CN111085464B - Device for online detection of appearance of glass cover plate - Google Patents
Device for online detection of appearance of glass cover plate Download PDFInfo
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- CN111085464B CN111085464B CN201911402018.3A CN201911402018A CN111085464B CN 111085464 B CN111085464 B CN 111085464B CN 201911402018 A CN201911402018 A CN 201911402018A CN 111085464 B CN111085464 B CN 111085464B
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- cover plate
- mounting plate
- rotary
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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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
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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
- G01N21/958—Inspecting transparent materials or objects, e.g. windscreens
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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
- G01N2021/0106—General arrangement of respective parts
- G01N2021/0112—Apparatus in one mechanical, optical or electronic block
Abstract
A device for online detection of the appearance of a glass cover plate comprises a first mounting plate, a second mounting plate, a precise rotary material taking and placing assembly, a linear motion assembly, a light source control assembly, a visual imaging assembly and an upper computer control assembly; the first mounting plate is mounted on the second mounting plate and used for fixing the structure of the detection equipment, and a linear motion assembly, a light source control assembly, a visual imaging assembly and an upper computer control assembly are arranged on the first mounting plate; the second mounting plate can be mounted on different screen printing machines, and a precise rotary material taking and placing assembly and the first mounting plate are arranged on the second mounting plate. The device provided by the invention is matched with production equipment such as a screen printing machine and the like in the production process of the glass cover plate, so that the appearance of the glass cover plate is detected on line.
Description
Technical Field
The invention relates to the technical field of visual detection, in particular to a device for online detection of the appearance of a glass cover plate.
Background
With the wide application of large-screen intelligent equipment, the requirement of the whole industry on the glass cover plate is increased. For glass cover plate manufacturers with intensive labor and low profit margin, the productivity and yield are important control indexes. At present, high-speed screen printing machines are widely used in the screen printing process of glass cover plates, the maximum productivity of a single screen printing machine can reach 1500pcs/h, and the stable productivity can also be kept at 1200pcs/h. For such high productivity, the conventional manual full inspection method cannot meet the inspection requirements, so that the quality control of the product becomes a common problem in the industry. On the other hand, the silk-screen printing process of the glass cover plate has a plurality of working procedures, each working procedure can generate some defects, the defects generated in the production processes can be controlled only through manual sampling inspection, the detection efficiency is low, and the omission factor is high. Therefore, the yield of the shipment link cannot be effectively controlled.
Based on the current situation, the research and development of an on-line detection device for the production process of the glass cover plate is urgently needed in the market.
Disclosure of Invention
In order to solve the on-line detection requirement of the current industrial situation, the invention aims to provide the device for the on-line detection of the appearance of the glass cover plate. The system for online detection by using the machine vision technology has high detection precision, can avoid secondary damage, and does not influence the production rhythm.
In order to achieve the purpose, the following technical scheme is provided:
a device for online detection of the appearance of a glass cover plate comprises a first mounting plate, a second mounting plate, a precise rotary material taking and placing assembly, a linear motion assembly, a light source control assembly, a visual imaging assembly and an upper computer control assembly;
the first mounting plate is mounted on the second mounting plate and used for fixing the structure of the detection equipment, and a linear motion assembly, a light source control assembly, a visual imaging assembly and an upper computer control assembly are arranged on the first mounting plate;
the second mounting plate can be mounted on different screen printing machines, and a precise rotary material taking and placing assembly and the first mounting plate are arranged on the second mounting plate;
the length and the width of the second mounting plate are both larger than those of the first mounting plate;
and a plurality of mounting holes are formed in the second mounting plate and correspond to a plurality of hole sites on the screen printing machine one to one.
Preferably, the length of the second mounting plate is slightly greater than that of the linear motion assembly, and the width of the second mounting plate is slightly greater than the sum of the widths of the linear motion assembly and the precision rotary material taking and placing assembly.
Preferably, the linear motion assembly is arranged above the first mounting plate, the precise rotary material taking and placing assembly is arranged on the side face of one end of the linear motion assembly, and the visual imaging assembly is arranged right above the linear motion assembly.
Preferably, the linear motion assembly comprises a high-brightness light source, a platform servo motor, a cover plate supporting upright post and a linear module, wherein the length of the linear module is smaller than that of the mounting plate II, and the width of the linear module is smaller than that of the high-brightness light source.
Preferably, the precise rotary material taking and placing assembly comprises a rotary servo motor, a belt assembly, a rotary arm, two rotary vacuum suction claws, a lifting cylinder, a vacuum adsorption element and a hydraulic buffer element;
preferably, the two rotary vacuum suction claws are arranged in a straight line and have the same length, and the glass cover plate can be taken and placed simultaneously in the detection process.
