CN107289847A - A kind of screw thread automatic detection device with vision and application method - Google Patents
A kind of screw thread automatic detection device with vision and application method Download PDFInfo
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- CN107289847A CN107289847A CN201710554670.1A CN201710554670A CN107289847A CN 107289847 A CN107289847 A CN 107289847A CN 201710554670 A CN201710554670 A CN 201710554670A CN 107289847 A CN107289847 A CN 107289847A
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- work piece
- thread
- screw thread
- whorl work
- screw
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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
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/14—Measuring arrangements characterised by the use of mechanical techniques for measuring distance or clearance between spaced objects or spaced apertures
- G01B5/16—Measuring arrangements characterised by the use of mechanical techniques for measuring distance or clearance between spaced objects or spaced apertures between a succession of regularly spaced objects or regularly spaced apertures
- G01B5/163—Measuring arrangements characterised by the use of mechanical techniques for measuring distance or clearance between spaced objects or spaced apertures between a succession of regularly spaced objects or regularly spaced apertures of screw-threads
-
- 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
-
- 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
- B07C5/34—Sorting according to other particular properties
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
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- General Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of screw thread automatic detection device with vision and application method, including vibration disk device, the first conveying line device, robot device, combined test stand and the second pipeline；Vibration disk device includes vibrating disk and vibrating disk bottom plate, first conveying line device includes the first pipeline, stopping means, whorl work piece, photoelectric sensor and photoelectric sensor installing plate, and robot device includes four-degree-of-freedom robot, the first clamping cylinder and the first clamping handgrip；Combined test stand includes the first linear slide rail, the second linear slide rail, screw gauge detection means, screw thread vision inspection apparatus and Work fixing device；Vibration disk device is located at the input of the first conveying device, and robot device is located between the output end of the first conveying line device and the input of the second pipeline, and comprehensive detection platform is arranged in the with the output end side of conveying line device.The device can accurately detect thread size size and open defect, and automaticity is high.
Description
Technical field
The invention belongs to field of machinery automation, and in particular to a kind of screw thread automatic detection device with vision and user
Method.
Background technology
Screw thread be the mankind invent earliest it is one of simple and mechanical.Screw thread has easily assembling, easily disassembled superiority, makes
Obtain it and be widely used in the fields such as machine-building, Aero-Space, nuclear power, chemical industry, military project.The mechanical performance of thread part except
With material, processing technology phase outside the Pass, the crudy of geometric parameter is also to influence the key factor of its performance.Therefore, screw thread is several
The detection of what parameter is the important step in thread part production process.Measuring that analysis can reduce effectively to screw thread will not
The use of qualified screw thread, prevents Joint failure.Traditional thread measurement method is mostly manual formula detection, is entered using external thread gauge
Row contact measurement, workman carries out judging whether product is qualified according to manual inspection result to product to be detected, its workload is big,
Inefficiency and measurement result is easily affected by human factors, not only lacks measurement efficiency, and lack overall qualification determination
Foundation, can not meet the actual demand of production.
The content of the invention
The present invention for above-mentioned problems of the prior art there is provided a kind of screw thread automatic detection device with vision and
Application method, the thread measurement automation degree of equipment is high, saves labour, can realize the size detection of normal thread and outer
See detection.
