CN111007081B - Machine vision detection mechanism for surface flaws of automobile steering knuckle - Google Patents
Machine vision detection mechanism for surface flaws of automobile steering knuckle Download PDFInfo
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- CN111007081B CN111007081B CN202010005086.2A CN202010005086A CN111007081B CN 111007081 B CN111007081 B CN 111007081B CN 202010005086 A CN202010005086 A CN 202010005086A CN 111007081 B CN111007081 B CN 111007081B
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- 238000001514 detection method Methods 0.000 title claims abstract description 168
- 230000007246 mechanism Effects 0.000 title claims abstract description 46
- 210000000078 claw Anatomy 0.000 claims abstract description 41
- 230000005540 biological transmission Effects 0.000 claims abstract description 32
- 238000007689 inspection Methods 0.000 claims description 34
- 238000012545 processing Methods 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 claims description 3
- 230000035515 penetration Effects 0.000 claims 2
- 230000007547 defect Effects 0.000 description 11
- 230000002950 deficient Effects 0.000 description 8
- 238000009434 installation Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000004576 sand Substances 0.000 description 2
- 230000001502 supplementing effect Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000011179 visual inspection Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
Abstract
The invention discloses a machine vision detection mechanism for detecting surface flaws of an automobile steering knuckle, which structurally comprises a product input channel to be detected, a detection bin, a NG transmission belt, a control operation table, a qualified transmission belt, a primary positioning auxiliary frame, a primary positioning auxiliary platform, a mechanical claw arm, an upper detection frame and a lower detection frame.
Description
Technical Field
The invention belongs to the technical field of product surface flaw detection equipment; in particular to a machine vision detection mechanism for surface flaws of an automobile steering knuckle.
Background
In the production of automobile knuckles, such as scratches, cracks, falling angles, edge chipping, sand holes, air holes and the like on the surface of the knuckle, the defects have serious influence on the performance and quality of the automobile, and the sand holes with the diameter of 0.3mm can cause the abnormal operation of the knuckle and the supporting brake. Therefore, the defect detection of the steering knuckle is significant to the product itself, the defect detection of the steering knuckle at present depends on a manual visual inspection mode, the mode is too long in time consumption (a skilled worker needs 5 minutes for detecting a product in an all-round way), the steering knuckle is easy to leak, the steering knuckle is heavier and has a complex structure, the steering knuckle is tired manually under the condition of long-time manual detection, the wrong product flows into the next procedure, the safety and the quality of a vehicle are seriously influenced, the whole production efficiency is low, the error rate is increased, and therefore, the appearance of a machine vision detection mechanism for the surface flaws of the steering knuckle of an automobile is forced.
Disclosure of Invention
The invention aims to provide a machine vision detection mechanism for surface flaws of an automobile steering knuckle, so as to solve the technical problems.
In order to achieve the above object, a machine vision detection mechanism for surface flaws of an automobile steering knuckle comprises a product input channel to be detected, a detection bin, a NG transmission belt, a control operation table and a qualified transmission belt, wherein the product input channel to be detected is arranged on one side of the detection bin, the product input channel to be detected is communicated with the detection bin, the NG transmission belt is arranged on the inner side of the detection bin, the tail end of the NG transmission belt penetrates through the detection bin to extend out of the detection bin, the qualified transmission belt is arranged on the inner side of the detection bin, the tail end of the qualified transmission belt penetrates through the detection bin to extend out of the detection bin, the NG transmission belt and the qualified transmission belt penetrate out of the same side of the detection bin, the NG transmission belt and the qualified transmission belt are parallel to each other, the control operation table is arranged on the outer side of the detection bin, the control operation table is fixed between the NG transmission belt and the qualified transmission belt, the detection bin is internally provided with a primary positioning auxiliary frame, a primary positioning auxiliary platform, a mechanical claw arm, an upper detection frame and a lower detection frame, the primary positioning auxiliary platform is in through connection with a product input channel to be detected, the primary positioning auxiliary frame is arranged on the upper side of the primary positioning auxiliary platform, the primary positioning auxiliary frame is fixed on the side wall of the primary positioning auxiliary platform, the mechanical claw arm is fixed on the rear side of the primary positioning auxiliary platform, the upper detection frame is arranged on the right side of the mechanical claw arm, the lower detection frame is arranged on the right side of the upper detection frame, the NG transmission belt and the qualified transmission belt are arranged on the rear side of the mechanical claw arm, the product input channel to be detected, the NG transmission belt, the qualified transmission belt, the primary positioning auxiliary frame, the mechanical claw arm, the upper detection frame and the lower detection frame are all electrically connected with the control operation table, the control operation console is electrically connected with an external power supply;
the control console is formed by combining a computer and a control panel.
