CN111089538A - Rivet visual detection device and method for riveting - Google Patents
Rivet visual detection device and method for riveting Download PDFInfo
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- CN111089538A CN111089538A CN202010005594.0A CN202010005594A CN111089538A CN 111089538 A CN111089538 A CN 111089538A CN 202010005594 A CN202010005594 A CN 202010005594A CN 111089538 A CN111089538 A CN 111089538A
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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Abstract
The invention provides a visual detection device for a riveted rivet, which comprises two industrial cameras; wherein, the detection light paths of the two industrial cameras are vertical to the axis of the rivet adsorbed on the riveting suction nozzle component; the detection light paths of the two industrial cameras are positioned on the same horizontal plane; the two industrial cameras are at different distances from the axis of the rivet so that the two industrial cameras capture the rivet pose from different sides and different distances of the rivet, respectively. The invention also relates to a rivet visual detection method for riveting. The invention has the advantages of ingenious conception and reasonable design, meets the actual requirement of automatic detection of the rivet and is convenient for popularization and application in the field of automation.
Description
Technical Field
The invention belongs to the field of automation, and particularly relates to a rivet visual detection device and method for riveting.
Background
With the continuous improvement of the industrial automation degree, the manufacturing industry gradually realizes intellectualization and unmanned; in particular, the degree of mechanization of the riveting device for keyboard workpieces determines the overall production efficiency.
At present, the automatic riveting equipment of keyboard class work piece adopts equipment such as squeeze riveter more, and a large amount of rivets need be used to the keyboard riveting in-process, because the riveted structure is small and exquisite, a large amount is various, need the rivet to guarantee the process of riveting perpendicularly with the riveting face for guaranteeing the riveting quality among the automatic riveting process, but quick riveting process often accomplishes in several seconds, to this, need design a high-efficient and automatic rivet visual detection structure urgently to satisfy the actual production demand.
Disclosure of Invention
In order to overcome the defects of the prior art, the visual detection device for the riveted rivet provided by the invention adopts two industrial cameras with different distances from the rivet to capture the rivet from different sides, so that the automatic detection efficiency and precision of the rivet are improved; the invention has the advantages of ingenious conception and reasonable design, meets the actual requirement of automatic detection of the rivet and is convenient for popularization and application in the field of automation.
The invention provides a visual detection device for a riveted rivet, which comprises two industrial cameras; wherein the content of the first and second substances,
the detection light paths of the two industrial cameras are perpendicular to the axis of a rivet adsorbed on the riveting suction nozzle component; the detection light paths of the two industrial cameras are positioned on the same horizontal plane;
the two industrial cameras are at different distances from the axis of the rivet so that the two industrial cameras capture the rivet pose from different sides and different distances of the rivet respectively.
Preferably, the detection light source assembly and the industrial camera are respectively positioned at two sides of the rivet, and the detection light source assembly is used for providing a light source from one side of the rivet.
Preferably, the detection light source assembly comprises a detection light source and a light source fixing seat; the two detection light sources are respectively fixed on the light source fixing seat, and are respectively aligned to one industrial camera.
Preferably, the light source fixing seat is W-shaped, and the middle part of the light source fixing seat is fixed through the light source fixing column.
Preferably, the industrial camera comprises a first camera, a first adjustment mount; wherein the content of the first and second substances,
the first camera is used for capturing a rivet gesture;
the first adjusting seat is used for installing the first camera so as to adjust the position of the first camera relative to a rivet on the riveting suction nozzle component.
Preferably, the first adjusting seat comprises at least two adjusting structures in mutually perpendicular directions.
Preferably, the included angle α between the detection light paths of the two industrial cameras is greater than or equal to 60 degrees and smaller than or equal to 120 degrees.
Preferably, the ratio of the distance difference between the two industrial cameras and the rivet to be detected to the larger distance between the two industrial cameras and the rivet to be detected is greater than or equal to 10% and less than or equal to 30%.