A kind of screw thread automatic detection device with vision provided by the present invention and application method, including vibration disk device,
One conveying line device, robot device, combined test stand and the second pipeline；Vibration disk device includes vibrating disk and vibrating disk is pacified
Fill seat；Vibrating disk is fixedly installed in vibrating disk mounting seat, and vibrating disk mounting seat is fixedly installed in ground；First conveying line device
Including the first pipeline, stopping means, whorl work piece, photoelectric sensor and photoelectric sensor installing plate, the first pipeline is with shaking
Moving plate is connected, and positioned at same level, stopping means includes the first baffle conveying, the first conveying installing plate, the second conveying gear
Plate and the second conveying installing plate, the first baffle conveying side are fixedly connected on the first conveying installing plate, and the second baffle conveying is fixed
The second conveying installing plate is connected to, stopping means is fixedly installed on the first pipeline, and stopping means is connected with vibrating disk, photoelectricity
Sensor is fixed on photoelectric sensor installing plate, and photoelectric sensor installing plate is fixedly installed in the first pipeline side；Machine
People's device includes four-degree-of-freedom robot, robot mounting seat, the first mounting flange, flange connecting plate, the first clamping cylinder
Handgrip is clamped with first, four-degree-of-freedom robot is fixedly installed in robot mounting seat, robot mounting seat and first
Pipeline is located at same level, and the first mounting flange is fixedly installed in four-degree-of-freedom robot end, flange connecting plate and the
One mounting flange is fixedly connected, and the first clamping cylinder is fixedly installed on flange connecting plate, and the first clamping handgrip is connected to first
On clamping cylinder；Combined test stand includes monitor station base, the first linear slide rail, the second linear slide rail, column, screw gauge
Detection means, screw thread vision inspection apparatus and Work fixing device, monitor station base and the first pipeline are located at same level,
First linear slide rail is fixedly installed on monitor station base, and column includes frame and frame installing plate, and frame is installed by frame
Plate is installed vertically on the first linear slide rail, and the second linear slide rail is fixedly mounted in frame；Screw gauge detection means is pacified
Loaded on the second linear slide rail；Screw gauge detection means includes thread measurement connecting plate, thread measurement motor, end float
Mechanism, yielding coupling, torque sensor, clamp chuck and screw gauge, screw gauge, torque sensor, clamp card
Disk, yielding coupling and thread measurement motor coaxle are connected, and end float mechanism is fixedly installed in thread measurement motor side；Spiral shell
Line vision inspection apparatus includes camera support, carriage mounting plate and industrial camera, and camera support is fixed by carriage mounting plate pacifies
Loaded on monitor station bottom, industrial camera is installed on camera support；Work fixing device includes rotation platform, the second clamping gas
Cylinder, second clamp handgrip, the second mounting flange, electric rotating machine, whorl work piece；Second clamping handgrip is installed on the second clamping cylinder
On, the second clamping cylinder is fixedly installed on rotation platform, and rotation platform is fixedly installed on the second mounting flange, and second installs
Flange coaxial is installed on electric rotating machine.It is same that screw thread vision inspection apparatus is located at the first linear slide rail with Work fixing device
Side, screw gauge detection means and electric rotating machine are coaxially arranged.
Vibration disk device is located at the flowing end of the first conveying device, and robot device is located at the blowing of the first conveying line device
Between end and the flowing end of the second pipeline, comprehensive detection platform is arranged in the flowing end side of the first conveying line device.
