CN109781738B - Double-mechanical-arm magnetic shoe damage detection device and assembly line - Google Patents
Double-mechanical-arm magnetic shoe damage detection device and assembly line Download PDFInfo
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- CN109781738B CN109781738B CN201910054558.0A CN201910054558A CN109781738B CN 109781738 B CN109781738 B CN 109781738B CN 201910054558 A CN201910054558 A CN 201910054558A CN 109781738 B CN109781738 B CN 109781738B
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Abstract
The invention discloses a double-mechanical-arm magnetic shoe damage detection device and a production line, and the device comprises: the device comprises a first mechanical arm, a second mechanical arm, a first lower computer, a second lower computer and an upper computer. The first mechanical arm and the second mechanical arm are used for clamping the magnetic shoe and are respectively positioned on two sides of the external conveying belt. The first lower computer comprises a first image acquisition module, a first image processing module and a first communication module. The second lower computer comprises a second image acquisition module, a second image processing module and a second communication module. Through host computer to control module output instruction, control module control arm snatchs the magnetic shoe to control image acquisition module and gather magnetic shoe image information and carry out defect detection by image processing module to image information, sort the magnetic shoe by the robotic arm again, realize the automatic function of examining of magnetic shoe production water line, practice thrift manpower resources, reduction in production cost improves production efficiency.
Description
Technical Field
The invention belongs to the technical field of machinery, and particularly relates to a double-mechanical-arm magnetic shoe damage detection device and a production line.
Background
The magnetic shoe is a tile-shaped magnet mainly used on a permanent magnet motor in a permanent magnet. The magnetic shoe is mainly used in a permanent magnet direct current motor, and is different from an electromagnetic motor which generates a magnetic potential source through a magnet exciting coil, and the permanent magnet motor generates a constant magnetic potential source through a permanent magnet material. The permanent magnetic shoe has many advantages of replacing electric excitation, and can make the motor simple in structure, convenient in maintenance, light in weight, small in volume, reliable in use, less in copper consumption, low in energy consumption, etc.
At present, the magnetic shoe of the small-sized motor is mainly observed and judged by workers during the detection, the work is simple and mechanical, a large amount of human resources are occupied, and the magnetic shoe is high in labor production cost and low in efficiency.
Disclosure of Invention
The invention aims to provide a double-mechanical-arm magnetic shoe damage detection device and a production line so as to improve the damage detection efficiency in the production process of magnetic shoes.
In order to solve the problems, the technical scheme of the invention is as follows:
the invention discloses a double-mechanical-arm magnetic shoe damage detection device, which comprises: the device comprises a first mechanical arm, a second mechanical arm, a first lower computer, a second lower computer and an upper computer; wherein the content of the first and second substances,
the first mechanical arm is arranged on one side of the external conveyor belt, and a first caliper is arranged on the first mechanical arm and used for clamping the magnetic shoe;
the second mechanical arm is arranged on the other side of the external conveyor belt relative to the first mechanical arm, and a second caliper is arranged on the second mechanical arm and used for clamping the magnetic shoe;
the first lower computer comprises a first control module, a first image acquisition module, a first image processing module and a first communication module;
the first image acquisition module, the first image processing module, the first communication module and the first mechanical arm are respectively and electrically connected with the first control module; the first image acquisition module is arranged at the clamping end of the first mechanical arm and used for acquiring image information of part of to-be-detected surface of the magnetic shoe; the first image processing module is arranged on the first mechanical arm and used for receiving and processing the image information of the magnetic shoe;
the second lower computer comprises a second control module, a second image acquisition module, a second image processing module and a second communication module;
the second image acquisition module, the second image processing module, the second communication module and the second mechanical arm are respectively and electrically connected with the second control module; the second image acquisition module is arranged at the clamping end of the second mechanical arm and used for acquiring the image information of the rest part of the surface to be detected of the magnetic shoe; the second image processing module is arranged on the second mechanical arm and used for receiving and processing the image information of the magnetic shoe;
the upper computer is arranged on an external platform, receives the signal sent by the first lower computer, and receives the signal sent by the second lower computer;
the upper computer and the first lower computer perform data interaction through the first communication module, the upper computer transmits a control instruction to the first control module through the first communication module, and the control module controls and schedules the first image acquisition module, the first image processing module and the first mechanical arm; the upper computer and the second lower computer perform data interaction through the second communication module, the upper computer transmits a control instruction to the first control module through the second communication module, and the control module controls and dispatches the first image acquisition module, the first image processing module and the first mechanical arm.
