CN107202555B - Connecting rod machining rotating disc clamp visual detection device and detection method - Google Patents
Connecting rod machining rotating disc clamp visual detection device and detection method Download PDFInfo
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- CN107202555B CN107202555B CN201710295898.3A CN201710295898A CN107202555B CN 107202555 B CN107202555 B CN 107202555B CN 201710295898 A CN201710295898 A CN 201710295898A CN 107202555 B CN107202555 B CN 107202555B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a visual detection device for a connecting rod machining rotating disc clamp, which comprises a light source, wherein the light source is arranged above a rotating disc and emits light rays, the light source is electrically connected with a light source controller, an industrial camera is arranged above the light source and is electrically connected with a computer, and the visual detection device also comprises a controller which is respectively electrically connected with a servo motor and the computer. The invention also provides a detection method of the visual detection device for the connecting rod machining rotating disc clamp. Compared with the prior art, the technical scheme of the invention adopts mechanical vision to detect the rotation angle of the rotating disk of the connecting rod blank, ensures the accurate control of the rotation angle of the rotating disk, ensures that the processing position deviation of the symmetrical cracking tank is controllable, avoids generating larger position deviation of the symmetrical cracking tank, and can effectively solve the problem of inaccurate positioning of the rotating disk. Therefore, the technical scheme of the invention has the advantages of simple structure, convenience and quickness in control, high processing precision and the like.
Description
Technical Field
The invention relates to the technical field of machine vision detection, in particular to a visual detection device and a visual detection method for a connecting rod machining rotating disc clamp.
Background
The machine vision is to use the machine to replace the human eye to measure and judge, wherein the machine vision system converts the shot target into image signal through the machine vision product, and transmits to the special image processing system, so as to obtain the form information of the shot target, and the form information is converted into digital signal according to the pixel distribution and the information of brightness, color, etc. The image system performs various operations on these signals to extract the target features, and then controls the field device to operate according to the result of the discrimination.
In the prior art, in order to simplify the processing steps of the connecting rod cracking groove and improve the processing efficiency, a vertical laser processing cracking groove method is provided. In the vertical processing schizolysis groove course of working of vertical type laser, the connecting rod blank is placed on the rotary disk and the installation centre gripping targets in place, and after the laser head moved to suitable position in vertical direction downwards, the laser head sent laser and processed out first connecting rod schizolysis groove to the major part hole of connecting rod, then the laser head resets, and the actuating cylinder pull-back kicking block that the symmetry set up to make the rotary disk relieve the locking. The servo motor drives the rotating disc to rotate 180 degrees, the symmetrically arranged driving cylinders push the ejector blocks out again to lock the rotating disc, the laser head vertically moves downwards to a proper position again and sends laser to process a second connecting rod cracking groove, then the laser head resets again, after the driving cylinders unlock the rotating disc, the servo motor drives the rotating disc to rotate 180 degrees to reset, and the clamping device on the top surface of the rotating disc releases clamping of the connecting rods, so that cutting action is completed.
Among the above-mentioned vertical type laser beam machining schizolysis groove processing technology, the rotary disk finishes and rotates the back at first connecting rod schizolysis groove processing, if the horizontal center line of rotary disk takes place the nonconformity before the rotation after or when there is great deviation in the position around, will directly lead to follow-up connecting rod schizolysis groove processing to produce great error to cause serious influence to the subsequent handling processing, consequently need carry out corresponding adjustment, in order to guarantee connecting rod schizolysis groove machining precision.
Disclosure of Invention
The invention mainly aims to provide a connecting rod processing rotating disc clamp visual detection device and a detection method which are simple in structure, convenient and fast to control and high in processing precision, and aims to improve the processing precision of cracking processing of a connecting rod cracking groove.
In order to achieve the purpose, the invention provides a connecting rod machining rotating disc clamp visual detection device which comprises a light source, wherein the light source is arranged above a rotating disc and emits light rays, the light source is electrically connected with a light source controller, an industrial camera is arranged above the light source and is electrically connected with a computer, and the detection device further comprises a controller which is respectively electrically connected with a servo motor and the computer.