A kind of screw thread automatic detection device with vision and application method, application method are as follows：When in use, by screw thread work
Part is fitted into vibrating disk, completes the automatic charging of workpiece under the automatic shaping screening effect of vibrating disk, and pass through stopping means
Reach on the first pipeline；When whorl work piece passes through stopping means end, photoelectric sensor receives signal triggering, by screw thread
The position signalling of workpiece conveys to four-degree-of-freedom robot；Four-degree-of-freedom robot is obtained after trigger signal, by four freely
Spending robot end drives the first of the driving of the first clamping cylinder to clamp above handgrip the first pipeline of arrival and realize to screw thread
The crawl of workpiece；Afterwards under the running of four-degree-of-freedom robot, whorl work piece is placed on Work fixing device；Screw thread work
After part is placed on Work fixing device, the second clamping cylinder driving second clamps handgrip and is fixedly clamped whorl work piece；Screw thread
After workpiece is fixed, the second linear slide rail drives screw gauge detection means to move down, and screw gauge is in thread measurement electricity
Rotary motion occurs under the drive of machine, end float mechanism is able to ensure that screw gauge will not when contacting whorl work piece end
Workpiece is injured, when in the screw thread that screw gauge rotary motion to whorl work piece end is detected, screw gauge is in screw thread
Continue to be rotated down in workpiece screw thread, if drift rotation is by detected screw thread, screw gauge continues to be rotated down motion,
If no-go gage rotation is only detected 2.5 circles of screw thread, no-go gage rotates in screw thread will be by torque resistance, now moment sensing
Device is capable of detecting when the torque resistance suffered by no-go gage and is transferred to thread measurement motor, and thread measurement motor output shaft is inverted simultaneously
Rise under the drive of motor so that screw gauge is reversely rotated and resetted upwards, according to " drift mistake, no-go gage is only
To be qualified " principle, then the whorl work piece thread surface size qualification；If drift rotation is led to by detected screw thread, screw thread
No-go gage continues to be rotated down motion, if no-go gage rotation is also by detected screw thread, now screw gauge reverse rotation is simultaneously upward
Reset, according to the principle of " drift mistake, no-go gage is crossed not unqualified ", then the whorl work piece thread surface size is larger, unqualified, then
The whorl work piece will be captured and rejected in the presence of four-degree-of-freedom robot, in addition, clamping chuck can realize to different shaped
The Quick universal of number go-no go gauge；Complete after the thread size go-no go gauge detection to whorl work piece, next step is realized to screw thread work
The vision-based detection of part outward appearance；Whorl work piece is fixed on Work fixing device, under the driving of electric rotating machine, drives by the second peace
The rotation platform rotation that dress flange is fixed, and it is further driven to be fixed on the rotation of the whorl work piece on rotation platform, now, position
Start in the industrial camera of the screw thread vision inspection apparatus on combined test stand surface, and complete to whorl work piece thread surface
360 degree of complete detections, and the detection image results obtained and cut-and-dried template are contrasted, under the matching of computer
The outward appearance detection of thread surface is automatically performed, and gained signal is fed back into realization, if matching result is different, spiral shell via computer
Line workpiece surface screw thread is unqualified, if matching result is identical, and whorl work piece thread surface is qualified, so far completes to whorl work piece
The outward appearance detection of thread surface；If whorl work piece is qualified after screw gauge detection and the detection of screw thread visual appearance,
Then illustrate that detected whorl work piece thread surface is qualified, afterwards, four-degree-of-freedom robot drives first to clamp handgrip by screw thread work
Part is captured and is placed on the second pipeline, thereafter, completes subsequent work stations or encapsulation.
It is preferred that, electric rotating machine uses servomotor-reducer structure；Thread measurement motor uses servomotor-harmonic wave
Reducer structure；First clamping cylinder and the second clamping cylinder use pneumatic means.
The invention has the characteristics that：
（1）The present invention uses vibrating disk automatic charging mode, reduction entreprise cost and personnel labor intensity, improves operating efficiency；
（2）The present invention using four-degree-of-freedom robot to workpiece carry out accurately capture and dispose, substantially increase different workpieces it
Between flexible demand；
（3）The present invention detects screw thread using screw gauge detection by the way of Machine Vision Detection is combined, and detection process is not
Need human intervention, it is ensured that the stabilization and testing result of product quality are reliable, dramatically realize Quality Detection automation.
Brief description of the drawings
Fig. 1 is the structural representation at isometric visual angle of the present invention.
Fig. 2 is the structural representation that the present invention overlooks visual angle.
Fig. 3 is the structural representation at combined test stand isometric visual angle in present device.
Fig. 4 is the structural representation of screw gauge detection means in present device.
