CN106645206B - Imaging system of double gantry type strip surface quality detection device - Google Patents
Imaging system of double gantry type strip surface quality detection device Download PDFInfo
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- CN106645206B CN106645206B CN201710152490.0A CN201710152490A CN106645206B CN 106645206 B CN106645206 B CN 106645206B CN 201710152490 A CN201710152490 A CN 201710152490A CN 106645206 B CN106645206 B CN 106645206B
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Abstract
The invention discloses an imaging system of a double-gantry type strip surface quality detection device, which comprises a large gantry height adjusting mechanism, a small gantry visual angle adjusting mechanism and an imaging device; a sliding block is arranged on the inner side of the large gantry height adjusting mechanism and is in sliding connection with the small gantry visual angle adjusting mechanism; the large gantry height adjusting mechanism drives and adjusts the distance between the small gantry visual angle adjusting mechanism and the surface of the strip; the imaging device is arranged on the small gantry visual angle adjusting mechanism, and the small gantry visual angle adjusting mechanism adjusts the visual angle range; aiming at the characteristics of thickness, tension and defect distribution of different types of strips, the invention can well meet the requirements of included angles of a light source, a camera and the surfaces of the strips and the requirements of object distances through simple mechanism adjustment; the invention has the characteristics of wide application range, high efficiency and high precision.
Description
Technical Field
The invention mainly relates to quality detection of a strip surface, in particular to an imaging system of a double-gantry type strip surface quality detection device.
Background
The continuously produced strips, such as strip steel, aluminum strips, copper foil, paper, plastic and the like, have defects of bubbles, holes, scratches and the like on the surfaces of the strips due to various factors of processing technology, production environment, operators and the like in the production process, and the defects not only damage the surface quality of the strips, but also reduce the performance of products and limit the application range of the products. It is therefore necessary to detect the quality of the strip surface. Surface detection technology using machine vision as a means has become a mainstream, and the key point of acquiring a high-quality image is that a proper object distance and angle exist between a camera and a detection surface, and a light source can provide proper light.
The detected strip features were as follows: 1) Different types of strip material have different thicknesses; 2) The surface tension is different due to the material characteristics and the change of the production line; 3) The reflection characteristics of the surfaces of the materials are different; 4) The types and distributions of defects vary from strip to strip. Therefore, the detection precision and the detection range of the strips of different types are different, and the heights and the angles of the camera and the light source are required to be adjusted correspondingly in time in the imaging part.
When the imaging system of the existing detection device changes parameters in an imaging light path, such as the irradiation angle of a light source, the corresponding bracket needs to be manually adjusted again, so that the irradiation of the light source and the shooting of a camera are aligned to the same area, but the imaging error is larger, the time-consuming efficiency is low, and the operation is inconvenient; if the parameters are not changed, the detection field of view range is limited. Therefore, the existing strip detection device cannot be adjusted in time to meet the detection requirements of various strips. Therefore, how to accurately and conveniently adjust the imaging system of the detection device to realize the automatic detection of the surface quality of various strips is a remarkable topic.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an imaging system of a double gantry type strip surface quality detection device. In order to solve the technical problems, the invention adopts the following technical scheme:
the imaging system of the double-gantry type strip surface quality detection device comprises a large gantry height adjusting mechanism, a small gantry visual angle adjusting mechanism and an imaging device; the inner side of the large gantry height adjusting mechanism is connected with the small gantry visual angle adjusting mechanism in a sliding manner; the large gantry height adjusting mechanism and the small gantry visual angle adjusting mechanism are both positioned in the normal direction of the surface of the strip; the large gantry height adjusting mechanism drives and adjusts the distance between the small gantry visual angle adjusting mechanism and the surface of the strip; the imaging device is arranged on the small gantry visual angle adjusting mechanism, and the small gantry visual angle adjusting mechanism adjusts the visual angle range;
the large gantry height adjusting mechanism comprises a first bracket mechanism, a first stepping motor, a first coupler, a first bidirectional screw rod, a first X-shaped shearing fork mechanism, a first sliding rod and a first sliding mechanism; the first stepping motor, the first coupler and the first bidirectional screw rod are horizontally arranged in the first bracket mechanism; the first X-shaped shearing fork mechanism is used for connecting a first bidirectional screw rod with a first sliding rod, and two ends of the first sliding rod are fixed on the first sliding mechanism; the first stepping motor drives the first bidirectional screw rod to rotate and drives the first sliding rod to lift;
the small gantry visual angle adjusting mechanism comprises a second bracket mechanism, a second stepping motor, a second coupler, a second bidirectional screw rod, a second X-shaped shearing fork mechanism and a second sliding rod; the second bracket mechanism is fixed on the first sliding mechanism; the second stepping motor, the second coupler and the second bidirectional screw rod are horizontally arranged in the second bracket mechanism; the second X-shaped shearing fork mechanism connects the second bidirectional screw rod with the second sliding rod; the second stepping motor drives the second bidirectional screw rod to rotate and drives the second sliding rod to lift;
the imaging device comprises an imaging device bracket, a linear array camera and a linear array light source; the upper end of the imaging device support is connected with a second sliding rod, the middle part of the outer side of the imaging device support is connected with the inner side of a second support mechanism, the linear array camera and the linear array light source are fixed on the imaging device support, and the second sliding rod is lifted to drive the imaging device support to rotate.