The invention also relates to a visual detection method for the riveted rivet, which comprises the following steps:
configuring two industrial cameras with detection light paths located on the same horizontal plane, wherein the two industrial cameras at least comprise adjusting the distance between the industrial camera and the axis of a rivet on a riveting suction nozzle component, so that the two industrial cameras have different distances from the axis of the rivet;
the two industrial cameras capture the rivet postures from different side surfaces and different distances of the rivet respectively;
when the rivet postures captured by the two industrial cameras are qualified, judging that the rivet detection is passed, and executing riveting action; otherwise, judging that the rivet detection is not passed, and executing discarding action.
Preferably, when the rivet posture is captured, whether the rivet posture of the industrial camera close to the rivet axis is qualified or not is captured and judged, and if the rivet detection is judged not to pass, the discarding action is executed.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a visual detection device for a riveted rivet, which comprises two industrial cameras; wherein, the detection light paths of the two industrial cameras are vertical to the axis of the rivet adsorbed on the riveting suction nozzle component; the detection light paths of the two industrial cameras are positioned on the same horizontal plane; the two industrial cameras are at different distances from the axis of the rivet so that the two industrial cameras capture the rivet pose from different sides and different distances of the rivet, respectively. The invention also relates to a rivet visual detection method for riveting. The invention has the advantages of ingenious conception and reasonable design, meets the actual requirement of automatic detection of the rivet and is convenient for popularization and application in the field of automation.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings. The detailed description of the present invention is given in detail by the following examples and the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a schematic diagram illustrating an overall structure of a visual inspection device for riveted rivets in one embodiment of the invention;
FIG. 2 is a schematic view of a clinch assembly according to an embodiment of the invention;
FIG. 3 is a schematic view of a detecting light source module according to an embodiment of the present invention;
FIG. 4 is a top view of a visual inspection device for rivets used in one embodiment of the present invention;
shown in the figure:
the riveting device comprises a riveting component 110, a riveting motor 111, a riveting suction nozzle component 113, an industrial camera 130, a first camera 131, a first adjusting seat 132, a detection light source component 133, a detection light source 1331, a light source fixing seat 1332 and a light source fixing column 1333.
Detailed Description
The foregoing and other objects, features, aspects and advantages of the present invention will become more apparent from the following detailed description of the present invention when taken in conjunction with the accompanying drawings, which will enable those skilled in the art to practice the present invention with reference to the accompanying specification. In the drawings, the shape and size may be exaggerated for clarity, and the same reference numerals will be used throughout the drawings to designate the same or similar components. In the following description, terms such as center, thickness, height, length, front, back, rear, left, right, top, bottom, upper, lower, and the like are used based on the orientation or positional relationship shown in the drawings. In particular, "height" corresponds to the dimension from top to bottom, "width" corresponds to the dimension from left to right, and "depth" corresponds to the dimension from front to back. These relative terms are for convenience of description and are not generally intended to require a particular orientation. Terms concerning attachments, coupling and the like (e.g., "connected" and "attached") refer to a relationship wherein structures are secured or attached, either directly or indirectly, to one another through intervening structures, as well as both movable or rigid attachments or relationships, unless expressly described otherwise.
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict.
A visual detection device for riveted rivets is shown in figures 1 and 2 and comprises two industrial cameras 130, wherein detection light paths of the two industrial cameras 130 are perpendicular to the axis of a rivet adsorbed on a riveting suction nozzle assembly 113, the detection light paths of the two industrial cameras 130 are located on the same horizontal plane, the distances between the two industrial cameras 130 and the axis of the rivet are different, so that the two industrial cameras 130 capture rivet postures from different sides and different distances of the rivet respectively.
