CN108714701A - A kind of Machining of Shaft-type Parts device - Google Patents
A kind of Machining of Shaft-type Parts device Download PDFInfo
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- CN108714701A CN108714701A CN201810617213.7A CN201810617213A CN108714701A CN 108714701 A CN108714701 A CN 108714701A CN 201810617213 A CN201810617213 A CN 201810617213A CN 108714701 A CN108714701 A CN 108714701A
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- 238000003754 machining Methods 0.000 title claims abstract description 23
- 238000001514 detection method Methods 0.000 claims abstract description 72
- 238000012545 processing Methods 0.000 claims abstract description 32
- 238000007599 discharging Methods 0.000 claims abstract description 28
- 230000007246 mechanism Effects 0.000 claims description 68
- 239000011159 matrix material Substances 0.000 claims description 22
- 239000013589 supplement Substances 0.000 claims description 21
- 238000000034 method Methods 0.000 claims description 12
- 230000009466 transformation Effects 0.000 claims description 12
- 238000013519 translation Methods 0.000 claims description 12
- 230000001502 supplementing effect Effects 0.000 claims description 11
- 239000013598 vector Substances 0.000 claims description 9
- 238000003708 edge detection Methods 0.000 claims description 8
- 239000000047 product Substances 0.000 claims description 8
- 230000002950 deficient Effects 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 5
- 230000003287 optical effect Effects 0.000 claims description 5
- 238000007476 Maximum Likelihood Methods 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 3
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- 230000003993 interaction Effects 0.000 claims description 3
- 238000002156 mixing Methods 0.000 claims description 3
- 238000005457 optimization Methods 0.000 claims description 3
- 238000001228 spectrum Methods 0.000 claims description 3
- 230000001131 transforming effect Effects 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 description 5
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- 230000000694 effects Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 4
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- NIXOWILDQLNWCW-UHFFFAOYSA-N acrylic acid group Chemical group C(C=C)(=O)O NIXOWILDQLNWCW-UHFFFAOYSA-N 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B5/00—Turning-machines or devices specially adapted for particular work; Accessories specially adapted therefor
- B23B5/08—Turning-machines or devices specially adapted for particular work; Accessories specially adapted therefor for turning axles, bars, rods, tubes, rolls, i.e. shaft-turning lathes, roll lathes; Centreless turning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B25/00—Accessories or auxiliary equipment for turning-machines
- B23B25/06—Measuring, gauging, or adjusting equipment on turning-machines for setting-on, feeding, controlling, or monitoring the cutting tools or work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q2707/00—Automatic supply or removal of metal workpieces
- B23Q2707/003—Automatic supply or removal of metal workpieces in a lathe
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Machine Tool Sensing Apparatuses (AREA)
- Feeding Of Workpieces (AREA)
- Turning (AREA)
Abstract
The invention discloses a kind of Machining of Shaft-type Parts devices, including：Entry table, for placing axial workpiece to be processed；Lathe, for being processed to axial workpiece；Testing agency, for detecting whether axial workpiece reaches processing request；The axial workpiece of processing request is not achieved for placing detection for substandard products area；Discharge port plate reaches the axial workpiece of processing request for placing detection；Mechanical arm, for capturing axial workpiece to be processed from entry table and being sequentially transmitted to lathe and testing agency, if processing request is not achieved in detection, axial workpiece is placed into substandard products area, if detection reaches processing request, axial workpiece is placed into discharge port plate.The present invention only needs to provide the manuscript of axial workpiece and axial workpiece DWG formats, the mismachining tolerance of allowance, so that it may to realize Full automatic feed processing, detection and discharging.
Description
Technical Field
The invention relates to a processing device, in particular to a shaft part processing device.
Background
At present, the 4.0 era of industry has arrived quietly, and on the basis of the background, intelligent manufacturing is the theme of the world at present, and aims to improve the intelligent level of manufacturing industry and establish an intelligent factory with adaptability and resource efficiency. Under the current era, smart manufacturing undoubtedly has a broad market.
At present, most of shaft parts on the market are machined by using a common large semi-automatic lathe, and a few enterprises use expensive CNC (computerized numerical control) lathes.
The material clamping device in the common numerical control lathe is the same as the common lathe, and a common chuck needing manual clamping and loosening is adopted.
The existing shaft part detection method generally adopts traditional measuring tools such as a micrometer, a vernier caliper, a micrometer screw and the like to carry out manual measurement. The traditional measuring mode has strong dependence on manpower, large labor amount, low efficiency, uncertain precision and more human errors, and leads to the difficulty in realizing the detection requirement of high-precision products.
The defects of the prior art can be seen from the above:
(1) the common numerical control lathe cannot be used for full-automatic processing and has limited processing precision.
(2) The common chuck needs to be manually clamped and loosened, and is time-consuming and labor-consuming.
(3) The part detection depends on the traditional detection means, and the accuracy cannot be guaranteed.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention aims to: provided is a shaft part machining device.
The purpose of the invention is realized by the following technical scheme: an axle type parts machining device includes:
the feeding disc is used for placing shaft parts to be processed;
the lathe is used for processing shaft parts;
the detection mechanism is used for detecting whether the shaft parts meet the processing requirements;
the defective product area is used for placing shaft parts which cannot meet the processing requirements in detection;
the discharging disc is used for placing shaft parts which meet the machining requirements through detection;
the mechanical arm is used for grabbing shaft parts to be machined from the feeding disc and sequentially conveying the shaft parts to the lathe and the detection mechanism, the shaft parts are placed in the defective product area if the shaft parts cannot be machined through detection, and the shaft parts are placed in the discharging disc if the shaft parts cannot be machined through detection.
Preferably, the mechanical arm comprises a middle rotary table used for placing the shaft parts when the mechanical arm switches and clamps the shaft part parts, the middle rotary table comprises a pneumatic chuck and middle rotary clamping plates respectively arranged on clamping jaws of the pneumatic chuck, and a first clamping area is formed between the middle rotary clamping plates.
Preferably, the feeding disc comprises a disc body and a clamping mechanism, the clamping mechanism comprises a fixed clamping plate, a movable clamping plate and a push plate mechanism used for pushing the movable clamping plate, the fixed clamping plate is fixed on the disc body, a sliding groove extending towards the fixed clamping plate is formed in the disc body, a sliding block is arranged at the bottom of the movable clamping plate, and the sliding block is connected into the sliding groove.
