CN107626602A - Bearing automatic measurement sorting equipment based on micro-displacement sensor - Google Patents
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Abstract
本发明公开了一种基于微位移传感器的轴承自动测量分拣装置，包括送料机构，用于将待检测轴承输送至预定位置；第一检测位和第二检测位分别设有检测装置用于检测待检测轴承的内径，检测装置包括立柱、检测球和位移传感器，检测球和位移传感器可上下移动设置于立柱，检测球设置于位移传感器下方，位移传感器用于检测检测球的移动距离；夹持机构，用于夹持预定位置的待检测轴承，并移送至第一检测位和第二检测位；机台，用于安装送料机构、检测装置和夹持机构，机台在第一检测位和第二检测位设有除孔。该装置通过检测球的移动间接测量轴承内径，以此判断是否合格，并剔除不合格产品，该装置检测可靠，可对产品进行快速分类，提高效率。
The invention discloses a bearing automatic measurement and sorting device based on a micro-displacement sensor, which includes a feeding mechanism for transporting the bearing to be detected to a predetermined position; the first detection position and the second detection position are respectively provided with detection devices for detection For the inner diameter of the bearing to be detected, the detection device includes a column, a detection ball and a displacement sensor. The detection ball and the displacement sensor can be moved up and down on the column, and the detection ball is arranged below the displacement sensor. The displacement sensor is used to detect the moving distance of the detection ball; The mechanism is used to clamp the bearing to be tested at the predetermined position and transfer it to the first detection position and the second detection position; the machine table is used to install the feeding mechanism, the detection device and the clamping mechanism. The second detection position is provided with a removal hole. The device indirectly measures the inner diameter of the bearing through the movement of the detection ball to judge whether it is qualified or not, and rejects unqualified products. The device is reliable in detection and can quickly classify products to improve efficiency.
Description
技术领域technical field
本发明涉及一种轴承测量分拣装置，特别是涉及一种基于微位移传感器的轴承自动测量分拣装置。The invention relates to a bearing measuring and sorting device, in particular to a bearing automatic measuring and sorting device based on a micro-displacement sensor.
背景技术Background technique
目前，轴承的几何精度要求非常高，在零件的生产出来后，需要对相关的几何精度进行精确的检测。现有的检测设备，如专用量具、基于视觉的测量方法等，往往存在检测成本高、检测效率低和检测精度差等问题。轴承件作为轴承的重要零件，需求量非常巨大，因此，对高效、高精度的检测设备研究势在必行。国内轴承厂和科研院所针对轴承零件测量已进行一定的研究和应用。洛阳轴研科技股份有限公司的徐海利等人，基于机器视觉的测量方法，采用六点法对摄像机进行标定，同时结合图像处理技术，对滚动轴承图像进行预处理，采用点Hough变换的圆形图像检测算法，实现了轴承尺寸的物接触、无损伤测量。该设备同时还能够对轴承进行自动分类，节省了大量人力，大幅提高了生产效率。电子科技大学中山学院的范帅等人，研究了机器视觉技术，设计了一套轴承内外圈尺寸检测和分类系统，以替代人工综检分类。通过设计检测机构，对图像进行滤波、二值化，相机与镜头的标定，形态学去除内壁和边缘提取等方式，达到检测分类的目的。在尺寸测量部分，通过对两个特殊像素点的运算得到了轴承圆的内外半径，避开了对圆心的定位和轮廓的提取。试验结果表明，该系统很好的实现了轴承内外圈尺寸的检测和分类。但上述这些装置还存在诸多问题和不足，首先这些装置的检测精度仍不高，运用摄像机的图像处理技术，仍然达不到一些企业的要求。然后这些装置的后期处理系统基本空白，没有一个很好地保障系统去记录所需要的轴承数据和误差参数。最后这些装置在控制系统的使用上需要得到更大的提高和改进。At present, the geometric accuracy requirements of bearings are very high. After the parts are produced, the relevant geometric accuracy needs to be accurately tested. Existing detection equipment, such as special measuring tools and vision-based measurement methods, often have problems such as high detection cost, low detection efficiency, and poor detection accuracy. As an important part of bearings, bearing parts are in great demand. Therefore, it is imperative to research on high-efficiency and high-precision testing equipment. Domestic bearing factories and scientific research institutes have carried out certain research and application on the measurement of bearing parts. Xu Haili and others from Luoyang Shaft Research Technology Co., Ltd., based on the measurement method of machine vision, used the six-point method to calibrate the camera, combined with image processing technology, preprocessed the rolling bearing image, and used the circular image detection of point Hough transform Algorithm, realizes object contact and non-damage measurement of bearing size. At the same time, the equipment can also automatically classify the bearings, saving a lot of manpower and greatly improving production efficiency. Fan Shuai and others from Sun Yat-Sen College, University of Electronic Science and Technology of China, studied machine vision technology and designed a set of bearing inner and outer ring size detection and classification system to replace manual comprehensive inspection and classification. By designing the detection mechanism, filtering and binarizing the image, calibrating the camera and the lens, removing the inner wall and extracting the edge according to the morphology, etc., the purpose of detection and classification is achieved. In the dimension measurement part, the inner and outer radii of the bearing circle are obtained through the operation of two special pixel points, which avoids the positioning of the center of the circle and the extraction of the outline. The test results show that the system can detect and classify the size of bearing inner and outer rings well. However, there are still many problems and deficiencies in the above-mentioned devices. Firstly, the detection accuracy of these devices is still not high, and the image processing technology of the camera still cannot meet the requirements of some enterprises. However, the post-processing systems of these devices are basically blank, and there is no good guarantee system to record the required bearing data and error parameters. Finally, these devices require greater improvement and improvement in the use of control systems.