Further, the primary positioning auxiliary frame comprises a primary camera fixing frame, a primary camera, primary searchlights, a primary searchlight fixing frame and an integral supporting frame, wherein the integral supporting frame is vertically fixed on the side wall of the primary positioning auxiliary platform, two primary searchlights are arranged on the upper side of the primary positioning auxiliary platform in a parallel mode, the two primary searchlights are fixed on the primary searchlight fixing frame, the primary searchlight fixing frame is horizontally fixed on the integral supporting frame, the primary camera is arranged between the two primary searchlights, the upper sides of the two primary searchlights of the primary camera are fixed on the primary camera fixing frame, and the primary camera fixing frame is fixed on the integral supporting frame;
the primary camera fixing frame and the primary searchlight fixing frame can be installed at different heights on the integral supporting frame, and the primary camera and the primary searchlight are electrically connected with the control console.
Further, the mechanical gripper arm comprises a mechanical gripper arm fixing seat, a mechanical gripper installation head, a second mechanical gripper arm, a second mechanical gripper seat, a first mechanical gripper arm and a mechanical gripper seat fixing seat, wherein the mechanical gripper arm fixing seat is fixed on the bottom surface of the inner side of the detection bin, the mechanical gripper arm seat fixing seat is fixed on the upper end surface of the mechanical gripper arm fixing seat, the mechanical gripper arm seat is arranged at the upper end of the mechanical gripper seat fixing seat, the mechanical gripper seat is connected with the mechanical gripper seat fixing seat through a mechanical gripper rotating mechanism, one end of the first mechanical gripper arm is rotationally fixed on one side of the mechanical gripper seat through the mechanical gripper rotating mechanism, the other end of the first mechanical gripper arm is rotationally connected with the side wall of the second mechanical gripper seat through the mechanical gripper rotating mechanism, and the side wall of the first end of the second mechanical gripper arm is rotationally connected with the side wall of the mechanical gripper installation head through the mechanical gripper rotating mechanism;
the mechanical arm rotating mechanism is a servo motor, and the servo motor is electrically connected with the control console.
Further, the gripper includes gripper detection camera, camera casing, grip slipper, fixed knot, adjustment grip slipper, gripper base and locating lever, the grip slipper is fixed in on the gripper base terminal surface, gripper base another terminal surface rotates with gripper installation head to be connected, the embedded three evenly arranged's of gripper base one end fixed knot that has, fixed knot and grip slipper sliding connection, three the fixed knot is through three micro-cylinder control slip, three micro-cylinder is embedded in the grip slipper, and three micro-cylinder corresponds three fixed knot position fixing, and three micro-cylinder's telescopic link is fixed with three fixed knot respectively, locating lever, gripper detection camera and adjustment grip slipper are distributed in the grip slipper outside, and locating lever, fixed knot, camera casing and adjustment grip slipper all are fixed in the gripper base, the gripper detection camera is fixed in the camera casing, micro-cylinder and adjustment grip slipper all with control console, the electric connection is for the adjustment grip slipper for prior art, the adjustment grip slipper is clamping mechanism.
Further, upper portion detection frame is including detecting support frame, knuckle and place boss, side camera baffle, side camera support, side camera, upper portion detection frame locating lever and upper portion detection frame base, upper portion detection frame base is fixed in on the detection support frame up end, the side camera is installed in side camera support upper end, the detection support frame head end is located to the side camera support, side camera baffle cover is in side camera support and side camera outside, the knuckle is placed the boss and is fixed in on the upper portion detection frame base up end, upper portion detection frame locating lever locates knuckle and is placed boss one side, and upper portion detection frame locating lever is fixed in on the upper portion detection frame base up end, be equipped with on the knuckle is placed boss lateral wall with knuckle matched with screw thread.
