CN111420883A - Visual detection and intelligent matching system for truck sleeper spring and use method - Google Patents
Visual detection and intelligent matching system for truck sleeper spring and use method Download PDFInfo
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- CN111420883A CN111420883A CN202010277220.4A CN202010277220A CN111420883A CN 111420883 A CN111420883 A CN 111420883A CN 202010277220 A CN202010277220 A CN 202010277220A CN 111420883 A CN111420883 A CN 111420883A
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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
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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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- 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
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/0025—Measuring of vehicle parts
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Abstract
The invention discloses a visual detection and intelligent matching system for a truck sleeper spring, which comprises conveying mechanisms, corner mechanisms, spring matching stations, trays, a 3D visual monitoring station and a control system, wherein the feeding end and the discharging end of the 3D visual monitoring station are respectively connected with at least one conveying mechanism through the corner mechanisms, each conveying mechanism is mutually connected with one spring matching station, the trays are respectively in sliding connection with the conveying mechanisms, the corner mechanisms, the spring matching stations and the 3D visual monitoring station, and the conveying mechanisms, the corner mechanisms, the spring matching stations, the trays and the 3D visual monitoring station are electrically connected with the control system. The invention comprises two steps of system assembling, detecting operation and the like. The invention has good field adaptation novelty and environmental practicability, can effectively meet the requirements of various factory building space layouts and production detection quantity use, and has simple structure and strong data identification and calculation capability of a detection video system, thereby greatly improving the detection efficiency and precision.
Description
Technical Field
The invention belongs to the technical field of on-line detection equipment, and particularly relates to a visual detection and intelligent matching system for a truck sleeper spring and a using method.
Background
In the production quality of truck sleeper spring products and the selection matching operation of a plurality of truck sleeper springs, the manual measuring equipment is mainly used for detecting the structure, the model and other parameters of the sleeper springs at present, and then the quality judgment and the selection matching operation are carried out according to the detection result, although the requirements of the actual work can be met to a certain extent, the detection efficiency is low, the detection precision is poor, so that the quality detection and the selection matching work efficiency and quality of the current sleeper springs cannot effectively meet the requirements of the actual use, aiming at the problem, a machine vision sleeper spring structure identification and judgment system based on the 3D identification technology is developed at present, although the efficiency of the identification and detection operation is effectively improved, in the traditional 3D identification technology, the 3D identification optical system has a complex structure and poor identification precision, on the other hand, the data processing and operation efficiency is low, and the efficiency and the precision of the detection operation are further influenced, it is also difficult to efficiently meet the demands of use.
Aiming at the current situation, a brand-new visual detection and intelligent matching system and a use method for the car spring are required to be developed so as to meet the actual use requirement.
Disclosure of Invention
The invention discloses a visual detection and intelligent matching system for a truck sleeper spring and a using method thereof, which aim to solve the problems of low production efficiency, poor product quality and the like in the prior art.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
the utility model provides a freight train pillow spring visual detection and intelligent apolegamy system, including conveying mechanism, corner mechanism, spring apolegamy station, a tray, 3D visual monitoring station and control system, wherein 3D visual monitoring station feed end and discharge end are connected with at least one conveying mechanism through corner mechanism respectively, and each conveying mechanism all with a spring apolegamy station interconnect, the tray is at least one, respectively with conveying mechanism, corner mechanism, spring apolegamy station, 3D visual monitoring station sliding connection, and tray up end and horizontal plane parallel distribution, conveying mechanism, corner mechanism, spring apolegamy station, a tray, 3D visual monitoring station all with control system electrical connection.