Further, the first bracket mechanism comprises a first support upright, a second support upright and a first cross beam; the first support upright posts and the second support upright posts are respectively arranged at two sides of the strip material and are vertically arranged on the ground; a screw hole is formed in the inner side of the upper end of the second supporting upright post; two ends of the first cross beam are respectively fixedly connected with the upper ends of the first support upright post and the second support upright post and are parallel to the surface of the strip;
the first sliding mechanism comprises a first sliding block, a second sliding block, a third sliding block, a fourth sliding block, a first sliding guide rail and a second sliding guide rail; the first sliding block and the third sliding block are connected to the first sliding guide rail in a sliding manner, and the second sliding block and the fourth sliding block are connected to the second sliding guide rail in a sliding manner; the first sliding guide rail is vertically fixed on the inner side of the first supporting upright post, and the second sliding guide rail is vertically fixed on the inner side of the second supporting upright post; two ends of the first sliding rod are fixedly connected to the first sliding block and the second sliding block respectively;
one end of the first bidirectional screw rod is matched with a screw rod hole on the second support upright post, the other end of the first bidirectional screw rod is horizontally connected with an output shaft of the first stepping motor through a first coupler, and the first stepping motor is vertically and fixedly connected to the upper end of the inner side of the first support upright post; the first bidirectional screw rod is provided with a left-handed thread and a right-handed thread which are distributed in a centering way;
the first X-shaped shearing fork mechanism comprises a first lead screw nut, a second lead screw nut, a first short connecting rod, a second short connecting rod, a first small sliding block and a second small sliding block; both ends of the first short connecting rod and the second short connecting rod are provided with hinge holes, and the middle is provided with a pin hole; the upper ends of the first small sliding block and the second small sliding block are respectively provided with a hinge hole; the lower sides of the first screw nut and the second screw nut are respectively provided with a hinge hole; the first short connecting rod and the second short connecting rod are in cross connection in the middle through a pin; one end of the first short connecting rod is hinged with the first screw nut, and the other end of the first short connecting rod is hinged with the second small sliding block; one end of the second short connecting rod is hinged with the second screw nut, and the other end of the second short connecting rod is hinged with the first small sliding block;
the first screw nut is a left-handed nut and sleeved in a left-handed threaded area of the first bidirectional screw, the second screw nut is a right-handed nut and sleeved in a right-handed threaded area of the first bidirectional screw; the first small sliding block and the second small sliding block are sleeved on the first sliding rod.
Further, the second bracket mechanism comprises a third support upright, a fourth support upright and a second cross beam; the third support stand column and the fourth support stand column are respectively arranged on two sides of the strip, the upper end of the outer side of the third support stand column is fixedly connected with the first sliding block, the lower end of the outer side of the third support stand column is fixedly connected with the third sliding block, the upper end of the outer side of the fourth support stand column is fixedly connected with the second sliding block, and the lower end of the outer side of the fourth support stand column is fixedly connected with the fourth sliding block; a screw hole is formed in the inner side of the upper end of the fourth supporting upright post; two ends of the second cross beam are respectively fixedly connected with the upper ends of the third support upright post and the fourth support upright post and are parallel to the surface of the strip;
one end of the second bidirectional screw rod is matched with a screw rod hole on the fourth supporting upright post, and the other end of the second bidirectional screw rod is horizontally connected with the output shaft of the second stepping motor through a second coupler; the second stepping motor is vertically fixedly connected to the upper end of the inner side of the third supporting upright post; the second bidirectional screw rod is provided with a left-handed thread and a right-handed thread which are distributed in a centering way;
the second X-shaped shearing fork mechanism comprises a third screw nut, a fourth screw nut, a first long connecting rod, a second long connecting rod, a third small sliding block and a fourth small sliding block; both ends of the first long connecting rod and the second long connecting rod are provided with hinge holes, and the middle is provided with a pin hole; the upper ends of the third small sliding block and the fourth small sliding block are respectively provided with a hinge hole; the lower sides of the third screw nut and the fourth screw nut are respectively provided with a hinge hole; the first long connecting rod and the second long connecting rod are in cross connection in the middle through a pin, one end of the first long connecting rod is hinged with a third screw nut, and the other end of the first long connecting rod is hinged with a fourth small sliding block; one end of the second long connecting rod is hinged with a fourth screw nut, and the other end of the second long connecting rod is hinged with a third small sliding block; the third screw nut is a left-handed nut and is sleeved in a left-handed threaded area of the second bidirectional screw, the fourth screw nut is a right-handed nut and is sleeved in a right-handed threaded area of the second bidirectional screw; the third small sliding block and the fourth small sliding block are sleeved on the second sliding rod.