Further, the lower detection frame comprises a lower detection chassis, a lower detection fixing seat, a lower detection outer cover, a lower detection camera, a light source lamp, a lamp sliding groove and a lower detection inner cover, wherein the lower detection fixing seat is fixed on the left side surface and the right side surface of the lower detection inner cover, the lower detection inner cover is fixed on the upper end surface of the lower detection chassis through the lower detection fixing seat, the lamp sliding groove is formed in the upper side and the lower side of the left side wall and the lower side wall of the lower detection inner cover, the light source lamp is arranged in the lamp sliding groove, the light source lamp is connected with the lower detection inner cover in a sliding manner through the lamp sliding groove, the lower detection camera is arranged on the inner side of the lower detection inner cover and between the upper side light source lamp and the lower side light source lamp in the lower detection inner cover, the lower detection outer cover is sleeved on the outer side of the lower detection inner cover, and the lower detection outer cover is fixed on the upper end of the lower detection frame.
Further, the visual data in the machine vision detection mechanism are transmitted to a computer of a control console for analysis and processing, and the machine vision detection mechanism is controlled by the computer to screen qualified products.
Further, the working steps and principles of the invention:
1) Inputting a detection flow program through a control console;
2) Then, placing the knuckle on a product input channel to be detected, and guiding the knuckle into a primary positioning auxiliary platform through the product input channel to be detected;
3) After the steering knuckle reaches the primary positioning auxiliary platform, supplementing light through the primary searchlight, shooting by utilizing the primary camera, and carrying out primary positioning clamping on the steering knuckle through adjusting the clamping clamp;
4) Then, the mechanical claw clamps the steering knuckle, the steering knuckle is placed on a steering knuckle placing boss, meanwhile, the steering knuckle is matched with a locating rod of an upper detection frame, at the moment, the mechanical claw loosens the steering knuckle, the mechanical claw rotates, a mechanical claw detection camera is aligned to a flange surface of the upper part of the steering knuckle to shoot, so that whether the upper part of the flange surface is detected to be defective or not, then the mechanical claw detection camera moves to a shaft neck and a threaded hole of the upper part of the steering knuckle, and then the mechanical claw slowly rotates at a constant speed, so that the mechanical claw detection camera detects whether the steering knuckle hole is defective or not;
5) The mechanical claw rotates to enable the clamping seat to be aligned with the knuckle to clamp the knuckle, the knuckle is enabled to enable the flange surface of the lower part of the knuckle to be close to the lower detection camera of the lower detection frame, the light source lamp is started to detect whether the flange surface of the lower part of the knuckle is defective or not, then the mechanical claw arm moves to enable the shaft neck of the lower part of the knuckle to be aligned with the threaded hole to be aligned with the lower detection camera, and then the mechanical claw arm slowly rotates at a constant speed to enable the lower detection camera to detect whether the knuckle hole is defective or not;
6) Then the mechanical claw detection camera and the lower detection camera transmit the shot images into the control operation console, a computer in the control operation console performs comparison analysis on the shot images so as to judge whether the steering knuckle is a qualified product, and when the defect characteristics appear, the control operation console records the defect characteristics and the positions where the defect characteristics appear and sends the results to the PLC system for recording and storing;
7) And after the control console obtains the detection result, controlling the mechanical gripper arm to put the qualified product on the qualified conveying belt for export, and putting the NG product on the NG conveying belt for export.
The invention has the beneficial effects that: the invention relates to a non-contact measurement method based on machine vision, which utilizes the actions of robots in a system, such as movement and overturning in the process of grabbing and detecting, classification after detection, and the like, and simultaneously a vision system can automatically adapt to the changes of element positions, appearances, surface finish and characteristic intervals, correction of horizontal positions and axial angles is carried out before grabbing each product, so that the consistency of shooting products is higher, each knuckle shoots images in parts, the influence of cambered surface factors on the images is reduced, the invention utilizes robots to assist shooting, utilizes the high-speed switching of multi-angle light sources in the vision system to quickly shoot images with various image effects, and can utilize the advantages of different-angle light sources to quickly switch the images with high-reflection, cambered surface and other complex degree to detect the surfaces with high reflection, cambered surface and other complex degree, especially the inner cambered surface and the outer cambered surface of the knuckle, the contrast of each type of defect is enhanced in multiple images, the detection difficulty is greatly simplified, and the accuracy of defect judgment is enhanced. The invention has simple mechanism, low cost, grabbing, moving, shooting focusing, turning over, classifying and other actions, fully utilizes the functions of the robot and greatly simplifies the complexity of the mechanism. Firstly, the stability of the whole equipment is ensured, secondly, the cost of the whole mechanism is greatly reduced, and the mechanism of the invention is exquisite, occupies small space and has strong applicability.
Drawings
The present invention is further described below with reference to the accompanying drawings for the convenience of understanding by those skilled in the art.
