CN111473732B - Motor long and short shaft automatic identification system, cover riveting machine and automatic identification method - Google Patents
Motor long and short shaft automatic identification system, cover riveting machine and automatic identification method Download PDFInfo
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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
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/026—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring distance between sensor and object
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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
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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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
- G01B11/08—Measuring arrangements characterised by the use of optical techniques for measuring diameters
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/46—Indirect determination of position data
- G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K15/00—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines
- H02K15/14—Casings; Enclosures; Supports
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Abstract
The invention discloses an automatic identification system, a cover riveting machine and an automatic identification method for long and short shafts of a motor. The system comprises a stripper plate, an induction base, a detection mechanism, a material taking mechanism, a data processor and a controller. The stripper plate is provided with a positioning through hole for positioning an output shaft of a motor product, and the induction base is arranged on the stripper plate and is provided with a detection through hole which is coaxial with the positioning through hole. The detection mechanism detects the distance between the end face of the output shaft and the distance measurement module and shoots an end face image of the output shaft. The material taking mechanism conveys the motor product to an installation station for riveting. The data processor calculates the shaft length of the output shaft of the motor product, performs gray processing on the end face image, extracts the circular area image, and determines the radius of the circular area. The invention has the foolproof effect, effectively blocks the output shaft of the motor of a non-current machine type from being mixed, improves the quality of the riveting cover, improves the efficiency and the quality of the riveting cover of the motor, and has simple structure, strong reliability and low cost.
Description
Technical Field
The invention relates to an automatic identification system in the technical field of motor riveting, in particular to an automatic identification system for long and short shafts of a motor, a riveting machine and an automatic identification method for the long and short shafts of the motor of the identification system.
Background
At present, the installation of a cover plate on a shell of a stepping motor in the industry still mainly adopts a manual operation mode, for example, a fixed part is formed by cutting the edge of the upper end of the shell by using pliers, and then the fixed part is bent and buckled at the rear end of the cover plate in modes of knocking and pressing and the like; if adopt artifical handheld casing and electric iron again, with the apron welding on the casing, these two kinds of operation modes all need drop into a large amount of manpowers, not only workman intensity of labour is big, easily takes place the industrial accident, and production efficiency is low moreover, and the yields of product can't effective control, and these factors lead to the manufacturing cost of product to be high or low. Therefore, the cover riveting machine is available, the cover plate can be automatically riveted on the machine shell, the production efficiency can be greatly improved, the labor intensity of workers is reduced, and the safety is improved. However, after the stepper motors are assembled and riveted, output shafts of different types are arranged aiming at different motors due to more product types, and the production quality is seriously affected by the material mixing phenomenon of the output shafts frequently.
Disclosure of Invention
The invention provides a motor long and short shaft automatic identification system, a riveting cover machine and an automatic identification method, aiming at solving the technical problem of low production quality caused by the output shaft mixing phenomenon in the existing motor riveting process.
The invention is realized by adopting the following technical scheme: an automatic identification system for long and short axes of a motor, comprising:
the stripper plate is provided with a positioning through hole for positioning an output shaft of a motor product;
the induction base is arranged on the stripper plate and is provided with a detection through hole which is coaxial with the positioning through hole;
the detection mechanism comprises a distance measurement module and a camera module which are both arranged on the induction base; the distance measuring module is used for detecting the distance between the end face of the output shaft and the distance measuring module through the detection through hole; the camera module is used for shooting an end face image of the output shaft through the detection through hole;
the material taking mechanism is used for collecting the motor products through the stripper plate and conveying the motor products to an installation station for riveting;
a data processor for calculating the shaft length of the output shaft of the motor product according to the distance; the data processor is further configured to perform gray processing on the end face image to obtain at least one gray image, extract a circular area image in the gray image, of which a gray value is within a preset gray range, and scan a circular area of the circular area image to determine a radius of the circular area; and
a controller for determining whether the shaft length is within a preset length range; when the shaft length is larger than the maximum value of the preset length range or smaller than the minimum value of the preset length range, the controller judges that the length of the output shaft of the motor product does not meet the preset riveting cover length standard, and drives a stripper plate to strip the motor product through a material taking mechanism; when the shaft length is within the preset length range, the controller judges whether the radius is within a preset radius range; when the radius is larger than the maximum value of the preset radius range or smaller than the minimum value of the preset radius range, the controller judges that the radius of the output shaft of the motor product does not meet the preset riveting cover radius standard, and drives a stripper plate to strip the motor product through a material taking mechanism; when the shaft length is within the preset length range and the radius is within the preset radius range, the controller drives the material taking mechanism to rivet the motor product.