As shown in fig. 1 and 4, the industrial camera 130 includes a first camera 131, a first adjusting seat 132; wherein the content of the first and second substances,
the first camera 131 is used to capture a rivet pose;
the first adjusting seat 132 is used for installing the first camera 131 so as to adjust the position of the first camera 131 relative to the rivet on the riveting nozzle assembly 113. The first adjustment seat 132 includes at least two adjustment structures in perpendicular directions. In one embodiment, as shown in fig. 1, the first adjusting base 132 is a fine adjustment nut structure along three mutually perpendicular directions, so as to achieve the position adjustment of the first camera 131 in all directions.
In the embodiment, the two industrial cameras 130 respectively capture the rivet from two sides, so as to avoid uncertainty in single-side capture and ensure that the rivet is vertically riveted to the adsorption plane of the suction nozzle assembly 113, thereby ensuring the riveting quality; further, image capture is performed using industrial cameras 130 at different distances from the rivet, resulting in image capture of rivet images at different distances; as shown in fig. 4, the distance difference L between the industrial cameras 130 on two sides in one direction, on one hand, when the rivet posture is captured, it is first captured and determined whether the rivet posture where the industrial camera 130 is closer to the rivet axis is qualified, and if it is determined that the rivet detection does not pass, a discarding action is performed; it should be appreciated that the rivet pose can be determined to be unacceptable when the error is outside the acceptable range for near capture, without having to make a further determination on the image captured at a distance, thereby freeing up part of the computational effort. On the other hand, the industrial camera 130 for remote capturing may also be configured as a main detection basis in the lateral direction, that is, when capturing the rivet gesture, first capturing and determining whether the rivet gesture of the industrial camera 130 farther from the rivet axis is qualified, and if determining that the rivet detection does not pass, performing a discarding action; it should be appreciated that the rivet pose can be determined to be unacceptable if the error exceeds the acceptable range for the far capture, without having to make a further determination on the near captured image, thereby freeing up part of the computational effort. It should be noted that the two industrial cameras 130, although having different distances from the rivet, can both capture good visual images; generally, the ratio of the distance difference between the two industrial cameras 130 and the rivet to be detected to the larger distance between the two industrial cameras 130 and the rivet to be detected is greater than or equal to 10% and less than or equal to 30%, image noise increases when the ratio is too large, and discrimination caused by the distance cannot be reflected when the ratio is too small; since the image noise increases with an increase in distance, the near-field captured image detection is more accurate, and it is preferable to determine the rivet image captured near first, thereby reducing the number of image processing and determination.
As shown in fig. 3, the inspection light source assembly 133 is further included, the inspection light source assembly 133 and the industrial camera 130 are respectively located at two sides of the rivet, and the inspection light source assembly 133 is used for providing light source from one side of the rivet. In this embodiment, the detecting light source assembly 133 includes a detecting light source 1331 and a light source holder 1332; the two detection light sources 1331 are respectively fixed on the light source fixing seat 1332, and the two detection light sources 1331 are respectively aligned with one of the industrial cameras 130. As shown in fig. 3, the light source fixing seat 1332 is W-shaped, and the middle of the light source fixing seat is fixed by a light source fixing post 1333. As shown in fig. 4, the two detection light sources 1331 are respectively disposed on the detection light path of the industrial camera 130, and the detection light source 1331 is turned on to achieve the light supplement effect.
The invention also relates to a visual detection method for the riveted rivet, which comprises the following steps:
configuring the two industrial cameras 130 with detection light paths located on the same horizontal plane, at least including adjusting the distance between the industrial camera 130 and the rivet axis on the riveting suction nozzle assembly 113, so that the distances between the two industrial cameras 130 and the rivet axis are different;
the two industrial cameras 130 capture the rivet pose from different sides and distances of the rivet, respectively;
when the rivet postures captured by the two industrial cameras 130 are qualified, judging that the rivet detection is passed, and executing riveting action; otherwise, judging that the rivet detection is not passed, and executing discarding action.
