Content of the invention
It is an object of the invention to overcoming defect of the prior art, design a kind of wheel hub outward appearance based on machine vision certainly
Dynamic sorting equipment, this device realizes type identifier, fixing centering and the automatic outward appearance detection function of wheel hub, has detection effect
The advantage that rate is high, accuracy rate is high.
For achieving the above object, the technical solution adopted in the present invention is that a kind of wheel hub outward appearance based on machine vision is automatic
Sorting equipment, including detection main body, described detection main body includes：Positioning component, for by clamping device stationary hub and band
Runner hub carries out Z axis motion and rotary motion；At least three groups of light source photomoduel is correspondingly arranged at fixing rear-wheel hub respectively
Top, lower section and side；Detection framework, by attachment means stationary positioned assembly and each group light source photomoduel, each light source
Photomoduel is connected with host computer by network interface.
In specific preferred version, described light source photomoduel includes phase parts, is arranged on phase parts side at least
One light source component and the light source camera support connecting phase parts and light source component, phase parts and detection framework；Described light source component energy
Enough from respective specified location is along assigned direction plane of departure light beam to a same part for hub surface, form irradiation area；
Described phase parts can be used for detecting the reflected beams of irradiation area on hub surface in given position, and produces picture signal.
Positioning component of the present invention includes the upper positioning component and lower positioning component along Z axis distribution, described positioning group
Part includes the connecting bracket that one end is connected with detection framework and can be carried out lifting carriage by elevating mechanism, and props up located at connecting
The frame other end is used for the clip claw mechanism of clamping wheel hub；Described clip claw mechanism be used for supporting wheel hub center, and drive wheel hub with respect to
Connecting bracket rotates, to realize the whole detection angles of automatic rotary modulation.
In further technical scheme, described detection framework is made up of the frame of top board and roof supporting, described top board
For cover type structure, described top board is provided with several observation windows, and described detection framework is provided with gas outlet towards determining core rear-wheel hub
The air blowing dedusting mechanism of position.
Further preferred version is that the detection section that sorting equipment of the present invention is also included located at detection framework lower inside is defeated
Send device, described detection section conveyer device include transportation frame, above transportation frame two inner side idler wheel mechanism, connect institute
State the motor of idler wheel mechanism and the photoelectric sensor being distributed in two outsides above transportation frame, corresponding described positioning component
The positioning component (11) that transportation frame position is provided with for lower section carries out the detection window launched light source and shoot, under described wheel hub
Side is provided with coarse positioning assembly, the operation that described coarse positioning assembly is clamped to wheel hub periphery by clip claw mechanism and unclamps.
In a concrete preferred version, described detection section conveyer device front end is provided with feeding and conveying device, and rear end is provided with
Lower material conveying device, described feeding and conveying device and lower material conveying device all include transportation frame, two above transportation frame
The roller of inner side and the motor connecting described roller.
Another aspect of the present invention additionally provides a kind of wheel hub outward appearance automatic sorting method based on machine vision, is using upper
The wheel hub outward appearance sorting equipment based on machine vision stated, its when described wheel hub is detected, by the pneumatic clamps of positioning component
Pawl internal stay is fixed and is extremely detected irradiation area along Z axis are mobile, and triggering light source photomoduel carries out shooting a wheel hub part, subsequent root
Adjust angle according to detection track rotary hub to be shot, until obtaining the image in all faces of wheel hub.
Wherein preferred scheme, before described wheel hub is detected, described light source photomoduel is carried out by telescoping mechanism
Light source component and the position adjustments of phase parts, to adapt to the wheel hub of various outer diameter size.
Wherein preferred scheme, before described wheel hub is detected, described wheel hub is delivered to inspection by feeding and conveying device
Survey section conveyer device, sensor detects after wheel hub puts in place, and the jaw of rough positioning device is clamped to wheel hub periphery, and passes through
Hub centre is directed at the Pneumatic clamping jaw of positioning component by line reciprocator, after Pneumatic clamping jaw support is fixing, rough positioning device
Clip claw mechanism unclamp wheel hub.
Wherein preferred scheme, when described wheel hub is detected, master system receives the image shooting, and according to regarding
Feel detection algorithm assessment when the quality of front hub, visual detection algorithm is specially calls corresponding mark according to the hub type of identification
Quasi- parameter, carries out images match according to canonical parameter with when front hub, exports testing result.