According to the double-mechanical-arm magnetic shoe defect detection device, the first lower computer further comprises a first display module and a first storage module, and the first display module is electrically connected with the first control module and used for displaying an image processing result of the first image processing module in real time; the first storage module stores the image processing result of the first image processing module; the second lower computer further comprises a second display module and a second storage module, wherein the second display module is electrically connected with the second control module and is used for displaying the image processing result of the second image processing module in real time; and the second storage module stores the image processing result of the second image processing module.
According to the double-mechanical-arm magnetic shoe damage detection device, the communication mode of the first communication module and the second communication module is an I/O port or Ethernet or RS-485.
According to the double-mechanical-arm magnetic shoe damage detection device, the first control module comprises a first steering engine encoder and a first triaxial gyroscope, the first triaxial gyroscope is used for detecting the space attitude of the first caliper, and the first steering engine encoder realizes action control on the first caliper through the detected space attitude of the first caliper; the second control module comprises a second steering engine encoder and a second three-axis gyroscope, the second three-axis gyroscope is used for detecting the space attitude of the second caliper, and the second steering engine encoder controls the action of the second caliper through the detected space attitude of the second caliper.
According to the double-mechanical-arm magnetic shoe damage detection device, the first triaxial gyroscope and the second triaxial gyroscope are MPU6050 triaxial gyroscopes.
The invention relates to a double-mechanical-arm magnetic shoe damage detection assembly line which comprises any one of the double-mechanical-arm magnetic shoe damage detection devices.
Due to the adoption of the technical scheme, compared with the prior art, the invention has the following advantages and positive effects:
according to the embodiment of the invention, the upper computer outputs the instruction to the control module, the control module controls the mechanical arm to capture the magnetic shoe, and controls the image acquisition module to acquire the image information of the magnetic shoe, the image processing module detects the defect of the image information and then the mechanical arm sorts the magnetic shoe, so that the automatic damage detection function of the magnetic shoe production line is realized, the human resources are saved, the production cost is reduced, and the production efficiency is improved.
Drawings
FIG. 1 is a general schematic view of a double-robot-arm magnetic shoe damage detection device and a production line of the present invention;
FIG. 2 is a schematic view of a caliper of the double-robot-arm magnetic shoe injury detection device of the present invention;
FIG. 3 is a schematic diagram illustrating the robot motion control of the double-robot-arm magnetic shoe damage detection apparatus according to the present invention;
FIG. 4 is a block diagram of the robot arm motion control of the double-robot-arm magnetic shoe inspection device of the present invention;
fig. 5 is a schematic diagram of the control of the lower computer of the double-mechanical-arm magnetic shoe injury detection device of the invention;
fig. 6 is a schematic diagram of a system control firmware program of the double-robot-arm magnetic shoe damage detection device according to the present invention.
Description of reference numerals: 1: a first robot arm; 2: a second mechanical arm; 3: a conveyor belt; 4: a magnetic shoe; 5: a first image acquisition module; 6: a second image acquisition module; 7: a first caliper; 8: a second caliper.
Detailed Description
The following describes a double-robot-arm magnetic shoe flaw detection device in detail with reference to the accompanying drawings and specific embodiments. Advantages and features of the present invention will become apparent from the following description and from the claims.
Referring to fig. 1, in one embodiment, a two-robot magnetic shoe inspection device includes: the robot comprises a first mechanical arm 1, a second mechanical arm 2, a first lower computer, a second lower computer and an upper computer. The first mechanical arm 1 is arranged on one side of the external conveyor belt 3, and the first mechanical arm 1 is provided with a first caliper 7 for clamping the magnetic shoe 4. The second mechanical arm 2 is arranged on the other side of the external conveying belt 3 relative to the first mechanical arm 1, and the second mechanical arm 2 is provided with a second caliper 8 for clamping the magnetic shoe 4. The first lower computer comprises a first control module, a first image acquisition module 5, a first image processing module and a first communication module. The first image acquisition module 5, the first image processing module, the first communication module and the first mechanical arm 1 are respectively electrically connected with the first control module. The first image acquisition module 5 is arranged at the clamping end of the first mechanical arm 1 and is used for acquiring image information of part of the surface to be detected of the magnetic shoe 4. The first image processing module is arranged on the first mechanical arm 1 and used for receiving and processing the image information of the magnetic shoe 4. The second lower computer comprises a second control module, a second image acquisition module 6, a second image processing module and a second communication module. The second image acquisition module 6, the second image processing module, the second communication module and the second mechanical arm 2 are respectively electrically connected with the second control module. The second image acquisition module 6 is arranged at the clamping end of the second mechanical arm 2 and used for acquiring the image information of the rest part of the surface to be detected of the magnetic shoe 4. The second image processing module is arranged on the second mechanical arm 2 and used for receiving and processing the image information of the magnetic shoe 4. The upper computer is arranged on the external platform and receives the signals sent by the first lower computer, and the upper computer receives the signals sent by the second lower computer. The upper computer and the first lower computer carry out data interaction through the first communication module, the upper computer transmits a control instruction to the first control module through the first communication module, and the control module controls and dispatches the first image acquisition module 5, the first image processing module and the first mechanical arm 1. The upper computer and the second lower computer perform data interaction through the second communication module, the upper computer transmits a control instruction to the first control module through the second communication module, and the control module controls and dispatches the first image acquisition module 5, the first image processing module and the first mechanical arm 1. The control module controls the mechanical arm to grab the magnetic shoe, the image acquisition module is controlled to acquire image information of the magnetic shoe, the image processing module detects defects of the image information and sorts the magnetic shoe by the mechanical arm, the automatic damage detection function of the magnetic shoe production line is achieved, manpower resources are saved, production cost is reduced, and production efficiency is improved.