In the embodiment, the two industrial cameras 130 respectively capture the rivet from two sides, so as to avoid uncertainty in single-side capture and ensure that the rivet is vertically riveted to the adsorption plane of the suction nozzle assembly 113, thereby ensuring the riveting quality; furthermore, the industrial camera 130 with different distances from the rivet is used for image capture to obtain image capture of the rivet image at different distances, on one hand, when the rivet gesture is captured, whether the rivet gesture of the industrial camera 130 close to the rivet axis is qualified is captured and judged, and if the rivet detection is judged not to pass, a discarding action is executed; it should be appreciated that the rivet pose can be determined to be unacceptable when the error is outside the acceptable range for near capture, without having to make a further determination on the image captured at a distance, thereby freeing up part of the computational effort. On the other hand, the industrial camera 130 for remote capturing may also be configured as a main detection basis in the lateral direction, that is, when capturing the rivet gesture, first capturing and determining whether the rivet gesture of the industrial camera 130 farther from the rivet axis is qualified, and if determining that the rivet detection does not pass, performing a discarding action; it should be appreciated that the rivet pose can be determined to be unacceptable if the error exceeds the acceptable range for the far capture, without having to make a further determination on the near captured image, thereby freeing up part of the computational effort. It should be noted that the two industrial cameras 130, although having different distances from the rivet, can both capture good visual images; generally, the ratio of the distance difference between the two industrial cameras 130 and the rivet to be detected to the larger distance between the two industrial cameras 130 and the rivet to be detected is greater than or equal to 10% and less than or equal to 30%, image noise increases when the ratio is too large, and discrimination caused by the distance cannot be reflected when the ratio is too small; since the image noise increases with an increase in distance, the near-field captured image detection is more accurate, and it is preferable to determine the rivet image captured near first, thereby reducing the number of image processing and determination.
The visual detection device for the riveted rivet provided by the invention realizes the efficient rivet feeding process by combining gravity with vibration feeding. The automatic feeding device is ingenious in structure and reasonable in design, meets the actual requirements of automatic production, and is convenient to popularize and apply in the field of automation.
In the description of the present invention, it should be noted that the terms "inside" and "inside" are used for indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship which the product of the present invention is usually placed in when used, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or the element to be referred to must have a specific orientation, be constructed in a specific orientation and operation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance. In the present invention, unless otherwise expressly stated or limited, the first feature may be present on or under the second feature in direct contact with the first and second feature, or may be present in the first and second feature not in direct contact but in contact with another feature between them. Also, the first feature being above, on or above the second feature includes the first feature being directly above and obliquely above the second feature, or merely means that the first feature is at a higher level than the second feature. A first feature that underlies, and underlies a second feature includes a first feature that is directly under and obliquely under a second feature, or simply means that the first feature is at a lesser level than the second feature.
The foregoing is merely a preferred embodiment of the invention and is not intended to limit the invention in any manner; those skilled in the art can readily practice the invention as shown and described in the drawings and detailed description herein; however, those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiments as a basis for designing or modifying other structures for carrying out the same purposes of the present invention without departing from the scope of the invention as defined by the appended claims; meanwhile, any changes, modifications, and evolutions of the equivalent changes of the above embodiments according to the actual techniques of the present invention are still within the protection scope of the technical solution of the present invention.
Claims (10)
1. A rivet visual detection device for riveting, its characterized in that: comprises two industrial cameras (130); wherein the content of the first and second substances,
the detection light paths of the two industrial cameras (130) are vertical to the axis of a rivet adsorbed on the riveting suction nozzle component (113); the detection light paths of the two industrial cameras (130) are positioned on the same horizontal plane;
the two industrial cameras (130) are at different distances from the rivet axis such that the two industrial cameras (130) capture rivet poses from different sides and at different distances of the rivet, respectively.
2. A visual inspection device of rivets for riveting according to claim 1, characterized in that: the detection light source assembly (133) and the industrial camera (130) are respectively positioned at two sides of the rivet, and the detection light source assembly (133) is used for providing light source from one side of the rivet.