FIG. 1 is a schematic general structural view of a machine vision inspection mechanism for automotive knuckle surface imperfections in accordance with the present invention;
FIG. 2 is a schematic view of the structure of the device inside the inspection bin of the machine vision inspection mechanism for surface flaws of the steering knuckle of the automobile according to the present invention;
FIG. 3 is a schematic view of the structure of a primary positioning aid for a machine vision inspection mechanism for surface imperfections in automotive knuckles, according to the present invention;
FIG. 4 is a schematic view of the mechanical gripper arm of the machine vision inspection mechanism for surface imperfections of an automotive steering knuckle according to the present invention;
FIG. 5 is a schematic view of the mechanical gripper of the machine vision inspection mechanism for automotive knuckle surface imperfections, according to the present invention;
FIG. 6 is a schematic structural view of an upper inspection rack of a machine vision inspection mechanism for automotive knuckle surface imperfections, according to the present invention;
FIG. 7 is a schematic view of the structure of a lower inspection rack of a machine vision inspection mechanism for automotive knuckle surface imperfections of the present invention.
Detailed Description
Referring to fig. 1-7, a machine vision detecting mechanism for detecting surface flaws of an automobile steering knuckle comprises a product input channel 1 to be detected, a detecting bin 2, a NG transmission belt 3, a control operation table 4 and a qualified transmission belt 5, wherein the product input channel 1 to be detected is arranged at one side of the detecting bin 2, the product input channel 1 to be detected is communicated with the detecting bin 2, the NG transmission belt 3 is arranged at the inner side of the detecting bin 2, the tail end of the NG transmission belt 3 penetrates the detecting bin 2 to extend outside the detecting bin 2, the qualified transmission belt 5 is arranged at the inner side of the detecting bin 2, the tail end of the qualified transmission belt 5 penetrates the detecting bin 2 to extend outside the detecting bin 2, the NG transmission belt 3 and the qualified transmission belt 5 penetrate from the same side of the detecting bin 2, the NG transmission belt 3 and the qualified transmission belt 5 are parallel to each other, the control operation table 4 is arranged at the outer side of the detecting bin 2, and the control console 4 is fixed between the NG conveyer belt 3 and the qualified conveyer belt 5, a primary positioning auxiliary frame 6, a primary positioning auxiliary platform 7, a gripper arm 8, an upper detection frame 9 and a lower detection frame 10 are arranged in the detection bin 2, the primary positioning auxiliary platform 7 is communicated with the product input channel 1 to be detected, the primary positioning auxiliary frame 6 is arranged on the upper side of the primary positioning auxiliary platform 7, the primary positioning auxiliary frame 6 is fixed on the side wall of the primary positioning auxiliary platform 7, the gripper arm 8 is fixed on the rear side of the primary positioning auxiliary platform 7, the upper detection frame 9 is arranged on the right side of the gripper arm 8, the lower detection frame 10 is arranged on the right side of the upper detection frame 9, the NG conveyer belt 3 and the qualified conveyer belt 5 are arranged on the rear side of the gripper arm 8, the product input channel 1 to be detected, the NG conveyer belt 3, the qualified conveyer belt 5, the primary positioning auxiliary frame 6, the gripper arm 8, the upper detection frame 9 and the lower detection frame 10 are electrically connected with the control console 4, and the control console 4 is electrically connected with an external power supply.
The control console 4 is composed of a computer and a control panel, and the control panel is a 6AV6545-0BA15-2AX0 type control panel produced by Siemens.
As shown in fig. 3, the primary positioning auxiliary frame 6 includes a primary camera fixing frame 61, a primary camera 62, a primary searchlight 63, a primary searchlight fixing frame 64 and an integral supporting frame 65, the integral supporting frame 65 is vertically fixed on the side wall of the primary positioning auxiliary platform 7, the primary searchlight 63 is provided with two, the two primary searchlights 63 are horizontally and parallel arranged on the upper side of the primary positioning auxiliary platform 7, the two primary searchlights 63 are fixed on the primary searchlight fixing frame 64, the primary searchlight fixing frame 64 is horizontally fixed on the integral supporting frame 65, the primary camera 62 is arranged between the two primary searchlights 63, and the upper sides of the two primary searchlights 63 of the primary camera 62 are fixed on the primary camera fixing frame 61, and the primary camera fixing frame 61 is fixed on the integral supporting frame 65.