Preferably, both ends of the rotating arm are of telescopic structures, and the extending length of the rotating vacuum suction claw is adjusted under the control of the upper computer control assembly within a certain range.
Preferably, the visual imaging assembly comprises a frame, a line camera, a lens and a camera posture adjusting device.
The invention mainly has the following beneficial effects:
(1) And analyzing the relation of a plurality of actions, and under the condition of ensuring the safety and stability of the actions, executing the parallel operation of the plurality of actions to reduce the operation beat.
(2) In one operation period, the rotary servo motor is circulated among-180 degrees, -90 degrees, 90 degrees and 0 degrees, and rotates by the minimum angle, so that the operation beat is reduced.
(3) And according to the running beat, setting the time of the software outputting the judgment result in a fixed time period, avoiding software overtime, and ensuring that the judgment result of the image corresponds to the detected result of the glass cover plate one to one.
Drawings
FIG. 1 is a schematic view of an apparatus for on-line inspection of the appearance of a glass cover plate;
FIG. 2 is a schematic view of a mounting plate 2;
FIG. 3 is a timing diagram of the operation of the device and the screen printer for the on-line detection of the appearance of the glass cover plate.
1. Screen printing machines or other devices; 2. rotating a screen printer; 3. a high light source; 4. a platform servo motor; 5. a linear motion assembly; 6. rotating the servo motor; 7. a belt assembly; 8. a rotating arm; 9. rotating the vacuum suction claw; 10. rotating the vacuum suction claw; 11. a lifting cylinder; 12. the cover plate supports the upright post; 13. a camera; 14. a lens; 15. a first mounting plate; 16. and a second mounting plate.
Detailed Description
The technical solution of the present application is described in detail below with reference to the accompanying drawings and specific embodiments.
A device for detecting the appearance of a glass cover plate on line is shown in figure 1 and comprises a first mounting plate 15, a second mounting plate 16, a precise rotary material taking and placing assembly, a linear motion assembly 5, a light source control assembly, a visual imaging assembly and an upper computer control assembly.
The first mounting plate 15 is mounted on the second mounting plate 16 and used for fixing the structure of the detection equipment, and a linear motion assembly, a light source control assembly, a visual imaging assembly and an upper computer control assembly are arranged on the first mounting plate. Wherein the top of mounting panel 15 is provided with the linear motion subassembly, the side of linear motion subassembly one end is provided with the material subassembly is got in the precision rotation, the vision formation of image subassembly sets up directly over the linear motion subassembly.
As shown in fig. 2, the second mounting plate 16 may be mounted on different screen printing machines, and a precise rotary material taking and placing assembly and the first mounting plate 15 are arranged on the second mounting plate.
The length and the width of the second mounting plate 16 are both larger than those of the first mounting plate 15.
The length of the second mounting plate 16 is slightly larger than that of the linear motion assembly, and the width of the second mounting plate 16 is slightly larger than the sum of the widths of the linear motion assembly and the precision rotary material taking and placing assembly. Therefore, the device for detecting the appearance of the glass cover plate on line can be placed stably, the area of the workbench required by the device is reduced, the device can meet the detection requirements of various workbenches, and a fixed detection device is not required to be specially arranged on a screen printing machine.
In addition, set up a plurality of mounting holes on the mounting panel two 16, a plurality of hole site one-to-one on mounting hole and the silk screen printing machine, a plurality of mounting holes are in promptly two 16 of mounting panel are after placing according to the silk screen printing machine workstation concrete condition, are in according to every hole site on the silk screen printing machine workstation manufacture on mounting panel two 16. Therefore, the positions of the mounting holes on the second mounting plate 16 are different for different screen printing machines.
Therefore, the positions of the detection position and the rotating arm can adapt to the sizes of the turnplates of different screen printing machines by adjusting the mounting hole positions on the second mounting plate 16 according to the on-line detection requirements of different screen printing machines, and the position collineation of the three can be quickly realized.
The linear motion assembly 5 comprises a high-brightness light source 3, a platform servo motor 4, a cover plate supporting upright post 12 and a linear module. The platform servo motor 4 is arranged at one end of the linear module, the high-brightness light source 3 is arranged at the other end of the linear module, and the cover plate supporting upright post 12 is also arranged at the other end of the linear module and extends out of the middle position of the high-brightness light source 3. The length of the straight line module is smaller than that of the second mounting plate 16, and the width of the straight line module is smaller than that of the high-brightness light source 3. The width of the high-brightness light source 3 is smaller than that of the second mounting plate 16. And the cover plate supporting upright post 12 is adsorbed with a glass cover plate to be detected, so that the surface of the glass cover plate is parallel to the high-brightness light source 3. The linear motion assembly 5 adopts the platform servo motor 4 to drive the linear module, so as to drive the high-brightness light source 3 and the glass cover plate thereon to move at a constant speed. The high-brightness light source 3 provides illumination with required brightness under the control of the light source control component according to actual needs.