The invention firstly measures the distance between the end face of the output shaft of the motor and the module through the distance measuring module of the detecting mechanism, shoots the end face of the output shaft through the camera module to obtain an end face image, then the data processor calculates the shaft length of the output shaft according to the detected distance, processes the end face image to determine the radius of the output shaft, then the controller can judge the shaft length, stop riveting when the shaft length does not meet the standard, and when the shaft length meets the preset riveting cover length standard, the controller further judges whether the shaft radius meets the preset riveting cover radius standard, if the shaft length is in the preset length range and the radius is in the preset radius range, the output shaft model is a normal model, the motor product can be riveted, otherwise, the device automatically stops running if the shaft length is judged not in the preset length range, and the technical problem of mixing material caused by the output shaft phenomenon in the existing motor riveting process is solved, the technical effects of fool proofing and improvement of the quality of the riveting cover are achieved.
As a further improvement of the above scheme, the detection mechanism further comprises a weighing sensor; the weighing sensor is arranged on the stripper plate and is used for detecting the motor weight of the motor product; when the shaft length is within the preset length range and the radius is within the preset radius range, the controller is further used for judging whether the motor weight is a preset weight or not, if so, the material taking mechanism is driven to rivet the motor product, otherwise, the weight of the motor product is judged not to reach the standard, and the material taking mechanism is driven to take off the motor product.
As a further improvement of the above scheme, the calculation formula of the shaft length is as follows:
l＝L1-L0
in the formula, L1Is the distance between the distance measuring module and the bottom surface of the stripper plate, L0The distance detected by the distance measuring module is l, and the length of the shaft is l; when the motor product is positioned on the stripper plate, the end face of the shell of the motor product is attached to the bottom face of the stripper plate.
As a further improvement of the above scheme, the data processor extracts a plurality of shape features in the grayscale image, determines whether each shape feature is a circular feature, and determines the position of each circular feature, taking the region image located at the center as the circular region image.
As a further improvement of the above scheme, the data processor scans the boundary line of the circular area to obtain a complete circular boundary, compares the circular boundary with a plurality of preset circles in a circular database, determines a preset circle with the highest matching degree with the circular boundary and uses the preset circle as a standard circle, and finally uses the radius of the standard circle as the radius of the circular area.
As a further improvement of the scheme, the material taking mechanism comprises a base, a slide way, a push rod and a material taking block; the slideway is fixed on the base and is positioned above the induction base; the material taking block is arranged on the slideway and can move along the track direction of the slideway; the induction base is arranged on the material taking block; the push rod is parallel to the track direction of the slide way and used for pulling the material taking block to enable the induction base to move to the position above the installation station.
As a further improvement of the scheme, the induction base comprises a first mounting plate, a second mounting plate and a plurality of telescopic columns which are arranged in parallel; the stripper plate is fixedly connected with the first mounting plate; the mounting plate II is positioned above the mounting plate I and is arranged in parallel with the mounting plate I; one end of each telescopic column is connected to the second mounting plate, and the other end of each telescopic column is connected to the first mounting plate.
As a further improvement of the above solution, the distance measuring module includes a distance measuring sensor; the detection end of the distance measuring sensor is arranged towards the detection through hole and is used for detecting the distance; the camera module comprises a pinhole camera; the detection end of the pinhole camera is arranged towards the detection through hole, is positioned on the same horizontal plane with the distance measuring sensor and is used for shooting the end face image.
The invention also provides a riveting cover machine which comprises the automatic motor long and short shaft identification system.
