CN106423894B - Wheel hub appearance automatic sorting device, method for sorting and sorting system based on machine vision - Google Patents
Wheel hub appearance automatic sorting device, method for sorting and sorting system based on machine vision Download PDFInfo
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- CN106423894B CN106423894B CN201610835742.5A CN201610835742A CN106423894B CN 106423894 B CN106423894 B CN 106423894B CN 201610835742 A CN201610835742 A CN 201610835742A CN 106423894 B CN106423894 B CN 106423894B
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- wheel hub
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- clamping jaw
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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
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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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
-
- 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
Abstract
The present invention relates to a kind of wheel hub appearance automatic sorting device based on machine vision, including detection main body, the detection main body includes: positioning component, for by clamping device stationary hub and with runner hub progress Z axis movement and rotary motion；At least three groups of light source photomoduel respectively corresponds the top, lower section and side that wheel hub after fixation is arranged；Detection framework, by attachment device stationary positioned component and each group light source photomoduel, each light source photomoduel is connect by network interface with host computer.The device realizes type identifier, fixed centering and the automatic appearance detection function of wheel hub, has the advantages that detection efficiency is high, accuracy rate is high.
Description
Technical field
The present invention relates to wheel hub appearance detection techniques, and in particular to a kind of wheel hub appearance automatic sorting based on machine vision
Device, method for sorting and sorting system.
Background technique
In wheel hub manufacturing process, it is ensured that the technical issues of safety of traveling is overriding concern.For light-alloy wheel hub matter
Amount detection, the geometry of the totally different cross section cast structure of wheel hub and complexity are typically examined with X-ray, in real time to display
X-ray wheel hub image on monitoring screen, the prior art are the identification of defect to be carried out by human eye, while carrying out wheel hub quality conjunction
Judgement whether lattice haves the shortcomings that low efficiency, accuracy are poor.On the other hand, image understanding technology is applied to cast article
In internal flaw identification technology, since the casting structure of variation multiplicity is as image back complicated and changeable during target identification
Scape, and the contour feature that target is fast and accurately extracted from complex background is always the difficulty of technical field of image processing
Topic causes image understanding technology not to be widely applied in wheel hub detection.
For above situation, which gradually improves the hub defect automatic testing method based on image understanding.
The movement, rotation and the movement of X-ray tube of wheel hub, the parameter of PLV control system are specially accurately controlled using PLC control system
By the wheel hub casting flaw software set in PC machine.X-ray shoots the image of each position of wheel hub, and the position is by PC machine
Wheel hub casting flaw software set, wheel hub casting flaw inspection software are lacked by the casting in detection algorithm automatic identification wheel hub
It falls into, greatly improves the degree of automation of wheel hub detection and the objectivity of examination criteria.Such as patent application document
200610132358.5 a kind of disclosed wheel hub casting flaw automatic testing method and device based on image understanding.However,
In conventional images hub defect detection system, wheel hub shooting position cannot be judged automatically by computer, wheel hub shooting face is not complete,
Shooting spend the time it is long, and light source setting it is unreasonable cause external light source to interfere imaging, influence to be imaged；And it is detecting
When can only by operator according to real image carry out subjective vision judgement, wheel hub shoot part position is manually adjusted, so that human eye can
Clearly to detect wheel hub key position with the presence or absence of defect, whole operation process time is long, low efficiency, and accuracy rate is low；Again
Person in conventional images hub defect detection system, can not adapt to different model, different size of wheel hub and differently contoured figure
Shape.Therefore, how improving wheel hub open defect and detecting the technology of sorting automatically is still this field technical problem urgently to be solved.
Summary of the invention
The purpose of the present invention is to overcome the defects in the prior art, design a kind of wheel hub appearance based on machine vision from
Dynamic sorting equipment, the device realize type identifier, fixed centering and the automatic appearance detection function of wheel hub, have detection effect
The advantage that rate is high, accuracy rate is high.
To achieve the above object, the technical scheme adopted by the invention is that a kind of wheel hub appearance based on machine vision is automatic
Sorting equipment, including detection main body, the detection main body includes: positioning component, for passing through clamping device stationary hub and band
Runner hub carries out Z axis movement and rotary motion；At least three groups of light source photomoduel respectively corresponds setting wheel hub after fixation
Top, lower section and side；Detection framework passes through attachment device stationary positioned component and each group light source photomoduel, each light source
Photomoduel is connect by network interface with host computer.