In figure：1：Vibrating disk；2：Vibrating disk mounting seat；3：Whorl work piece；4：First pipeline；5：Stopping means；6：Light
Electric transducer；7：Photoelectric sensor installing plate；8：Robot mounting seat；9：Four-degree-of-freedom robot；10：Second pipeline；
11：Flange connecting plate；12：First mounting flange；13：First clamping cylinder；14：First clamps handgrip；15：Workpiece fixes dress
Put；16：Screw gauge detection means；17：Second linear slide rail；18：Column；19：Screw thread vision inspection apparatus；20：First
Linear slide rail；21：Monitor station base；22：First baffle conveying；23：First conveying installing plate；24：Second baffle conveying；25：
Second conveying installing plate；26：Frame installing plate；27：Frame；28：Thread measurement connecting plate；29：Thread measurement motor；30：End
Portion's relocation mechanism；31：Yielding coupling；32：Torque sensor；33：Clamp chuck；34：Screw gauge；35：Camera support；
36：Industrial camera；37：Carriage mounting plate；38：Rotation platform；39：Second clamps handgrip；40：Second mounting flange；41：Rotation
Motor；42：Second clamping cylinder；43：Motor.
Embodiment
As shown in Figure 1, Figure 2, Figure 3, Figure 4, a kind of screw thread automatic detection device with vision and application method are by vibrating disk
Device, the first conveying line device, robot device, combined test stand, the second pipeline composition.Vibration disk device includes vibrating disk
1 and vibrating disk mounting seat 2, vibrating disk 1 is fixedly installed in vibrating disk mounting seat 2, and vibrating disk mounting seat 2 is fixedly installed in ground
Face；First conveying line device includes the first pipeline 4, stopping means 5, whorl work piece 3, photoelectric sensor 6 and photoelectric sensor
Installing plate 7, the first pipeline 4 is connected with vibrating disk 1, and positioned at same level, stopping means 5 includes the first baffle conveying
22nd, the first conveying installing plate 23, the second baffle conveying 24 and the second conveying installing plate 25, the side of the first baffle conveying 22, which is fixed, to be connected
The first conveying installing plate 23 is connected to, the second baffle conveying 24 is fixedly connected on the second conveying installing plate 25, and stopping means 5 fixes peace
Loaded on the first pipeline 4, stopping means 5 is connected with vibrating disk 1, and photoelectric sensor 6 is fixed on photoelectric sensor installing plate 7
On, photoelectric sensor installing plate 7 is fixedly installed in the side of the first pipeline 4；Robot device include four-degree-of-freedom robot 9,
Robot mounting seat 8, the first mounting flange 12, flange connecting plate 11, the first clamping cylinder 13 and first clamp handgrip 14, four
Degree of freedom robot 9 is fixedly installed in robot mounting seat 8, and robot mounting seat 8 is located at same with the first pipeline 4
Horizontal plane, the first mounting flange 12 is fixedly installed in the end of four-degree-of-freedom robot 9, the mounting flange of flange connecting plate 11 and first
12 are fixedly connected, and the first clamping cylinder 13 is fixedly installed on flange connecting plate 11, and the first clamping handgrip 14 is connected to the first folder
On tight cylinder 13；Combined test stand includes monitor station base 21, the first linear slide rail 20, the second linear slide rail 17, column 18, spiral shell
Line go-no go gauge detection means 16, screw thread vision inspection apparatus 19 and Work fixing device 15；Monitor station base 21 and first is conveyed
Line 4 is located at same level；First linear slide rail 20 is fixedly installed on monitor station base 21, and column 18 includes frame 27 and machine
Frame installing plate 26, frame 27 is installed vertically on the first linear slide rail 20 by frame installing plate 26, and the second linear slide rail 17 is consolidated
Dingan County is in frame 27, and screw gauge detection means 16 is installed on the second linear slide rail 17, screw gauge detection dress
Putting 16 includes thread measurement connecting plate 28, thread measurement motor 29, end float mechanism 30, yielding coupling 31, moment sensing
Device 32, clamp chuck 33 and screw gauge 34, screw gauge 34, torque sensor 32, clamp chuck 33, yielding coupling
31 and thread measurement motor 29 it is coaxially connected, end float mechanism 30 is fixedly installed in the side of thread measurement motor 29, and screw thread is regarded
Feel that detection means 19 includes camera support 35, carriage mounting plate 37 and industrial camera 36, camera support 35 passes through carriage mounting plate
37 are fixedly installed on monitor station base 21, and industrial camera 36 is installed on camera support 35, and Work fixing device 15 includes rotation
Turn platform 38, the second clamping cylinder 42, second and clamp handgrip 39, the second mounting flange 40, electric rotating machine 41 and whorl work piece 3,
Second clamping handgrip 39 is installed on the second clamping cylinder 42, and the second clamping cylinder 42 is fixedly installed on rotation platform 38, rotation
Turn platform 38 to be fixedly installed on the second mounting flange 40, the second mounting flange 40 is coaxially installed on electric rotating machine 41, screw thread
Vision inspection apparatus 19 and Work fixing device 15 are located at the same side of the first linear slide rail 20, screw gauge detection means 16 with
Electric rotating machine 41 is coaxially arranged.