发明内容Contents of the invention
针对上述现有技术的缺陷，本发明提供了一种基于微位移传感器的轴承自动测量分拣装置，用于对轴承内径进行检测并判断分类，提高检测速度。Aiming at the defects of the above-mentioned prior art, the present invention provides a bearing automatic measurement and sorting device based on a micro-displacement sensor, which is used to detect and judge and classify the inner diameter of the bearing, and improve the detection speed.
本发明技术方案如下：一种基于微位移传感器的轴承自动测量分拣装置，包括：The technical solution of the present invention is as follows: a bearing automatic measurement and sorting device based on a micro-displacement sensor, comprising:
送料机构，用于将待检测轴承输送至预定位置；The feeding mechanism is used to transport the bearing to be tested to a predetermined position;
第一检测位和第二检测位，用于检测待检测轴承的内径，所述第一检测位和第二检测位分别设有检测装置，所述检测装置包括立柱、检测球和位移传感器，所述检测球和位移传感器可上下移动设置于所述立柱，检测球设置于位移传感器下方，所述位移传感器用于检测所述检测球的移动距离；The first detection position and the second detection position are used to detect the inner diameter of the bearing to be detected. The first detection position and the second detection position are respectively equipped with detection devices, and the detection devices include columns, detection balls and displacement sensors. The detection ball and the displacement sensor can be moved up and down and arranged on the column, the detection ball is arranged below the displacement sensor, and the displacement sensor is used to detect the moving distance of the detection ball;
夹持机构，用于夹持预定位置的待检测轴承，并移送至第一检测位和第二检测位；The clamping mechanism is used to clamp the bearing to be tested at a predetermined position and transfer it to the first detection position and the second detection position;
机台，用于安装所述送料机构、检测装置和夹持机构，所述机台在第一检测位和第二检测位设有用于筛选不合格产品的剔除孔。The machine platform is used to install the feeding mechanism, the detection device and the clamping mechanism, and the machine platform is provided with rejection holes for screening unqualified products at the first detection position and the second detection position.
进一步的，所述送料机构设置于所述机台的一侧，送料机构包括振动料盘、传送带和推送装置，所述传送带设置于振动料盘的出料口，传送带用于传送待检测轴承，所述推送装置设置于所述传送带的一侧，推送装置用于将传送带上的待检测轴承推送至机台的预定位置。Further, the feeding mechanism is arranged on one side of the machine platform, and the feeding mechanism includes a vibrating tray, a conveyor belt and a pushing device, the conveyor belt is arranged at the discharge port of the vibrating tray, and the conveyor belt is used to transmit the bearing to be tested. The pushing device is arranged on one side of the conveyor belt, and the pushing device is used to push the bearing to be tested on the conveyor belt to a predetermined position on the machine table.
进一步的，所述推送装置为推送气缸，所述推送气缸的气缸杆伸缩方向与传送带的传送方向垂直。Further, the pushing device is a pushing cylinder, and the telescoping direction of the cylinder rod of the pushing cylinder is perpendicular to the conveying direction of the conveyor belt.