Further, the 3D vision monitoring station comprises a base, a protective cover, a horizontal driving guide rail, a conveying table, a lifting driving mechanism, in-place sensors, a bearing slide block, a 3D camera and a line laser transmitter, wherein the base is of a columnar frame structure, the upper end face of the base is connected with the conveying table, the lifting driving mechanism and the in-place sensors, the conveying table and the conveying mechanism are coaxially distributed and are connected with the conveying mechanism through a corner mechanism, the lifting driving mechanism and the base are coaxially distributed and are embedded in the conveying table, the upper end face of the lifting driving mechanism is higher than the upper end face of the conveying table by-10 cm-50 cm, at least two in-place sensors are uniformly distributed around the axis of the base, the axes of the in-place sensors are vertically distributed with the upper end face of the base, the protective cover is of a structure with the shape of Jiong groove in cross section and covers the upper end face, the horizontal driving guide rail is embedded in the monitoring chamber and connected with the upper end face of the protective cover, the axis of the horizontal driving guide rail and the axis of the conveying mechanism are distributed in the same plane which is perpendicular to the upper end face of the base, the 3D camera and the line laser transmitter are connected with the horizontal driving guide rail in a sliding mode through the bearing slider, the 3D camera and the line laser transmitter are distributed along the axis direction of the horizontal driving guide rail, the axis of the line laser transmitter is perpendicular to and intersected with the axis of the conveying table, the 3D camera is located on one side of the line laser transmitter, the optical axis of the 3D camera is intersected with the optical axis of the line laser transmitter and forms an included angle of 30-135 degrees, the focus is located at least 3 cm above the conveying table, and the conveying table, the lifting driving mechanism, the in-place sensor, the 3D camera and the line laser transmitter.
Furthermore, the corner mechanism comprises a bearing base, a lifting driving mechanism, a rotary table mechanism and a conveying roller way, wherein the upper end face of the bearing base is connected with the lifting driving mechanism and coaxially distributed, the upper end face of the lifting driving mechanism is hinged with the lower end face of the conveying roller way through the rotary table mechanism, the axis of the conveying roller way is parallel to the upper end face of the bearing base and rotates within a horizontal range of 0-360 degrees around the axis of the rotary table mechanism, and the lifting driving mechanism, the rotary table mechanism and the conveying roller way are respectively electrically connected with a control system.
Furthermore, the lifting driving mechanism is any one of a hydraulic cylinder, a pneumatic cylinder, a linear motor, a screw rod mechanism and a worm and gear mechanism.
Furthermore, the conveying mechanism is based on any one of a roller way, a transmission chain, a transmission belt, a linear motor and a rodless cylinder as a power mechanism.
Further, the spring matching station comprises a bearing rack, a vertical driving guide rail, a positioning clamp, an in-place sensor and a six-axis manipulator, the bearing frame is a rectangular columnar frame structure, at least two vertical driving guide rails are embedded in the bearing frame and are symmetrically distributed by the axis of the bearing frame, the axial line of the vertical driving guide rail is distributed in parallel with the axial line of the bearing frame, a plurality of positioning clamps are arranged on the vertical driving guide rail, and the vertical driving guide rail is connected with at least one tray through positioning clamps which are symmetrically distributed by the axis of the bearing frame, the trays and the bearing frame are coaxially distributed, a plurality of in-place sensors are uniformly distributed on the outer side of the vertical driving guide rail along the axis of the vertical driving guide rail, at least one six-shaft mechanical arm is arranged, and the vertical driving guide rail, the positioning clamp, the in-place sensor and the six-axis manipulator are electrically connected with the control system.
Further, the tray comprises a bearing base, a bearing plate and calibration reference blocks, wherein the bearing base is of a rectangular frame structure, the bearing base is respectively in sliding connection with the conveying mechanism, the corner mechanism, the spring matching station and the 3D vision monitoring station, the bearing plate is embedded in the bearing base and is coaxially distributed with the bearing base, and at least one calibration reference block is vertically connected with the upper end face of the bearing plate.
Furthermore, the control system is based on any one or any several of a programmable controller, an industrial computer and an internet-of-things controller.