In specific preferred embodiment, the light source photomoduel includes a phase parts, phase parts side is arranged at least
One light source component and the light source camera support for connecting phase parts and light source component, phase parts and detection framework；The light source component energy
Enough irradiation area is formed in same a part of assigned direction plane of departure light beam to hub surface from respective designated position；
The phase parts can be used to detect the reflected beams of irradiation area on hub surface in given position, and generate picture signal.
Positioning component of the present invention includes the upper positioning component and lower positioning component along Z axis distribution, the positioning group
Part includes the connecting bracket that one end connect with detection framework and can carry out by elevating mechanism lifting carriage, and is set to connection branch
The frame other end is used for the clip claw mechanism of clamping wheel hub；The clip claw mechanism is used to support hub centre, and with runner hub relative to
Connecting bracket rotation, to realize automatic rotation adjustment detection angles.
In further technical solution, the detection framework is made of the frame of top plate and roof supporting, the top plate
For cover type structure, the top plate is equipped with several observation windows, and the detection framework is equipped with gas outlet direction and determines core rear-wheel hub
The air blowing dedusting mechanism of position.
Further preferred embodiment is, sorting equipment of the present invention further include set on detection framework lower inside detection section it is defeated
Device is sent, the detection section conveying device includes transportation frame, the idler wheel mechanism of two insides, connection institute above transportation frame
It states the motor of idler wheel mechanism and is distributed in the photoelectric sensor in two outsides above transportation frame, the corresponding positioning component
Transportation frame position is equipped with the detection window that transmitting light source and shooting is carried out for the positioning component of lower section, sets below the wheel hub
There are coarse positioning component, the operation that the coarse positioning component is clamped and is unclamped to wheel hub periphery by clip claw mechanism.
In a specific preferred embodiment, the detection section conveying device front end is equipped with feeding and conveying device, and rear end is equipped with
Lower material conveying device, the feeding and conveying device and lower material conveying device include transportation frame, are set to two above transportation frame
The idler wheel of inside and the motor of the connection idler wheel.
Another aspect of the present invention additionally provides a kind of wheel hub appearance automatic sorting method based on machine vision, is using upper
The wheel hub appearance sorting equipment based on machine vision stated, when the wheel hub is detected, by the pneumatic clamps of positioning component
Pawl inner support fixes and is moved to detection irradiation area along Z axis, and triggering light source photomoduel carries out shooting wheel hub a part, subsequent root
It adjusts angle according to detection track rotary hub to be shot, until obtaining the image in all faces of wheel hub.
Wherein preferred scheme, before the wheel hub is detected, the light source photomoduel is carried out by telescoping mechanism
The position of light source component and phase parts is adjusted, to adapt to the wheel hub of various outer diameter size.
Wherein preferred scheme, before the wheel hub is detected, the wheel hub is delivered to inspection by feeding and conveying device
Section conveying device is surveyed, after sensor detects wheel hub in place, the clamping jaw of coarse positioning component is clamped 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 inner support is fixed, coarse positioning component
Clip claw mechanism unclamp wheel hub.
Wherein preferred scheme, when the wheel hub is detected, master system receives the image of shooting, and according to view
Feel that the quality of front hub is worked as in detection algorithm assessment, visual detection algorithm is specially to call corresponding mark according to the hub type of identification
Quasi- parameter carries out images match, output test result with front hub is worked as according to standard parameter.
Wherein preferred scheme, after the wheel hub quality of evaluation, if it is determined that unqualified needs add into producing line again
Work, then wheel hub is automatically separated the boxing mechanism of unqualified product；If it is determined that qualified, wheel hub is automatically toward rear class packing mechanism
Assembly line transmitting；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 appearance sorting system based on machine vision, the system packet
It includes:
Wheel hub conveyor module, for realizing the automatic conveying of wheel hub；
The positioning of wheel hub is realized in wheel hub locating module, the operation for passing through coarse positioning and inner support positioning step by step；
Wheel hub identification module, for realizing model and defect classification identification function to wheel hub using light source photomoduel；
Automatic appearance detection module, adapts to hub positions adjustment phase parts for the elevating mechanism by positioning component
Distance is detected automatically；
Main control module, electromechanical operating for controlling devices, the output control of switching signal and proximity sensor, photoelectricity
The acquisition of sensor signal.
In further embodiment, the system also includes equipment running status alarm modules, for realizing the inspection of wheel hub appearance
Classifying alarm function in examining system, the module indicate that equipment operates normally by the different lamp of color, and abnormal or waiting is not required to
Emergency stop and abnormal alarm need three kinds of situations of emergency stop.