Preferably, the clamping mechanisms and the sliding grooves are multiple and are arranged in one-to-one correspondence;
the turntable mechanism comprises a motor and a bracket, the motor is arranged on the bracket, and a power shaft of the motor is connected with the turntable body;
the disc body is arranged on the main shaft, and a power shaft of the motor is connected with the main shaft through the coupler.
Preferably, the detection mechanism comprises a box body, a first camera, a light supplement lamp, a camera shooting frame and a light supplement frame, the first camera, the light supplement lamp, the camera shooting frame and the light supplement frame are arranged in the box body, a box opening for the mechanical arm to extend into is formed in the box body, the camera shooting frame and the light supplement frame both comprise a mobile station and a fixed rod arranged in the box body, the mobile station is provided with an installation table, a fixed bolt, a fixed nut and a connecting frame, the installation table is arranged on the connecting frame, the connecting frame is provided with a nut fixing clamping groove and a sleeve frame sleeved on the fixed rod, the nut fixing clamping groove is formed in the sleeve frame, the fixed nut is arranged in the nut fixing clamping groove, the fixed bolt is connected with the fixed nut and penetrates through the sleeve frame, and;
the first camera is installed on the installation platform of the camera shooting frame, and the light supplementing lamp is installed on the installation platform of the light supplementing frame.
Preferably, light filling lamp and light filling frame are two and the one-to-one setting, and two light filling lamps are located the both sides of box, make a video recording and erect and arrange in between two light filling lamps.
Preferably, still including making a video recording adjustment ball and light adjustment ball, make a video recording erect and arrange in the movable block of making a video recording adjustment ball, the light filling erects and arranges in on the movable block of light adjustment ball.
Preferably, the detection method of the detection mechanism is as follows:
establishing a pixel plane coordinate system (u, v) and a picture plane coordinate system, the picture plane coordinate system comprising an image physical coordinate system (x, y), a camera coordinate system (Xc, Yc, Zc) and a world coordinate system (Xw, Yw, Zw);
establishing a relation between a pixel plane coordinate system and a pixel plane coordinate system, and combining the relation between the pixel plane and an image plane to obtain a transformation relation between the pixel coordinates of the space point M and the image point M:
equation 1:
wherein dx and dy represent the length and width of each pixel; u0 and v0 denote the intersection points of the optical axis and the image plane; f is the camera focal length, i.e. the distance from point O to point Oc in the figure; xc, Yc, Zc are the coordinates of a point M in the camera coordinate system;
let α be f/dx、β＝f/dyRespectively representing equivalent focal lengths expressed in units of pixels in the x-axis and y-axis directions, and additionally incorporating a parameter γ of α tg θ1Representing the measure of the degree of tilt of the coordinate axis in pixel units in the image plane, θ is the skew angle of the v-axis of the camera CCD array, and equation 1 can be rewritten as:
equation 2:
obtaining five distortion coefficients of the camera according to a formula 2;
the transformation from a point of a world coordinate system to a camera coordinate point is described by a rotation transformation matrix R and a translation variable t, and the homogeneous coordinate of a point M in space under the world coordinate system and the camera coordinate system is [ X ] respectivelyw,Yw,Zw,1]T，[Xc,Yc,Zc,1]TThen, there is a relationship:
equation 3:
wherein O is [0, 0 ═ O]TXw, Yw and Zw are world coordinate system coordinates of a certain point in space, and 6 parameters of 3 translation amounts in the translation vector t and three rotation angles of the rotation matrix R are external parameters of the camera;
after the distortion coefficient matrix and the external parameter matrix are obtained, correcting the picture according to the distortion coefficient matrix and the external parameter matrix;
and (3) picture correction:
the coordinate of the M point in the space on the pixel plane coordinate system can be obtained according to the distortion coefficient and the external parameters as follows:
equation 4:
wherein, R is a rotation transformation matrix which is a 3x3 orthogonal unit matrix, and t is a three-dimensional translation variable;
then, the difference between the value and the true value is obtained by establishing a nonlinear minimization model optimization solution;
when the camera has radial distortion, the (u, v) is set as the ideal pixel plane coordinate,as actual pixel plane coordinates, (x, y) andideal and actual image physical coordinates, respectively, and the radial distortion coefficients k1 and k2 are defined byThe following can be obtained:
equation 5:
solving formula 5 by a least square method, and optimizing by maximum likelihood estimation after obtaining radial distortion coefficients k1 and k 2;
when diameter detection is carried out, angular point detection is carried out on the sub-pixel level edge of the shaft part to be detected, and then the diameter is calculated according to the angular point;
edge detection:
sub-pixel edge detection based on Zernike moments is adopted; establishing a step edge model;
let k be the step height, h be the background gray scale, if rotate the edge by angle-theta, the edge will be parallel to the y-axis;
then there areWherein f' (x, y) is an edge function after image rotation, and three Zernike moments of different orders are needed when the Zernike moments are used for edge positioning, and are respectively A00、A11、A20The integral kernel functions of the three are respectively as follows: v00＝1，V11＝x+jy，V20＝2x2+2y2-1, the corresponding Zernike moments of the original image and the rotated image having a Zernike moment relationship A00＝A00，A11＝A11ejθ，A20＝A20；
Equation 6: a. thenm＝Anme-jmθWhere nm represents the m-th order Zernike moments of the n-th order, and equation 6 represents the imaginary part of the 1 st order 1-th Zernike moments of the rotated image, i.e., the imaginary part of the 1 st order 1-th Zernike moments when the edges are parallel to the y-axis is zero, i.e.