Further, the imaging device support includes a first cross bar, a second cross bar, a third cross bar, a fourth cross bar, a first short bar, a second short bar, a third short bar, a fourth short bar, a first long bar, a second long bar, a third long bar, and a fourth long bar; the upper ends and the lower ends of the first short rod, the second short rod, the third short rod and the fourth short rod are respectively provided with a hinge hole; the upper end and the lower end of the first long rod, the second long rod, the third long rod and the fourth long rod are respectively provided with a hinge hole, and the middle is provided with a pin hole;
the upper end of the first short rod and the left end face A of the second sliding rod 1 The lower end of the first short rod is hinged with the left end face A of the first cross rod 2 Hinging; the upper end of the second short rod and the right end face B of the second sliding rod 1 The lower end of the second short rod is hinged with the right end face B of the first transverse rod 2 Hinging; the upper end of the third short rod and the left end face A of the second sliding rod 1 The lower end of the third short rod is hinged with the left end face A of the second cross rod 3 Hinging; the upper end of the fourth short rod and the right end face B of the second sliding rod 1 The lower end of the fourth short rod is hinged with the right end face B of the second cross rod 3 Hinging;
the upper end of the first long rod and the left end face A of the second cross rod 3 The lower end of the first long rod is hinged with the left end face A of the fourth cross rod 5 Hinging; the upper end of the second long rod and the right end face B of the second cross rod 3 The lower end of the second long rod is hinged with the right end face B of the fourth cross rod 5 Hinging; the upper end of the third long rod and the left end face A of the first cross rod 2 The lower end of the third long rod is hinged with the left end face A of the third cross rod 4 Hinging; the upper end of the fourth long rod and the right end face B of the first cross rod 2 Hinged, the lower end of the fourth long rodRight end face B of third cross bar 4 Hinging; the first long rod and the third long rod pass through the pin hole through the pin shaft and are fixed at the middle part of the third support upright post, the first long rod and the third long rod can rotate around the pin shaft, the second long rod and the fourth long rod pass through the pin hole through the pin shaft and are fixed at the middle part of the fourth support upright post, and the second long rod and the fourth long rod can rotate around the pin shaft; the first cross rod and the fourth cross rod are respectively fixed with a linear array light source, and the second cross rod and the third cross rod are respectively fixed with a linear array camera.
Further, the first sliding guide rail is fixedly connected to the inner side of the first supporting upright post through a bolt, and the second sliding guide rail is fixedly connected to the inner side of the second supporting upright post through a bolt.
Further, an included angle alpha between the first short rod and the second short rod ranges from 60 degrees to 120 degrees, and an included angle between the third short rod and the fourth short rod is the same as an included angle between the first short rod and the second short rod.
Further, the first cross bar, the second cross bar, the third cross bar and the fourth cross bar can be manually adjusted in angle, so that light rays emitted by the linear array light source enter the lens of the linear array camera.
The beneficial effects of the invention are as follows:
1. the invention has wide application range, and can well meet the requirements of included angles among a light source, a camera and a detection plane and the requirements of object distances by simple lifting adjustment of a system aiming at the characteristics of thickness, tension, surface reflection characteristics, defect distribution and the like of strips of different types.
2. The invention has convenient operation, controls the stepping motor to replace manual operation, can accurately adjust the heights and angles of the camera and the light source, and realizes high-efficiency and high-precision driving detection.