A using method of a visual detection and intelligent matching system for a truck sleeper spring comprises the following steps:
s1, system assembly, namely, firstly, according to the requirements of production, inventory and monitoring of the truck sleeper spring, assembling a conveying mechanism, a corner mechanism, a spring matching station, a tray, a 3D visual monitoring station and a control system to obtain a complete detection system, wherein a feed inlet of the 3D visual monitoring station in the complete detection system is connected with at least one spring matching station through the conveying mechanism, the spring matching station is connected with a spring production system to form a feeding group, a discharge outlet of the 3D visual monitoring station in the complete detection system is connected with at least one spring matching station through the conveying mechanism, the spring matching station is connected with a spring storage system to form a screening and warehousing group, and finally, the control system is connected with an external monitoring platform;
s2, detecting, namely after the step S1 is completed, firstly installing and placing the spring to be detected obtained by the spring production system on a tray through a spring matching station of a feeding group, then the spring to be detected is conveyed to a 3D vision monitoring station along with the tray through a conveying mechanism and enters the 3D vision monitoring station, after the tray enters the 3D vision monitoring station, the tray is driven to rise by a lifting driving mechanism, and the 3D camera and the line laser emitter are diagonal by the calibration reference block on the tray, and the laser line of the line laser emitter is vertically distributed with the axis of the horizontal driving guide rail, after diagonal operation is finished, the 3D camera and the line laser transmitter move horizontally at a constant speed from the feeding end to the discharging end of the 3D vision monitoring station through the bearing slide block, in the translation process, on one hand, the structural characteristics of the profile of the spring to be monitored are marked and identified by a line laser transmitter; on the other hand, the structural characteristics of the spring to be monitored are three-dimensionally identified and collected through the 3D camera, detection operation is completed when the 3D camera and the line laser transmitter are translated to the discharge end position of the 3D vision monitoring station, after video detection operation is completed, the tray descends and falls back to the conveying platform through the lifting driving mechanism, then is discharged from the discharge port of the 3D vision monitoring station, and is transferred to the spring matching station of the screening and warehousing group through the conveying mechanism to be subjected to spring sorting after detection according to detection results, qualified products and non-qualified products are respectively stored and recovered, and detection operation is completed.
Further, in step S2, when the 3D camera and the line laser transmitter perform the video detection operation:
firstly, constructing a coordinate system, wherein the axis direction of a horizontal driving guide rail is taken as a Y axis, the vertical direction of the horizontal driving guide rail and the upper end surface of a tray is taken as an X axis, the vertical direction of the horizontal driving guide rail and the axis of a conveying table is taken as a Z axis, and the port of the horizontal driving guide rail, which is positioned at the discharging end of a 3D vision monitoring station, is taken as an origin point, so as to form a detection and identification coordinate system;
and secondly, data identification, namely after the first step of operation is completed, establishing a three-dimensional identification operation function according to the detection identification coordinate system established in the first step, wherein the specific expression is as follows:
wherein (r)1，r4，r7)、(r2，r5，r8)、(r3，r6，r9) Respectively, represent axial direction vectors of the coordinate system X, Y, Z.
The system of the invention has simple structure and flexible and convenient installation, operation and maintenance, has good field adaptation and environmental practicability on one hand, can effectively meet the requirements of various factory building space layouts and production detection quantity use on the other hand, has simple structure and strong data identification and calculation capability on the other hand, thereby greatly improving the detection efficiency and precision.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of a 3D vision monitoring station;
FIG. 3 is a schematic structural view of a corner mechanism;
FIG. 4 is a schematic view of a spring selecting and matching station;
FIG. 5 is a schematic view of a tray structure;
FIG. 6 is a schematic flow chart of the detection method of the present invention;
fig. 7 is a flow chart illustrating a video signal processing method during video detection.
Detailed Description
The invention will be better understood from the following examples. However, those skilled in the art will readily appreciate that the description of the embodiments is only for illustrating the present invention and should not be taken as limiting the invention as detailed in the claims.
As shown in fig. 1-5, a visual inspection and intelligent matching system for truck sleeper springs comprises conveying mechanisms 1, corner mechanisms 2, spring matching stations 3, trays 4, 3D visual monitoring stations 5 and a control system 6, wherein a feeding end and a discharging end of each 3D visual monitoring station 5 are respectively connected with at least one conveying mechanism 1 through the corner mechanisms 2, each conveying mechanism 1 is mutually connected with one spring matching station 3, at least one tray 4 is respectively connected with the conveying mechanism 1, the corner mechanisms 2, the spring matching stations 3 and the 3D visual monitoring stations 5 in a sliding manner, the upper end surfaces of the trays 4 are distributed in parallel with a horizontal plane, and the conveying mechanisms 1, the corner mechanisms 2, the spring matching stations 3, the trays 4 and the 3D visual monitoring stations 5 are electrically connected with the control system.