Further, referring to fig. 2, the first robot arm 1 is provided with a first caliper 7. The second mechanical arm 2 is provided with a second caliper 8.
Further, during the operation, the magnetic tiles 4 are regularly placed on the conveyor belt 3, and after the magnetic tiles are conveyed to a specific station, the first caliper 7 of the first mechanical arm 1 vertically grabs the 1-2 surfaces of the magnetic tiles 4, grabs and conveys the magnetic tiles into the air, and the upper surfaces and the lower surfaces of the magnetic tiles 4 are vertical to the ground. The attitude of the magnetic shoe 4 in the space is determined by using an MPU6050 sensor and a motor encoder of a mechanical arm joint, the second mechanical arm 2 moves the second caliper 8 of the second mechanical arm to a relative position with the same height as that of the first caliper 7, and cameras arranged on the first caliper 7 and the second caliper 8 respectively photograph the upper surface and the lower surface of the magnetic shoe 4. After shooting is finished, keeping the position of the base of the first caliper 7 unchanged, enabling the plane of the first caliper 7 to rotate downwards by 45 degrees, enabling the second caliper 8 to advance horizontally for a given distance along the direction of the first caliper 7 at the same time, keeping the height of the base unchanged, and shooting an image of the first side face of the magnetic shoe 4 by a camera on the second caliper 8 after the second caliper 8 rotates downwards vertically by 45 degrees; after the completion, the relative positions of the two mechanical arms when the upper surface and the lower surface of the magnetic tile 4 are shot are recovered; then the first caliper 7 keeps the position of the base unchanged, vertically rotates upwards by 45 degrees, meanwhile, the second caliper 8 firstly horizontally advances for a given distance along the direction of the first caliper 7, then keeps the position of the base unchanged, and after the second caliper 8 rotates upwards by 45 degrees, a camera on the second caliper 8 shoots an image of the third side surface of the magnetic shoe 4. After the shooting of the first side face and the third side face of the magnetic shoe 4 is completed, the second caliper 8 horizontally advances along the direction of the first caliper 7 for a given distance to clamp the two faces of the first side face and the second side face of the magnetic shoe 4, and then the first caliper 7 releases the magnetic shoe 4 to complete the conversion of the magnetic shoe 4 between the two mechanical arms. Then the two calipers return to the positions for shooting the upper surface and the lower surface of the magnetic shoe 4, the second caliper 8 keeps the position of the base unchanged, the second caliper 8 rotates 45 degrees anticlockwise horizontally, meanwhile, the base of the first caliper 7 moves for a given distance towards the second caliper 8 along the direction of the second caliper 8, the height of the base is kept unchanged, and after the first caliper 7 rotates 45 degrees clockwise horizontally, the camera on the first caliper 7 shoots an image of the second side surface of the magnetic shoe 4; and then the two calipers return to the positions for shooting the upper surface and the lower surface of the magnetic shoe 4, the second caliper 8 keeps the position of the base unchanged, the second caliper 8 is rotated clockwise and horizontally by 45 degrees, meanwhile, the base of the first caliper 7 is moved to the second caliper 8 for a given distance along the direction of the second caliper 8, the height of the base is kept unchanged, and after the first caliper 7 is rotated counterclockwise and horizontally by 45 degrees, the camera on the first caliper 7 shoots an image of the fourth side surface of the magnetic shoe 4. After the shooting of six surfaces of the magnetic shoe 4 is completed, the unqualified magnetic shoe 4 is sorted by image recognition and is placed in a defective area by the second mechanical arm 2.