The advantages and beneficial effects of the present invention are:
1) positioning function of wheel hub of the present invention can circulate wheel hub to this station middle position, completion pair from feeding pipeline
(use inner support mode) centering of wheel hub, location structure is stable, reliable, can automatic identification different model wheel hub, adaptive different shaped
The detection of number wheel hub appearance；Automatic trigger detection system after wheel hub positions completely realizes and automatically controls Z axis operation, automatic running is examined
Survey track.The device can also automatic identification hub height adjustment main shaft adaptation camera heights.
2) wheel hub of the invention just the function of positioning device on the conveyor line be make wheel hub be centrally located in fixed position
It sets, which realizes the centering to wheel hub, the symmetrical structure that symmetric motion passes through rack-and-pinion by the symmetric motion of 4 clamping jaws
Guarantee.
3) it transfers the detection track of wheel hub automatically and carries out automatic appearance detection, apparatus of the present invention pattern recognition device is main
The identification that wheel model classification is realized using industrial camera and light source, enables wheel hub appearance detecting device according to the hub type of identification
Number call the detection of corresponding parameter to wheel hub open defect；Automatic detection is detected for wheel hub appearance in detection process, and mark is provided
Standard can quickly detect hub defect kind judging product qualification rate；And Z-direction then guarantees detection accuracy using linear guide.
4) sorting equipment of the present invention is equipped with the feeding, discharge conveying function of wheel hub, provides the conveying function of different model wheel hub,
The width of pipeline will be compatible with 14-18 inches of wheel hubs, and the height of pipeline is 800mm or so, facilitate manual or automaticization equipment
Upper lower hub；In addition, loading and unloading pipeline cabling is reasonable, beautiful, it is convenient for safeguarding.
5) sorting equipment and system automation degree of the present invention is high, saves cost of labor；And there is equipment when system operation
Fault message remind, when equipment be abnormal then can automatic emergency stop protection.
6) objectivity of the standard of vision-based detection is strong in method for sorting of the present invention and stability is high, can greatly promote product
Detection quality, guarantee the reliable in quality stability of product.
Detailed description of the invention
Fig. 1 is the structural schematic diagram for detecting the embodiment of main body；
Fig. 2 is the overall structure diagram of light source photomoduel；
Structural schematic diagram Fig. 3 exposed for the camera and light source of light source photomoduel；
Fig. 4 is the cross-sectional view of the position A-A in Fig. 5；
Fig. 5 is the section view location mark figure of the light source photomoduel of Fig. 4；
Fig. 6 is the structural schematic diagram of positioning component；
Fig. 7 is the structural schematic diagram for detecting section conveying device；
Fig. 8 is the side schematic view for detecting section conveying device；
Fig. 9 is the structural schematic diagram of coarse positioning component；
Figure 10 is the overall schematic of conveying device；
Figure 11 is the overall schematic of wheel hub appearance automatic sorting device；
Figure 12 is the step schematic diagram of wheel hub appearance automatic sorting method；
Figure 13 is the structural schematic diagram of wheel hub appearance Automated Sorting System；
Figure 14-19 is that wheel hub appearance automatic sorting device detects gained hub portion image.
Specific embodiment
With reference to the accompanying drawings and examples, further description of the specific embodiments of the present invention.Following embodiment is only
For clearly illustrating technical solution of the present invention, and not intended to limit the protection scope of the present invention.
A kind of wheel hub appearance sorting equipment based on machine vision of the invention, including detection main body 1, the detection main body
1 includes: positioning component, for carrying out Z axis movement and rotary motion by clamping device stationary hub and with runner hub；At least three
The light source photomoduel of group respectively corresponds the top, lower section and side that wheel hub after fixation is arranged；Detection framework passes through company
Connection device stationary positioned component and each group light source photomoduel, each light source photomoduel 2 are connect by network interface with host computer.
As shown in Figure 1 in a specific embodiment of the wheel hub appearance sorting equipment based on machine vision, positioning component
10 be 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 connect with detection framework 30 and can carry out by elevating mechanism 15 lifting carriage
Bracket 13 is connect, and is used for the clip claw mechanism of clamping wheel hub 12 set on 13 other end of connecting bracket；The clip claw mechanism is by pneumatic
Clamping jaw 140, air spider 141 and rotating electric machine 142 form, and 141 front end of air spider connects the Pneumatic clamping jaw 140,
Rear end is fixedly connected with connecting bracket 13, the central axis of air spider 141 described in the output axis connection of the rotating electric machine 142.