It is emphasized that the 3D vision monitoring station 5 includes a base 51, a protective cover 52, a horizontal driving rail 53, a conveying table 54, a lifting driving mechanism 7, an in-place sensor 55, a bearing slider 56, a 3D camera 57, and a line laser transmitter 58, wherein the base 51 is a columnar frame structure, the upper end surface of the base 51 is connected with the conveying table 54, the lifting driving mechanism 7, and the in-place sensor 55, the conveying table 54 and the conveying mechanism 1 are coaxially distributed and connected with the conveying mechanism 1 through a corner mechanism 2, the lifting driving mechanism 7 and the base 51 are coaxially distributed and embedded in the conveying table 54, the upper end surface of the lifting driving mechanism 7 is higher than the upper end surface of the conveying table 54 by-10 cm to 50 cm, at least two in-place sensors 55 are uniformly distributed around the axis of the base 51, the axis of the in-place sensor 55 is vertically distributed with the upper end surface of the base 51, the protective cover 52 has a groove-shaped structure with, the upper end face of the base 51 is coated with the upper end face of the base 51 to form a monitoring chamber, the horizontal driving guide rail 53 is embedded in the monitoring chamber and is connected with the upper end face of the protective cover 52, the axis of the horizontal driving guide rail 53 and the axis of the conveying mechanism 1 are distributed in the same plane which is vertically distributed with the upper end face of the base 51, the 3D camera 57 and the line laser emitter 58 are connected with the horizontal driving guide rail 53 in a sliding mode through a bearing slider 56, the 3D camera 57 and the line laser emitter 58 are distributed along the axis direction of the horizontal driving guide rail 53, the axis of the line laser emitter 58 is perpendicular to and intersected with the axis of the conveying table 54, the 3D camera 57 is positioned on one side of the line laser emitter 58, the optical axis of the 3D camera 57 is intersected with the optical axis of the line laser emitter 58 and forms an included angle of 30-135 degrees, the focal point is positioned at least 3 centimeters above the conveying, The in-place sensor 55, the 3D camera 57 and the line laser transmitter 58 are all electrically connected with the control system 6.
In addition, the corner mechanism 2 is a bearing base 21, a lifting driving mechanism 7, a rotating table mechanism 22 and a conveying roller table 23, wherein the upper end surface of the bearing base 21 is connected with the lifting driving mechanism 7 and coaxially distributed, the upper end surface of the lifting driving mechanism 7 is hinged with the lower end surface of the conveying roller table 23 through the rotating table mechanism 22, the axis of the conveying roller table 23 is parallel to the upper end surface of the bearing base 21 and rotates within a horizontal range of 0-360 degrees around the axis of the rotating table mechanism 22, and the lifting driving mechanism 7, the rotating table mechanism 22 and the conveying roller table 23 are respectively electrically connected with the control system 6.
In this embodiment, the lifting driving mechanism 7 is any one of a hydraulic cylinder, a pneumatic cylinder, a linear motor, a screw mechanism, and a worm and gear mechanism.
In this embodiment, the conveying mechanism 1 is a conveying mechanism based on any one of a roller way, a transmission chain, a transmission belt, a linear motor and a rodless cylinder as a power mechanism.
Meanwhile, the spring matching station 3 comprises a bearing rack 31, vertical driving guide rails 32, at least two vertical driving guide rails 32, in-place sensors 55 and six-axis manipulators 34, wherein the bearing rack 31 is of a rectangular columnar frame structure, the vertical driving guide rails 32 are embedded in the bearing rack 31 and symmetrically distributed by the axis of the bearing rack 31, the axes of the vertical driving guide rails 32 are distributed in parallel with the axis of the bearing rack 31, a plurality of positioning clamps 33 are arranged on the vertical driving guide rails 32, the vertical driving guide rails 32 are connected with at least one tray 4 through the positioning clamps 33 symmetrically distributed by the axis of the bearing rack 31, the trays 4 are coaxially distributed with the bearing rack 31, a plurality of in-place sensors 55 are uniformly distributed on the outer side of the vertical driving guide rails 32 along the axis of the vertical driving guide rails 32, at least one six-axis manipulator 34 is positioned on one side of the bearing rack 31, the vertical driving guide rail 32, the positioning fixture 33, the in-place sensor 55 and the six-axis manipulator 34 are all electrically connected with the control system 6.