Wherein preferred scheme, after described wheel hub quality of evaluation, if it is determined that unqualified need again to enter producing line add
Work, then wheel hub be automatically separated the boxing mechanism of unqualified product；If it is determined that qualified, wheel hub is automatically toward rear class packing mechanism
Streamline transmits；If it is determined that unqualified need artificial manual operation, then wheel hub is automatically separated manual patcher position.
Further aspect of the present invention additionally provides a kind of wheel hub outward appearance sorting system based on machine vision, described system bag
Wheel hub conveyor module, for realizing the automatic transport of wheel hub；
Wheel hub locating module, for realizing the positioning of wheel hub step by step by the operation of coarse positioning and support positioning；
Wheel hub identification module, for realizing the model to wheel hub and defect classification identification function using light source photomoduel；
Automatically outward appearance detection module, for adjusting to adapt to phase parts to hub positions by the elevating mechanism of positioning component
Distance carries out automatic detection；
Main control module, for electromechanics operating, the output control of switching signal and proximity transducer, the photoelectricity of control device
The collection of sensor signal.
In further scheme, described system also includes equipment running status alarm module, is used for realizing the inspection of wheel hub outward appearance
Classifying alarm function in examining system, by the different lamp of color, this module represents that equipment normally runs, abnormal or wait, be not required to
Jerk and abnormal alarm, need three kinds of situations of jerk.
Advantages of the present invention and having the beneficial effects that：
1) wheel hub can be circulated this station centre position by the positioning function of wheel hub of the present invention from feeding pipeline, and it is right to complete
(using internal stay mode) centering of wheel hub, location structure is stable, reliable, can automatic identification different model wheel hub, self adaptation different shaped
The detection of number wheel hub outward appearance；Wheel hub automatic detection trigger system after positioning completely, realizes automatically controlling Z axis operation, automatic running is examined
Survey track.This device can also adapt to camera heights by automatic identification hub height adjustment main shaft.
2) wheel hub of the present invention just positioner function on the conveyor line be make wheel hub be centrally located in fixing position
Put, this device realizes the centering to wheel hub, the symmetrical structure by rack-and-pinion for the symmetric motion by the symmetric motion of 4 jaws
3) automatically transfer the detection track of wheel hub and carry out automatic outward appearance detection, apparatus of the present invention pattern recognition device is main
Realize the identification of wheel model classification using industrial camera and light source, enable wheel hub appearance detecting device according to the hub type of identification
Number call the detection to wheel hub open defect for the corresponding parameter；Mark is provided for wheel hub outward appearance detection automatic detection in detection process
Standard, can quick detection hub defect kind judging conforming product rate；And Z-direction then ensures accuracy of detection using line slideway.
4) sorting equipment of the present invention is provided with the feeding, discharge conveying function of wheel hub, provides the conveying function of different model wheel hub,
The width of pipeline will compatible 14-18 inch wheel hub, the height of pipeline is 800mm, facilitates manual or automaticization equipment
Upper lower hub；Additionally, loading and unloading pipeline cabling is reasonable, attractive in appearance, it is easy to safeguard.
5) sorting equipment of the present invention and system automation degree are high, save cost of labor；And during this system operation there be equipment
Fault message is reminded, when equipment occurs extremely then can automatic emergency stop to protect.
6) in method for sorting of the present invention, the objectivity of the standard of vision-based detection is strong and stability is high, can greatly promote product
Detection quality it is ensured that the reliable in quality stability of product.
With reference to the accompanying drawings and examples, the specific embodiment of the present invention is further described.Following examples are only
For clearly technical scheme being described, and can not be limited the scope of the invention with this.
A kind of wheel hub outward appearance sorting equipment based on machine vision of the present invention, including detection main body 1, described detection main body
1 includes：Positioning component, for by clamping device stationary hub and drive wheel hub carry out Z axis motion and rotary motion；At least three
The light source photomoduel of group, is correspondingly arranged at top, lower section and the side of fixing rear-wheel hub respectively；Detection framework, by even
Connection device stationary positioned assembly and each group light source photomoduel, each light source photomoduel 2 is connected with host computer by network interface.