Im[A11]＝sin(θ)Re[A11]-cos(θ)Im[A11]＝0，Im[A11]And Re [ A ]11]Respectively, the imaginary part and the real part in the Zernike moment of the rotated image, so that the angle of the edge rotation is obtainedThe calculations for the model shown can yield:
the vertical position of the center to the edge can be obtained by simultaneous equations as:the sub-pixel positions of the image are:
angular point detection:
the points at the corner points are divided into two types, namely points on the edge and points not on the edge;
determining the corner positions with sub-pixel accuracy by iteration;
the method of finding the corner position at the sub-pixel level is based on the observation of vector orthogonality, i.e. the vectors from the central point q to its neighbourhood point p are orthogonal to the image gradient at p and are affected by image and measurement noise;
expressed by equation 7:
equation 7:
wherein,representing a neighborhood point P at qiThe value of q is determined by minimizing epsiloniObtaining;
by mixingiSet to 0, the system equation can be established as follows:
equation 8:
wherein the gradients in the neighborhood of the center q of the search window are accumulated; calling a first gradient parameter G and a second gradient parameter b to obtain:
equation 9: q ═ G-1·b
Setting the center of a search window as a new center q, and then iterating until a center position lower than a certain threshold point is found;
image splicing:
let f1(x,y)、f2(x, y) are signals of two images, f2(x, y) is represented by f1(x, y) translate (dx, dy)
Obtaining, namely: equation 10: f. of2(x,y)＝f1(x-dx,y-dy)；
Reflecting equation 10 to the frequency domain yields:
equation 11F2(u，v)＝F1(u，v)×e-i×2π×(u×dx+v×dy)
Transforming equation 11 to obtain an interaction rate spectrum:
equation 12:
performing Fourier inversion on the formula 12 to obtain a Diecka function, and searching a coordinate corresponding to a peak point of the function to obtain an offset to be obtained;
after the offset of the two pictures is obtained, image splicing can be carried out according to the offset; and (3) diameter detection:
after sub-pixel level corner detection is performed, coordinates of each corner can be obtained, and the coordinates of the corner are set as (x)1,y1)、(x2,y2)、……、(xi,yi) Reading the values y1, y2, … …, y of the ordinate of each corner point in sequenceiWhen is coming into contact with
yi+1＜yiWhen is, will (x)i,yi) Arranging the coordinates of the angular points in front of the device in such a way that the coordinates of the angular points are arranged from small to large according to the ordinate, setting a constant A, and operating the arranged coordinates of the angular points: let y be the absolute value of the difference between the ordinate of the (i + 1) th corner point and the ordinate of the (i) th corner point, i.e. y ═ yi+1-yiIf y is less than or equal to A, the diameter of the first section is y, if y is less than or equal to A>And A, moving a pointer pointing to the second angular point to the third angular point, and so on to obtain the length d of the diameter of each section of shaft part.
Preferably, the discharging disc comprises a plurality of discharging turntables and a plurality of charging barrels, and the charging barrels are uniformly distributed on the discharging turntables along the circumferential direction of the discharging turntables respectively;
the arm includes the arm body and sets up the manipulator on the arm body, the manipulator includes finger cylinder and two splint, and two splint are installed respectively on finger cylinder, form the clamping district between the two splint, and the clamping face of two splint all is provided with the arc groove, all is equipped with two arc grooves on every splint, and two arc grooves are one respectively and indulge a horizontal setting.
Preferably, the detection mechanism comprises a camera bellows, a workpiece conveying mechanism and two camera mechanisms, the workpiece conveying mechanism and the two camera mechanisms are arranged in the camera bellows, the two camera mechanisms are respectively and oppositely arranged on two sides of the workpiece conveying direction of the workpiece conveying mechanism, the camera mechanism comprises a second camera and two light supplementing lamps, and the two light supplementing lamps are respectively arranged on two sides of the second camera;
the workpiece conveying mechanism comprises a screw rod transmission mechanism and a part clamping block, the part clamping block is arranged on a conveying sliding block of the screw rod transmission mechanism, and a multistage stepped hole with the diameter gradually reduced from top to bottom is formed in the part clamping block.
Compared with the prior art, the invention has the following advantages and effects:
1. the invention can realize full-automatic feeding, processing, detection and discharging only by providing the processing drawings of the shaft parts and the shaft parts in DWG format and the permitted processing errors. The invention can also detect the radius, height, coaxial rate, flaw and the like of each part of the shaft part, and can automatically judge whether the processed shaft part is qualified.
Drawings
FIG. 1 is a schematic structural view of one embodiment of a shaft part machining apparatus according to the present invention;
FIG. 2 is a schematic diagram of the structure of the middle turntable of the present invention;
FIG. 3 is a schematic structural view of a feed tray of the present invention;
FIG. 4 is a schematic structural view of the removable splint of the present invention;
FIG. 5 is a schematic structural view of the turntable mechanism of the present invention;
FIG. 6 is a schematic structural view of one embodiment of the detection mechanism of the present invention;
FIG. 7 is a schematic view of the structure of FIG. 6 from another perspective;
FIG. 8 is a schematic structural diagram of the camera stand of the present invention;
FIG. 9 is a cross-sectional view of the camera rig of the present invention;
FIG. 10 is a schematic view of the discharge pan of the present invention;
FIG. 11 is a schematic structural view of another embodiment of the detection mechanism of the present invention;
FIG. 12 is a schematic sectional view of the dark box of the detection mechanism of FIG. 11;
FIG. 13 is a schematic view of the construction of the parts clamping block of the present invention;
FIG. 14 is a schematic structural view of a robot of the present invention;
FIG. 15 is a camera calibration schematic;
FIG. 16 is a graph of sub-pixel edge detection based on moments;
FIG. 17 is a schematic view of a corner positioning principle;
FIG. 18 is a second schematic view of the principle of corner location;
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited thereto.
An axle type parts machining device includes:
the feeding disc 1 is used for placing shaft parts to be processed;
the lathe 2 is used for processing shaft parts;
the detection mechanism 3 is used for detecting whether the processing part of the shaft part meets the processing requirements;
the defective product area 4 is used for placing shaft parts which cannot meet the processing requirements in detection;
the discharging disc 5 is used for placing shaft parts which meet the machining requirements through detection;
the mechanical arm 6 is used for grabbing shaft parts to be machined from the feeding disc 1 and sequentially conveying the shaft parts to the lathe 2 and the detection mechanism 3, placing the shaft parts into the defective product area 4 if the shaft parts do not meet the machining requirement, and placing the shaft parts into the discharge disc 5 if the shaft parts meet the machining requirement.
The automatic feeding device is characterized by further comprising a workbench 7, dovetail grooves 8 are uniformly formed in the surface of the workbench 7 in a filling mode, and the feeding disc 1, the lathe 2, the detection mechanism 3, the defective area 4, the discharging disc 5 and the mechanical arm 6 are all installed on the workbench 7 through the dovetail grooves 8.