Electric rotating machine 41 uses servomotor-reducer structure；Thread measurement motor 29 uses servomotor-harmonic reduction
Device structure；First clamping cylinder 13 and the second clamping cylinder 42 use pneumatic means.
A kind of screw thread automatic detection device with vision and application method, whorl work piece 3 is fitted into vibrating disk 1, shaken
The lower automatic charging for completing workpiece of automatic shaping screening effect of Moving plate 1, and reached by stopping means 5 on the first pipeline 4；
When whorl work piece 3 is by 5 end of stopping means, photoelectric sensor 6 receives signal triggering, and the position of whorl work piece 3 is believed
Number convey to four-degree-of-freedom robot 9；Four-degree-of-freedom robot 9 is obtained after trigger signal, passes through the end of four-degree-of-freedom robot 9
End drives the first of the driving of the first clamping cylinder to clamp handgrip 14 and reaches the top of the first pipeline 4 and realize to whorl work piece 3
Crawl；Afterwards under the running of four-degree-of-freedom robot 9, whorl work piece 3 is placed on Work fixing device 15；Whorl work piece
After 3 are placed on Work fixing device 15, the second clamping cylinder 42 driving second clamps handgrip 39 and is fixedly clamped whorl work piece
3；After whorl work piece 3 is fixed, the second linear slide rail 17 drives screw gauge detection means 16 to move down, screw gauge 34
Rotary motion occurs under the drive of thread measurement motor 29, end float mechanism 30 is able to ensure that screw gauge 34 in contact
Workpiece will not be injured during 3 end of whorl work piece, the screw thread being detected when the rotary motion of screw gauge 34 to the end of whorl work piece 3
When interior, screw gauge 34 continues to be rotated down in the screw thread of whorl work piece 3, if drift rotation passes through detected screw thread, spiral shell
Line go-no go gauge 34 continues to be rotated down motion, if no-go gage rotation is only detected 2.5 circles of screw thread, no-go gage rotates in screw thread will
Meeting is capable of detecting when the torque resistance suffered by no-go gage and is transferred to thread measurement by torque resistance, now torque sensor 32
Motor 29, the output shaft of thread measurement motor 29 reversion simultaneously rises under the drive of motor 43 so that screw gauge 34 is anti-
To rotating and resetting upwards, according to the principle of " drift mistake, no-go gage is only to be qualified ", then whorl work piece thread surface size conjunction
Lattice；If drift rotation is by detected screw thread, screw gauge 34 continues to be rotated down motion, if no-go gage rotation is also by quilt
Screw thread is detected, now screw gauge 34 is reversely rotated and resetted upwards, according to the original of " drift mistake, no-go gage is crossed not unqualified "
Then, then the whorl work piece thread surface size is larger, unqualified, then the whorl work piece is by the effect of four-degree-of-freedom robot 9
Lower crawl is simultaneously rejected, in addition, the Quick universal to different model go-no go gauge can be realized by clamping chuck 33；Complete to whorl work piece
After 3 thread size go-no go gauge detection, next step realizes the vision-based detection to whorl work piece outward appearance；Whorl work piece 3 is in workpiece
It is fixed in fixing device 15, under the driving of electric rotating machine 41, drive the rotation platform 38 fixed by the second mounting flange 40
Rotate, and the whorl work piece 3 for being further driven to be fixed on rotation platform 38 rotates, now, on combined test stand surface
Screw thread vision inspection apparatus 19 included by industrial camera 36 start, and complete to 360 the degree of whorl work piece thread surface entirely
Face is detected, and the detection image results obtained and cut-and-dried template are contrasted, automatic complete under the matching of computer
Outward appearance into thread surface is detected, and gained signal is fed back into realization, if matching result is different, whorl work piece via computer
3 thread surfaces are unqualified, if matching result is identical, and the thread surface of whorl work piece 3 is qualified, so far complete to the table of whorl work piece 3