Light source photomoduel 20 include a phase parts 21, be arranged in 21 side of phase parts at least one light source component 22 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, there are two light original parts 22, is separately positioned on the two sides of camera.
Two light source components 22 can be from respective designated position along assigned direction plane of departure light beam to 12 surface of wheel hub
With in a part, irradiation area is formed；The phase parts 21 can be used to detect irradiation area on 12 surface of wheel hub in given position
The reflected beams, and generate picture signal.
The light source camera support 23 includes the main support 230, Yi Jilian for connecting the phase parts 21 and detection framework 30
Connect the secondary bracket 231 of the phase parts 21 and each light source component 22, the main support 230 by the internal telescoping mechanism 24 being equipped with into
Row adjusts the spacing of phase parts 21, light source component 22 and wheel hub 12, sees Fig. 4-5.
Detection framework of the invention can be, but not limited to as rectangular frame, be subject to the base for being able to achieve other structures of the present invention
It can be other shapes on plinth.In one particularly preferred embodiment, shown in Fig. 1, the detection framework 30 is rectangle frame
Frame is made of the frame 32 of top plate 31 and roof supporting 31, and the top plate 31 is cover type structure, and the top plate 31 is equipped with
Several observation windows 33, the detection framework 30 are equipped with gas outlet towards the air blowing dedusting mechanism for determining core rear-wheel hub position.
Of the invention has in one embodiment, and the sorting equipment further includes the detection set on 30 lower inside of detection framework
Section conveying device 40, as Figure 7-8, the detection section conveying device 40 include transportation frame 41, are set in transportation frame 41
The idler wheel mechanism 42 of two inside of side connects the motor 43 of the idler wheel mechanism 42 and is distributed in outside 41 top two of transportation frame
The photoelectric sensor 44 of side, 41 position of transportation frame of the Z axis where the corresponding positioning component 10,11, which is equipped with, is used for lower section
Positioning component 11 carry out the detection window of transmitting light source and shooting, be equipped with coarse positioning component 45 below the wheel hub, it is described thick fixed
The operation that hyte part 45 is clamped and is unclamped to 12 periphery of wheel hub by clip claw mechanism.
Specifically as shown in figure 9, the coarse positioning component 45 is set to the lower section of idler wheel mechanism 42, the coarse positioning component 45
Including mounting seat 450, in mounting seat 450 straight line walking double rod 451 be located at straight line walking 451 both ends of double rod and with
Four clamping jaws 50 two vertical clamping jaw connecting rods 452 of straight line walking double rod 451 and be located in clamping jaw connecting rod 452, four
A clamping jaw 50 extends higher than the upper surface of idler wheel mechanism 42, corresponding 42 lateral position of idler wheel mechanism of the clamping jaw 50 upwards
Equipped with walking passageway.The clamping jaw connecting rod 452 can be carried out opposite or anti-by line reciprocator along straight line walking double rod 451
To movement, to make being decreased or increased for 50 spacing of clamping jaw.
The line reciprocator includes the hydraulic actuator 54 for doing straight reciprocating motion and hydraulic actuator 54
The rack and pinion assembly of mobile terminal connection and the pulley arrangement being connected to rack and pinion assembly in mounting seat
The rack and pinion assembly with two clamping jaw connecting rods 452 by connecting and the first rack gear disposed in parallel respectively
51 and second rack gear 52, and be set to and formed respectively at the first rack gear 51 and 52 meshed gears 53 of the second rack gear；Described first
The teeth of rack gear 51 and the teeth of the second rack gear 52 are located at forward surface to realize and engage with same gear 53；The pulley arrangement by
The two groups of sliding blocks 61 for being fixed on two groups of guide rails 60 of mounting seat and being solidly connected respectively with the first rack gear 51 and the second rack gear 52
Composition, two groups of sliding blocks 61 drive the first rack gear 51 and the second rack gear 52 to slide on respective guide rail 60 respectively.
The fixing end of the hydraulic actuator 54 is fixedly connected with straight line walking double rod 451, a clamping jaw connecting rod
The mobile terminal of 452 inner side edges connection hydraulic actuator 54.
When hydraulic actuator 54 carries out straight reciprocating motion, drive a clamping jaw connecting rod 452 along straight line walking double rod
451 carry out opposite or counter motion, and then the first rack gear 51 for driving the clamping jaw connecting rod 452 to connect makees line sliding movement,
And driving the second rack gear 52 to make line sliding movement by gear 53, the second rack gear 52 drives another clamping jaw connecting rod 452 along straight
Line walking double rod 451 carries out opposite or counter motion, realizes the tightening or release of clamping jaw 50.
