and connection sliding block, drive motor to be used for
Driving the screw turns of leading screw slide unit, connection sliding block is connected on the leading screw of leading screw slide unit, even
Connecing slide block moving direction parallel with workpiece for measurement transmission direction, described frame is with connection sliding block even
Connect；
Described frame takes the shape of the letter U setting, the photographic head of image collecting device be separately positioned on first with
Step transmission mechanism and the frame both ends that take the shape of the letter U of the second synchronous transfer mechanism and/or middle part.
Hexahedro vision inspection apparatus the most according to claim 1, it is characterised in that: also
Being provided with workpiece auxiliary gatherer, workpiece auxiliary gatherer delivery outlet and the first sucker pass
Send mechanism or the second sucker connecting gear to connect, workpiece auxiliary gatherer include conveyer device,
Left importing plate and right importing plate, left importing plate and right importing plate are separately positioned on conveyer device
Conveyer belt both sides support body on, between left importing plate and right importing plate formed along transmission direction
Passage ajusted by diminishing workpiece.
Hexahedro vision inspection apparatus the most according to claim 1, it is characterised in that: institute
State the first sucker connecting gear and the second sucker connecting gear all include conveyer belt, electromagnetic valve with
And multiple sucker, sucker is respectively arranged on conveyer belt, and sucker all protrudes from the band of conveyer belt
Face, electromagnetic valve is multiple, is connected with sucker respectively, is used for controlling sucker and is turned on and off；
Control system for by control each electromagnetic valve make sucker open when workpiece enters and
Close during workpiece output.
Hexahedro vision inspection apparatus the most according to claim 5, it is characterised in that: institute
State sucker to become multiple rows of and be uniformly arranged on a moving belt, the sucker between two rows apart from equal, electricity
Magnet valve is multiple, respectively with often arrange sucker and be connected, be turned on and off for controlling often row's sucker；
Control system includes control equipment, workpiece detector and sucker sensor, and workpiece is examined
Survey device and sucker sensor respectively with control equipment and be connected, each electromagnetic valve respectively with control equipment
Connecting, workpiece detector and sucker sensor are arranged on conveyer belt porch；
Workpiece detector is for detecting whether there is workpiece to enter；
Sucker sensor arrives the sucker of conveyer belt porch for detecting；
Control equipment is opened when workpiece enters and is positioned at the electromagnetic valve of sucker below workpiece, with
And according to the distance between sucker sensor detection data and two row's suckers, obtain below workpiece
Judge whether workpiece arrives institute compared with the workpiece transmission range set after the displacement of sucker
Position need to be transmitted, the most then control the closed electromagnetic valve of corresponding sucker.
Hexahedro vision inspection apparatus the most according to claim 5, it is characterised in that: institute
State control system to include control equipment, entrance workpiece detector, outlet workpiece detector, enter
Oral sucker sensor and go out oral sucker sensor, entrance workpiece detector, outlet workpiece inspection
Survey device, enter oral sucker sensor and go out oral sucker sensor and be connected with control equipment respectively,
Each electromagnetic valve is connected with control equipment respectively；
Entrance workpiece detector and enter oral sucker sensor and be arranged on conveyer belt porch；
Outlet workpiece detector and go out oral sucker sensor and be arranged on conveyer belt exit；
Entrance workpiece detector is for detecting whether there is workpiece to enter；
Outlet workpiece detector is for detecting whether there is workpiece to arrive conveyer belt outlet；
Enter oral sucker sensor for detecting the sucker arriving conveyer belt porch；
Go out oral sucker sensor for detecting the sucker arriving conveyer belt exit；
Control equipment is used for receiving entrance workpiece detector, outlet workpiece detector, entrance suction
Dish sensor and go out oral sucker sensor send data, and according to the data received lead to
Cross control each electromagnetic valve make sucker open when workpiece enters and when workpiece exports close.
Hexahedro vision inspection apparatus the most according to claim 3, it is characterised in that: the
One synchronizes to be equipped with in transmission mechanism, the second synchronous transfer mechanism alignment sensor, controls system
System includes control equipment；
The servomotor of the first synchronous transfer mechanism, the driving motor of the first synchronous transfer mechanism,
The servomotor of the second synchronous transfer mechanism, the driving motor of the second synchronous transfer mechanism and fixed
Level sensor is connected with control equipment respectively；
Alignment sensor is respectively used to detect the position of workpiece；
Control equipment is for receiving the detection information of two alignment sensors, and according to receiving
Detection information starts the first corresponding synchronous transfer mechanism and the second synchronous transfer mechanism.