The precise rotary material taking and placing component comprises a rotary servo motor 6, a belt component 7, a rotary arm 8, rotary vacuum suction claws 9 and 10, a lifting cylinder 11, a vacuum suction element and a hydraulic buffer element. The rotary servo motor 6 is closely arranged on the side face of one end, close to the high-brightness light source 3, of the linear motion assembly 5, and the belt assembly 7 is arranged on the rotary servo motor. The rotating arm 8 is arranged on the belt component 7. Suction cups are fixed on the rotary vacuum suction claws 9 and 10, and two ends of the rotary arm 8 are respectively and fixedly connected with the rotary vacuum suction claws 9 and 10. The rotary vacuum suction claws 9 and 10 are arranged in a straight line and have the same length, and the glass cover plate can be taken and placed simultaneously in the detection process. The rotary servo motor 6 drives the belt component 7 to drive the rotary arm 8 to rotate.
The two ends of the rotating arm 8 are of telescopic structures, and the extending lengths of the rotating vacuum suction claws 9 and 10 can be adjusted under the control of the upper computer control assembly within a certain range. If the device for the online detection of the appearance of the glass cover plate is far away from the screen printing machine 1, when the glass cover plate can be sucked or placed on the screen printing machine turntable 2, one end of the rotating arm 8 is extended, so that the rotating vacuum suction claw on the rotating arm moves to a proper position to suck or place the glass cover plate, and after the rotating arm rotates 180 degrees, the end of the rotating arm 8 retracts to a proper position to suck or place the glass cover plate on the cover plate supporting upright post 12; if the device for the online detection of the appearance of the glass cover plate is close to the screen printer 1, when the glass cover plate is sucked or placed on the screen printer rotary table 2, one end of the rotating arm 8 is contracted, so that the rotating vacuum suction claw on the rotating arm moves to a proper position to suck or place the glass cover plate, and after the rotating arm rotates 180 degrees, the end of the rotating arm 8 extends to a proper position to suck or place the glass cover plate on the cover plate supporting upright post 12. Therefore, the device can be placed according to the actual space of the workbench, can be installed on most of the workbenches, and meanwhile, the glass cover plate is guaranteed to be taken and placed at the same time, so that the device is convenient to use, the space of the original workbench is saved, and the detection efficiency can be improved.
The visual imaging assembly comprises a frame, a linear array camera 13, a lens 14 and a camera posture adjusting device. The rack is arranged on the first mounting plate 15, the rack, the linear array camera 13, the lens 14 and the camera posture adjusting element are arranged inside the rack, and the length and the width of the rack are respectively smaller than those of the base. The lens 14 is disposed right below the line camera 13, and the camera attitude adjusting element is disposed on the side of the line camera 13. And the camera posture adjusting element controls the linear array camera 13 to adjust to a required angle, and then image acquisition is carried out through the lens 14.
When the linear motion assembly 5 starts to move forwards, the high-brightness light source 3 is opened, the glass cover plate passes below the linear array camera 13, the photoelectric sensor provides frame signals for the linear array camera 13, the platform servo driver outputs pulses to provide line signals for the linear array camera 13, and images are collected through the lens 14.
The upper computer control system comprises an industrial personal computer, a programmable controller and other equipment.
The device for online detection of the appearance of the glass cover plate is arranged behind a workbench of a screen printing machine, and the specific working principle is as follows:
and a rotary servo motor 6 in the precise rotary material taking and placing assembly drives a rotary arm 8 to rotate through a belt assembly 7. The lifting cylinder 11 drives the belt assembly 7 and the rotary servo motor 6 to integrally lift, and a hydraulic buffer device is arranged on the lifting part. Two sides of the rotating arm 8 are respectively provided with a group of rotating vacuum suction claws 9 and 10, the vacuum suction claws directly contact with the glass cover plate in the material taking and placing process, and the vacuum suction cups on the vacuum suction claws can avoid secondary damage to the glass cover plate. When a control system receives a material taking and placing permission command sent by the screen printer 1 or other equipment, the lifting cylinder 11 descends, the rotary vacuum suction claws 9 and 10 adsorb two glass cover plates on the linear motion assembly 5 and the screen printer turntable 2 at the same time, the lifting cylinder 11 ascends, the rotary servo motor 6 drives the rotary arm 8 to rotate 180 degrees, the rotary vacuum suction claws 9 and 10 place the glass cover plates on four stations of the cover plate supporting upright 12 of the linear motion assembly 5 and the screen printer turntable 2 respectively, and the material taking and placing action of the glass cover plates is completed.