Figure 10 shows another specific embodiment of conveying device, and the sorting equipment further includes being respectively arranged on detection
The feeding and conveying device 70 of 40 front end of section conveying device and the lower material conveying device 80 of rear end, 70 He of feeding and conveying device
Lower material conveying device 80 includes transportation frame 71,81, the idler wheel 72,82 of two insides and company above transportation frame 71,81
Connect the motor 73,83 of the idler wheel 72,82.
Conveying device of the invention provides the conveying function of different model wheel hub, height of the application to conveying device, width
Degree and idler wheel revolving speed are not especially limited.In practical applications, the height of conveying device is 800mm or so, conveniently manually up and down
Wheel hub (in conjunction with the conveying device height of upstream and downstream)；Automatic charging line is made of two rows of rollers, and the distance between two rows of rollers are wanted
Adapt to 14-18 inches of wheel hubs (in conjunction with the conveying device width of upstream and downstream)；Process of enough width protection wheel hubs in conveying
In do not collided with, frictionally damage；Conveying device idler wheel revolving speed is preferably 12m/min (in conjunction with the conveying device speed of upstream and downstream)；
The conveying device cabling of three-stage is reasonable, beautiful, convenient for safeguarding.Wherein descend material conveying device further include an abnormal wheel hub (such as
Type identifier is unclear) it is sorted out from the wheel hub detected.
Figure 11 show overall structure when conveying device is placed in detection 1 interior lower end of main body.Detect section transport device
Position of the upper level between upper positioning component 10 and lower positioning component 11.
The present invention is based on the wheel hub appearance method for sorting of machine vision using the present invention is based on the wheel hub appearances of machine vision
Sorting equipment is fixed and by 140 inner support of Pneumatic clamping jaw of positioning component 10,11 along Z axis when the wheel hub 12 is detected
It is moved to detection irradiation area, triggering light source photomoduel 20 carries out 12 a part of shooting wheel hub, then according to the rotation of detection track
Runner hub 12 adjusts angle and is shot, until obtaining the image in all faces of wheel hub 12.
It carries out 12 model of wheel hub according to a part of preliminary shooting wheel hub 12 and knows when the wheel hub 12 is detected
Not, the detection track operation that corresponding model prestores then is extracted according to Recognition feedback and works as front hub 12.
Before the wheel hub 12 is detected, the light source photomoduel 20 carries out light source component 22 by telescoping mechanism 24 for it
It is adjusted with the position of phase parts 21, to adapt to the wheel hub 12 of various outer diameter size.
Before the wheel hub 12 is detected, the wheel hub 12 is delivered to detection section conveying by feeding and conveying device 70 for it
Device 40, after sensor detects wheel hub in place, the clamping jaw of coarse positioning component 45 is clamped 12 periphery of wheel hub, and by straight
Line reciprocator is by the Pneumatic clamping jaw 140 of 12 center of wheel hub alignment positioning component 10,11, after 140 inner support of Pneumatic clamping jaw is fixed,
The clip claw mechanism of coarse positioning component 45 unclamps wheel hub 12.
, when the wheel hub 12 is detected, master system receives the image of shooting, and according to visual detection algorithm for it
The quality of front hub 12 is worked as in assessment, and visual detection algorithm is specially to call corresponding standard to join according to 12 model of wheel hub of identification
Number carries out images match, output test result with front hub 12 is worked as according to standard parameter.
In a specific embodiment, using the sorting equipment for having conveying device, as shown in figure 12, the method for sorting packet
Include following steps:
Step 1) puts wheel hub to the feeding and conveying device of pipeline, transport to the detection zone for detecting section conveying device；
Step 2) coarse positioning component carries out just positioning to wheel hub, is clamped positioning to wheel hub by clip claw mechanism；
Step 3) positioning component carries out inner support to hub centre and determines core, and moves and rotary motion adjustment wheel hub along Z axis
Position and angle；
After the completion of step 4) positioning, sensor-triggered PLC system issues light source component and phase parts and shoots signal, to wheel hub into
Row is taken pictures, and the judgement of signal identification is carried out to wheel hub；
Step 5) carries out automatic running Surface testing process according to the feedback of signal identification；
After step 6) detects, wheel hub main shaft returns to origin, and the clip claw mechanism inner support cylinder of positioning component unclamps；
Step 7) detects section conveying device and wheel hub is delivered to lower material conveying device, is then seen off by lower material conveying device,
Terminate the testing process of a wheel hub.