The invention also provides a motor long and short axis automatic identification method, which is applied to any motor long and short axis automatic identification system, and comprises the following steps:
detecting the distance between the end face of the output shaft and the distance measuring module;
shooting an end face image of the output shaft;
calculating the shaft length of an output shaft of the motor product according to the distance;
performing gray processing on the end face image to obtain at least one gray image, extracting a circular area image of which the gray value is within a preset gray range from the gray image, and scanning a circular area of the circular area image to determine the radius of the circular area;
judging whether the shaft length is within a preset length range;
when the shaft length is larger than the maximum value of the preset length range or smaller than the minimum value of the preset length range, judging that the length of an output shaft of the motor product does not meet the preset riveting cover length standard, and driving a stripper plate to strip the motor product through a material taking mechanism; when the shaft length is within the preset length range, judging whether the radius is within a preset radius range;
when the radius is larger than the maximum value of the preset radius range or smaller than the minimum value of the preset radius range, the radius of the output shaft of the motor product is judged not to meet the preset riveting cover radius standard, and a stripper plate is driven by a material taking mechanism to strip the motor product;
and when the shaft length is within the preset length range and the radius is within the preset radius range, driving a material taking mechanism to rivet the motor product.
Compared with the existing motor riveting equipment, the automatic identification system, the riveting machine and the automatic identification method for the motor long and short axes have the following beneficial effects:
1. according to the automatic identification system for the long and short shafts of the motor, the distance measurement module of the detection mechanism can measure the distance between the distance measurement module and the output shaft of the motor product, and the camera module of the distance measurement module is used for collecting the end face image of the output shaft. The data processor performs data processing on the distance measured to calculate the shaft length of the output shaft, performs graying processing on the end face image to obtain a grayscale image, extracts a circular area image of an area where the end face of the shaft in the grayscale image is located, and scans the circular area to determine the radius of the end face of the shaft. Therefore, the controller can judge whether the shaft length of the output shaft is within the preset length range or not, if so, the controller further judges whether the radius is within the preset radius range or not, only if the shaft length and the radius meet the preset standard, that is, the model of the output shaft is normal, the material taking mechanism is driven to rivet the motor product, and if not, the motor product is taken off, so that the equipment automatically stops running, and the foolproof effect is achieved. So, this identification system not only can discern the length of output shaft, can also discern the thickness of output shaft, can block effectively that current model motor output shaft of non-sneaks into, improves the riveting and covers the quality, simple structure moreover, the good reliability, and with low costs.
2. According to the automatic identification system for the long and short shafts of the motor, the detection mechanism is further provided with the weighing sensor, and the weighing sensor can detect the weight of a motor product to realize the weighing function. When the motor output shaft and the length and the radius can both meet the standard, the controller can also judge whether the motor weight is preset weight, if so, riveting is carried out, otherwise, the weight of the motor product is judged not to reach the standard, the riveting is stopped, the riveting failure of the product when the models of other parts of the motor product except the output shaft are not consistent is prevented, and the efficiency and the quality of the motor riveting are improved.
3. When the data processor of the automatic identification system for the long and short axes of the motor determines a circular area image, the data processor firstly extracts each shape feature in a gray level image, then judges the shape features one by one to judge the circular features, finally determines the positions of the circular features, and takes an area image where the circular feature located at the center is located as the circular area image, so that the accuracy of image identification is improved, and the accuracy of subsequent radius calculation can be improved.
4. According to the automatic motor long and short axis identification system, when the data processor calculates the radius of the output shaft, the data processor firstly scans the boundary line of the circular area to obtain a complete circular boundary, then searches for a standard circle close to the circular boundary in the circular database, and finally takes the radius of the standard circle as the radius of the circular area, namely the radius of the output shaft, so that the calculated radius of the output shaft is more accurate.
5. This motor major-minor axis automatic identification system, its response base set up mounting panel one, mounting panel two and many flexible posts, and flexible post can change the relative interval between mounting panel one and the mounting panel two when flexible, can realize taking off the raising and lowering functions of flitch, further makes the motor product go up and down above the installation station, makes the motor product rivet mutually with the apron on the installation station, realizes the riveting process of motor.
6. The beneficial effects of the riveting machine and the motor long and short axis automatic identification method are the same as those of the motor long and short axis automatic identification system, and are not repeated herein.
Drawings
Fig. 1 is a schematic structural diagram of an automatic identification system for a long axis and a short axis of a motor in embodiment 1 of the present invention.
Fig. 2 is a schematic structural diagram of a stripper plate, an induction base and a detection mechanism of the automatic identification system for the major and minor axes of the motor in fig. 1.