Further, the tray 4 includes a bearing base 41, a bearing plate 42, and a calibration reference block 43, wherein the bearing base 41 is a rectangular frame structure, the bearing base 41 is slidably connected to the conveying mechanism 1, the corner mechanism 2, the spring matching station 3, and the 3D vision monitoring station 5, the bearing plate 42 is embedded in the bearing base 41 and coaxially distributed with the bearing base 41, and at least one calibration reference block 43 is vertically connected to an upper end surface of the bearing plate 42.
Preferably, the control system 6 is based on any one or more of a programmable controller, an industrial computer and an internet-of-things controller.
As shown in fig. 6 and 7, a method for using a visual inspection and intelligent matching system for a truck sleeper spring includes the following steps:
s1, system assembly, namely, firstly, according to the requirements of production, inventory and monitoring of the truck sleeper spring, assembling a conveying mechanism, a corner mechanism, a spring matching station, a tray, a 3D visual monitoring station and a control system to obtain a complete detection system, wherein a feed inlet of the 3D visual monitoring station in the complete detection system is connected with at least one spring matching station through the conveying mechanism, the spring matching station is connected with a spring production system to form a feeding group, a discharge outlet of the 3D visual monitoring station in the complete detection system is connected with at least one spring matching station through the conveying mechanism, the spring matching station is connected with a spring storage system to form a screening and warehousing group, and finally, the control system is connected with an external monitoring platform;
s2, detecting, namely after the step S1 is completed, firstly installing and placing the spring to be detected obtained by the spring production system on a tray through a spring matching station of a feeding group, then the spring to be detected is conveyed to a 3D vision monitoring station along with the tray through a conveying mechanism and enters the 3D vision monitoring station, after the tray enters the 3D vision monitoring station, the tray is driven to rise by a lifting driving mechanism, and the 3D camera and the line laser emitter are diagonal by the calibration reference block on the tray, and the laser line of the line laser emitter is vertically distributed with the axis of the horizontal driving guide rail, after diagonal operation is finished, the 3D camera and the line laser transmitter move horizontally at a constant speed from the feeding end to the discharging end of the 3D vision monitoring station through the bearing slide block, in the translation process, on one hand, the structural characteristics of the profile of the spring to be monitored are marked and identified by a line laser transmitter; on the other hand, the structural characteristics of the spring to be monitored are three-dimensionally identified and collected through the 3D camera, detection operation is completed when the 3D camera and the line laser transmitter are translated to the discharge end position of the 3D vision monitoring station, after video detection operation is completed, the tray descends and falls back to the conveying platform through the lifting driving mechanism, then is discharged from the discharge port of the 3D vision monitoring station, and is transferred to the spring matching station of the screening and warehousing group through the conveying mechanism to be subjected to spring sorting after detection according to detection results, qualified products and non-qualified products are respectively stored and recovered, and detection operation is completed.
Further, in step S2, when the 3D camera and the line laser transmitter perform the video detection operation:
firstly, constructing a coordinate system, wherein the axis direction of a horizontal driving guide rail is taken as a Y axis, the vertical direction of the horizontal driving guide rail and the upper end surface of a tray is taken as an X axis, the vertical direction of the horizontal driving guide rail and the axis of a conveying table is taken as a Z axis, and the port of the horizontal driving guide rail, which is positioned at the discharging end of a 3D vision monitoring station, is taken as an origin point, so as to form a detection and identification coordinate system;
and secondly, data identification, namely after the first step of operation is completed, establishing a three-dimensional identification operation function according to the detection identification coordinate system established in the first step, wherein the specific expression is as follows:
wherein (r)1，r4，r7)、(r2，r5，r8)、(r3，r6，r9) Respectively, represent axial direction vectors of the coordinate system X, Y, Z.
The system of the invention has simple structure and flexible and convenient installation, operation and maintenance, has good field adaptation and environmental practicability on one hand, can effectively meet the requirements of various factory building space layouts and production detection quantity use on the other hand, has simple structure and strong data identification and calculation capability on the other hand, thereby greatly improving the detection efficiency and precision.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The visual detection and intelligent matching system for the truck sleeper springs is characterized by comprising conveying mechanisms, corner mechanisms, spring matching stations, trays, 3D visual monitoring stations and a control system, wherein the feeding ends and the discharging ends of the 3D visual monitoring stations are respectively connected with at least one conveying mechanism through the corner mechanisms, each conveying mechanism is mutually connected with one spring matching station, at least one tray is respectively connected with the conveying mechanisms, the corner mechanisms, the spring matching stations and the 3D visual monitoring stations in a sliding mode, the upper end faces of the trays are distributed in parallel with a horizontal plane, and the conveying mechanisms, the corner mechanisms, the spring matching stations, the trays and the 3D visual monitoring stations are electrically connected with the control system.