The outward appearance detection of face screw thread；If whorl work piece 3 is qualified after screw gauge detection and the detection of screw thread visual appearance,
Illustrate that the detected thread surface of whorl work piece 3 is qualified, afterwards, four-degree-of-freedom robot 9 drives first to clamp handgrip 14 by screw thread
Workpiece 3 is captured and is placed on the second pipeline 10, thereafter, completes subsequent work stations or encapsulation.
The present invention is exemplarily described above in conjunction with accompanying drawing, it is clear that the present invention is implemented not by aforesaid way
Limitation, as long as the improvement of the various unsubstantialities of inventive concept and technical scheme of the present invention progress is employed, or without changing
Enter and the design of the present invention and technical scheme are directly applied into other occasions, within protection scope of the present invention.
Claims (2)
1. a kind of screw thread automatic detection device with vision and application method, it is characterised in that including vibration disk device, first defeated
Wire-sending device, robot device, combined test stand and the second pipeline；
The vibration disk device includes vibrating disk (1) and vibrating disk mounting seat (2), and the vibrating disk (1) is fixedly installed in described
In vibrating disk mounting seat (2), the vibrating disk mounting seat (2) is fixedly installed in ground；
First conveying line device includes the first pipeline (4), stopping means (5), whorl work piece (3), photoelectric sensor (6)
With photoelectric sensor installing plate (7), first pipeline (4) is connected with the vibrating disk (1), and positioned at same level,
The stopping means (5) includes the first baffle conveying (22), the first conveying installing plate (23), the second baffle conveying (24) and second
Installing plate (25) is conveyed, the first baffle conveying (22) side is fixedly connected on the first conveying installing plate (23), described second
Baffle conveying (24) is fixedly connected on the second conveying installing plate (25), and it is defeated that the stopping means (5) is fixedly installed in described first
In line sending (4), the stopping means (5) is connected with the vibrating disk (1), and the photoelectric sensor (6) is fixed on the photoelectricity
On sensor installing plate (7), the photoelectric sensor installing plate (7) is fixedly installed in the first pipeline (4) side；
The robot device includes four-degree-of-freedom robot (9), robot mounting seat (8), the first mounting flange (12), method
Blue connecting plate (11), the first clamping cylinder (13) and first clamp handgrip (14), and the four-degree-of-freedom robot (9) is fixedly mounted
In in robot mounting seat (8), the robot mounting seat (8) is located at same level with first pipeline (4),
First mounting flange (12) is fixedly installed in four-degree-of-freedom robot (9) end, the flange connecting plate (11) with
First mounting flange (12) is fixedly connected, and first clamping cylinder (13) is fixedly installed in the flange connecting plate (11)
On, the first clamping handgrip (14) is connected on first clamping cylinder (13)；
The combined test stand includes monitor station base (21), the first linear slide rail (20), the second linear slide rail (17), driving electricity
Machine（43）, column (18), screw gauge detection means (16), screw thread vision inspection apparatus (19) and Work fixing device
(15), the monitor station base (21) is located at same level, first linear slide rail (20) with first pipeline (4)
It is fixedly installed on the monitor station base (21), the column (18) includes frame (27) and frame installing plate (26), described
Frame (27) is installed vertically on first linear slide rail (20) by the frame installing plate (26), and described second is linear sliding
Rail (17) is fixedly mounted in the frame (27), and it is linear sliding that the screw gauge detection means (16) is installed on described second
On rail (17), the screw gauge detection means (16) includes thread measurement connecting plate (28), thread measurement motor (29), end