3. A visual inspection device of rivets for riveting according to claim 2, characterized in that: the detection light source assembly (133) comprises a detection light source (1331) and a light source fixing seat (1332); the two detection light sources (1331) are respectively fixed on the light source fixing seat (1332), and the two detection light sources (1331) are respectively aligned with one industrial camera (130).
4. A visual inspection device of rivets for riveting according to claim 3, characterized in that: the light source fixing seat (1332) is W-shaped, and the middle part of the light source fixing seat is fixed through a light source fixing column (1333).
5. A visual inspection device of rivets for riveting according to claim 1, characterized in that: the industrial camera (130) comprises a first camera (131), a first adjustment mount (132); wherein the content of the first and second substances,
the first camera (131) is used for capturing a rivet gesture;
the first adjusting seat (132) is used for installing the first camera (131) so as to adjust the position of the first camera (131) relative to a rivet on a riveting suction nozzle assembly (113).
6. A visual inspection device of rivets for riveting according to claim 5, characterized in that: the first adjusting seat (132) comprises at least two adjusting structures in the mutually perpendicular direction.
7. The visual inspection device for riveted rivets according to claim 1, characterized in that the included angle α between the light paths of the two industrial cameras (130) is greater than or equal to 60 degrees and less than or equal to 120 degrees.
8. A visual inspection device for riveted rivets according to claim 1 or 7, characterized in that: the ratio of the distance difference between the two industrial cameras (130) and the rivet to be detected to the larger distance between the two industrial cameras (130) and the rivet to be detected is greater than or equal to 10% and smaller than or equal to 30%.
9. A visual detection method for riveted rivets is characterized by comprising the following steps:
configuring two industrial cameras (130) with detection light paths located on the same horizontal plane, wherein the configuration at least comprises the step of adjusting the distance between the industrial camera (130) and a rivet axis on a riveting suction nozzle component (113) so that the distances between the two industrial cameras (130) and the rivet axis are different;
two industrial cameras (130) capture rivet poses from different sides and different distances of the rivet, respectively;
when the rivet postures captured by the two industrial cameras (130) are qualified, judging that the rivet detection is passed, and executing riveting action; otherwise, judging that the rivet detection is not passed, and executing discarding action.
10. A visual inspection method of rivets for riveting according to claim 9, characterized in that: when the rivet gesture is captured, whether the rivet gesture of the industrial camera (130) close to the rivet axis is qualified or not is captured and judged, and if the rivet detection is judged not to pass, a discarding action is executed.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010005594.0A CN111089538A (en) | 2020-01-03 | 2020-01-03 | Rivet visual detection device and method for riveting |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010005594.0A CN111089538A (en) | 2020-01-03 | 2020-01-03 | Rivet visual detection device and method for riveting |
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| CN111089538A true CN111089538A (en) | 2020-05-01 |
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| CN202010005594.0A Pending CN111089538A (en) | 2020-01-03 | 2020-01-03 | Rivet visual detection device and method for riveting |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112945149A (en) * | 2021-01-26 | 2021-06-11 | 宁波诺视智能科技有限公司 | Detection device and detection method for riveting area of chain rivet |
| CN113042675A (en) * | 2021-03-31 | 2021-06-29 | 南京航空航天大学 | Multifunctional end effector for automatic nail grabbing robot and use method thereof |
| CN114669713A (en) * | 2022-03-29 | 2022-06-28 | 博众精工科技股份有限公司 | Riveting machine and control system and control and calibration method thereof |
-
2020
- 2020-01-03 CN CN202010005594.0A patent/CN111089538A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112945149A (en) * | 2021-01-26 | 2021-06-11 | 宁波诺视智能科技有限公司 | Detection device and detection method for riveting area of chain rivet |
| CN113042675A (en) * | 2021-03-31 | 2021-06-29 | 南京航空航天大学 | Multifunctional end effector for automatic nail grabbing robot and use method thereof |
| CN114669713A (en) * | 2022-03-29 | 2022-06-28 | 博众精工科技股份有限公司 | Riveting machine and control system and control and calibration method thereof |
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