Preferably, the mechanical arm 6 comprises a middle rotary table 9 for placing the shaft parts when the mechanical arm 6 switches over the clamping shaft part parts, the middle rotary table 9 comprises a pneumatic chuck 10 and middle rotary plates 11 respectively mounted on clamping jaws of the pneumatic chuck 10, and a first clamping area is formed between the middle rotary plates 11.
In the course of the work, because the position that lathe 2 processing was accomplished is got to 6 clamps of arm, consequently, for avoiding hindering the detection, set up centre turntable 9, arm 6 puts into centre turntable 9 with axle type part machined part and presss from both sides tightly by centre turntable 9, then, arm 6 is let out behind the axle type part, moves axle type part unprocessed part and carries out the clamping, centre turntable 9 loosens axle type part after the clamping is accomplished, accomplishes the process that arm 6 switches clamping axle type part position promptly.
Preferably, the feeding disc 1 comprises a disc body 12 and a clamping mechanism, the clamping mechanism comprises a fixed clamping plate 13, a movable clamping plate 14 and a push plate mechanism for pushing the movable clamping plate 14, the fixed clamping plate 13 is fixed on the disc body 12, a sliding groove 16 extending towards the fixed clamping plate 13 is formed in the disc body 12, a sliding block 15 is arranged at the bottom of the movable clamping plate 14, and the sliding block 15 is connected to the sliding groove 16. The fixed clamping plate 13 and the movable clamping plate 14 are both arc-shaped.
Preferably, the clamping mechanisms and the sliding grooves 16 are multiple and are arranged in one-to-one correspondence;
preferably, the turntable device further comprises a turntable mechanism, the turntable mechanism comprises a motor 17 and a bracket 18, the motor 17 is mounted on the bracket 18, and a power shaft of the motor 17 is connected with the disc body 12.
Preferably, the disc body 12 is mounted on the main shaft 19, and a power shaft of the motor 17 is connected with the main shaft 19 through the coupling 20.
Preferably, an encoder 21 is further included for controlling rotation of the motor 17.
The shaft parts to be processed are placed between the fixed clamping plate 13 and the movable clamping plate 14, and the movable clamping plate 14 moves towards the fixed clamping plate 13 to clamp the shaft parts, so that raw materials are provided for a production line for processing the shaft parts. The circular arc-shaped fixed clamping plate 13 and the circular arc-shaped movable clamping plate 14 can clamp cylindrical shaft parts. The movable clamping plate 14 can move, so that shaft parts with different diameters can be clamped. The typical diameter of the shaft part that can be placed ranges from 10 to 100 mm. The diameter of the shaft part can be adjusted to the adaptive size according to the diameter of the shaft part.
Preferably, the detection mechanism 3 includes a box 22, a first camera, a light supplement lamp, a camera frame 23 and a light supplement frame 24, which are disposed in the box 22, a box opening 25 into which the mechanical arm 6 extends is formed in the box 22, each of the camera frame 23 and the light supplement frame 24 includes a mobile station 26 and a fixing rod 27 disposed in the box 22, the mobile station 26 includes a mounting table 28, a fixing bolt, a fixing nut and a connecting frame, the mounting table 28 is disposed on the connecting frame, the connecting frame includes a nut fixing slot 30 and a sleeve frame 31 sleeved on the fixing rod 27, the nut fixing slot 30 is disposed on the sleeve frame 31, the fixing nut is mounted in the nut fixing slot 30, the fixing bolt is connected with the fixing nut and penetrates through the sleeve frame 31, and the mobile station 26 and the fixing rod 27 are abutted to the fixing rod 27 through the fixing bolt so as to be fixed together; when it is necessary to adjust the movable stage 26, the fixing bolt is loosened, and then the movable stage 26 is pushed to move to a desired position along the fixing rod 27, and then the fixing bolt is tightened, thereby fixing the movable stage 26 to the fixing rod 27.
The first camera is mounted on the mounting table 28 of the camera frame 23, and the light supplement lamp is mounted on the mounting table 28 of the light supplement frame 24.
Preferably, light filling lamp and light filling frame 24 are two and the one-to-one setting, and two light filling lamps are located the both sides and the relative setting of box 22, and camera frame 23 sets up between two light filling lamps, and the during operation, first camera is located and carries out image acquisition to axle type part between two light filling lamps.
Preferably, the device further comprises a camera adjusting ball screw for adjusting the height of the camera frame 23 and a light adjusting ball screw for adjusting the position of the light supplementing frame 24, the camera frame 23 is arranged on a moving block of the camera adjusting ball screw, and the light supplementing frame 24 is arranged on the moving block of the light adjusting ball screw. The camera shooting adjusting ball screw can drive the camera shooting frame 23 to adjust the position of the first camera for image acquisition. The light supplement lamp and the first camera can be adjusted according to the size of the shaft part, so that the light supplement lamp and the first camera can meet the image acquisition requirements under different conditions.
The invention judges whether the shaft parts are qualified or not by detecting the parameters or indexes such as the diameter, the surface defect, the coaxial rate and the like of the processed shaft parts.
The detection method adopted by the invention needs to be carried out in a dark space, so the invention utilizes the black acrylic plate to build a dark cube box 22. Two movable light supplement lamps are arranged on two sides of the bottom of the box body 22 and used for providing illumination conditions required in the shooting process. The light filling lamp can adopt a white 24V strip-shaped industrial detection lighting source.
The moving stage 26 of the light supplement frame 24 can move along the fixing rod 27, so that the position of the light source can be adjusted according to the size of the specifically detected shaft part, and the best shooting effect can be achieved.
The camera adjusting ball screw can drive the camera frame 23 to move up and down along the vertical direction, so as to achieve the best shooting position.
Preferably, the detection mechanism 3 includes a camera box 34, a workpiece conveying mechanism and two camera mechanisms, the workpiece conveying mechanism and the camera mechanisms are disposed in the camera box 34, the two camera mechanisms are respectively disposed on two sides of the workpiece conveying mechanism in the workpiece conveying direction, the camera mechanisms include a second camera 35, an image ball screw adjusting mechanism 43 and two complementary light sources 36, the two complementary light sources 36 are disposed on two sides of the second camera 35, and the second camera 35 is disposed on the image ball screw adjusting mechanism 43.