Fig. 3 is a perspective view of the stripper plate and the induction base of fig. 2.
Fig. 4 is a perspective view of the motor identified by the motor major/minor axis automatic identification system according to embodiment 1 of the present invention.
Fig. 5 is a flowchart of a method for automatically identifying the major axis and the minor axis of a motor according to embodiment 4 of the present invention.
Description of the symbols:
1 stripper plate 23 mounting plate II
2 induction base 24 telescopic column
3 detection mechanism 40 base
4 material taking mechanism 41 slideway
21 detection through hole 42 push rod
22 mounting plate-43 material taking block
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example 1
Referring to fig. 1-4, the present embodiment provides an automatic identification system for a long shaft and a short shaft of a motor, which can be directly used in a riveting machine and used as a part of a structure of the riveting machine, or can be separately installed and combined with other systems to form the riveting machine. The automatic identification system comprises a stripper plate 1, an induction base 2, a detection mechanism 3, a material taking mechanism 4, a data processor and a controller.
The stripper plate 1 is provided with a positioning through hole 11 for positioning an output shaft of a motor product. The stripper plate 1 can adopt the existing stripper plate, and the action of the stripper plate is to position the motor product, namely, position the motor product and convey the motor product to the riveting position for riveting under the action of other structures. The stripper plate 1 is also provided with other holes which can be used for subsequent installation of other components. In some embodiments, the stripper plate 1 may be an electric stripper plate, which can release the motor product under the action of a motor drive or other driving member when the motor riveting is completed or the output shaft of the motor does not reach the standard. Of course, the stripper plate 1 can also adopt a common mechanical stripper plate, and the stripping function can be realized under the assistance of manpower.
The induction base 2 is arranged on the stripper plate 1 and is provided with a detection through hole 21 which is coaxial with the positioning through hole 11. In the present embodiment, the sensing base 2 includes a first mounting plate 22, a second mounting plate 23, and a plurality of telescopic columns 24 disposed in parallel. The stripper plate 1 is fixedly connected with the first mounting plate 22. The second mounting plate 23 is positioned above the first mounting plate 22 and is arranged in parallel with the first mounting plate 22. One end of each telescopic column 24 is connected to the second mounting plate 23, and the other end of each telescopic column is connected to the first mounting plate 22. Thus, when the telescopic column 24 is telescopic, the first mounting plate 22 can be pressed down, so that the stripper plate 1 presses the motor product on the cover plate, and the riveting function of the motor is realized.
The material taking mechanism 4 is used for collecting motor products through the stripper plate 1 and conveying the motor products to an installation station for riveting covers. In this embodiment, the material take-out mechanism 4 includes a base 40, a chute 41, a pusher 42, and a take-out block 43. The slide 41 is fixed on the base 40 and is located above the induction base 2. The material taking block 43 is mounted on the slideway 41 and can move along the track direction of the slideway 41. The induction base 2 is arranged on the material fetching block 43, and the induction base 2 is driven to move together when the material fetching block 43 moves. The push rod 42 is parallel to the track direction of the slide 41 and is used for pulling the material fetching block 43, so that the sensing base 2 moves to the upper part of the installation station. The push rod 42 may be an electric push rod, or may be an elongated structure to realize the movement of the push rod.
The data processor is used for calculating the shaft length of the output shaft of the motor product according to the distance detected by the detection mechanism 3. In this embodiment, the calculation formula of the shaft length is:
l＝L1-L0
in the formula, L1Is the distance between the distance measuring module and the bottom surface of the stripper plate 1, L0The distance detected by the ranging module is l, which is the length of the shaft. When the motor product is positioned on the stripper plate 1, the end surface of the shell of the motor product is attached to the bottom surface of the stripper plate 1.
The data processor is further configured to perform gray processing on the end face image to obtain at least one gray image, extract a circular area image in the gray image, where a gray value is within a preset gray range, and scan a circular area of the circular area image to determine a radius of the circular area. In this embodiment, the data processor extracts a plurality of shape features in the grayscale image, determines whether each shape feature is a circular feature, and determines the position of each circular feature, taking the region image located at the center as a circular region image. And the data processor scans the boundary line of the circular area to obtain a complete circular boundary, compares the circular boundary with a plurality of preset circles in a circular database, determines the preset circle with the highest matching degree with the circular boundary and uses the preset circle as a standard circle, and finally uses the radius of the standard circle as the radius of the circular area.