进一步的，所述传送带的末端设有第一挡板，所述预定位置的一侧设有第二挡板，所述推送装置将待检测轴承推送至紧靠所述第二挡板。Further, the end of the conveyor belt is provided with a first baffle, and one side of the predetermined position is provided with a second baffle, and the pushing device pushes the bearing to be tested close to the second baffle.
进一步的，所述机台设有供所述夹持机构移动的轨道，所述夹持机构包括机架和夹持台，所述夹持台设有转动机构和抱夹机构，所述抱夹机构与转动机构连接用于翻转待检测轴承。Further, the machine table is provided with a track for the movement of the clamping mechanism, the clamping mechanism includes a frame and a clamping table, the clamping table is provided with a rotating mechanism and a clamping mechanism, and the clamping The mechanism is connected with the rotating mechanism to turn over the bearing to be tested.
进一步的，所述机架设有丝杠运动副，所述夹持台与丝杠运动副连接进行上下移动。Further, the frame is provided with a lead screw kinematic pair, and the clamping table is connected with the lead screw kinematic pair to move up and down.
进一步的，所述夹持台设有伸缩装置，所述转动机构设置于所述伸缩装置的前端。Further, the clamping platform is provided with a telescopic device, and the rotating mechanism is arranged at the front end of the telescopic device.
进一步的，所述剔除孔设有活动挡板，所述检测装置检测出不合格产品时，所述活动挡板打开。Further, the rejecting hole is provided with a movable baffle, and when the detection device detects unqualified products, the movable baffle is opened.
本发明所提供的技术方案的优点在于：该装置利用检测球与轴承内径的配合，通过测量检测球的下移距离间接测量了轴承内径，进而判断轴承尺寸是否合格。避免了运用摄像机机器视觉检测存在的图像获取精度、算法等引起的测量误差，也避免了采用千分尺打表检测对定位精度要求高的问题。装置结构简单，在识别不合格产品后可对其进行快速剔除，实现对产品的分类，提高检测生产效率。The advantage of the technical solution provided by the present invention is that the device uses the cooperation between the detection ball and the inner diameter of the bearing to indirectly measure the inner diameter of the bearing by measuring the downward movement distance of the detection ball, and then judge whether the bearing size is qualified. It avoids the measurement error caused by the image acquisition accuracy and algorithm of the camera machine vision inspection, and also avoids the high positioning accuracy requirement of the micrometer meter detection. The structure of the device is simple, and unqualified products can be quickly eliminated after identification, so as to realize the classification of products and improve the detection production efficiency.
附图说明Description of drawings
图1为基于微位移传感器的轴承自动测量分拣装置的结构示意图。Figure 1 is a schematic structural diagram of a bearing automatic measurement and sorting device based on a micro-displacement sensor.
图2为夹持机构结构示意图。Figure 2 is a schematic diagram of the structure of the clamping mechanism.
图3为检测装置结构示意图。Fig. 3 is a schematic diagram of the structure of the detection device.
具体实施方式detailed description
下面结合实施例对本发明作进一步说明，但不作为对本发明的限定。The present invention will be further described below in conjunction with the examples, but not as a limitation of the present invention.
请结合图1、图2及图3所示，本实施例所涉及的基于微位移传感器的轴承自动测量分拣装置，包括机台1，机台1的右侧安装有送料机构。送料机构包括振动料盘2、传送带3和推送装置4，传送带3设置于振动料盘2的出料口，传送带3用于向前传送待检测轴承。传送带3的末端设有第一挡板5，当待检测轴承不断向前运动至传送带3末端时，由第一挡板5阻挡。推送装置4设置于传送带3的右侧，同样处于传送带3的末端，待检测轴承被第一挡板5阻挡后由推送装置4推送至机台1的预定位置。具体的，推送装置4为推送气缸，推送气缸的气缸杆伸缩方向与传送带3的传送方向垂直，即气缸杆进行左右伸缩运动。在机台1的台面上设置有第二挡板6，第二挡板6的位置位于传送带3末端的左侧，该第二挡板6的右侧位置即构成了待检测轴承的预定位置，位于传送带3末端的待检测轴承由推送气缸推送至紧靠第二挡板6时，待检测轴承即到达该预定位置。Please refer to FIG. 1 , FIG. 2 and FIG. 3 , the bearing automatic measurement and sorting device based on the micro-displacement sensor involved in this embodiment includes a machine 1 , and a feeding mechanism is installed on the right side of the machine 1 . The feeding mechanism includes a vibrating tray 2, a conveyor belt 3 and a pushing device 4, the conveyor belt 3 is arranged at the discharge port of the vibrating tray 2, and the conveyor belt 3 is used to forward the bearing to be tested. The end of the conveyor belt 3 is provided with a first baffle 5, and when the bearing to be tested moves forward continuously to the end of the conveyor belt 3, it is blocked by the first baffle 5. The pushing device 4 is arranged on the right side of the conveyor belt 3, and is also at the end of the conveyor belt 3. After the bearing to be tested is blocked by the first baffle 5, it is pushed to the predetermined position of the machine 1 by the pushing device 4. Specifically, the pushing device 4 is a pushing cylinder, and the telescoping direction of the cylinder rod of the pushing cylinder is perpendicular to the conveying direction of the conveyor belt 3, that is, the cylinder rod performs a left-right telescopic movement. A second baffle plate 6 is arranged on the table surface of the machine platform 1, and the position of the second baffle plate 6 is located on the left side of the end of the conveyor belt 3, and the right side of the second baffle plate 6 constitutes the predetermined position of the bearing to be detected. When the bearing to be detected located at the end of the conveyor belt 3 is pushed by the push cylinder to be close to the second baffle plate 6, the bearing to be detected will reach the predetermined position.