Preferably, a lens for adjusting the focal length is arranged between the light source and the industrial camera.
Preferably, the light source, the lens and the industrial camera are connected with the support frame in sequence from bottom to top.
Preferably, the central axis of the lens and the central axis of the industrial camera are coincident with each other and perpendicular to the top surface of the rotating disk.
Preferably, the industrial camera is a CCD sensor, a COMS sensor.
The invention also provides a detection method of the connecting rod machining rotating disc clamp visual detection device, which comprises the following steps:
step 1: adjusting the light source to emit light to the top surface of the rotating disc in advance, and adjusting the distance between the lens and the horizontal center line of the rotating disc;
step 2: the computer controls the industrial camera to shoot an initial position image of the horizontal center line of the rotating disc through the lens;
and step 3: after the rotating disc rotates 180 degrees, the computer controls the industrial camera to shoot a position image after the rotating disc rotates along the horizontal center line through the lens;
and 4, step 4: and the computer contrasts and analyzes the offset angle of the horizontal center line of the rotary disk in the initial position image and the rotated position image, and sends a working signal to the servo motor through the controller so that the servo motor arranged below the rotary disk correspondingly rotates forwards or reversely, so that the horizontal center line of the rotary disk of the rotated position image is superposed with the horizontal center line of the rotary disk of the initial position image.
According to the technical scheme, the industrial camera is used for shooting the horizontal center line of the rotating disc, the focal length of the industrial camera is adjusted through the lens so as to improve the shooting precision, the light source emits light to the top surface of the rotating disc, and the light source controller is used for controlling the light brightness of the light source so that the industrial camera can shoot clear images conveniently. According to the technical scheme, the computer controls the industrial camera to shoot the image information before and after the rotating of the rotating disc through the lens, and the computer compares and analyzes the image information before and after the rotating disc is shot by the industrial camera, so that whether the rotating disc has angular offset after rotating is known, and after the offset occurs, the servo motor is controlled to correspondingly rotate through the controller, so that the horizontal center lines of the rotating disc in the front and rear detection images are overlapped again, and the machining precision of the connecting rod of the laser head is guaranteed.
Compared with the prior art, the technical scheme of the invention adopts mechanical vision to detect the rotation angle of the rotating disk of the connecting rod blank, ensures the accurate control of the rotation angle of the rotating disk, ensures that the processing position deviation of the symmetrical cracking tank is controllable, avoids generating larger position deviation of the symmetrical cracking tank, and can effectively solve the problem of inaccurate positioning of the rotating disk.
Therefore, the technical scheme of the invention has the advantages of simple structure, convenience and quickness in control, high processing precision and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic structural view of a connecting rod machining rotating disc fixture visual detection device of the present invention;
FIG. 2 is a schematic diagram of a first test case of the present invention;
FIG. 3 is a schematic diagram of a second testing scenario of the present invention;
fig. 4 is a schematic diagram of a third detection scenario of the present invention.
The reference numbers illustrate:
| reference numerals | Name (R) | Reference numerals | Name (R) |
| 1 | Light source controlDevice for cleaning the |
8 | |
| 2 | |
9 | |
| 3 | |
10 | |
| 4 | |
11 | Connecting |
| 5 | |
12 | Horizontal center line of front rotary table |
| 6 | |
13 | Center line of rear rotating |
| 7 | Computer with a memory card |
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The invention provides a visual detection device for a connecting rod machining rotating disc clamp.
Referring to fig. 1, the visual inspection device for a connecting rod processing rotating disc clamp of the present invention includes a light source 4 disposed above a rotating disc 9 and capable of emitting light, the light source 4 is electrically connected to a light source controller 1, an industrial camera 2 is disposed above the light source 4, the industrial camera 2 is electrically connected to a computer 7, and the inspection device further includes a controller 6 electrically connected to a servo motor 8 and the computer 7, respectively.