The controller is used for judging whether the shaft length is within a preset length range. When the shaft length is greater than the maximum value of the preset length range or less than the minimum value of the preset length range, the controller judges that the output shaft length of the motor product does not meet the preset riveting cover length standard, and drives the stripper plate 1 to strip the motor product through the material taking mechanism 4. When the shaft length is within the preset length range, the controller judges whether the radius is within a preset radius range. When the radius is larger than the maximum value of the preset radius range or smaller than the minimum value of the preset radius range, the controller judges that the radius of the output shaft of the motor product does not meet the preset riveting cover radius standard, and drives the stripper plate 1 to strip the motor product through the material taking mechanism 4. When the shaft length is within the preset length range and the radius is within the preset radius range, the controller drives the material taking mechanism 4 to rivet the motor product.
To sum up, compare in current motor riveting equipment, the motor major-minor axis automatic identification system of this embodiment has following advantage:
1. according to the automatic identification system for the long and short shafts of the motor, the distance measurement module of the detection mechanism can measure the distance between the distance measurement module and the output shaft of the motor product, and the camera module of the distance measurement module is used for collecting the end face image of the output shaft. The data processor performs data processing on the distance measured to calculate the shaft length of the output shaft, performs graying processing on the end face image to obtain a grayscale image, extracts a circular area image of an area where the end face of the shaft in the grayscale image is located, and scans the circular area to determine the radius of the end face of the shaft. Therefore, the controller can judge whether the shaft length of the output shaft is within the preset length range or not, if so, the controller further judges whether the radius is within the preset radius range or not, only if the shaft length and the radius meet the preset standard, the model of the output shaft is normal, the material taking mechanism is driven to rivet the motor product, and if not, the motor product is taken off, so that the equipment automatically stops running, and the foolproof effect is achieved. So, this identification system not only can discern the length of output shaft, can also discern the thickness of output shaft, can block effectively that current model motor output shaft of non-sneaks into, improves the riveting and covers the quality, simple structure moreover, the good reliability, and with low costs.
2. When the data processor of the automatic identification system for the long and short axes of the motor determines a circular area image, the data processor firstly extracts each shape feature in a gray level image, then judges the shape features one by one to judge the circular features, finally determines the positions of the circular features, and takes an area image where the circular feature located at the center is located as the circular area image, so that the accuracy of image identification is improved, and the accuracy of subsequent radius calculation can be improved.
3. According to the automatic motor long and short axis identification system, when the data processor calculates the radius of the output shaft, the data processor firstly scans the boundary line of the circular area to obtain a complete circular boundary, then searches for a standard circle close to the circular boundary in the circular database, and finally takes the radius of the standard circle as the radius of the circular area, namely the radius of the output shaft, so that the calculated radius of the output shaft is more accurate.
4. This motor major-minor axis automatic identification system, its response base set up mounting panel one, mounting panel two and many flexible posts, and flexible post can change the relative interval between mounting panel one and the mounting panel two when flexible, can realize taking off the raising and lowering functions of flitch, further makes the motor product go up and down above the installation station, makes the motor product rivet mutually with the apron on the installation station, realizes the riveting process of motor.
Example 2
The embodiment provides an automatic identification system for the long and short axes of a motor, which is additionally provided with a weighing sensor on the basis of the embodiment 1, wherein the weighing sensor belongs to a detection mechanism 3. The weighing sensor is installed on the stripper plate 1 and is used for detecting the motor weight of the motor product. When the shaft length is within the preset length range and the radius is within the preset radius range, the controller is also used for judging whether the motor weight is a preset weight, if so, the material taking mechanism is driven to rivet the motor product, otherwise, the weight of the motor product is judged not to reach the standard, and the material taking mechanism is driven to take off the motor product by the material taking plate 1. The weighing sensor can detect the weight of the motor product, and the weighing function is realized. When the motor output shaft and the length and the radius can both meet the standard, the controller can also judge whether the motor weight is preset weight, if so, riveting is carried out, otherwise, the weight of the motor product is judged not to reach the standard, the riveting is stopped, the riveting failure of the product when the models of other parts of the motor product except the output shaft are not consistent is prevented, and the efficiency and the quality of the motor riveting are improved.