In a specific embodiment based on the wheel hub outward appearance sorting equipment of machine vision as shown in Figure 1, positioning component
10 is upper positioning, and positioning component 11 is lower positioning, and two positioning component structures are identical, are oppositely arranged along Z axis clip claw mechanism.Fig. 6
Shown, wherein positioning component 10 includes the company that one end is connected with detection framework 30 and can be carried out lifting carriage by elevating mechanism 15
Connect support 13, and the clip claw mechanism 14 being used for clamping wheel hub 12 located at connecting bracket 13 other end；Described clip claw mechanism 14 by
Pneumatic clamping jaw 140, air spider 141 and electric rotating machine 142 form, and described air spider 141 front end connects described Pneumatic clamping jaw
140, rear end is fixedly connected with connecting bracket 13, and the output shaft of described electric rotating machine 142 connects the center of described air spider 141
Light source photomoduel 20 include phase parts 21, at least one light source component 22 being arranged on phase parts 21 side and
Connect the light source camera support 23 of phase parts 21 and light source component 22, phase parts 21 and detection framework 30.Fig. 2-3 shows light source phase
One specific embodiment of thermomechanical components, in this embodiment, light original paper 22 has two, is separately positioned on the both sides of camera.
Two light source component 22 can be from respective specified location along assigned direction plane of departure light beam to wheel hub 12 surface
With in a part, form irradiation area；Described phase parts 21 can be used for detecting irradiation area on wheel hub 12 surface in given position
The reflected beams, and produce picture signal.
Described light source camera support 23 includes connecting the main support 230, Yi Jilian of described phase parts 21 and detection framework 30
Connect the secondary support 231 of described phase parts 21 and each light source component 22, described main support 230 passes through the internal telescoping mechanism 24 being provided with and enters
Row adjusts phase parts 21, light source component 22 and the spacing of wheel hub 12, sees Fig. 4-5.
The detection framework of the present invention can be, but not limited to as rectangular frame, to enable the base that other structures of the present invention are defined
On plinth, can be other shapes.In one particularly preferred embodiment, shown in Fig. 1, described detection framework 30 is rectangle frame
Frame, it is made up of the frame 32 of top board 31 and roof supporting 31, and described top board 31 is cover type structure, and described top board 31 is provided with
Several observation windows 33, described detection framework 30 is provided with gas outlet towards the air blowing dedusting mechanism determining core rear-wheel hub position.
The present invention has in an embodiment, and described sorting equipment also includes the detection located at detection framework 30 lower inside
Section conveyer device 40, as Figure 7-8, described detection section conveyer device 40 includes transportation frame 41, in transportation frame 41
The idler wheel mechanism 42 of side two inner side, connect the motor 43 of described idler wheel mechanism 42 and be distributed in outside transportation frame 41 top two
The photoelectric sensor 44 of side, transportation frame 41 position of the Z axis that the described positioning component 10,11 of correspondence is located is provided with for lower section
Positioning component 11 carry out the detection window launching light source and shoot, be provided with coarse positioning assembly 45 below described wheel hub, described slightly fixed
The operation that hyte part 45 is clamped and unclamps to wheel hub 12 periphery by clip claw mechanism.
Specifically as shown in figure 9, described rough positioning device 45 is located at the lower section of idler wheel mechanism 42, described rough positioning device 45
Including mounting seat 450, the straight line moving double-rod 451 in mounting seat 450 be located at straight line moving double-rod 451 two ends and with
Two vertical jaw connecting rods 452 of straight line moving double-rod 451 and be located at four jaws 50 in jaw connecting rod 452, four
Individual described jaw 50 protrudes upward the upper surface higher than idler wheel mechanism 42, corresponding idler wheel mechanism 42 lateral attitude of described jaw 50
It is provided with walking passageway 60.Described jaw connecting rod 452 pass through line reciprocator can along straight line moving double-rod 451 carry out opposite or
Adverse movement, so that being decreased or increased of jaw 50 spacing.
Described line reciprocator includes the hydraulic actuator 54 doing straight reciprocating motion and hydraulic actuator 54
Mobile terminal connect rack and pinion assembly and rack and pinion assembly is connected to the pulley arrangement in mounting seat.
Described rack and pinion assembly is by the first tooth bar being connected and be arrangeding in parallel with two described jaw connecting rods 452 respectively
51 and second tooth bar 52, and form located at respectively at the first tooth bar 51 and the second tooth bar 52 meshed gears 53；Described first
The teeth of the teeth of tooth bar 51 and the second tooth bar 52 are located at forward surface to realize engaging with same gear 53；Described pulley arrangement by
It is fixed on two groups of guide rails 60 of mounting seat and two groups of slide blocks 61 being solidly connected respectively with the first tooth bar 51 and the second tooth bar 52
Composition, two groups of slide blocks 61 drive the first tooth bar 51 and the second tooth bar 52 to slide on respective guide rail 60 respectively.