3. The invention can detect the penetration type defects of the thin strip, the polished areas of the upper and lower light sources of the system are overlapped, the images of the same area on the upper and lower surfaces of the strip can be identified and collected in real time, and the defects such as holes, edge cracks and the like are detected by utilizing the light transmission characteristics.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of a height adjustment mechanism for a large gantry in accordance with the present invention;
FIG. 3 is a schematic view of a view angle adjusting mechanism of a middle and small gantry of the present invention;
FIG. 4 is a schematic diagram of an imaging system according to the present invention;
the device comprises a 1-large gantry height adjusting mechanism, 101-a first cross beam, 102-a first small slide block, 103-a first bidirectional screw rod, 104-a first screw nut, 105-a first short connecting rod, 106-a pin, 107-a second short connecting rod, 108-a second screw nut, 109-a first slide rod, 110-a second slide block, 111-a second supporting upright post, 112-a second small slide block, 113-a second sliding guide rail, 114-a fourth slide block, 115-a third slide block, 116-a first supporting upright post, 117-a first sliding guide rail and 118-a first coupling; 119-a first slider, 120-a first stepper motor;
2-small gantry visual angle adjusting mechanism, 201-second cross beam, 202-third screw nut, 203-pin, 204-second long connecting rod, 205-fourth screw nut, 206-second bidirectional screw, 207-fourth supporting column, 208-fourth small slide block, 209-second slide bar, 210-third small slide block, 211-first long connecting rod, 212-third supporting column, 213-second stepping motor; 214-a second coupling;
3-imaging device, 301-fourth short bar, 302-second short bar, 303-pin, 304-fourth long bar, 305-first cross bar; 306-a second elongate bar; 307-fourth cross bar, 308-linear array light source, 309-first short bar, 310-third long bar, 311-third cross bar, 312-first long bar, 313-third short bar, 314-second cross bar, 315-linear array camera;
4-strip;
A 1 -left end face of second slide bar, A 2 -left end face of first cross bar, a 3 -left end face of second cross bar, a 4 -a third cross bar left end face, a 5 -a fourth rail left end face; b (B) 1 -right end face of second slide bar, B 2 -right end face of first cross bar, B 3 -right end face of second cross bar, B 4 -right end face of third cross bar, B 5 -a fourth rail right end face.
Detailed Description
The invention will be described in further detail with reference to the drawings and the specific examples.
Example 1
As shown in fig. 1, an imaging system of the double-gantry type strip surface quality detection device comprises a large gantry height adjusting mechanism 1, a small gantry visual angle adjusting mechanism 2 and an imaging device 3; the inner side of the large gantry height adjusting mechanism 1 is connected with the small gantry visual angle adjusting mechanism 2 in a sliding manner; the large gantry height adjusting mechanism 1 and the small gantry visual angle adjusting mechanism 2 are both positioned in the normal direction of the surface of the strip 4; the large gantry height adjusting mechanism 1 drives and adjusts the distance between the small gantry visual angle adjusting mechanism 2 and the surface of the strip 4; the imaging device 3 is arranged on the small gantry visual angle adjusting mechanism 2, and the small gantry visual angle adjusting mechanism 2 adjusts the visual angle range;
the large gantry height adjusting mechanism 1 comprises a first bracket mechanism, a first stepping motor 120, a first coupler 118, a first bidirectional screw 103, a first X-shaped scissor mechanism, a first sliding rod 109 and a first sliding mechanism; the first stepper motor 120, the first coupler 118 and the first bidirectional screw 103 are horizontally arranged in the first bracket mechanism; the first X-shaped scissor mechanism connects the first bidirectional screw 103 with a first slide bar 109, and two ends of the first slide bar 109 are fixed on a first sliding mechanism; the first stepper motor 120 drives the first bidirectional screw 103 to rotate and drives the first slide bar 109 to lift;
the small gantry viewing angle adjusting mechanism 2 comprises a second bracket mechanism, a second stepping motor 213, a second coupler 214, a second bidirectional screw 206, a second X-shaped scissor mechanism and a second sliding rod 209; the second bracket mechanism is fixed on the first sliding mechanism; the second stepper motor 213, the second coupler 214 and the second bidirectional screw 206 are horizontally arranged in the second bracket mechanism; the second X-shaped scissor mechanism connects the second bi-directional lead screw 206 with the second slide bar 209; the second stepper motor 213 drives the second bidirectional screw 206 to rotate and drives the second slide bar 209 to lift;
the imaging device 3 comprises an imaging device bracket, a linear array camera 315 and a linear array light source 308; the upper end of the imaging device bracket is connected with a second slide bar 209, the middle part of the outer side of the imaging device bracket is connected with the inner side of a second bracket mechanism, a linear array camera 315 and a linear array light source 308 are fixed on the imaging device bracket, and the second slide bar 209 is lifted to drive the imaging device 3 bracket to rotate.