Specifically, in the embodiment of the present invention, in order to allow the industrial camera 2 to clearly photograph the top surface of the rotating disk 9, a lens 3 for adjusting the focal length is provided between the light source 4 and the industrial camera 2. The light emitted by the light source 4 irradiates the top surface of the rotating disk 9 from top to bottom, and the light source 4, the lens 3 and the industrial camera 2 are sequentially connected with the support frame 5 from bottom to top, wherein the lens 3 is adjusted in the up-and-down direction through the support frame 5, so that the focal distance between the lens 3 and the top surface of the rotating disk 9 is more appropriate. The central axis of the lens 3 and the central axis of the industrial camera 2 are coincident with each other and perpendicular to the top surface of the rotating disk 9. The industrial camera 2 implemented by the present invention is a CCD sensor, and in other embodiments of the present invention, the industrial camera 2 is a CMOS sensor.
The invention also provides a detection method of the visual detection device for the connecting rod machining rotating disc clamp, which comprises the following steps:
step 1: the light source 4 is adjusted in advance to emit light to the top surface of the rotating disk 9, and the distance between the lens 3 and the horizontal center line of the rotating disk 9 is adjusted;
step 2: the computer 7 controls the industrial camera 2 to shoot an initial position image of the horizontal central line 12 of the front rotating disc through the lens 3;
and step 3: after the rotating disc 9 rotates 180 degrees, the computer 7 controls the industrial camera 2 to shoot a position image after the rotating disc central line 13 rotates through the lens 3;
and 4, step 4: the computer 7 contrasts and analyzes the offset angle of the front rotary table horizontal center line 12 of the initial position image and the rear rotary table horizontal center line 13 of the rotated position image, and sends a working signal to the servo motor 8 through the controller 6, so that the servo motor 8 arranged below the rotary table 9 correspondingly rotates forwards or reversely, and the rear rotary table horizontal center line 13 of the rotated position image is superposed with the front rotary table horizontal center line 12 of the initial position image.
Referring to fig. 1, the control method is further described below by describing the operation principle of the connecting rod machining rotating disc clamp visual inspection device.
First, the irradiation direction of the light source 4 is adjusted in advance so that the light emitted from the light source 4 is directed toward the top surface of the rotating disk 9, and the brightness of the light emitted from the light source 4 can be adjusted by the light source controller 1. Then, the distance between the lens 3 and the top surface of the rotating disk 9 is adjusted, so that the light emitted by the light source 4 and irradiated on the top surface of the rotating disk 9 illuminates the top surface of the rotating disk 9 and ensures that the image shot by the industrial camera 2 is not too blurred. Meanwhile, the image data of the top surfaces of the light source 4, the lens 3, the industrial camera 2 and the rotating disk 9 are adjusted through the support frame 5.
Before the rotating disc 9 rotates, a horizontal line needs to be drawn on the top surface of the rotating disc 9 along the diameter of the rotating disc 9 to serve as a front rotating disc horizontal center line 12, and the front rotating disc horizontal center line 12 needs to be overlapped with a symmetrical center axis in the length direction of the connecting rod 11, so that an original positioning error in a subsequent visual detection process is avoided.
Meanwhile, before the rotating disk 9 rotates, the computer 7 controls the industrial camera 2 to capture an initial position image of the horizontal center line 12 of the front rotating disk through the lens 3 with a proper focal length and transmits the captured initial position image into the computer 7. When the rotary disk 9 is driven by the servo motor 8 to rotate 180 degrees, the computer 7 controls the industrial camera 2 to shoot a rotated position image of the horizontal center line 12 of the rotary disk in front of the rotary disk through the lens 3 with proper focal length, namely an image of the center line 13 of the rotary disk behind the rotary disk, and sends the shot rotated position image to the computer 7.
The computer 7 acquires the position image of the horizontal center line 12 of the front rotary table through an image acquisition card, obtains the gray information of the horizontal center line 12 of the front rotary table through image processing software arranged in the computer 7, then carries out filtering processing through a processor program algorithm in the computer 7, and obtains the position information of the horizontal center line 12 of the front rotary table through threshold processing and identification. After the rotating disc 9 rotates, position information of the central line 13 of the rear rotating disc is obtained in the same way, and finally, the image of the horizontal central line 12 of the front rotating disc and the image of the central line 13 of the rear rotating disc are simultaneously displayed in the collected pictures of the rotating disc 9 after rotation and are compared to obtain the included angle theta between the horizontal central line 12 of the front rotating disc and the central line 13 of the rear rotating disc.