Further, referring to fig. 3, in order to accomplish a given task, a controller design is also required based on the measurement information and the desired command signal. The control of the mechanical arm is attributed to the control of the servo steering engine, a certain error exists between the actual motion position of the mechanical arm and a given expected value, the effective control needs to be realized by utilizing closed-loop feedback and a control algorithm, and the control process needs to take account of rapidity, accuracy and stability. The incremental PID control method is particularly suitable for controlling the servo steering engine, the output of the incremental PID control method is the increment of the control quantity, the false action influence is small, and the phenomenon of mechanical arm disorder caused by short-time instability of a power supply can be effectively prevented.
Further, referring to FIG. 4, after the system is operating, the robotic arm may remain at an initial angle until no command is given, waiting for the system to interrupt the receipt of the desired command. When an expected command signal is received, an expected movement position is known, in the movement process of the mechanical arm, a sensor fixed on the arm can measure actual angle information, a difference exists between the actual angle information and the angle information, if the difference is small enough and smaller than a preset value, control is finished, otherwise, a controller adjusts control quantity, the mechanical arm is controlled to approach the expected position until the expected control is achieved, and a plurality of circulation processes can be carried out. The PID control parameter values of each stage are adjusted according to the actual control effect, so that the control effect of the system can be improved.
Further, referring to fig. 5, the first lower computer further includes a first display module and a first storage module, and the first display module is electrically connected to the first control module and is configured to display an image processing result of the first image processing module in real time. The first storage module stores the image processing result of the first image processing module. The second lower computer further comprises a second display module and a second storage module, wherein the second display module is electrically connected with the second control module and used for displaying the image processing result of the second image processing module in real time. The second storage module stores the image processing result of the second image processing module.
Preferably, the communication mode between the upper computer and the first lower computer and the second lower computer is an I/O port or Ethernet or RS-485.
Further, the lower computer is divided into several modules, each of which performs an independent function. This reduces the coupling within the part, facilitates maintenance and migration, and facilitates resolution when a small module is defective. The system comprises a communication interface module, a graph acquisition module and an image processing module. The object to be measured directly provides its own optical image information, and the lower computer first converts this information into digital image information for subsequent processing. The executing mechanism receives the correct image processing result output by the lower computer and executes corresponding actions, thereby completing the whole detection and identification process. Converting optical image information into digital image information by using a graphic sensor which can be a CCD camera or a CMOS and the like; after the image information is acquired, the image information needs to be operated and processed, and an image processing module is used for completing the processing task. Because the image data has a large amount of computation, a higher-level processor such as a DSP or an ARM is generally used, and these processors perform a large amount of computation processing according to the characteristics of the gray-scale value, color, pixel distribution, and the like of the image; the lower computer needs to exchange data with the external device, and the communication module is necessarily used. There are many communication modes to choose from, such as general I/O port, Ethernet or RS-485. The upper computer provides a plurality of humanized UI interfaces, and can conveniently set control commands and configuration data. Algorithms used for graphic processing are packaged into modules and placed in the first lower computer, the second lower computer and the upper computer. The upper computer processes the image, calls a corresponding algorithm, determines a proper configuration command according to an obtained correct result and sends the configuration command to the lower computer, and the lower computer further calls a specified algorithm to process the digital image after receiving corresponding configuration information to finally obtain an output result.
Further, referring to fig. 6, according to the functional division to be implemented, the firmware program of STM32F7 has ten main tasks under the FreeRTOS operating system, which are respectively a communication monitoring task, a command execution task, a pose calculation task, an image recognition task, and a pose result output task of two mechanical arms (mechanical arm A, B). After the communication interruption is generated, the Interruption Service Routine (ISR) only sends the semaphore to the communication monitoring task, so that the communication monitoring task is unblocked, the interruption response time can be shortened, and the work with large processing capacity is completed in the communication monitoring task. In the communication monitoring task, a buffer area is developed to receive data, then the data is unpacked and analyzed, and the data in the data area is put into a queue. And the command execution task acquires the command code and the set parameters from the queue, executes corresponding operation according to the command code and completes corresponding parameter setting. Because the pose calculation is very important, complex and long in time consumption, the pose calculation is independently used as a task, in the pose task, the pose calculation is completed according to the set parameters, and the position poses of the two calipers are calculated. The calculation result must be output to the driving module, the calculation result is converted into a PWM output, and the output of the attitude calculation result is also used as a task independently.