As shown in fig. 2, the first bracket mechanism includes a first support post 116, a second support post 111, and a first cross member 101; the first support upright 116 and the second support upright 111 are respectively arranged on two sides of the strip 4 and are vertically arranged on the ground; a screw hole is formed in the inner side of the upper end of the second support upright 111; two ends of the first cross beam 101 are fixedly connected to the upper ends of the first support upright 116 and the second support upright 111 respectively and are parallel to the surface of the strip 4;
the first sliding mechanism includes a first slider 119, a second slider 110, a third slider 115, a fourth slider 114, a first sliding rail 117, and a second sliding rail 113; the first slider 119 and the third slider 115 are slidably connected to the first slide rail 117, and the second slider 110 and the fourth slider 114 are slidably connected to the second slide rail 113; the first sliding guide rail 117 is vertically fixed inside the first support column 116, and the second sliding guide rail 113 is vertically fixed inside the second support column 111; two ends of the first sliding rod 109 are fixedly connected to the first sliding block 119 and the second sliding block 110 respectively;
one end of the first bidirectional screw 103 is matched with a screw hole on the second support upright 111, the other end of the first bidirectional screw is horizontally connected with an output shaft of the first stepping motor 120 through a first coupler 118, and the first stepping motor 120 is vertically and fixedly connected to the upper end of the inner side of the first support upright 116; the first bidirectional screw 103 is provided with a left-handed thread and a right-handed thread which are distributed in a centering way;
the first X-shaped shearing fork mechanism comprises a first lead screw nut 104, a second lead screw nut 108, a first short connecting rod 105, a second short connecting rod 107, a first small sliding block 102 and a second small sliding block 112; both ends of the first short connecting rod 105 and the second short connecting rod 107 are provided with hinge holes, and the middle is provided with a pin hole; the upper ends of the first small sliding block 102 and the second small sliding block 112 are respectively provided with a hinge hole; the lower sides of the first screw nut 104 and the second screw nut 108 are respectively provided with a hinge hole; the first short connecting rod 105 and the second short connecting rod 107 are cross-connected in the middle by a pin 106; one end of a first short connecting rod 105 is hinged with the first screw nut 104, and the other end is hinged with the second small sliding block 112; one end of the second short connecting rod 107 is hinged with a second lead screw nut 108, and the other end is hinged with the first small sliding block 102;
the first screw nut 104 is a left-handed nut sleeved on the left-handed threaded region of the first bidirectional screw 103, the second screw nut 108 is a right-handed nut sleeved on the right-handed threaded region of the first bidirectional screw 103; the first small slide 102 and the second small slide 112 are sleeved on the first slide bar.
As shown in fig. 3, the second bracket mechanism includes a third support column 212, a fourth support column 207, and a second cross member 201; the third support column 212 and the fourth support column 207 are respectively disposed at two sides of the strip 4, the upper end of the outer side of the third support column 212 is fixedly connected with the first slider 119, the lower end of the outer side of the third support column 212 is fixedly connected with the third slider 115, the upper end of the outer side of the fourth support column 207 is fixedly connected with the second slider 110, and the lower end of the outer side of the fourth support column 207 is fixedly connected with the fourth slider 114; a screw hole is formed in the inner side of the upper end of the fourth support upright 207; two ends of the second cross beam 201 are respectively fixedly connected with the upper ends of the third support upright post 212 and the fourth support upright post 207 and are parallel to the surface of the strip 4;
one end of the second bidirectional screw 206 is matched with a screw hole on the fourth support upright 207, and the other end of the second bidirectional screw is horizontally connected with an output shaft of a second stepping motor 213 through a second coupler 214; the second stepper motor 213 is vertically fixedly connected to the upper end of the inner side of the third support column 212; the second bidirectional screw 206 is provided with left-handed threads and right-handed threads which are distributed in a centering way;
the second X-shaped shearing mechanism comprises a third screw nut 202, a fourth screw nut 205, a first long connecting rod 211, a second long connecting rod 204, a third small sliding block 210 and a fourth small sliding block 208; both ends of the first long connecting rod 2111 and the second long connecting rod 204 are provided with hinge holes, and the middle is provided with a pin hole; the upper ends of the third small sliding block 210 and the fourth small sliding block 208 are respectively provided with a hinge hole; the lower sides of the third screw nut 202 and the fourth screw nut 205 are respectively provided with a hinge hole; the first long connecting rod 211 and the second long connecting rod 204 are in cross connection in the middle through a pin 106, one end of the first long connecting rod 211 is hinged with the third lead screw nut 202, and the other end is hinged with the fourth small slide 208; one end of the second long connecting rod 204 is hinged with a fourth screw nut 205, and the other end is hinged with a third small sliding block 210; the third screw nut 202 is a left-handed nut sleeved on the left-handed threaded region of the second bidirectional screw 206, the fourth screw nut 205 is a right-handed nut sleeved on the right-handed threaded region of the second bidirectional screw 206; the third small slide 210 and the fourth small slide 208 are sleeved on the second slide bar 209.