Referring to fig. 2, if the horizontal center line 12 of the front rotary table in the initial position image and the center line 13 of the rear rotary table in the rotated position image coincide with each other, the computer 7 does not send a control signal to the control box 6, and the rotary table 9 does not need to be driven by the servo motor 8 to rotate to perform angle adjustment.
Referring to fig. 3, if the horizontal center line 12 of the front rotary table in the initial position image does not coincide with the horizontal center line 13 of the rear rotary table in the rotated position image, and the included angle θ between the horizontal center line 13 of the rear rotary table in the rotated position image and the horizontal center line 12 of the front rotary table in the initial position image is greater than 0 °, the computer 7 controls the servo motor 8 to rotate through the controller 6, so that the rotary table 9 rotates counterclockwise and finally the horizontal center line 12 of the front rotary table in the initial position image coincides with the horizontal center line 13 of the rear rotary table in the rotated position image again.
Referring to fig. 4, if the horizontal center line 12 of the front rotary table in the initial position image does not coincide with the horizontal center line 13 of the rear rotary table in the rotated position image, and the included angle θ between the horizontal center line 13 of the rear rotary table in the rotated position image and the horizontal center line 12 of the front rotary table in the initial position image is smaller than 0 °, the computer 7 controls the servo motor 8 to rotate through the controller 6, so that the rotary table 9 rotates clockwise and finally the horizontal center line 12 of the front rotary table in the initial position image coincides with the horizontal center line 13 of the rear rotary table in the rotated position image again.
After the rotating disk 9 rotates 180 degrees, the horizontal center line 12 of the front rotating disk in the initial position image and the center line 13 of the rear rotating disk in the rotated position image coincide with each other, or the front rotating disk in the initial position image and the center line 13 of the rear rotating disk in the rotated position image coincide again through the driving of the servo motor 8, the laser head 10 sends laser again to perform subsequent cracking groove processing on another cracking groove of the large-end hole of the connecting rod 11.
And after the two cracking grooves of the connecting rod 11 are processed, the computer 7 controls the industrial camera 2 to shoot the horizontal central line 12 of the front rotating disc again through the lens 3 to be used as a second initial position image, then the rotating disc 9 is driven by the servo motor 8 to rotate for 180 degrees so as to reset the rotating disc 9, and the computer 7 controls the industrial camera 2 to shoot the top surface of the rotating disc 9 through the lens 3 to be used as a second post-rotation position image. The computer 7 compares the angle theta between the horizontal center line 12 of the front rotary table in the second initial position image and the center line 13 of the rear rotary table in the second rotated position image, and drives the servo motor 8 through the controller 6 accordingly, so that the horizontal center line 12 of the front rotary table in the second initial position image and the center line 13 of the rear rotary table in the second rotated position image coincide with each other, thereby ensuring the positioning accuracy before the next connecting rod 11 is processed.
According to the technical scheme, the industrial camera 2 is adopted to shoot the horizontal center line of the rotating disc, the focal length of the shooting of the industrial camera 2 is adjusted through the lens 3 to improve the shooting precision, the light source 4 emits light to the top surface of the rotating disc 9, and the light controller 1 is used for controlling the light brightness degree of the light source 4, so that the industrial camera 2 can shoot clear images conveniently. In the technical scheme of the invention, the computer 7 controls the industrial camera 2 to shoot image information before and after the rotation of the rotating disc 9 through the lens 3, and the computer 7 obtains whether the rotating disc 9 has angular deviation after the rotation by comparing and analyzing the image information before and after the rotation of the rotating disc 9 shot by the industrial camera 2, and controls the servo motor 8 to correspondingly rotate through the controller 6 after the deviation occurs, so that the horizontal central lines of the rotating discs in the front and rear detection images are superposed again, and the processing precision of the connecting rod of the laser head 10 is ensured.