The camera attitude adjusting device can realize six-degree-of-freedom adjustment of the camera. The photoelectric sensor on the linear motion assembly provides a frame signal for the linear array camera 13, a pulse signal output by the platform servo driver provides a line signal for the linear array camera 13, the glass cover plate passes under the lens 14 along with the linear motion assembly 5, and the linear camera 13 finishes image acquisition. The camera transmits the picture to the industrial personal computer after scanning and imaging, and the image processing software analyzes and processes the picture and gives a detection result; the industrial personal computer transmits NG signals, OK signals, batch alarm signals and other signals of the glass cover plate to the programmable controller. The programmable controller is communicated with a control system of the screen printer 1 through I/O communication, the screen printer 1 sorts the glass cover plates according to NG signals and OK signals, and shutdown inspection is carried out when the screen printer receives batch alarm signals.
As shown in FIG. 3, when the glass cover plate is placed on the cover plate support post, the linear motion assembly advances immediately, and the rotating arm rotates to a 180 degree or 0 degree position, so that parallel operation of actions is realized. In fig. 3, the nth sheet and the (n + 1) th sheet form an operation period together, the rotary servo motor is circulated between-180 degrees, -90 degrees, 90 degrees and 0 degrees, and the minimum angle is rotated, so that the operation beat is improved. The operation beat is 3 seconds, the moment of outputting the detection result by the software is set to be within a fixed time period, the PLC does not process the result output earlier than the set time, and the result is forcibly judged to be an NG signal if the result is not output after the set time is exceeded, so that the one-to-one correspondence between the judgment result of the picture output by the industrial personal computer and the glass cover plate is ensured.
The technical scheme of the application has the advantages that: the structure is simple and stable, the automatic screen printing sorting machine can be in seamless butt joint and close fit with equipment such as a screen printing machine, the labor cost is reduced, the missing rate is low, and the automatic screen printing sorting process can be realized; the control system adopts control strategies such as a parallel mode, a minimum rotation angle and a judgment result forced in a time region, so that the running beat is improved, and the stability and the reliability of the system are improved.
The application relates to a device for glass apron outward appearance on-line measuring, can also be used for snatching, detecting, putting back and automatic sorting's visual detection system to glass apron on the production line.
The present application is not limited to the examples described in the specific embodiments, and other embodiments obtained by those skilled in the art according to the present application also belong to the technical innovation and the protection scope of the present application.
Claims (8)
1. A device for online detection of the appearance of a glass cover plate comprises a first mounting plate, a second mounting plate, a precise rotary material taking and placing assembly, a linear motion assembly, a light source control assembly, a visual imaging assembly and an upper computer control assembly; the first mounting plate is mounted on the second mounting plate and used for fixing the structure of the detection equipment, and a linear motion assembly, a light source control assembly, a visual imaging assembly and an upper computer control assembly are arranged on the first mounting plate; the mounting hole position on the mounting plate II is adjusted so that the mounting plate II can be mounted on different screen printing machines, and a precise rotary material taking and placing assembly and the mounting plate I are arranged on the mounting plate II; the length and the width of the second mounting plate are both larger than those of the first mounting plate; the second mounting plate is provided with a plurality of mounting holes which are in one-to-one correspondence with a plurality of hole sites on the screen printing machine,
the precise rotary material taking and placing assembly comprises a rotary arm and two rotary vacuum suction claws, two ends of the rotary arm are of telescopic structures, the extending length of the rotary vacuum suction claws is adjusted under the control of the upper computer control assembly within a certain range, two ends of the rotary arm are on the same straight line, the two ends can extend or contract respectively, and the vacuum suction claws are fixed at the two ends respectively;
the linear motion component comprises a high-brightness light source, a platform servo motor, a cover plate supporting upright post and a linear module, the precise rotary material taking and placing component comprises a rotary servo motor,
a photoelectric sensor on the linear motion assembly provides a frame signal for a linear array camera in the visual imaging assembly, a pulse signal output by a platform servo driver provides a line signal for the visual imaging assembly, the glass cover plate passes under a lens of the linear array camera in the visual imaging assembly along with the linear motion assembly, and the linear array camera in the visual imaging assembly finishes image acquisition; after scanning and imaging by a linear array camera in the visual imaging assembly, transmitting the picture into an industrial personal computer, and analyzing and processing the picture by image processing software and giving a detection result; the industrial personal computer transmits NG signals, OK signals and batch alarm signals of the glass cover plates to the programmable controller, the screen printer sorts the glass cover plates according to the NG signals and the OK signals, and when the screen printer receives the batch alarm signals, the screen printer stops the machine for inspection;