As shown in fig. 4, the imaging device holder includes a first crossbar 305, a second crossbar 314, a third crossbar 311, a fourth crossbar 307, a first short bar 309, a second short bar 302, a third short bar 313, a fourth short bar 301, a first long bar 312, a second long bar 306, a third long bar 310, and a fourth long bar 304; hinge holes are formed at the upper end and the lower end of the first short rod 309, the second short rod 302, the third short rod 313 and the fourth short rod 301; the upper end and the lower end of the first long rod 312, the second long rod 306, the third long rod 310 and the fourth long rod 304 are respectively provided with a hinge hole, and the middle is provided with a pin hole;
the upper end of the first short rod 309 and the left end surface A of the second slide bar 209 1 The lower end of the first short rod 309 is hinged with the left end face A of the first cross rod 305 2 Hinging; the upper end of the second short rod 302 and the right end face B of the second slide bar 209 1 The lower end of the second short rod 302 is hinged with the right end face B of the first cross rod 305 2 Hinging; the upper end of the third short rod 313 and the left end face A of the second slide bar 209 1 The lower end of the third short rod 313 is hinged with the left end face A of the second transverse rod 314 3 Hinging; the upper end of the fourth short rod 301 and the right end face B of the second slide rod 209 1 Hinged with the right end face B of the second transverse rod 314 at the lower end of the fourth short rod 301 3 Hinging;
the upper end of the first long rod 312 and the left end face A of the second cross rod 314 3 The lower end of the first long rod 312 is hinged with the left end face A of the fourth cross rod 307 5 Hinging; the upper end of the second long rod 306 and the right end face B of the second cross rod 314 3 Hinged with the right end face B of the fourth cross bar 307 at the lower end of the second long rod 306 5 Hinging; the upper end of the third long rod 310 and the left end face A of the first cross rod 305 2 The lower end of the third long rod 310 is hinged with the left end face A of the third cross rod 311 4 Hinging; the upper end of the fourth long rod 304 and the right end face B of the first cross rod 305 2 The lower end of the fourth long rod 304 is hinged with the right end face B of the third cross rod 311 4 Hinging; the first long rod 312 and the third long rod 310 pass through the pin holes through the pin shaft 303 and are fixed in the middle part of the third support upright post 212, the thirdA long rod 312 and a third long rod 310 can rotate around the pin shaft 303, the second long rod 306 and the fourth long rod 304 pass through the pin hole through the pin shaft 303 and are fixed in the middle of the fourth support upright, and the second long rod and the fourth long rod can rotate around the pin shaft 303; the first cross bar 305 and the fourth cross bar 307 are respectively fixed with a linear array light source 308, and the second cross bar 314 and the third cross bar 311 are respectively fixed with a linear array camera 315.
The first sliding rail 117 is fixedly connected to the inner side of the first support column 116 by a bolt, and the second sliding rail 113 is fixedly connected to the inner side of the second support column 111 by a bolt.
In addition, the angle α between the first short bar 309 and the second short bar 302 is 60 °, and the angle between the third short bar 313 and the fourth short bar 301 is the same as the angle between the first short bar 309 and the second short bar 302.
In addition, the first crossbar 305, the second crossbar 314, the third crossbar 311, and the fourth crossbar 307 may be manually adjusted to allow the light emitted by the line-scan light source 308 to enter the line-scan camera lens 315.
Example 2
The angle α between the first short bar 309 and the second short bar 302 is 90 °, and the angle α between the third short bar 313 and the fourth short bar 301 is equal to 90 °. The rest of the procedure is the same as in example 1.
Example 3
The angle α between the first short bar 309 and the second short bar 302 is 120 °, and the angle α between the third short bar 313 and the fourth short bar 3016 is equal to 120 °. The rest of the procedure is the same as in example 1.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above examples, and all technical solutions belonging to the concept of the present invention belong to the protection scope of the present invention.