Further, a double-mechanical-arm magnetic shoe damage detection assembly line comprises a conveyor belt and the double-mechanical-arm magnetic shoe damage detection device.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, it is still within the scope of the present invention if they fall within the scope of the claims of the present invention and their equivalents.
Claims (5)
1. The utility model provides a two arms magnetic shoe inspection devices which characterized in that includes: the device comprises a first mechanical arm, a second mechanical arm, a first lower computer, a second lower computer and an upper computer; wherein the content of the first and second substances,
the first mechanical arm is arranged on one side of the external conveyor belt, and a first caliper is arranged on the first mechanical arm and used for clamping the magnetic shoe;
the second mechanical arm is arranged on the other side of the external conveyor belt relative to the first mechanical arm, and a second caliper is arranged on the second mechanical arm and used for clamping the magnetic shoe;
the first lower computer comprises a first control module, a first image acquisition module, a first image processing module and a first communication module;
the first image acquisition module, the first image processing module, the first communication module and the first mechanical arm are respectively and electrically connected with the first control module; the first image acquisition module is arranged at the clamping end of the first mechanical arm and used for acquiring image information of part of to-be-detected surface of the magnetic shoe; the first image processing module is arranged on the first mechanical arm and used for receiving and processing the image information of the magnetic shoe;
the second lower computer comprises a second control module, a second image acquisition module, a second image processing module and a second communication module;
the second image acquisition module, the second image processing module, the second communication module and the second mechanical arm are respectively and electrically connected with the second control module; the second image acquisition module is arranged at the clamping end of the second mechanical arm and used for acquiring the image information of the rest part of the surface to be detected of the magnetic shoe; the second image processing module is arranged on the second mechanical arm and used for receiving and processing the image information of the magnetic shoe;
the upper computer is arranged on an external platform, receives the signal sent by the first lower computer, and receives the signal sent by the second lower computer;
the upper computer and the first lower computer perform data interaction through the first communication module, the upper computer transmits a control instruction to the first control module through the first communication module, and the control module controls and schedules the first image acquisition module, the first image processing module and the first mechanical arm; the upper computer and the second lower computer perform data interaction through the second communication module, the upper computer transmits a control instruction to the first control module through the second communication module, and the control module controls and schedules the first image acquisition module, the first image processing module and the first mechanical arm;
the first control module comprises a first steering engine encoder and a first three-axis gyroscope, the first three-axis gyroscope is used for detecting the space attitude of the first caliper, and the first steering engine encoder realizes action control on the first caliper through the detected space attitude of the first caliper; the second control module comprises a second steering engine encoder and a second three-axis gyroscope, the second three-axis gyroscope is used for detecting the space attitude of the second caliper, and the second steering engine encoder controls the action of the second caliper through the detected space attitude of the second caliper.
2. The double-robot-arm magnetic shoe inspection device according to claim 1, wherein the first lower computer further comprises a first display module and a first storage module, the first display module is electrically connected to the first control module and is configured to display an image processing result of the first image processing module in real time; the first storage module stores the image processing result of the first image processing module; the second lower computer further comprises a second display module and a second storage module, wherein the second display module is electrically connected with the second control module and is used for displaying the image processing result of the second image processing module in real time; and the second storage module stores the image processing result of the second image processing module.
3. The double-robot-arm magnetic shoe injury detection device according to claim 1, wherein the communication mode of the first communication module and the second communication module is an I/O port, an ethernet or an RS-485.
4. The dual-robot arm magnetic shoe inspection device of claim 1, wherein the first and second tri-axis gyroscopes are both MPU6050 tri-axis gyroscopes.
5. A double-arm magnetic shoe inspection line, characterized by comprising the double-arm magnetic shoe inspection device of any one of claims 1 to 4.
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| CN201910054558.0A CN109781738B (en) | 2019-01-21 | 2019-01-21 | Double-mechanical-arm magnetic shoe damage detection device and assembly line |
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| US5838573A (en) * | 1995-08-03 | 1998-11-17 | Crathern & Smith, Inc. | Process and apparatus for spotting labels |
| CN206479442U (en) * | 2017-02-20 | 2017-09-08 | 武汉筑梦科技有限公司 | Machine vision experimental stand |
| CN207366453U (en) * | 2017-09-21 | 2018-05-15 | 深圳市创立宏科技有限公司 | Die cutting product CCD automatic checkout equipments |
| CN108393894A (en) * | 2018-05-14 | 2018-08-14 | 安徽理工大学 | Both arms casting sample detection robot |
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