2. The visual inspection and intelligent matching system for the freight car sleeper springs as claimed in claim 1, wherein the 3D visual monitoring station comprises a base, a protective cover, a horizontal driving guide rail, a conveying platform, a lifting driving mechanism, an in-place sensor, a bearing slider, a 3D camera and a line laser transmitter, the base is of a cylindrical frame structure, the upper end surface of the base is connected with the conveying platform, the lifting driving mechanism and the in-place sensor, the conveying platform and the conveying mechanism are coaxially distributed and connected with the conveying mechanism through a corner mechanism, the lifting driving mechanism and the base are coaxially distributed and embedded in the conveying platform, the upper end surface of the lifting driving mechanism is higher than the upper end surface of the conveying platform by-10 cm to 50 cm, at least two in-place sensors are uniformly distributed around the axis of the base, and the axis of the in-place sensor is vertically distributed with the upper end surface of the base, the protective cover is of a structure with the cross section of being in a shape of Jiong-shaped groove, the protective cover covers the upper end face of the base and forms a monitoring chamber with the upper end face of the base, the horizontal driving guide rail is embedded in the monitoring chamber and connected with the upper end face of the protective cover, the axis of the horizontal driving guide rail and the axis of the conveying mechanism are distributed in the same plane which is vertically distributed with the upper end face of the base, the 3D camera and the line laser transmitter are connected with the horizontal driving guide rail in a sliding mode through a bearing slide block, the 3D camera and the line laser transmitter are distributed along the axis direction of the horizontal driving guide rail, the axis of the line laser transmitter is perpendicular to and intersected with the axis of the conveying table, the 3D camera is located on one side of the line laser transmitter, the optical axis of the 3D camera and the optical axis of the line laser transmitter are intersected and form an included angle of 30-, The in-place sensor, the 3D camera and the line laser transmitter are electrically connected with the control system.
3. The visual inspection and intelligent matching system for the freight car sleeper springs as claimed in claim 1, wherein the corner mechanisms are a bearing base, a lifting driving mechanism, a turntable mechanism and a roller conveyor, wherein the upper end surface of the bearing base is connected with the lifting driving mechanism and coaxially distributed, the upper end surface of the lifting driving mechanism is hinged with the lower end surface of the roller conveyor through the turntable mechanism, the axis of the roller conveyor is parallel to the upper end surface of the bearing base and rotates within a horizontal range of 0-360 ° around the axis of the turntable mechanism, and the lifting driving mechanism, the turntable mechanism and the roller conveyor are respectively electrically connected with the control system.
4. A visual inspection and intelligent matching system for truck sleeper springs as claimed in claims 2 and 3, wherein said lifting driving mechanism is any one of a hydraulic cylinder, a pneumatic cylinder, a linear motor, a screw mechanism and a worm and gear mechanism.
5. The visual inspection and intelligent matching system for the freight car spring sleeper of claim 1, wherein the conveying mechanism is based on any one of a roller way, a transmission chain, a transmission belt, a linear motor and a rodless cylinder as a power mechanism.
6. The visual inspection and intelligent matching system for the sleeper spring of the truck as claimed in claim 1, wherein the spring matching station comprises a bearing frame, at least two vertical driving guide rails, positioning fixtures, in-place sensors and six-axis manipulators, the bearing frame is a rectangular columnar frame structure, the vertical driving guide rails are embedded in the bearing frame and are symmetrically distributed along the axis of the bearing frame, the axis of the vertical driving guide rails is parallel to the axis of the bearing frame, the vertical driving guide rails are provided with the plurality of positioning fixtures, the vertical driving guide rails are connected with at least one tray through the positioning fixtures symmetrically distributed along the axis of the bearing frame, the trays and the bearing frame are coaxially distributed, the in-place sensors are uniformly distributed on the outer sides of the vertical driving guide rails along the axis of the vertical driving guide rails, and at least one of the six-axis manipulators is positioned on one side of the bearing frame, and the vertical driving guide rail, the positioning clamp, the in-place sensor and the six-axis manipulator are electrically connected with the control system.