The workpiece conveying mechanism comprises a screw rod transmission mechanism 37 and a part clamping block 38, the part clamping block 38 is arranged on a conveying sliding block of the screw rod transmission mechanism 37, a multistage stepped hole 42 with the diameter gradually reduced from top to bottom is formed in the part clamping block 38, and shaft parts with different diameters can be installed.
Preferably, the discharging tray 5 comprises a discharging turntable 32 and a plurality of charging barrels 33, and the charging barrels 33 are uniformly distributed on the discharging turntable 32 along the circumferential direction of the discharging turntable 32.
The discharge turntable 32 and the charging barrel 33 are integrally formed without being assembled. The discharging turntable 32 can be provided with 10 identical charging barrels 33 for placing the shaft parts which are finished and qualified in detection.
The discharging disc 5 has the function of storing shaft parts which are finished and qualified in detection. The mechanical arm 6 puts the shaft parts which are processed and qualified through detection by the detection device into an empty charging barrel 33 at a specific position in the discharging tray 5. After the shaft parts are placed in the discharging disc 5, the shaft parts are rotated by a certain angle, the next empty charging barrel 33 is rotated to a specific position where the shaft parts are placed on the mechanical arm 6, and the shaft parts which are processed and qualified in detection are placed on the mechanical arm 6. The shaft parts placed on the discharge disc 5 can be further processed or packed.
The charging barrel 33 is set to be cylindrical, so that shaft parts which are finished and qualified in detection can be stably placed, and the next step of packaging and further processing is facilitated.
The mechanical arm 6 clamps the shaft parts to be machined in the feeding disc 1, the mechanical arm 6 conveys blank materials to the lathe 2 for machining, and the mechanical arm 6 can select a three-happiness six-shaft mechanical arm sx850 b.
The pneumatic chuck of lathe 2 presss from both sides tight axle type part, then, lathe 2 begins to process axle type part, and lathe 2 processing is accomplished the back, and axle type part is taken out to arm 6.
The mechanical arm 6 is put into the detection mechanism 3 with axle type part and is detected, and the mechanical arm 6 transports the axle type part that detects the closed pole to play material tray 5, if axle type part detects unqualified then transports to substandard product district 4.
After the discharging disc 5 receives the shaft parts, the shaft parts are rotated by a certain angle and removed. Simultaneously, feeding plate 1 rotates certain angle equally, moves the axle type part of next treating processing to the assigned position and supplies arm 6 to press from both sides and get, repeats above-mentioned process so to realize circulation processing.
The invention adopts the pneumatic chuck, controls the pneumatic chuck to clamp and release the processed shaft parts through a program, and reduces the tedious work of manually clamping and releasing workpieces when a non-automatic chuck is adopted. The anti-scrap box is adopted in the machining process of the shaft parts, so that scraps generated in the machining process can be prevented from splashing in all directions, personnel are prevented from being injured or other surrounding objects are prevented from being damaged, and the collection of the fine scraps is facilitated.
The arm 6 includes the arm body and sets up the manipulator on the arm body, the manipulator includes finger cylinder 39 and two splint 40, install respectively on finger cylinder 39 two splint 40, form the clamping district between two splint 40, the clamping face of two splint 40 all is provided with arc groove 41, all be equipped with two arc grooves 41 on every splint 40, two arc grooves 41 are one indulged respectively and are violently set up, can be at horizontal and vertical two direction clamping shaft class parts, can press from both sides the axle type part of multiple equidimension not through opening or receiving two splint 40, thereby realize a manipulator multiple use effect, avoid axle type part to drop midway, the skew appears, can not accurately place, situations such as the failure appear when placing take place.
The shaft parts with different diameters and lengths can be clamped according to the opening size of the finger cylinder 39, and in addition, the shaft parts can be clamped at accurate positions, so that the clamping is convenient.
The manipulator has the adjustability, can be according to the diameter of pressing from both sides the axle type part of will getting and adjust the distance between two splint 40, increases or reduces the centre gripping scope of two splint 40, can be according to the size adjustment arc groove 41's of the axle type part of actual processing size to guarantee the compactness and the stability of centre gripping.
The feeding disc 1 and the discharging disc 5 can rotate to realize automatic feeding or discharging in production of shaft parts. The mechanical arm 6 program can be simplified, the invention adopts a fixed position material taking and discharging mode, and the effect of outputting the processed shaft parts one by one is realized.
Preferably, the shaft part detection method of the detection mechanism 3 is as follows:
image acquisition-image correction-sub-pixel edge detection-sub-pixel corner detection-image splicing-diameter detection
Step one, image acquisition
Through the movement of the first camera or the second camera 35, the first camera or the second camera 35 is used for shooting an image of each part of the shaft part to be detected, which needs to be detected.
Step two, image correction
(1) Camera calibration
A calibration step:
the invention selects chess chessboards as the calibration boards. The calibration plate is a 12X 9 checkerboard with each grid size being 20mm by 20 mm. And selecting a proper objective lens distance, and shooting a plurality of calibration plates at different positions, different angles and different postures, wherein 10-20 calibration plates are suitable. Extracting corner information from each calibration picture, further extracting sub-pixel corner information, reducing camera calibration deviation, and then calibrating the picture, wherein the specific calibration steps are as follows:
as shown in fig. 15, four coordinate systems are shown: pixel plane coordinate system (u, v), image plane coordinate system (image physical coordinate system (x, y), camera coordinate system (Xc, Yc, Zc), world coordinate system (Xw, Yw, Zw)).
①, establishing the relation between the pixel coordinate and the coordinate system of the image plane, combining the relation between the pixel plane and the image plane, obtaining the transformation relation between the pixel coordinates of the space point M and the image point M:
equation 1:
wherein dx and dy represent the length and width of each pixel; u0 and v0 denote the intersection points of the optical axis and the image plane; f is the camera focal length, i.e. the distance from point O to point Oc in the figure; xc, Yc, Zc are the coordinates of a point M in the camera coordinate system;
②, α is f/dx、β＝f/dyRepresenting equivalent focal lengths expressed in units of pixels in the x-axis and y-axis directions, respectively, a parameter y α tg θ is additionally introduced1Representing a measure of the degree of tilt of the coordinate axis in pixel units in the image plane, θ is the skew angle of the v-axis of the camera CCD (camera CCD is a camera chip) array, and equation 1 can be rewritten as:
equation 2:
five distortion coefficients of the camera are obtained according to equation 2.