The fixing end of described hydraulic actuator 54 is fixedly connected with straight line moving double-rod 451, jaw connecting rod described in
452 inner side edges connect the mobile terminal of hydraulic actuator 451.
When hydraulic actuator 451 carries out straight reciprocating motion, drive a jaw connecting rod 452 along straight line moving double-rod
451 carry out opposite or adverse movement, and then drive the first tooth bar 51 that this jaw connecting rod 452 connects to make line sliding motion,
And driving the second tooth bar 52 to make line sliding motion by gear 53, the second tooth bar 52 drives another jaw connecting rod 452 along straight
Line walking double-rod 451 carries out opposite or adverse movement, realizes tightening up or unclamping of jaw 50.
Figure 10 shows another specific embodiment of conveyer device, and described sorting equipment also includes being respectively arranged on detection
The section feeding and conveying device 70 of conveyer device 40 front end and the lower material conveying device 80 of rear end, described feeding and conveying device 70 He
Lower material conveying device 80 include transportation frame 71,81, the roller 72,82 located at transportation frame 71,81 top two inner side and even
Connect the motor 73,83 of described roller 72,82.
The conveyer device of the present invention provides the conveying function of different model wheel hub, and the application is to the height of conveyer device, width
Degree and roller rotating speed are not especially limited.In actual applications, the height of conveyer device is 800mm, convenient manually upper and lower
Wheel hub (in conjunction with the conveyer device height of upstream and downstream)；Automatic charging line is made up of two row's cylinders, and the distance between two row's cylinders will
Adapt to 14-18 inch wheel hub (in conjunction with the conveyer device width of upstream and downstream)；Enough width protect wheel hub in the process of conveying
In do not collided with, frictionally damage；Conveyer device roller rotating speed is preferably 12m/min (in conjunction with the conveyer device speed of upstream and downstream)；
The conveyer device cabling of three-stage is reasonable, attractive in appearance, is easy to safeguard.Material conveying device is wherein descended also to include abnormal wheel hub (for example
Type identifier is unclear) sort out from the wheel hub having detected.
Figure 11 show conveyer device and is placed in overall structure during detection main body 1 interior lower end.Detection section conveying arrangement
Position between upper positioning component 10 and lower positioning component 11 for the upper level.
The wheel hub outward appearance method for sorting based on machine vision for the present invention uses the wheel hub outward appearance based on machine vision for the present invention
Sorting equipment, it is fixed and along Z axis by Pneumatic clamping jaw 140 internal stay of positioning component 10,11 when described wheel hub 12 detects
Move to detecting irradiation area, it is a part of, subsequently according to the rotation of detection track that triggering light source photomoduel 20 carries out shooting wheel hub 12
Runner hub 12 adjusts angle and is shot, until obtaining the image in all faces of wheel hub 12.
It is carried out wheel hub 12 model according to the preliminary part shooting wheel hub 12 and knows when described wheel hub 12 detects
, then run according to the detection track that the corresponding model of Recognition feedback extraction prestores and work as front hub 12.
, before described wheel hub 12 is detected, described light source photomoduel 20 carries out light source component 22 by telescoping mechanism 24 for it
With the position adjustments of phase parts 21, to adapt to the wheel hub 12 of various outer diameter size.
, before described wheel hub 12 is detected, described wheel hub 12 is delivered to detection section conveying by feeding and conveying device 70 for it
Device 40, sensor detects after wheel hub puts in place, and the jaw of rough positioning device 45 is clamped to wheel hub 12 periphery, and by straight
Wheel hub 12 center is directed at the Pneumatic clamping jaw 140 of positioning component 10,11 by line reciprocator, after Pneumatic clamping jaw 140 support is fixing,
The clip claw mechanism of rough positioning device 45 unclamps wheel hub 12.
, when described wheel hub 12 is detected, master system receives the image shooting for it, and according to visual detection algorithm
When the quality of front hub 12, visual detection algorithm is specially calls corresponding standard ginseng according to wheel hub 12 model of identification for assessment
Number, carries out images match according to canonical parameter with when front hub 12, exports testing result.