7. The visual inspection and intelligent matching system for truck sleeper springs as claimed in claim 1, wherein said tray comprises a bearing base, a bearing plate and calibrated reference blocks, wherein said bearing base is a rectangular frame structure, the bearing base is slidably connected with the conveying mechanism, the corner mechanism, the spring matching station and the 3D visual monitoring station respectively, the bearing plate is embedded in the bearing base and is coaxially distributed with the bearing base, and at least one of said calibrated reference blocks is vertically connected with the upper end face of the bearing plate.
8. The visual inspection and intelligent matching system for the freight car spring sleeper as claimed in claim 1, wherein the control system is based on any one or more of a programmable controller, an industrial computer and an internet-of-things controller.
9. A using method of a visual detection and intelligent matching system for a truck sleeper spring is characterized by comprising the following steps:
s1, system assembly, namely, firstly, according to the requirements of production, inventory and monitoring of the truck sleeper spring, assembling a conveying mechanism, a corner mechanism, a spring matching station, a tray, a 3D visual monitoring station and a control system to obtain a complete detection system, wherein a feed inlet of the 3D visual monitoring station in the complete detection system is connected with at least one spring matching station through the conveying mechanism, the spring matching station is connected with a spring production system to form a feeding group, a discharge outlet of the 3D visual monitoring station in the complete detection system is connected with at least one spring matching station through the conveying mechanism, the spring matching station is connected with a spring storage system to form a screening and warehousing group, and finally, the control system is connected with an external monitoring platform;
s2, detecting, namely after the step S1 is completed, firstly installing and placing the spring to be detected obtained by the spring production system on a tray through a spring matching station of a feeding group, then the spring to be detected is conveyed to a 3D vision monitoring station along with the tray through a conveying mechanism and enters the 3D vision monitoring station, after the tray enters the 3D vision monitoring station, the tray is driven to rise by a lifting driving mechanism, and the 3D camera and the line laser emitter are diagonal by the calibration reference block on the tray, and the laser line of the line laser emitter is vertically distributed with the axis of the horizontal driving guide rail, after diagonal operation is finished, the 3D camera and the line laser transmitter move horizontally at a constant speed from the feeding end to the discharging end of the 3D vision monitoring station through the bearing slide block, in the translation process, on one hand, the structural characteristics of the profile of the spring to be monitored are marked and identified by a line laser transmitter; on the other hand, the structural characteristics of the spring to be monitored are three-dimensionally identified and collected through the 3D camera, detection operation is completed when the 3D camera and the line laser transmitter are translated to the discharge end position of the 3D vision monitoring station, after video detection operation is completed, the tray descends and falls back to the conveying platform through the lifting driving mechanism, then is discharged from the discharge port of the 3D vision monitoring station, and is transferred to the spring matching station of the screening and warehousing group through the conveying mechanism to be subjected to spring sorting after detection according to detection results, qualified products and non-qualified products are respectively stored and recovered, and detection operation is completed.
10. The method for using a visual inspection and intelligent matching system for a truck sleeper spring as claimed in claim 1, wherein in the step S2, when performing video inspection operation through a 3D camera and a line laser transmitter:
firstly, constructing a coordinate system, wherein the axis direction of a horizontal driving guide rail is taken as a Y axis, the vertical direction of the horizontal driving guide rail and the upper end surface of a tray is taken as an X axis, the vertical direction of the horizontal driving guide rail and the axis of a conveying table is taken as a Z axis, and the port of the horizontal driving guide rail, which is positioned at the discharging end of a 3D vision monitoring station, is taken as an origin point, so as to form a detection and identification coordinate system;
and secondly, data identification, namely after the first step of operation is completed, establishing a three-dimensional identification operation function according to the detection identification coordinate system established in the first step, wherein the specific expression is as follows:
wherein (r)1，r4，r7)、(r2，r5，r8)、(r3，r6，r9) Respectively, represent axial direction vectors of the coordinate system X, Y, Z.
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