③, describing the transformation from the point of the world coordinate system to the camera coordinate system by the rotation transformation matrix R and the translation variable t, and setting the homogeneous coordinate of a certain point M in the space under the world coordinate system and the camera coordinate system as [ X ] respectivelyw,Yw,Zw,1]T，[Xc,Yc,Zc,1]TThen the related system
Equation 3:
wherein O is [0, 0 ═ O]TXw, Yw, Zw are world coordinate system coordinates of a certain point in space, and 6 parameters of 3 translation amounts in the translation vector t and three rotation angles of the rotation matrix R are external parameters of the camera.
And the distortion coefficient matrix and the external parameter matrix are obtained, so that the picture can be corrected.
(2) Image rectification
Distortion generation sources ①, optical system imaging introduces optical distortion including radial distortion, eccentric distortion and thin prism distortion, ②, digital distortion due to circuit scribing process errors, photoelectric conversion errors, electrical noise, etc., such as the scale factor of a camera.
A correction step:
①, obtaining the coordinates of the M point in the space on the pixel coordinate system according to the distortion coefficient and the external parameters as follows:
equation 4:
wherein, R is a rotation transformation matrix which is a 3x3 orthogonal identity matrix, and t is a three-dimensional translation variable.
And then, the difference between the value and the true value is obtained by establishing a nonlinear minimization model for optimization solution.
②, generally, there will be some degree of radial distortion in the camera, let (u, v) be the ideal pixel coordinates,as actual pixel coordinates, (x, y)) Andideal and actual image coordinates, respectively, and the radial distortion coefficients k1 and k2, respectively The following can be obtained:
equation 5:
solving equation 5 by least squares: the radial distortion coefficients k1 and k2 can be optimized through maximum likelihood estimation.
Step three, sub-pixel edge detection
Sub-pixel edge detection based on Zernike moments is employed. The Zernike moments are integral operators and are not sensitive to noise. A step edge model as shown in figure 16 was created.
In fig. 16, k is the step height and h is the background gradation. If the edge is rotated by an angle-theta, the edge will be parallel to the y-axis.
Then there areWhere f' (x, y) is the edge function after image rotation. Three different order Zernike moments, respectively A, are required for edge localization using Zernike moments00、A11、A20Their integral kernel functions are respectively: v00＝1，V11＝x+jy，V20＝2x2+2y2-1. The corresponding Zernike moment of the original image and the Zernike moment of the rotated image have a relation of A00＝A00，A11＝A11ejθ，A20＝A20。
Equation 6: a. thenm＝Anme-jmθ(nm represents the m-th order Zernike moments of the n-th order) represents the imaginary part of the 1 st order 1-th order Zernike moments of the rotated image, i.e., the imaginary part of the 1 st order 1-th order Zernike moments when the edges are parallel to the y-axis is zero, i.e., the imaginary part is zero
Im[A11]＝sin(θ)Re[A11]-cos(θ)Im[A11]＝0，Im[A11]And Re [ A ]11]Respectively, the imaginary and real parts of the Zernike moments of the rotated image. From this it can be derived the angle of rotation of the edge isThe calculations for the model shown can yield:
the vertical position of the center to the edge can be obtained by simultaneous equations as:the sub-pixel positions of the image are:
the Zernike moments also have some disadvantages: the different sizes of the selected templates bias the computation of edge sub-pixel locations.
Step four, sub-pixel angular point detection
When diameter detection is carried out, angular point detection needs to be carried out on the sub-pixel level edge of an article to be detected, and then the diameter is calculated according to the angular points. The corner points are very important features in the image, and the spatial position relation of the image relative to the actual scene can be determined only by accurately detecting the positions of the corner points. The precision of the corner detection directly affects the precision of the camera calibration and the diameter detection.
For the points near the corner points shown in fig. 17 and 18, the points are classified into points on the edge and points not on the edge. In fig. 17 and 18, dashed outline arrows indicate image gradients.
The invention finds the corner positions with sub-pixel accuracy by iteration.
The algorithm for finding the corner locations at the sub-pixel level is based on the observation of vector orthogonality, i.e. the vectors from the central point q to their neighbourhood point p are orthogonal to the image gradient at p points (subject to image and measurement noise).
Expressed by equation 7:
equation 7:
wherein,representing a neighborhood point P at qiThe value of q is determined by minimizing epsiloniTo obtain pi＝p0,p1……pn。
By mixingiSet to 0, the system equation can be established as follows:
equation 8:
where the gradients in the neighborhood of q (the search window) are accumulated. Calling a first gradient parameter G and a second gradient parameter b to obtain:
equation 9: q ═ G-1·b
The algorithm sets the center of the search window to the new center q and then iterates until a center position below some threshold point is found.
Step five, image splicing
In order to improve the detection precision, the measured object is spliced after being shot in sections, and then follow-up work such as edge detection, angular point detection and the like is carried out. There are many methods for image mosaic, the most common is SIFT feature extraction and matching mosaic technology, but the method needs enough feature points on the image, and the feature points of the object to be detected are few, and the matching is difficult to succeed by adopting feature matching.
In the invention, the grating ruler is fixed during measurement, and the grating head and the camera move together, so that the moving distance of the camera can be accurately ensured each time. When the measured object is shot, a section of public area needs to be kept, namely, a large overlapping part exists between two continuous pictures, and then the pictures are spliced.
The method comprises the following specific steps:
let f1(x,y)、f2(x, y) are signals of two images, f2(x, y) is represented by f1(x, y) is translated by (dx, dy), i.e.: equation 10: f. of2(x,y)＝f1(x-dx,y-dy)。
Reflecting equation 10 to the frequency domain yields:
equation 11: f2(u，v)＝F1(u，v)×e-i×2π×(u×dx+v×dy)
Transforming equation 11 to obtain an interaction rate spectrum:
equation 12:
and performing Fourier inversion on the formula 12 to obtain a Diecka function, and searching a coordinate corresponding to the peak point of the function to obtain the offset to be obtained.