Wherein, in detecting step, by host computer to the wheel hub quality of evaluation, there are three assessment results: if sentenced
Break and processed again into producing line for unqualified needs, then wheel hub is automatically separated the boxing mechanism of unqualified product in step 7)；Such as
Fruit is judged as qualified, and wheel hub is transmitted toward rear class packing mechanism assembly line automatically in step 7)；If it is determined that unqualified need people
Work manual operation, then wheel hub is automatically separated manual patcher position in step 7).
It is judged as the unqualified wheel hub for needing artificial manual operation after manual repair is complete, by being placed into finger after artificial bagging
Determine station；The industrial camera imaging placed by specified station differentiates the color of the wheel hub of current location；Simultaneity factor is according to dress
Case demand, which is judged automatically from the station after prime detection stream waterline or manual repair, takes wheel hub to pack；If it is manual repair
Station afterwards takes wheel hub to pack, then system judges automatically when from the station after manual repair take wheel hub packet according to vanning demand
Dress；Wheel hub is placed into wheel hub station to be cased.
The present invention is based on the specific embodiments of the wheel hub appearance sorting system of machine vision, as shown in figure 13, the system
Include:
Wheel hub conveyor module 101 conveys for realizing the automatic charging of wheel hub 12 and blanking；
The positioning of wheel hub 12 is realized in wheel hub locating module 102, the operation for passing through coarse positioning and inner support positioning step by step；
Wheel hub identification module 103 knows the model and defect classification of wheel hub 12 for being realized using light source photomoduel 20
Other function；
Automatic appearance detection module 104 adjusts 12 position of wheel hub for the elevating mechanism 15 by positioning component 10,11
To adapt to phase parts 21 apart from being detected automatically；
Main control module 105, electromechanical operating for controlling devices, the output control of switching signal and proximity sensor,
The acquisition of photo-sensor signal；
Equipment running status alarm module 106 should for realizing the classifying alarm function in 12 appearance detection system of wheel hub
Module indicates that equipment operates normally by the different lamp of color, and abnormal or waiting is not required to emergency stop and abnormal alarm, needs emergency stop three
Kind situation.
Wherein main control module 105 includes that phase parts expose external trigger, light source switch controls, defeated specifically for control operation
Send the control of the signal collection, cylinder of device operation control, photo-sensor signal acquisition, the control of servo motor and its sensor
The signal collection of system and its sensor, the warning modulating signal control of three colors and facility switching reset the control of scram button.
Along pipeline, successively feeding supply unit, detection section convey list and blanking supply unit to wheel hub conveyor module 101,
At the blanking supply unit outside normal wheel hub blanking, it is also used to the separation blanking of abnormal wheel hub.
The wheel hub locating module 102 includes coarse positioning unit and positioning unit；The coarse positioning unit passes through coarse positioning
What component 45 made wheel hub 12 is centrally located in fixed position；After the positioning unit is fixed at 12 center of wheel hub, with clamping jaw machine
Structure carries out precision centering to wheel hub 12.
Detection test based on wheel hub appearance sorting equipment of the present invention, the shooting of dynamic image, inspection are realized using CCD camera
Gained image is surveyed as shown in Figure 14-19, it can be seen that the surface of wheel hub is matt, and imaging effect is very suitable to visual processes.
Very excellent image to be processed can be clearly obtained on all surfaces defective, therefore utilization software that can be stable detects
Flaw product part.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvements and modifications can also be made, these improvements and modifications
Also it should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of wheel hub appearance sorting equipment based on machine vision, which is characterized in that including detecting main body (1), the detection
Main body (1) includes: positioning component (10,11), for carrying out Z axis by clamping device stationary hub (12) and with runner hub (12)
Movement and rotary motion；At least three groups of light source photomoduel (20), respectively correspond setting after fixation the top of wheel hub (12),
Lower section and side；Detection framework (30) passes through attachment device stationary positioned component (10,11) and each group light source photomoduel
(20), each light source photomoduel (20) is connect by network interface with host computer；
The sorting equipment further includes the detection section conveying device (40) set on detection framework (30) lower inside, the detection section
Conveying device (40) includes transportation frame (41), is set to the idler wheel mechanism (42) of two insides above transportation frame (41), connection institute
It states the motor (43) of idler wheel mechanism (42) and is distributed in the photoelectric sensor (44) in two outsides above transportation frame (41), it is right
It answers transportation frame (41) position of the positioning component (10,11) to be equipped with and carries out transmitting light source for the positioning component (11) of lower section
With the detection window of shooting, the wheel hub lower section is equipped with coarse positioning component (45), and the coarse positioning component (45) passes through clip claw mechanism
The operation that wheel hub (12) periphery is clamped and is unclamped.