Claims (4)
1. An imaging system of a double gantry type strip surface quality detection device, which is characterized in that: comprises a large gantry height adjusting mechanism, a small gantry visual angle adjusting mechanism and an imaging device; the inner side of the large gantry height adjusting mechanism is connected with the small gantry visual angle adjusting mechanism in a sliding manner; the large gantry height adjusting mechanism and the small gantry visual angle adjusting mechanism are both positioned in the normal direction of the surface of the strip; the large gantry height adjusting mechanism drives and adjusts the distance between the small gantry visual angle adjusting mechanism and the surface of the strip; the imaging device is arranged on the small gantry visual angle adjusting mechanism, and the small gantry visual angle adjusting mechanism adjusts the visual angle range; the large gantry height adjusting mechanism comprises a first bracket mechanism, a first stepping motor, a first coupler, a first bidirectional screw rod, a first X-shaped shearing fork mechanism, a first sliding rod and a first sliding mechanism; the first stepping motor, the first coupler and the first bidirectional screw rod are horizontally arranged in the first bracket mechanism; the first X-shaped shearing fork mechanism is used for connecting a first bidirectional screw rod with a first sliding rod, and two ends of the first sliding rod are fixed on the first sliding mechanism; the first stepping motor drives the first bidirectional screw rod to rotate and drives the first sliding rod to lift;
the small gantry visual angle adjusting mechanism comprises a second bracket mechanism, a second stepping motor, a second coupler, a second bidirectional screw rod, a second X-shaped shearing fork mechanism and a second sliding rod; the second bracket mechanism is fixed on the first sliding mechanism; the second stepping motor, the second coupler and the second bidirectional screw rod are horizontally arranged in the second bracket mechanism; the second X-shaped shearing fork mechanism connects the second bidirectional screw rod with the second sliding rod; the second stepping motor drives the second bidirectional screw rod to rotate and drives the second sliding rod to lift;
the imaging device comprises an imaging device bracket, a linear array camera and a linear array light source; the upper end of the imaging device bracket is connected with a second sliding rod, the middle part of the outer side of the imaging device bracket is connected with the inner side of a second bracket mechanism, the linear array camera and the linear array light source are fixed on the imaging device bracket, and the second sliding rod is lifted to drive the imaging device bracket to rotate;
the first bracket mechanism comprises a first supporting upright post, a second supporting upright post and a first cross beam; the first support upright posts and the second support upright posts are respectively arranged at two sides of the strip material and are vertically arranged on the ground; a screw hole is formed in the inner side of the upper end of the second supporting upright post; two ends of the first cross beam are respectively fixedly connected with the upper ends of the first support upright post and the second support upright post and are parallel to the surface of the strip;
the first sliding mechanism comprises a first sliding block, a second sliding block, a third sliding block, a fourth sliding block, a first sliding guide rail and a second sliding guide rail; the first sliding block and the third sliding block are connected to the first sliding guide rail in a sliding manner, and the second sliding block and the fourth sliding block are connected to the second sliding guide rail in a sliding manner; the first sliding guide rail is vertically fixed on the inner side of the first supporting upright post, and the second sliding guide rail is vertically fixed on the inner side of the second supporting upright post; two ends of the first sliding rod are fixedly connected to the first sliding block and the second sliding block respectively;
one end of the first bidirectional screw rod is matched with a screw rod hole on the second support upright post, the other end of the first bidirectional screw rod is horizontally connected with an output shaft of the first stepping motor through a first coupler, and the first stepping motor is vertically and fixedly connected to the upper end of the inner side of the first support upright post; the first bidirectional screw rod is provided with a left-handed thread and a right-handed thread which are distributed in a centering way;
the first X-shaped shearing fork mechanism comprises a first lead screw nut, a second lead screw nut, a first short connecting rod, a second short connecting rod, a first small sliding block and a second small sliding block; both ends of the first short connecting rod and the second short connecting rod are provided with hinge holes, and the middle is provided with a pin hole; the upper ends of the first small sliding block and the second small sliding block are respectively provided with a hinge hole; the lower sides of the first screw nut and the second screw nut are respectively provided with a hinge hole; the first short connecting rod and the second short connecting rod are in cross connection in the middle through a pin; one end of the first short connecting rod is hinged with the first screw nut, and the other end of the first short connecting rod is hinged with the second small sliding block; one end of the second short connecting rod is hinged with the second screw nut, and the other end of the second short connecting rod is hinged with the first small sliding block;
the first screw nut is a left-handed nut and sleeved in a left-handed threaded area of the first bidirectional screw, the second screw nut is a right-handed nut and sleeved in a right-handed threaded area of the first bidirectional screw; the first small sliding block and the second small sliding block are sleeved on the first sliding rod;
the second bracket mechanism comprises a third support upright post, a fourth support upright post and a second cross beam; the third support stand column and the fourth support stand column are respectively arranged on two sides of the strip, the upper end of the outer side of the third support stand column is fixedly connected with the first sliding block, the lower end of the outer side of the third support stand column is fixedly connected with the third sliding block, the upper end of the outer side of the fourth support stand column is fixedly connected with the second sliding block, and the lower end of the outer side of the fourth support stand column is fixedly connected with the fourth sliding block; a screw hole is formed in the inner side of the upper end of the fourth supporting upright post; two ends of the second cross beam are respectively fixedly connected with the upper ends of the third support upright post and the fourth support upright post and are parallel to the surface of the strip;