9., according to the arbitrary described hexahedro vision inspection apparatus of claim 1-8, its feature exists
In: the first sucker connecting gear includes the 3rd sucker connecting gear and the 4th sucker conveyer
Structure, the 3rd sucker connecting gear and the 4th sucker connecting gear are that in-line connects, and the 4th inhales
Dish connecting gear and the second sucker connecting gear are connected L-shaped setting, the first synchronous transfer mechanism
Being two, the respectively the 3rd synchronous transfer mechanism and the 4th synchronous transfer mechanism, the 3rd is same
Step transmission mechanism is arranged at above the 3rd sucker connecting gear, and the 4th synchronous transfer mechanism is arranged
Below the 4th sucker connecting gear, the 4th synchronous transfer mechanism is used for gathering under workpiece for measurement
The view data of side, workpiece for measurement left surface and the view data of workpiece for measurement right flank
It is acquired by the 3rd synchronous transfer mechanism or the 4th synchronous transfer mechanism；
The view data of workpiece for measurement upper side is synchronized to pass by the 3rd synchronous transfer mechanism or second
Transfer mechanism is acquired.
10. the first sucker connecting gear described in a claim 6 and the second sucker transmission
The control method of mechanism, it is characterised in that comprise the following steps:
Sucker identification:
S1: conveyer belt rotates and drives often row's sucker to move from sucker sensor front；
S2: often arrange the sucker from sucker sensor front process and all trigger sucker sensor once,
The signal being triggered is fed back to control equipment by sucker sensor successively；
S3: control the equipment feedback signal according to sucker sensor, by the sequencing of feedback
Feedback signal is numbered successively, until it reaches stop during the total row of sucker being numbered,
Thus each sucker is numbered, and by numbering, each row's sucker is identified；
Control to carry:
After S4: workpiece detector detects that workpiece enters, send signal to control equipment；
S5: when control equipment receives the signal that workpiece detector sends, according to sucker
The feedback signal of sensor judges the sucker being now placed in below workpiece, and controls corresponding to work
The electromagnetic valve of the sucker below part is opened, and workpiece is adsorbed by this sucker air-breathing；
Workpiece transmits with this sucker, and during transmitting, sucker sensor continues quilt
Trigger；
S6: control equipment is recorded sucker sensor when workpiece transmits and is triggered number of times, passes through
Number of times that sucker sensor is triggered be multiplied by adjacent two row's interambulacrum distances obtain workpiece move away from
From, then the workpiece displacement judgement workpiece compared with the workpiece transmission range of setting that will obtain
Whether arrive desired location, the most then control the closed electromagnetic valve of sucker below this workpiece,
Sucker stops suction, and completes the transmission of workpiece.
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| CN201610573244.8A CN106018430B (en) | 2016-07-19 | 2016-07-19 | Six facial vision detection devices of one kind and its control method |
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| CN201610573244.8A CN106018430B (en) | 2016-07-19 | 2016-07-19 | Six facial vision detection devices of one kind and its control method |
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| CN106018430B CN106018430B (en) | 2018-08-28 |
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| CN106563648A (en) * | 2016-10-19 | 2017-04-19 | 吴爱兵 | Packaging box printing quality uninterrupted detection platform |
| CN106643861A (en) * | 2016-12-29 | 2017-05-10 | 无锡凯涵科技有限公司 | CCD visual sense screening device |
| CN106872474A (en) * | 2017-03-08 | 2017-06-20 | 苏州易瑞得电子科技有限公司 | Exploded perspective vision testing machine and its detection method |
| CN107966102A (en) * | 2018-01-18 | 2018-04-27 | 中山市鑫光智能系统有限公司 | A kind of plate production six-face detection device |
| CN108333186A (en) * | 2018-04-03 | 2018-07-27 | 南京理工大学 | Go mouldy detecting system and its detection method based on the surfaces Yan Duo |
| CN109261536A (en) * | 2018-10-12 | 2019-01-25 | 无锡传奇科技有限公司 | A kind of sheath detection device |
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