2. the wheel hub appearance sorting equipment based on machine vision as described in claim 1, which is characterized in that the light source camera
Component (20) include a phase parts (21), setting phase parts (21) side at least one light source component (22) and light source camera
Bracket (23)；
The light source component (22) can be from respective designated position along assigned direction plane of departure light beam to wheel hub (12) surface
With in a part, irradiation area is formed；The phase parts (21) can be used to detect on wheel hub (12) surface in given position irradiates
The reflected beams in region, and generate picture signal；
The light source camera support (23) includes the main support (230) for connecting the phase parts (21) and detection framework (30), with
And the secondary bracket (231) of connection the phase parts (21) and each light source component (22), the main support (230) are equipped with by inside
Telescoping mechanism (24) spacing of phase parts (21), light source component (22) and wheel hub (12) is adjusted.
3. the wheel hub appearance sorting equipment based on machine vision as described in claim 1, which is characterized in that the positioning component
(10,11) include the connecting bracket that one end connect with detection framework (30) and can carry out by elevating mechanism (15) lifting carriage
(13), and set on connecting bracket (13) other end it is used for the clip claw mechanism of clamping wheel hub (12)；The clip claw mechanism is by pneumatic
Clamping jaw (140), air spider (141) and rotating electric machine (142) composition, air spider (141) the front end connection are described pneumatic
Clamping jaw (140), rear end are fixedly connected with connecting bracket (13), pneumatic clamping described in the output axis connection of the rotating electric machine (142)
The central axis of disk (141).
4. the wheel hub appearance sorting equipment based on machine vision as described in claim 1, which is characterized in that the detection framework
(30) it is made of the frame (32) of top plate (31) and roof supporting (31), the top plate (31) is cover type structure, the top plate
(31) several observation windows (33) are equipped with, the detection framework (30) is equipped with gas outlet direction and determines blowing for core rear-wheel hub position
Gas dedusting mechanism.
5. the wheel hub appearance sorting equipment based on machine vision as described in claim 1, which is characterized in that the coarse positioning group
Part (45) is set to the lower section of idler wheel mechanism (42), and the coarse positioning component (45) includes mounting seat (450), is set to mounting seat
(450) on straight line walking double rod (451), be located at straight line walking double rod (451) both ends and with straight line walking double rod (451) it is vertical
Two clamping jaw connecting rods (452) and four clamping jaws (50) being located on clamping jaw connecting rod (452), four clamping jaws (50)
Extend higher than the upper surfaces of idler wheel mechanism (42) upwards, corresponding idler wheel mechanism (42) lateral position of the clamping jaw (50) is equipped with row
Walk channel；
The clamping jaw connecting rod (452) can carry out opposite or reversed fortune by line reciprocator along straight line walking double rod (451)
It is dynamic, to make being decreased or increased for clamping jaw (50) spacing.
6. the wheel hub appearance sorting equipment based on machine vision as claimed in claim 5, which is characterized in that the linear reciprocation
Mechanism includes the gear for doing the hydraulic actuator of straight reciprocating motion (54), connecting with hydraulic actuator (54) mobile terminal
Rack assembly and the pulley arrangement being connected to rack and pinion assembly in mounting seat；
The rack and pinion assembly with two clamping jaw connecting rods (452) by connecting and the first rack gear disposed in parallel respectively
(51) and the second rack gear (52) it, and is set to respectively at the first rack gear (51) and the second rack gear (52) meshed gears (53) group
At；The teeth of first rack gear (51) and the teeth of the second rack gear (52) are located at forward surface to realize and nibble with same gear (53)
It closes；The pulley arrangement by be fixed on mounting seat two groups of guide rails (60) and respectively with the first rack gear (51) and the second rack gear
(52) two groups of sliding blocks (61) composition being solidly connected, two groups of sliding blocks (61) drive the first rack gear (51) and the second rack gear (52) to exist respectively
It is slided on respective guide rail (60)；
The fixing end of the hydraulic actuator (54) is fixedly connected with straight line walking double rod (451), a clamping jaw connecting rod
(452) mobile terminal of inner side edge connection hydraulic actuator (54).