the control system receives a command of allowing material taking and placing, the lifting cylinder descends, the rotary vacuum suction claw simultaneously adsorbs two glass cover plates on the linear motion assembly and the screen printing machine rotary table, the lifting cylinder ascends, the rotary servo motor drives the rotary arm to rotate 180 degrees, and the rotary vacuum suction claw rotates to place the glass cover plates on four stations of the cover plate support upright post and the screen printing machine rotary table;
when the glass cover plate n is arranged on the cover plate supporting upright post, the linear motion assembly advances immediately, and the rotating arm rotates to a 180-degree position at the same time, so that parallel operation of actions is realized; the device for online detection of the appearance of the glass cover plate sends a material taking completion signal of the glass cover plate n to a screen printer, and the linear motion assembly bears the glass cover plate n and retreats to a rotating arm material taking position; the rotating arm rotates to a-90-degree position, the device for online detection of the appearance of the glass cover plate sends an OK signal or an NG signal at the same time, and then the rotating arm rotates to a 90-degree position; after the glass cover plate n +1 is placed on the cover plate supporting upright post, the linear motion assembly advances immediately, and the rotating arm rotates to a 0-degree position; the device for online detection of the appearance of the glass cover plate sends a material taking completion signal of the glass cover plate n +1 to a screen printer, and the linear motion assembly bears the glass cover plate n +1 and retreats to a rotary arm material taking position; the rotating arm is rotated to a 90 ° position, and then the rotating arm is rotated to a-90 ° position;
the glass cover plate n and the glass cover plate n +1 jointly form an operation period, the rotary servo motor drives the rotary arm to circulate between 180 degrees, -90 degrees, 90 degrees and 0 degrees, the rotary servo motor rotates by the minimum angle to improve the operation beat, the moment of outputting the detection result is set within a fixed time period, a programmable controller outputs the result earlier than the set time without processing, the result is forcibly judged to be an NG signal if the set time is exceeded and the result is not output, and the judgment result of the picture output by the industrial personal computer is ensured to be in one-to-one correspondence with the glass cover plates.
2. The apparatus according to claim 1, wherein the length of the second mounting plate is slightly larger than the length of the linear motion assembly, and the width of the second mounting plate is slightly larger than the sum of the widths of the linear motion assembly and the precision rotary material taking and placing assembly.
3. The device according to claim 1, characterized in that the linear motion assembly is arranged above the first mounting plate, the precise rotary material taking and placing assembly is arranged on the side surface of one end of the linear motion assembly, and the visual imaging assembly is arranged right above the linear motion assembly.
4. The device of claim 1, wherein the linear motion assembly comprises a high light source, a platform servo motor, a cover plate support column and a linear module, the linear module has a length smaller than that of the second mounting plate and a width smaller than that of the high light source.
5. The device according to claim 1, wherein the precise rotary material taking and placing component comprises a rotary servo motor, a belt component, a lifting cylinder, a vacuum adsorption component and a hydraulic buffer component.
6. The apparatus according to claim 5, wherein the two rotary vacuum suction claws are arranged in a straight line and have the same length, so that the glass cover plate can be taken and placed simultaneously during the detection process.
7. The device as claimed in claim 1, wherein the two ends of the rotating arm are telescopic structures, and the extending length of the rotating vacuum suction claw is adjusted within a certain range under the control of the upper computer control assembly.
8. The apparatus of claim 1, wherein the vision imaging assembly comprises a frame, a line camera, a lens, and a camera pose adjustment apparatus.
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| CN201911402018.3A CN111085464B (en) | 2019-12-30 | 2019-12-30 | Device for online detection of appearance of glass cover plate |
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| CN201911402018.3A CN111085464B (en) | 2019-12-30 | 2019-12-30 | Device for online detection of appearance of glass cover plate |
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| CN112098418A (en) * | 2020-09-10 | 2020-12-18 | 安徽皓视光电科技有限公司 | Angle correction mechanism and AOI detection device based on glass substrate under air floatation transmission |
| CN112326693B (en) * | 2020-12-24 | 2021-04-02 | 中科慧远视觉技术(北京)有限公司 | Intelligent equipment protective glass defect detection equipment |
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