Portion's relocation mechanism (30), yielding coupling (31), torque sensor (32), chuck (33), screw gauge (34) are clamped, it is described
Screw gauge (34), torque sensor (32), clamp chuck (33), yielding coupling (31) and the thread measurement motor
(29) coaxially connected, the end float mechanism (30) is fixedly installed in thread measurement motor (29) side, the screw thread
Vision inspection apparatus (19) includes camera support (35), carriage mounting plate (37), industrial camera (36), and camera support (35) passes through
The carriage mounting plate (37) is fixedly installed on the monitor station base (21), and the industrial camera (36) is installed on the phase
On machine support (35), the Work fixing device (15) clamps including rotation platform (38), the second clamping cylinder (42), second and grabbed
Hand (39), the second mounting flange (40), electric rotating machine (41) and whorl work piece (3), the second clamping handgrip (39) are installed on
On second clamping cylinder (42), second clamping cylinder (42) is fixedly installed on the rotation platform (38), described
Rotation platform (38) is fixedly installed on second mounting flange (40), and second mounting flange (40) is coaxially installed on institute
State on electric rotating machine (41), the screw thread vision inspection apparatus (19) is located at the First Line with the Work fixing device (15)
Property slide rail (20) the same side, the screw gauge detection means (16) and the electric rotating machine (41) are coaxially arranged；
Vibration disk device be located at the first conveying device flowing end, robot device be located at the first conveying line device blowing end and
Between the flowing end of second pipeline, comprehensive detection platform is arranged in the flowing end side of the first conveying line device；
Screw thread automatic detection device and application method with vision, application method are as follows：When in use, by the whorl work piece
(3) it is fitted into the vibrating disk (1), the automatic charging of workpiece is completed under the automatic shaping screening effect of the vibrating disk (1),
And reached by the stopping means (5) on first pipeline (4)；When whorl work piece (3) is by the stopping means (5)
During end, the photoelectric sensor (6) receives signal triggering, the position signalling of the whorl work piece (3) is conveyed to described
Four-degree-of-freedom robot (9)；The four-degree-of-freedom robot (9) is obtained after trigger signal, passes through the four-degree-of-freedom machine
People (9) end drives described the first of the first clamping cylinder driving to clamp handgrip (14) and reaches first pipeline (4)
The crawl of top and realization to the whorl work piece (3)；, will be described afterwards under the running of the four-degree-of-freedom robot (9)
Whorl work piece (3) is placed on the Work fixing device (15)；The whorl work piece (3) is placed in the Work fixing device
(15) after on, second clamping cylinder (42) driving, the second clamping handgrip (39) is fixedly clamped the whorl work piece
(3)；After the whorl work piece (3) is fixed, second linear slide rail (17) drives the screw gauge detection means (16)
Move down, under the drive of the thread measurement motor (29) rotary motion, the end occur for the screw gauge (34)
Portion's relocation mechanism (30) is able to ensure that the screw gauge (34) will not injure work when contacting whorl work piece (3) end
Part, when in the screw thread that screw gauge (34) rotary motion to the whorl work piece (3) end is detected, the screw thread is logical only
Rule (34) continue to be rotated down in whorl work piece (3) screw thread, if drift rotation passes through detected screw thread, screw gauge
(34) continue to be rotated down motion, if no-go gage rotation is only detected 2.5 circles of screw thread, no-go gage rotates in screw thread will be by
Torque resistance, now the torque sensor (32) be capable of detecting when the torque resistance suffered by no-go gage and be transferred to thread measurement
Motor (29), thread measurement motor (29) output shaft is inverted and in the motor（43）Drive under rise so that screw thread
Go-no go gauge (34) is reversely rotated and resetted upwards, according to the principle of " drift mistake, no-go gage is only qualified ", then the whorl work piece table