7. the wheel hub appearance sorting equipment based on machine vision as claimed in claim 6, which is characterized in that the sorting equipment
It further include the lower material conveying device for feeding and conveying device (70) and the rear end for being respectively arranged on detection section conveying device (40) front end
(80), the feeding and conveying device (70) and lower material conveying device (80) include transportation frame (71,81), are set to transportation frame
(71,81) idler wheel (72,82) of two inside of top and the motor (73,83) of the connection idler wheel (72,82).
8. a kind of wheel hub appearance method for sorting based on machine vision, which is characterized in that be using any one of claim 1-7
The wheel hub appearance sorting equipment based on machine vision, when the wheel hub (12) is detected, by positioning component
Pneumatic clamping jaw (140) inner support of (10,11) fixes and is moved to detection irradiation area along Z axis, triggers light source photomoduel (20)
Shooting wheel hub (12) a part is carried out, angle is then adjusted according to detection track rotary hub (12) and is shot, until obtaining
The image in all faces of wheel hub (12).
9. the wheel hub appearance method for sorting based on machine vision as claimed in claim 8, which is characterized in that the method for sorting
Include the steps that it is following one of them or it is several:
For the sorting equipment before wheel hub (12) is detected, the wheel hub (12) is delivered to inspection by feeding and conveying device (70)
Survey section conveying device (40), after sensor detects wheel hub in place, the clamping jaw of coarse positioning component (45) to wheel hub (12) periphery into
Row clamps, and wheel hub (12) center is aligned to the Pneumatic clamping jaw (140) of positioning component (10,11) by line reciprocator, to
After Pneumatic clamping jaw (140) inner support is fixed, the clip claw mechanism of coarse positioning component (45) unclamps wheel hub (12)；
Before wheel hub (12) is detected, the light source photomoduel (20) is carried out the sorting equipment by telescoping mechanism (24)
The position of light source component (22) and phase parts (21) is adjusted, to adapt to the wheel hub (12) of various outer diameter size；
The sorting equipment carries out wheel hub (12) when wheel hub (12) is detected, according to a part of preliminary shooting wheel hub (12)
Then type identifier extracts the detection track operation that corresponding model prestores according to Recognition feedback and works as front hub (12)；
For the sorting equipment when wheel hub (12) is detected, master system receives the image of shooting, and according to vision-based detection
Algorithm evaluation works as the quality of front hub (12), and visual detection algorithm is specially to be called accordingly according to wheel hub (12) model of identification
Standard parameter carries out images match, output test result with when front hub (12) according to standard parameter；
The sorting equipment if it is determined that unqualified needs are processed into producing line again, is then taken turns after wheel hub (12) quality of evaluation
Hub (12) is automatically separated the boxing mechanism of unqualified product；If it is determined that qualified, wheel hub (12) is automatically toward rear class baling press
The transmitting of structure assembly line；If it is determined that unqualified need artificial manual operation, then wheel hub (12) is automatically separated manual patcher
Position.
10. a kind of wheel hub appearance sorting system based on machine vision, which is characterized in that the system comprises:
Wheel hub conveyor module (101), for realizing the automatic conveying of wheel hub (12)；
The positioning of wheel hub (12) is realized in wheel hub locating module (102), the operation for passing through coarse positioning and inner support positioning step by step；
Wheel hub identification module (103), for realizing model and defect classification to wheel hub (12) using light source photomoduel (20)
Identification function；
Automatic appearance detection module (104), for the elevating mechanism (15) by positioning component (10,11) to wheel hub (12) position
Adjustment is detected automatically to adapt to phase parts (21) distance；
Main control module (105), electromechanical operating for controlling devices, the output control of switching signal and proximity sensor, light
The acquisition of electric transducer signal；
Wherein, the wheel hub locating module (102) includes coarse positioning unit and positioning unit；It is slightly fixed that the coarse positioning unit passes through
What hyte part (45) made wheel hub (12) is centrally located in fixed position；After the positioning unit is fixed at wheel hub (12) center,
Precision centering is carried out to wheel hub (12) with clip claw mechanism (14).
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| CN201610835742.5A CN106423894B (en) | 2016-09-20 | 2016-09-20 | Wheel hub appearance automatic sorting device, method for sorting and sorting system based on machine vision |
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| CN201610835742.5A CN106423894B (en) | 2016-09-20 | 2016-09-20 | Wheel hub appearance automatic sorting device, method for sorting and sorting system based on machine vision |
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