机台1的台面上还设有左右方向延伸的轨道7，夹持机构8设置在轨道7上可沿轨道7左右移动。夹持机构8包括机架81、伸缩装置82和夹持台83，机架81设有竖直的丝杠运动副。机架81顶端设有驱动丝杠运动副的丝杆85转动的伺服电机84，伸缩装置82与丝杠运动副的螺母86固定连接进行前后方向的伸缩。机架81上设有导柱87以辅助螺母86进行上下运动。夹持台83包括转动机构83a和抱夹机构83b，伸缩装置82的前端设有转动机构83a，转动机构83a连接有抱夹机构83b，抱夹机构83b用于夹持待检测轴承。夹持机构8通过轨道7上的左右移动、丝杠运动副的上下运动以及伸缩机构82的前后运动，对位于预定位置的待检测轴承进行夹持，并移动至第一检测位和第二检测位，同时在第一检测位和第二检测位之间实现待检测轴承的翻转。A track 7 extending left and right is also arranged on the table of the machine 1 , and the clamping mechanism 8 is arranged on the track 7 and can move left and right along the track 7 . The clamping mechanism 8 includes a frame 81, a telescoping device 82 and a clamping table 83, and the frame 81 is provided with a vertical screw movement pair. The top of frame 81 is provided with the servo motor 84 that drives the screw mandrel 85 of the lead screw kinematic pair to rotate, and the telescopic device 82 is fixedly connected with the nut 86 of the lead screw kinematic pair to expand and contract in the front and rear directions. The frame 81 is provided with a guide post 87 to assist the nut 86 to move up and down. The clamping table 83 includes a rotating mechanism 83a and a clamping mechanism 83b. The front end of the telescopic device 82 is provided with a rotating mechanism 83a. The rotating mechanism 83a is connected to a clamping mechanism 83b. The clamping mechanism 83b is used to clamp the bearing to be tested. The clamping mechanism 8 clamps the bearing to be tested at the predetermined position through the left and right movement on the track 7, the up and down movement of the screw motion pair, and the forward and backward movement of the telescopic mechanism 82, and moves to the first detection position and the second detection position. position, and at the same time realize the flipping of the bearing to be tested between the first detection position and the second detection position.
第一检测位和第二检测位是机台1上对待检测轴承进行内径检测的两个工位。第一检测位和第二检测位分别设有检测装置9。检测装置9包括立柱91、检测球92和位移传感器93，其中立柱91设有滑槽94，滑槽94内分别设有上下布置的第一支架95和第二支架96，位移传感器93采用微位移传感器。检测球92固定在第一支架95的前端，位移传感器93固定在第二支架96的前端，并且使检测球92设置于位移传感器93的正下方，位移传感器93用于检测检测球92的移动距离。在机台1上，位于检测球92的正下方设置用于筛选不合格产品的剔除孔10，剔除孔10设有活动挡板，当检测装置检测出不合格产品时，活动挡板打开，夹持机构8的抱夹机构83b释放轴承，则完成不合格产品的剔除。The first detection position and the second detection position are two stations on the machine 1 for inner diameter detection of the bearing to be tested. The first detection position and the second detection position are provided with detection devices 9 respectively. The detection device 9 includes a column 91, a detection ball 92 and a displacement sensor 93, wherein the column 91 is provided with a chute 94, and the chute 94 is respectively provided with a first support 95 and a second support 96 arranged up and down, and the displacement sensor 93 adopts a micro-displacement sensor. The detection ball 92 is fixed on the front end of the first support 95, the displacement sensor 93 is fixed on the front end of the second support 96, and the detection ball 92 is arranged directly below the displacement sensor 93, and the displacement sensor 93 is used to detect the moving distance of the detection ball 92 . On the machine platform 1, a rejecting hole 10 for screening unqualified products is arranged directly below the detection ball 92. The rejecting hole 10 is provided with a movable baffle. When the detection device detects unqualified products, the movable baffle is opened and the clamp If the clamping mechanism 83b of the holding mechanism 8 releases the bearing, the rejecting of unqualified products is completed.