Face thread size is qualified；If drift rotation is by detected screw thread, screw gauge (34) continues to be rotated down motion, if only
Rule rotation is reversely rotated and resetted upwards also by detected screw thread, now screw gauge (34), according to " drift mistake, no-go gage
Cross not unqualified " principle, then the whorl work piece thread surface size is larger, unqualified, then the whorl work piece will be described four
Capture and reject in the presence of degree of freedom robot (9), in addition, the chuck (33) that clamps can realize stop logical to different model
The Quick universal of rule；Complete after the thread size go-no go gauge detection to the whorl work piece (3), next step is realized to the spiral shell
The vision-based detection of line workpiece outward appearance；The whorl work piece (3) is fixed on the Work fixing device (15), in the electric rotating
Under the driving of machine (41), drive the rotation platform (38) fixed by second mounting flange (40) to rotate, go forward side by side one
Step drive is fixed on the whorl work piece (3) rotation on the rotation platform (38), now, on combined test stand surface
The screw thread vision inspection apparatus (19) included by the industrial camera (36) start, and complete to the whorl work piece table
360 degree of complete detections of face screw thread, and the detection image results obtained and cut-and-dried template are contrasted, in computer
Matching under be automatically performed thread surface outward appearance detection, and via computer by gained signal feed back realize, if matching result
Difference, then whorl work piece (3) thread surface is unqualified, if matching result is identical, whorl work piece (3) thread surface
It is qualified, so far complete the outward appearance detection to the whorl work piece (3) thread surface；If the whorl work piece (3) is led to by screw thread
It is qualified after no-go gage detection and the detection of screw thread visual appearance, then illustrate that detected whorl work piece (3) thread surface is qualified, it
Afterwards, the four-degree-of-freedom robot (9) drives the first clamping handgrip (14) that the whorl work piece (3) is captured and is placed in
On second pipeline (10), thereafter, subsequent work stations or encapsulation are completed.
2. a kind of screw thread automatic detection device with vision according to claim 1 and application method, it is characterised in that institute
State electric rotating machine (41) and use servomotor-reducer structure；The thread measurement motor (29) is subtracted using servomotor-harmonic wave
Fast device structure；First clamping cylinder (13) and the second clamping cylinder (42) use pneumatic means.
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| CN201710554670.1A CN107289847A (en) | 2017-07-10 | 2017-07-10 | A kind of screw thread automatic detection device with vision and application method |
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| Publication Number | Publication Date |
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| CN107289847A true CN107289847A (en) | 2017-10-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710554670.1A Pending CN107289847A (en) | 2017-07-10 | 2017-07-10 | A kind of screw thread automatic detection device with vision and application method |
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| CN111272036A (en) * | 2018-12-04 | 2020-06-12 | 发那科株式会社 | Automatic thread checking system |
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| CN109703990A (en) * | 2019-02-28 | 2019-05-03 | 邵东智能制造技术研究院有限公司 | Automated material carries training platform |
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| CN110090811A (en) * | 2019-05-13 | 2019-08-06 | 优力精密塑胶（苏州）有限公司 | A kind of automatic detection sorting equipment and its detection method for sorting for measurement position degree |
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| CN112775037A (en) * | 2020-12-28 | 2021-05-11 | 乐为传动科技(苏州)有限公司 | Automatic appearance detection equipment |
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| CN113970553A (en) * | 2021-10-22 | 2022-01-25 | 肇庆学院 | Jigsaw HDI alignment detection device |
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