The primary camera fixing frame 61 and the primary searchlight fixing frame 64 can be installed at different heights on the integral supporting frame 65, and the primary camera 62 and the primary searchlight 63 are electrically connected with the control console 4.
As shown in fig. 4, the gripper arm 8 includes a gripper arm fixing seat 81, a gripper arm seat 82, a gripper 83, a gripper mounting head 84, a second gripper arm 85, a second gripper arm seat 86, a first gripper arm 87, and a gripper arm seat fixing seat 88, the gripper arm fixing seat 81 is fixed on the bottom surface inside the detection bin 2, the gripper arm seat fixing seat 88 is fixed on the upper end surface of the gripper arm fixing seat 81, the gripper arm seat 82 is arranged at the upper end of the gripper arm seat fixing seat 88, the gripper arm seat 82 is connected with the gripper arm seat fixing seat 88 through a gripper arm rotating mechanism, one end of the first gripper arm 87 is rotationally fixed on one side of the gripper arm seat 82 through the gripper arm rotating mechanism, the other end of the first gripper arm 87 is rotationally connected with the side wall of the second gripper arm seat 86 through the gripper arm rotating mechanism, the front end of the second gripper arm seat 86 is rotationally connected with the end of the second gripper arm 85 through the gripper arm rotating mechanism, and the gripper mounting head 84 is rotationally connected with the gripper 83 through the gripper arm rotating mechanism.
The mechanical arm rotating mechanism is a servo motor, and the servo motor is electrically connected with the control console 4.
As shown in fig. 5, the gripper 83 includes a gripper detecting camera 831, a camera housing 832, a clamping seat 833, a fixing buckle 834, an adjusting clamp 835, a gripper base 836 and a positioning rod 837, the clamping seat 833 is fixed on one end surface of the gripper base 836, the other end surface of the gripper base 836 is rotationally connected with the gripper mounting head 84, three fixing buckles 834 which are uniformly arranged are embedded in one end of the gripper base 836, the fixing buckle 834 is slidably connected with the clamping seat 833, the three fixing buckles 834 slide under control of three micro-cylinders, the three micro-cylinders are embedded in the clamping seat 833, the three micro-cylinders are fixed corresponding to the positions of the three fixing buckles 834, the telescopic rods of the three micro-cylinders are respectively fixed with the three fixing buckles 834, the positioning rod 837, the gripper detecting camera 831 and the adjusting clamp 835 are distributed on the outer side of the clamping seat 833, the positioning rod 837, the fixing buckles 834, the camera housing 832 and the adjusting clamp 835 are all fixed on the gripper base 836, the gripper detecting head is fixed in the clamping housing 831, the gripper detecting housing 831 is electrically connected with the two-stage adjusting clamp 835, and the gripper is electrically connected with the two-stage adjusting clamp 835.
As shown in fig. 6, the upper detection frame 9 includes a detection support frame 91, a knuckle placement boss 92, a side camera baffle 93, a side camera support 94, a side camera 95, an upper detection frame positioning rod 96 and an upper detection frame base 97, the upper detection frame base 97 is fixed on the upper end face of the detection support frame 91, the side camera 95 is mounted on the upper end of the side camera support 94, the side camera support 94 is arranged on the head end of the detection support frame 91, the side camera baffle 93 covers the outer sides of the side camera support 94 and the side camera 95, the knuckle placement boss 92 is fixed on the upper end face of the upper detection frame base 97, the upper detection frame positioning rod 96 is arranged on one side of the knuckle placement boss 92, and the upper detection frame positioning rod 96 is fixed on the upper end face of the upper detection frame base 97, and threads matched with the knuckle are arranged on the outer side wall of the knuckle placement boss 92.
As shown in fig. 7, the lower inspection rack 10 includes a lower inspection chassis 101, a lower inspection fixing base 102, a lower inspection housing 103, a lower inspection camera 104, a light source lamp 105, a lamp sliding groove 106, and a lower inspection inner cover 107, the lower inspection fixing base 102 is fixed on the left and right sides of the lower inspection inner cover 107, the lower inspection inner cover 107 is fixed on the upper end surface of the lower inspection chassis 101 by the lower inspection fixing base 102, the lamp sliding groove 106 is provided on the upper and lower sides of the left and right side walls of the lower inspection inner cover 107, the light source lamp 105 is provided in the lamp sliding groove 106, the light source lamp 105 is slidably connected with the lower inspection inner cover 107 by the lamp sliding groove 106, the lower inspection camera 104 is provided inside the lower inspection inner cover 107, the lower inspection camera 104 is located between the upper and lower light source lamps 105 inside the lower inspection inner cover 107, the lower inspection outer cover 103 is sleeved outside the lower inspection inner cover 107, and the lower inspection outer cover 103 is fixed on the upper end of the lower inspection rack 10.