one end of the second bidirectional screw rod is matched with a screw rod hole on the fourth supporting upright post, and the other end of the second bidirectional screw rod is horizontally connected with the output shaft of the second stepping motor through a second coupler; the second stepping motor is vertically fixedly connected to the upper end of the inner side of the third supporting upright post; the second bidirectional screw rod is provided with a left-handed thread and a right-handed thread which are distributed in a centering way;
the second X-shaped shearing fork mechanism comprises a third screw nut, a fourth screw nut, a first long connecting rod, a second long connecting rod, a third small sliding block and a fourth small sliding block; both ends of the first long connecting rod and the second long connecting rod are provided with hinge holes, and the middle is provided with a pin hole; the upper ends of the third small sliding block and the fourth small sliding block are respectively provided with a hinge hole; the lower sides of the third screw nut and the fourth screw nut are respectively provided with a hinge hole; the first long connecting rod and the second long connecting rod are in cross connection in the middle through a pin, one end of the first long connecting rod is hinged with a third screw nut, and the other end of the first long connecting rod is hinged with a fourth small sliding block; one end of the second long connecting rod is hinged with a fourth screw nut, and the other end of the second long connecting rod is hinged with a third small sliding block; the third screw nut is a left-handed nut and is sleeved in a left-handed threaded area of the second bidirectional screw, the fourth screw nut is a right-handed nut and is sleeved in a right-handed threaded area of the second bidirectional screw; the third small sliding block and the fourth small sliding block are sleeved on the second sliding rod;
the imaging device bracket comprises a first cross bar, a second cross bar, a third cross bar, a fourth cross bar, a first short bar, a second short bar, a third short bar, a fourth short bar, a first long bar, a second long bar, a third long bar and a fourth long bar; the upper ends and the lower ends of the first short rod, the second short rod, the third short rod and the fourth short rod are respectively provided with a hinge hole; the upper end and the lower end of the first long rod, the second long rod, the third long rod and the fourth long rod are respectively provided with a hinge hole, and the middle is provided with a pin hole;
the upper end of the first short rod and the left end face A of the second sliding rod 1 The lower end of the first short rod is hinged with the left end face A of the first cross rod 2 Hinging; the upper end of the second short rod and the right end face B of the second sliding rod 1 Hinged, second short barLower end face and right end face B of first cross bar 2 Hinging; the upper end of the third short rod and the left end face A of the second sliding rod 1 The lower end of the third short rod is hinged with the left end face A of the second cross rod 3 Hinging; the upper end of the fourth short rod and the right end face B of the second sliding rod 1 The lower end of the fourth short rod is hinged with the right end face B of the second cross rod 3 Hinging;
the upper end of the first long rod and the left end face A of the second cross rod 3 The lower end of the first long rod is hinged with the left end face A of the fourth cross rod 5 Hinging; the upper end of the second long rod and the right end face B of the second cross rod 3 The lower end of the second long rod is hinged with the right end face B of the fourth cross rod 5 Hinging; the upper end of the third long rod and the left end face A of the first cross rod 2 The lower end of the third long rod is hinged with the left end face A of the third cross rod 4 Hinging; the upper end of the fourth long rod and the right end face B of the first cross rod 2 The lower end of the fourth long rod is hinged with the right end face B of the third cross rod 4 Hinging; the first long rod and the third long rod pass through the pin hole through the pin shaft and are fixed at the middle part of the third support upright post, the first long rod and the third long rod can rotate around the pin shaft, the second long rod and the fourth long rod pass through the pin hole through the pin shaft and are fixed at the middle part of the fourth support upright post, and the second long rod and the fourth long rod can rotate around the pin shaft; the first cross rod and the fourth cross rod are respectively fixed with a linear array light source, and the second cross rod and the third cross rod are respectively fixed with a linear array camera.
2. An imaging system of a dual gantry strip surface quality inspection apparatus of claim 1, wherein: the first sliding guide rail is fixedly connected to the inner side of the first supporting upright post through a bolt, and the second sliding guide rail is fixedly connected to the inner side of the second supporting upright post through a bolt.
3. An imaging system of a dual gantry strip surface quality inspection apparatus of claim 1, wherein: the included angle alpha between the first short rod and the third short rod ranges from 60 degrees to 120 degrees, and the included angle between the second short rod and the fourth short rod is the same as the included angle between the first short rod and the third short rod.
4. An imaging system of a dual gantry strip surface quality inspection apparatus of claim 1, wherein: the first cross bar, the second cross bar, the third cross bar and the fourth cross bar can be manually adjusted in angle, so that light rays emitted by the linear array light source enter the lens of the linear array camera.
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| CN103323457B (en) * | 2013-05-20 | 2015-08-26 | 中国农业大学 | Fruit appearance defect real-time online detection system and detection method |
| CN103592955B (en) * | 2013-11-05 | 2016-06-29 | 无锡市瑞尔精密机械有限公司 | The adjusting apparatus of Machine Vision Inspecting System |
| CN104020177B (en) * | 2014-06-26 | 2016-06-15 | 重庆大学 | The double; two CCD scanning imagery detection method of continuous casting billet surface defect |
| CN204203117U (en) * | 2014-09-19 | 2015-03-11 | 鞍钢股份有限公司 | Automatic positioning device for detecting illumination angle of surface quality of steel plate |
| CN206601346U (en) * | 2017-03-16 | 2017-10-31 | 武汉科技大学 | The imaging system of double planer-type surface quality of strips detection means |
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