And after the offset of the two pictures is obtained, image splicing can be carried out according to the offset. Step six, diameter detection
After sub-pixel level corner detection, each corner can be obtainedAnd (4) coordinates. Let the corner point coordinate be (x)1,y1)、(x2,y2)、……、(xi,yi) Reading the values y1, y2, … …, y of the ordinate of each corner point in sequenceiWhen y isi+1＜yiWhen is, will (x)i,yi) Arranging the coordinates of the angular points in front of the device in a similar way, arranging the coordinates of the angular points from small to large according to the ordinate, setting a minimum constant A, and operating the arranged coordinates of the angular points: let y be the absolute value of the difference between the ordinate of the (i + 1) th corner point and the ordinate of the (i) th corner point, i.e. y ═ yi+1-yiIf y is less than or equal to A, the diameter of the first section is y, if y is less than or equal to A>And A, moving a pointer pointing to the second angular point to the third angular point, and so on to obtain the length d of the diameter of each section of shaft part.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (10)
1. The utility model provides an axle type parts machining device which characterized in that includes:
the feeding disc is used for placing shaft parts to be processed;
the lathe is used for processing shaft parts;
the detection mechanism is used for detecting whether the shaft parts meet the processing requirements;
the defective product area is used for placing shaft parts which cannot meet the processing requirements in detection;
the discharging disc is used for placing shaft parts which meet the machining requirements through detection;
the mechanical arm is used for grabbing shaft parts to be machined from the feeding disc and sequentially conveying the shaft parts to the lathe and the detection mechanism, the shaft parts are placed in the defective product area if the shaft parts cannot be machined through detection, and the shaft parts are placed in the discharging disc if the shaft parts cannot be machined through detection.
2. The shaft part processing device according to claim 1, wherein the mechanical arm comprises a middle rotary table for placing the shaft part when the mechanical arm switches over and clamps the shaft part, the middle rotary table comprises a pneumatic chuck and middle rotary clamping plates respectively mounted on clamping jaws of the pneumatic chuck, and a first clamping area is formed between the middle rotary clamping plates.
3. The shaft-type part machining device according to claim 1, wherein the feeding disc comprises a disc body and a clamping mechanism, the clamping mechanism comprises a fixed clamping plate, a movable clamping plate and a pushing plate mechanism for pushing the movable clamping plate, the fixed clamping plate is fixed on the disc body, a sliding groove extending towards the fixed clamping plate is formed in the disc body, and a sliding block is arranged at the bottom of the movable clamping plate and connected into the sliding groove.
4. The shaft part machining device according to claim 3, wherein the clamping mechanisms and the sliding grooves are arranged in a one-to-one correspondence manner;
the turntable mechanism comprises a motor and a bracket, the motor is arranged on the bracket, and a power shaft of the motor is connected with the turntable body;
the disc body is arranged on the main shaft, and a power shaft of the motor is connected with the main shaft through the coupler.
5. The shaft part processing device according to claim 1, wherein the detection mechanism comprises a box body, and a first camera, a light supplement lamp, a camera frame and a light supplement frame which are arranged in the box body, wherein a box opening for the mechanical arm to extend into is formed in the box body, each of the camera frame and the light supplement frame comprises a movable table and a fixed rod arranged in the box body, the movable table comprises a mounting table, a fixed bolt, a fixed nut and a connecting frame, the mounting table is arranged on the connecting frame, the connecting frame comprises a nut fixing clamping groove and a sleeve frame sleeved on the fixed rod, the nut fixing clamping groove is arranged on the sleeve frame, the fixed nut is arranged in the nut fixing clamping groove, the fixed bolt is connected with the fixed nut and penetrates through the sleeve frame, and the movable table and the fixed rod are abutted to the fixed rod through the fixed bolt so as to be fixed together;
the first camera is installed on the installation platform of the camera shooting frame, and the light supplementing lamp is installed on the installation platform of the light supplementing frame.
6. The shaft part machining device according to claim 5, wherein the light supplement lamps and the light supplement frame are two and are arranged in a one-to-one correspondence manner, the two light supplement lamps are located on two sides of the box body, and the camera shooting frame is arranged between the two light supplement lamps.
7. The shaft part machining device according to claim 5 or 6, further comprising a camera adjusting ball screw and a light adjusting ball screw, wherein the camera frame is arranged on a moving block of the camera adjusting ball screw, and the light supplementing frame is arranged on a moving block of the light adjusting ball screw.
8. The shaft part machining apparatus according to claim 1, 5, 6, or 7, wherein the detection method of the detection mechanism is:
establishing a pixel plane coordinate system (u, v) and a picture plane coordinate system, the picture plane coordinate system comprising an image physical coordinate system (x, y), a camera coordinate system (Xc, Yc, Zc) and a world coordinate system (Xw, Yw, Zw);
establishing a relation between a pixel plane coordinate system and a pixel plane coordinate system, and combining the relation between the pixel plane and an image plane to obtain a transformation relation between the pixel coordinates of the space point M and the image point M:
equation 1:
wherein dx and dy represent the length and width of each pixel; u0 and v0 denote the intersection points of the optical axis and the image plane; f is the camera focal length, i.e. the distance from point O to point Oc in the figure; xc, Yc, Zc are the coordinates of a point M in the camera coordinate system;
let α be f/dx、β＝f/dyRespectively representing equivalent focal lengths expressed in units of pixels in the x-axis and y-axis directions, and additionally incorporating a parameter γ of α tg θ1Representing the measure of the degree of tilt of the coordinate axis in pixel units in the image plane, θ is the skew angle of the v-axis of the camera CCD array, and equation 1 can be rewritten as:
equation 2:
obtaining five distortion coefficients of the camera according to a formula 2;
the transformation from a point of a world coordinate system to a camera coordinate point is described by a rotation transformation matrix R and a translation variable t, and the homogeneous coordinate of a point M in space under the world coordinate system and the camera coordinate system is [ X ] respectivelyw,Yw,Zw,1]T，[Xc,Yc,Zc,1]TThen, there is a relationship:
equation 3:
wherein O is [0, 0 ═ O]TXw, Yw and Zw are world coordinate system coordinates of a certain point in space, and 6 parameters of 3 translation amounts in the translation vector t and three rotation angles of the rotation matrix R are external parameters of the camera;