The visual data in the machine vision detection mechanism are transmitted to a computer of the control console 4 for analysis and processing, and the machine vision detection mechanism is controlled by the computer to screen qualified products.
The working steps and the principle of the invention are as follows:
1) Inputting a detection flow program through a control console 4;
2) Then, placing the knuckle on a product input channel 1 to be detected, and guiding the knuckle into a primary positioning auxiliary platform 7 through the product input channel 1 to be detected;
3) After the steering knuckle reaches the primary positioning auxiliary platform 7, supplementing light through the primary searchlight 63, shooting by utilizing the primary camera 62, and carrying out primary positioning clamping on the steering knuckle through the adjustment clamping 835;
4) Then, the mechanical claw 83 clamps the knuckle, the knuckle is placed on the knuckle placing boss 92, meanwhile, the knuckle is matched with the upper detection frame positioning rod 96, at the moment, the knuckle is loosened by the mechanical claw 83, the mechanical claw 83 rotates, the mechanical claw detection camera 831 shoots aiming at the flange surface of the upper part of the knuckle, so that whether the flange surface of the upper part is detected to be defective or not is detected, the mechanical claw detection camera 831 moves to the shaft neck and the threaded hole of the upper part of the knuckle, and then the mechanical claw 83 slowly rotates at a constant speed, so that whether the mechanical claw detection camera 831 is defective or not in a knuckle hole is detected;
5) Then the mechanical claw 83 rotates to enable the clamping seat 833 to be aligned with the knuckle to clamp the knuckle, then the knuckle is enabled to enable the flange surface of the lower part of the knuckle to be close to the lower detection camera 104 of the lower detection frame 10, meanwhile, the light source lamp 105 is started to detect whether the flange surface of the lower part of the knuckle is defective, then the mechanical claw arm 8 moves to enable the shaft neck of the lower part of the knuckle to be aligned with the threaded hole to be aligned with the lower detection camera 104, then the mechanical claw arm slowly rotates at a constant speed, and the lower detection camera 104 is enabled to detect whether the knuckle hole is defective;
6) Then the mechanical claw detecting camera 831 and the lower detecting camera 104 transmit the shot images into the control console 4, the control console 4 carries out comparison analysis on the shot images through a computer in the control console 4 so as to judge whether the steering knuckle is a qualified product, and when the defect characteristics appear, the control console 4 records the defect characteristics and the positions where the defect characteristics appear and sends the results to the PLC system for recording and storing;
7) After the control console 4 obtains the detection result, the mechanical gripper arm 8 is controlled to put the qualified product on the qualified conveying belt 5 for export, and the NG product is put on the NG conveying belt 3 for export.
The above examples are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above examples, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principle of the present invention should be made in the equivalent manner, and the embodiments are included in the protection scope of the present invention.
Claims (3)
1. The utility model provides a machine vision detection mechanism for automobile steering knuckle surface flaw, includes to wait to detect product input channel (1), detects storehouse (2), NG conveyer belt (3), control operation panel (4) and qualified conveyer belt (5), its characterized in that, wait to detect product input channel (1) and locate detection storehouse (2) one side, and wait to detect product input channel (1) and detect storehouse (2) and link up mutually, detection storehouse (2) inboard is located in NG conveyer belt (3), and NG conveyer belt (3) terminal penetration detection storehouse (2) stretch in detection storehouse (2) outside, qualified conveyer belt (5) are located detection storehouse (2) inboard, and qualified conveyer belt (5) terminal penetration detection storehouse (2) stretch in detection storehouse (2) outside, NG conveyer belt (3) and qualified conveyer belt (5) are worn out by detection storehouse (2) homonymy, and NG conveyer belt (3) and qualified conveyer belt (5) are parallel to each other, control operation panel (4) are located detection storehouse (2) outside, and control operation panel (4) are fixed in detection storehouse (3) and are equipped with auxiliary positioning stage (8), mechanical gripper (8) and auxiliary positioning stage (8) are located between first-time and auxiliary positioning stage (8) The device comprises an upper detection frame (9) and a lower detection frame (10), wherein the primary positioning auxiliary platform (7) is in through connection with a product input channel (1) to be detected, the primary positioning auxiliary frame (6) is arranged on the upper side of the primary positioning auxiliary platform (7), the primary positioning auxiliary frame (6) is fixed on the side wall of the primary positioning auxiliary platform (7), the mechanical claw arm (8) is fixed on the rear side of the primary positioning auxiliary platform (7), the upper detection frame (9) is arranged on the right side of the mechanical claw arm (8), the lower detection frame (10) is arranged on the right side of the upper detection frame (9), the NG transmission belt (3) and the qualified transmission belt (5) are arranged on the rear side of the mechanical claw arm (8), and the product input channel (1), the NG transmission belt (3), the qualified transmission belt (5), the primary positioning auxiliary frame (6), the mechanical claw arm (8), the upper detection frame (9) and the lower detection frame (10) are electrically connected with a control console (4), and the control console (4) is electrically connected with an external power supply.