基于微位移传感器的轴承自动测量分拣装置的工作过程是这样的，待检测轴承集中于振动料盘2内，随着振动料盘2的振动，待检测轴承依次排列于传送带3向传动带3末端移动。在传送带3末端，推送气缸的伸缩使待检测轴承处于机台1的预定位置。夹持机构8沿轨道7运动至预定位置，通过丝杠运动副、伸缩装置82以及抱夹机构83b的相互配合，夹持机构8从预定位置夹持待检测轴承，并向左运动至第一检测位进行第一次内径检测。在第一检测位，首先设有检测球92的第一支架5下移，使检测球92处于待检测轴承的孔内，然后设有位移传感器93的第二支架96下移，通过位移传感器93测得检测球92的下移距离。由于检测球92与待检测轴承的孔的配合，当待检测轴承的孔的孔径偏大或者偏小时，检测球92的位置也会相对的偏低或者偏高，进而体现为检测球92下移距离的偏大或者偏小，据此检验出不合格的轴承。当出现不合格轴承时，下方的活动挡板打开，露出机台的剔除孔10，抱夹机构83b释放轴承，完成剔除。如果在第一检测位检测的轴承内径合格，则夹持机构8的转动机构83a运动，使轴承翻转，并沿轨道继续向左运动至第二检测位进行轴承内径的第二次检测，具体检测过程同第一次内径检测。两次内径检测均合格的轴承由夹持机构夹持离开第二检测位后释放，并进行收集。夹持机构8释放不合格或者合格的轴承后，向右运动至预定位置继续夹持下一个待检测轴承，重复上述过程进行检测。The working process of the bearing automatic measurement and sorting device based on the micro-displacement sensor is as follows. The bearings to be detected are concentrated in the vibrating tray 2. With the vibration of the vibrating tray 2, the bearings to be detected are arranged in turn on the conveyor belt 3 toward the end of the conveyor belt 3. move. At the end of the conveyor belt 3, the expansion and contraction of the push cylinder makes the bearing to be tested be in the predetermined position of the machine platform 1. The clamping mechanism 8 moves to a predetermined position along the track 7, and through the mutual cooperation of the screw motion pair, the telescopic device 82 and the clamping mechanism 83b, the clamping mechanism 8 clamps the bearing to be tested from the predetermined position, and moves to the left to the first position. The detection position performs the first inner diameter detection. At the first detection position, at first the first bracket 5 with the detection ball 92 moves down, so that the detection ball 92 is in the hole of the bearing to be detected, and then the second bracket 96 with the displacement sensor 93 moves down, and the displacement sensor 93 The downward movement distance of the detection ball 92 is measured. Due to the cooperation between the detection ball 92 and the hole of the bearing to be detected, when the aperture of the hole of the bearing to be detected is too large or too small, the position of the detection ball 92 will be relatively low or high, and then the detection ball 92 will move downward. If the distance is too large or too small, unqualified bearings are detected accordingly. When unqualified bearings occur, the movable baffle below opens to expose the rejecting hole 10 of the machine table, and the clamping mechanism 83b releases the bearings to complete the rejecting. If the inner diameter of the bearing detected at the first detection position is qualified, the rotating mechanism 83a of the clamping mechanism 8 moves to overturn the bearing, and continues to move to the left along the track to the second detection position for the second detection of the inner diameter of the bearing. The process is the same as the first inner diameter inspection. Bearings that pass the two inner diameter inspections are released by the clamping mechanism after leaving the second inspection position, and are collected. After the clamping mechanism 8 releases the unqualified or qualified bearing, it moves to the right to a predetermined position and continues to clamp the next bearing to be tested, and repeats the above process for testing.
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