In a specific embodiment, using the sorting equipment with conveyer device, as shown in figure 12, this method for sorting bag
Include following steps：
Step 1) wheel hub put to the feeding and conveying device of pipeline, transport to the detection zone of detection section conveyer device；
Step 2) rough positioning device carries out to wheel hub just positioning, wheel hub is clamped position by clip claw mechanism；
Step 3) positioning component carries out supportting to hub centre and determines core, and move along Z axis and rotary motion adjusts wheel hub
Position and angle；
Step 4) after the completion of positioning, sensor-triggered PLC system sends light source component and phase parts and shoots signal, and wheel hub is entered
Row is taken pictures, and wheel hub is carried out with the judgement of signal identification；
Step 5) automatic running Surface testing process is carried out according to the feedback of signal identification；
Step 6) after detection finishes, wheel hub main shaft returns to initial point, and the clip claw mechanism support cylinder of positioning component unclamps；
Step 7) detect that wheel hub is delivered to lower material conveying device by section conveyer device, then seen off by lower material conveying device,
Terminate the testing process of a wheel hub.
Wherein, in detecting step, by host computer to described wheel hub quality of evaluation, assessment result has three：If sentenced
Break and need again to enter producing line processing, then step 7 for unqualified) in wheel hub be automatically separated the boxing mechanism of unqualified product；As
Fruit be judged as qualified, step 7) in wheel hub automatically toward rear class packing mechanism streamline transmit；If it is determined that unqualified need people
Work manual operation, then step 7) in wheel hub be automatically separated manual patcher position.
It is judged as that the unqualified wheel hub needing artificial manual operation, after manual repair is complete, is placed into finger by after artificial bagging
Determine station；Differentiate the color of the wheel hub of current location by specifying the industrial camera imaging that station is placed；Simultaneity factor is according to dress
Case demand automatic decision is that the station after prime detection stream waterline or manual repair takes wheel hub to pack；If manual repair
Station afterwards takes wheel hub to pack, then according to vanning demand automatic decision, when the station after manual repair takes wheel hub bag to system
Dress；Wheel hub is placed into wheel hub station to be cased.
The specific embodiment based on the wheel hub outward appearance sorting system of machine vision for the present invention, as shown in figure 13, described system
Wheel hub conveyor module 101, for realizing automatic charging and the blanking conveying of wheel hub 12；
Wheel hub locating module 102, for realizing the positioning of wheel hub 12 step by step by the operation of coarse positioning and support positioning；
Wheel hub identification module 103, for realizing the model to wheel hub 12 and the knowledge of defect classification using light source photomoduel 20
Automatically outward appearance detection module 104, for by the elevating mechanism 15 of positioning component 10,11 to wheel hub 12 position adjustment
Carry out automatic detection to adapt to phase parts 21 distance；
Main control module 105, for the electromechanics operating of control device, the output control of switching signal and proximity transducer,
The collection of photo-sensor signal；
Equipment running status alarm module 106, for realizing the classifying alarm function in wheel hub 12 outward appearance detecting system, should
By the different lamp of color, module represents that equipment normally runs, abnormal or wait, be not required to jerk and abnormal alarm, need jerk three
The situation of kind.
Wherein main control module 105 includes phase parts exposure external trigger specifically for control operation, light source switch controls, defeated
Send plant running control, the signal collection of photo-sensor signal collection, the control of servomotor and its sensor, the control of cylinder
The control of the signal collection of system and its sensor, the control of trichroism warning modulating signal and facility switching reset scram button.
Wheel hub conveyor module 101 conveys list and blanking supply unit along pipeline successively feeding supply unit, detection section,
Outside normal wheel hub blanking at described blanking supply unit, it is additionally operable to the separation blanking of abnormal wheel hub.
Described wheel hub positioning unit 102 includes coarse positioning unit and positioning unit；Described coarse positioning unit passes through coarse positioning
What device 45 made wheel hub 12 is centrally located in fixing position；Described positioning unit, after wheel hub 12 center is fixing, uses jaw machine
Structure 14 carries out precision centering to wheel hub 12.
Detection test based on wheel hub outward appearance sorting equipment of the present invention, realizes the shooting of dynamic image, inspection using CCD camera
Surveying shown in the gained image such as Figure 14-19 it can be seen that surface of wheel hub is sub- light, and imaging effect is especially suitable for visual processes.
Very excellent pending image can clearly be obtained on all surfaces defective, utilization software that therefore can be stable detects
Flaw product part.
The above is only the preferred embodiment of the present invention it is noted that ordinary skill people for the art
For member, on the premise of without departing from the technology of the present invention principle, some improvements and modifications can also be made, these improvements and modifications
Also should be regarded as protection scope of the present invention.