The control console (4) is formed by combining a computer and a control panel;
the mechanical gripper arm (8) comprises a mechanical gripper arm fixing seat (81), a mechanical gripper arm seat (82), a mechanical gripper (83), a mechanical gripper mounting head (84), a second mechanical arm (85), a second mechanical arm seat (86), a first mechanical arm (87) and a mechanical arm seat fixing seat (88), wherein the mechanical gripper arm fixing seat (81) is fixed on the inner bottom surface of the detection bin (2), the mechanical arm seat fixing seat (88) is fixed on the upper end surface of the mechanical gripper arm fixing seat (81), the mechanical arm seat (82) is arranged at the upper end of the mechanical gripper arm seat fixing seat (88), the mechanical gripper seat (82) is connected with the mechanical gripper mounting head (88) through a mechanical gripper rotating mechanism, one end of the first mechanical arm (87) is rotationally fixed on one side of the mechanical gripper seat (82) through the mechanical gripper rotating mechanism, the other end of the first mechanical arm (87) is rotationally connected with the side wall of the second mechanical gripper seat (86) through the mechanical gripper rotating mechanism, the front end of the second mechanical arm seat (86) is rotationally connected with the tail end of the second mechanical gripper (85) through the mechanical gripper rotating mechanism, and the mechanical gripper mounting head (84) is rotationally connected with the mechanical gripper mounting head (84) through the mechanical gripper rotating mechanism;
the mechanical arm rotating mechanism is a servo motor, and the servo motor is electrically connected with the control console (4);
the mechanical claw (83) comprises a mechanical claw detection camera (831), a camera shell (832), a clamping seat (833), a fixed buckle (834), an adjusting clamping clamp (835), a mechanical claw base (836) and a positioning rod (837), wherein the clamping seat (833) is fixed on one end face of the mechanical claw base (836), the other end face of the mechanical claw base (836) is rotationally connected with a mechanical claw mounting head (84), three evenly-arranged fixed buckles (834) are embedded in one end of the non-mechanical claw base (836) of the clamping seat (833), the fixed buckles (834) are in sliding connection with the clamping seat (833), the three fixed buckles (834) are controlled to slide through three micro-cylinders, the three micro-cylinders are embedded in the clamping seat (833), the three micro-cylinders are fixed corresponding to the positions of the three fixed buckles (834), the positioning rod (837), the mechanical claw detection clamp (833) and the adjusting clamping seat (835) are respectively fixed with the three fixed buckles (834), the outer sides of the clamping seat (831) and the camera shell (831) are distributed on the clamping seat (831), the outer sides of the clamping shell (831) and the camera (831) are fixed on the clamping shell (831), the mechanical claw detection camera (831), the micro cylinder and the adjusting clamping clamp (835) are electrically connected with the control console (4);
the upper detection frame (9) comprises a detection support frame (91), a knuckle placing boss (92), a side camera baffle (93), a side camera support (94), a side camera (95), an upper detection frame positioning rod (96) and an upper detection frame base (97), wherein the upper detection frame base (97) is fixed on the upper end face of the detection support frame (91), the side camera (95) is installed at the upper end of the side camera support frame (94), the side camera support (94) is arranged at the head end of the detection support frame (91), the side camera baffle (93) covers the outer sides of the side camera support frame (94) and the side camera (95), the knuckle placing boss (92) is fixed on the upper end face of the upper detection frame base (97), the upper detection frame positioning rod (96) is arranged on one side of the knuckle placing boss (92), the upper detection frame positioning rod (96) is fixed on the upper end face of the upper detection frame base (97), and the knuckle placing boss (92) is provided with threads matched with the outer side wall of the knuckle;
the lower detection frame (10) comprises a lower detection chassis (101), a lower detection fixing seat (102), a lower detection outer cover (103), a lower detection camera (104), a light source lamp (105), a lamp sliding groove (106) and a lower detection inner cover (107), wherein the lower detection fixing seat (102) is fixed on the left side and the right side of the lower detection inner cover (107), the lower detection inner cover (107) is fixed on the upper end face of the lower detection chassis (101) through the lower detection fixing seat (102), the upper side and the lower side of the left side wall and the right side wall of the lower detection inner cover (107) are respectively provided with a lamp sliding groove (106), the light source lamp (105) is arranged in the lamp sliding groove (106), the light source lamp (105) is connected with the lower detection inner cover (107) in a sliding mode through the lamp sliding groove (106), the lower detection camera (104) is arranged on the inner side of the lower detection inner cover (107), the lower detection camera (104) is positioned between the upper side light source lamp (105) and the lower side of the lower detection inner cover (107), and the lower detection inner cover (103) is fixed on the outer side of the lower detection frame (103).