In conclusion, the technical scheme of the invention adopts mechanical vision to detect the rotation angle of the rotating disk of the connecting rod blank, ensures that the rotation angle of the rotating disk 9 is accurately controlled, ensures that the processing position deviation of the symmetrical cracking tank is controllable, avoids generating larger position deviation of the symmetrical cracking tank, and can effectively solve the problem of inaccurate positioning of the rotating disk. Compared with the prior art, the technical scheme of the invention has the advantages of simple structure, easy disassembly and assembly, convenient maintenance, reliable use, high processing precision and the like.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (6)
1. The visual detection device for the clamp of the connecting rod processing rotating disc is characterized by comprising a light source, wherein the light source is arranged above the rotating disc and emits light rays, the light source is electrically connected with a light source controller, an industrial camera is arranged above the light source and is electrically connected with a computer, the visual detection device also comprises a controller which is electrically connected with a servo motor and the computer respectively, the top surface of the rotating disc is provided with a horizontal central line of the rotating disc, the horizontal central line of the rotating disc is coincident with the symmetrical central axis in the length direction of the connecting rod, and the top end of the servo motor is connected with the rotating disc and drives the;
and the computer contrasts and analyzes the offset angle of the horizontal center line of the rotary disk in the initial position image and the rotated position image, and sends a working signal to the servo motor through a controller electrically connected with the computer so that the servo motor arranged below the rotary disk correspondingly rotates forwards or reversely, so that the horizontal center line of the rotary disk of the rotated position image is superposed with the horizontal center line of the rotary disk of the initial position image.
2. The connecting rod machining rotating disc clamp visual inspection device of claim 1, wherein a lens for adjusting a focal length is provided between the light source and the industrial camera.
3. The rotary disk fixture vision inspection device for connecting rod machining as claimed in claim 2, wherein said light source, said lens and said industrial camera are connected to a support frame in sequence from bottom to top.
4. The connecting rod machining rotating disc clamp visual inspection device of claim 3, wherein the central axis of the lens and the central axis of the industrial camera are coincident with each other and perpendicular to the top surface of the rotating disc.
5. The connecting rod machining rotating disc clamp visual inspection device of claim 1, wherein the industrial camera is a CCD sensor, a CMOS sensor.
6. An inspection method using the visual inspection apparatus for a connecting rod machining rotating disc clamp according to any one of claims 1 to 5, comprising the steps of:
step 1: adjusting the light source to emit light to the top surface of the rotating disc in advance, and adjusting the distance between the lens and the horizontal center line of the rotating disc;
step 2: the computer controls the industrial camera to shoot an initial position image of the horizontal center line of the rotating disc through the lens;
and step 3: after the rotating disc rotates 180 degrees, the computer controls the industrial camera to shoot a position image after the rotating disc rotates along the horizontal center line through the lens;
and 4, step 4: and the computer contrasts and analyzes the offset angle of the horizontal center line of the rotary disk in the initial position image and the rotated position image, and sends a working signal to the servo motor through the controller so that the servo motor arranged below the rotary disk correspondingly rotates forwards or reversely, so that the horizontal center line of the rotary disk of the rotated position image is superposed with the horizontal center line of the rotary disk of the initial position image.
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109068051A (en) * | 2018-06-19 | 2018-12-21 | 江苏高远智能科技有限公司 | A kind of industrial camera self-adapting intelligent regulating device |
| CN109269445A (en) * | 2018-09-27 | 2019-01-25 | 广东工业大学 | A kind of vision inspection apparatus and method of the connecting rod processing clamp of automatically calibrating |
| CN109540059A (en) * | 2018-11-27 | 2019-03-29 | 惠州绿保科技有限公司 | A kind of contourgraph rotary scanning mechanism |
| CN110487185A (en) * | 2019-07-26 | 2019-11-22 | 广东工业大学 | Based on machine vision connecting rod auxiliary positioning and splitter size detecting device and detection method |
| CN114113098A (en) * | 2020-08-27 | 2022-03-01 | 泰科电子(上海)有限公司 | Visual detection device for connector |
| CN112082485A (en) * | 2020-09-11 | 2020-12-15 | 广东四会实力连杆有限公司 | Connecting rod cracking groove deviation detection device and detection method thereof |
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