after the distortion coefficient matrix and the external parameter matrix are obtained, correcting the picture according to the distortion coefficient matrix and the external parameter matrix;
and (3) picture correction:
the coordinate of the M point in the space on the pixel plane coordinate system can be obtained according to the distortion coefficient and the external parameters as follows:
equation 4:
wherein, R is a rotation transformation matrix which is a 3x3 orthogonal unit matrix, and t is a three-dimensional translation variable;
then, the difference between the value and the true value is obtained by establishing a nonlinear minimization model optimization solution;
when the camera has radial distortion, the (u, v) is set as the ideal pixel plane coordinate,as actual pixel plane coordinates, (x, y) andideal and actual image physical coordinates, respectively, and the radial distortion coefficients k1 and k2 are defined byThe following can be obtained:
equation 5:
solving formula 5 by a least square method, and optimizing by maximum likelihood estimation after obtaining radial distortion coefficients k1 and k 2;
when diameter detection is carried out, angular point detection is carried out on the sub-pixel level edge of the shaft part to be detected, and then the diameter is calculated according to the angular point;
edge detection:
sub-pixel edge detection based on Zernike moments is adopted; establishing a step edge model;
let k be the step height, h be the background gray scale, if rotate the edge by angle-theta, the edge will be parallel to the y-axis;
then there areWherein f' (x, y) is a figureLike the rotated edge function, three Zernike moments of different orders are needed for edge positioning by the Zernike moments, respectively A00、A11、A20The integral kernel functions of the three are respectively as follows: v00＝1，V11＝x+jy，V20＝2x2+2y2-1, the corresponding Zernike moments of the original image and the rotated image having a Zernike moment relationship A00＝A00，A11＝A11ejθ，A20＝A20；
Equation 6: a. thenm＝Anme-jmθWhere nm represents the m-th order Zernike moments of the n-th order, and equation 6 represents the imaginary part of the 1 st order 1-th Zernike moments of the rotated image, i.e., the imaginary part of the 1 st order 1-th Zernike moments when the edges are parallel to the y-axis is zero, i.e.
Im[A11]＝sin(θ)Re[A11]-cos(θ)Im[A11]＝0，Im[A11]And Re [ A ]11]Respectively, the imaginary part and the real part in the Zernike moment of the rotated image, so that the angle of the edge rotation is obtainedThe calculations for the model shown can yield:
the vertical position of the center to the edge can be obtained by simultaneous equations as:the sub-pixel positions of the image are:
angular point detection:
the points at the corner points are divided into two types, namely points on the edge and points not on the edge;
determining the corner positions with sub-pixel accuracy by iteration;
the method of finding the corner position at the sub-pixel level is based on the observation of vector orthogonality, i.e. the vectors from the central point q to its neighbourhood point p are orthogonal to the image gradient at p and are affected by image and measurement noise;
expressed by equation 7:
equation 7:
wherein,representing a neighborhood point P at qiThe value of q is determined by minimizing epsiloniObtaining;
by mixingiSet to 0, the system equation can be established as follows:
equation 8:
wherein the gradients in the neighborhood of the center q of the search window are accumulated; calling a first gradient parameter G and a second gradient parameter b to obtain:
equation 9: q ═ G-1·b
Setting the center of a search window as a new center q, and then iterating until a center position lower than a certain threshold point is found;
image splicing:
let f1(x,y)、f2(x, y) are signals of two images, f2(x, y) is represented by f1(x, y) is translated by (dx, dy), i.e.: equation 10: f. of2(x,y)＝f1(x-dx,y-dy)；
Reflecting equation 10 to the frequency domain yields:
equation 11: f2(u，v)＝F1(u，v)×e-i×2π×(u×dx+v×dy)
Transforming equation 11 to obtain an interaction rate spectrum:
equation 12:
performing Fourier inversion on the formula 12 to obtain a Diecka function, and searching a coordinate corresponding to a peak point of the function to obtain an offset to be obtained;
after the offset of the two pictures is obtained, image splicing can be carried out according to the offset;
and (3) diameter detection:
after sub-pixel level corner detection is performed, coordinates of each corner can be obtained, and the coordinates of the corner are set as (x)1,y1)、(x2,y2)、……、(xi,yi) Reading the values y1, y2, … …, y of the ordinate of each corner point in sequenceiWhen is coming into contact with
yi+1＜yiWhen is, will (x)i,yi) Arranging the coordinates of the angular points in front of the device in such a way that the coordinates of the angular points are arranged from small to large according to the ordinate, setting a constant A, and operating the arranged coordinates of the angular points: let y be the absolute value of the difference between the ordinate of the (i + 1) th corner point and the ordinate of the (i) th corner point, i.e. y ═ yi+1-yiIf y is less than or equal to A, the diameter of the first section is y, if y is less than or equal to A>And A, moving a pointer pointing to the second angular point to the third angular point, and so on to obtain the length d of the diameter of each section of shaft part.
9. The shaft part machining device according to claim 1, wherein the discharging disc comprises a plurality of discharging turntables and a plurality of charging barrels, and the charging barrels are uniformly distributed on the discharging turntables along the circumferential direction of the discharging turntables;
the arm includes the arm body and sets up the manipulator on the arm body, the manipulator includes finger cylinder and two splint, and two splint are installed respectively on finger cylinder, form the clamping district between the two splint, and the clamping face of two splint all is provided with the arc groove, all is equipped with two arc grooves on every splint, and two arc grooves are one respectively and indulge a horizontal setting.
10. The shaft part machining device according to claim 1, wherein the detection mechanism comprises a camera bellows, two workpiece conveying mechanisms and two camera mechanisms, the two workpiece conveying mechanisms and the two camera mechanisms are arranged in the camera bellows and are respectively and oppositely arranged on two sides of a workpiece conveying direction of the workpiece conveying mechanisms, the camera mechanisms comprise second cameras and two light supplementing lamps, and the two light supplementing lamps are respectively arranged on two sides of the second cameras;
the workpiece conveying mechanism comprises a screw rod transmission mechanism and a part clamping block, the part clamping block is arranged on a conveying sliding block of the screw rod transmission mechanism, and a multistage stepped hole with the diameter gradually reduced from top to bottom is formed in the part clamping block.
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Also Published As
| Publication number | Publication date |
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| JP6963313B2 (en) | 2021-11-05 |
| JP2019217625A (en) | 2019-12-26 |
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