2. The machine vision detection mechanism for surface flaws of an automobile steering knuckle according to claim 1, wherein the primary positioning auxiliary frame (6) comprises a primary camera fixing frame (61), a primary camera (62), a primary searchlight (63), a primary searchlight fixing frame (64) and an integral supporting frame (65), the integral supporting frame (65) is vertically fixed on the side wall of the primary positioning auxiliary platform (7), the primary searchlight (63) is provided with two, the two primary searchlights (63) are horizontally and parallelly arranged on the upper side of the primary positioning auxiliary platform (7), the two primary searchlights (63) are both fixed on the primary searchlight fixing frame (64), the primary searchlight fixing frame (64) is horizontally fixed on the integral supporting frame (65), the primary camera (62) is arranged between the two primary searchlights (63), the upper sides of the two primary searchlights (63) are vertically fixed on the primary searchlight fixing frame (61), and the primary searchlight (61) is fixed on the integral supporting frame (65);
the primary camera fixing frame (61) and the primary searchlight fixing frame (64) can be installed at different heights on the integral supporting frame (65), and the primary camera (62) and the primary searchlight (63) are electrically connected with the control console (4).
3. The machine vision inspection mechanism for automotive knuckle surface flaws according to claim 1, characterized in that the visual data inside the machine vision inspection mechanism are all transmitted to a computer of a control console (4) for analysis and processing, and the machine vision inspection mechanism is controlled by the computer to screen acceptable products.
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| CA2184466A1 (en) * | 1995-08-31 | 1997-03-01 | Konstantin Ivanov | Automatic zipper package winding and packaging machine |
| CN101700593A (en) * | 2009-11-25 | 2010-05-05 | 深圳市诺斯达科技有限公司 | Wave-soldering unit and mechanical gripper thereof |
| CN108918540A (en) * | 2018-09-20 | 2018-11-30 | 苏州华维诺智能科技有限公司 | Capture and detection device and method based on mechanical arm camera shooting vision to product parts |
| CN109127464A (en) * | 2018-09-21 | 2019-01-04 | 河源职业技术学院 | A kind of vision detects sorting equipment and its control method automatically |
| CN211263225U (en) * | 2020-01-03 | 2020-08-14 | 佛亚智能装备（苏州）有限公司 | Automobile steering knuckle surface flaw detection mechanism based on visual detection and automatic control |
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2020
- 2020-01-03 CN CN202010005086.2A patent/CN111007081B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2184466A1 (en) * | 1995-08-31 | 1997-03-01 | Konstantin Ivanov | Automatic zipper package winding and packaging machine |
| CN101700593A (en) * | 2009-11-25 | 2010-05-05 | 深圳市诺斯达科技有限公司 | Wave-soldering unit and mechanical gripper thereof |
| CN108918540A (en) * | 2018-09-20 | 2018-11-30 | 苏州华维诺智能科技有限公司 | Capture and detection device and method based on mechanical arm camera shooting vision to product parts |
| CN109127464A (en) * | 2018-09-21 | 2019-01-04 | 河源职业技术学院 | A kind of vision detects sorting equipment and its control method automatically |
| CN211263225U (en) * | 2020-01-03 | 2020-08-14 | 佛亚智能装备（苏州）有限公司 | Automobile steering knuckle surface flaw detection mechanism based on visual detection and automatic control |
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