Example 3
The present embodiment provides a riveting machine, which includes the automatic identification system for the long and short axes of the motor in embodiment 1 or embodiment 2, and may also include a riveting platform, a storage mechanism, and the like. The automatic identification system is used for detecting the output shaft of the motor product and identifying the signal of the motor product. When the motor model is the model needing riveting, the controller can convey the motor product to the mounting station of the riveting platform through the material taking mechanism 4, rivet the cover of the motor product, and rivet the cover plate and the machine shell together. The storage mechanism is used for storing the motor subjected to riveting and cover riveting, and can also store motor products with different models. This kind of riveting lid machine of this embodiment can avoid the manual work to assemble the motor, alleviates artifical intensity of labour on the one hand, and on the other hand can improve the riveting success rate and the quality of motor, makes the quality of the motor of producing higher.
Example 4
Referring to fig. 5, the present embodiment provides a method for automatically identifying a motor long/short axis, which is applied to the system for automatically identifying a motor long/short axis in embodiment 1 or embodiment 2. The method for automatically identifying the long axis and the short axis of the motor comprises the following steps.
And 2, shooting an end face image of the output shaft. In this embodiment, can shoot the terminal surface image through the pinhole camera, under the special circumstances, still can provide extra light source for the pinhole camera, make the output shaft expose in brighter shooting environment, and then make the definition of the image of shooing better.
And 3, calculating the shaft length of the output shaft of the motor product according to the distance. The calculation method of the shaft length may adopt the calculation method described in embodiment 1, and the shaft length is actually the length of the output shaft of the portion of the motor product exposed out of the casing, excluding the shaft length still inside the casing.
And 4, carrying out gray processing on the end face image to obtain at least one gray image, extracting a circular area image of which the gray value is within a preset gray range in the gray image, and scanning the circular area of the circular area image to determine the radius of the circular area. The extraction method of the circular area image comprises the following steps: firstly extracting a plurality of shape features in the gray level image, then judging whether each shape feature is a circular feature, finally determining the position of each circular feature, and taking the area image positioned in the center as a circular area image. The method for determining the radius comprises the following steps: scanning the boundary line of the circular area to obtain a complete circular boundary, comparing the circular boundary with a plurality of preset circles in a circular database, determining the preset circle with the highest matching degree with the circular boundary and using the preset circle as a standard circle, and finally using the radius of the standard circle as the radius of the circular area.
And 5, judging whether the shaft length is within a preset length range. In this embodiment, the two extreme values of the preset length range are actually determined according to the production error of the motor product, the length of the output shaft of the motor actually has a slight error, and the error may be further expanded in the detection process, so the error is considered in the judgment.
And 6, when the shaft length is greater than the maximum value of the preset length range or less than the minimum value of the preset length range, judging that the output shaft length of the motor product does not meet the preset riveting cover length standard, and driving the stripper plate 1 to strip the motor product through the material taking mechanism 4. And when the length of the shaft is within the preset length range, judging whether the radius is within a preset radius range. When the length of the shaft exceeds the error range, the output shaft of the motor product is too long or too short, and if the output shaft is further riveted, on one hand, the qualification rate of the produced product is reduced, and on the other hand, the situation that riveting cannot be carried out can exist, so that other equipment is damaged.
And 7, when the radius is larger than the maximum value of the preset radius range or smaller than the minimum value of the preset radius range, judging that the radius of the output shaft of the motor product does not meet the preset riveting cover radius standard, and driving the stripper plate 1 to strip the motor product through the material taking mechanism 4. When the axle length satisfies the demands, whether the radius of the output shaft meets the demands or not needs to be further judged, namely, the output shaft has the condition of uneven thickness, so that the motor with the thickness of the output shaft not reaching the standard can be eliminated.
And 8, driving the material taking mechanism 4 to rivet the motor product when the shaft length is within the preset length range and the radius is within the preset radius range. When the length and the radius of the output shaft can meet the standard, the output shaft is in a normal model, the riveting operation can be carried out, and the condition of mixing the output shaft materials can not occur.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. An automatic identification system for long and short shafts of a motor is characterized by comprising:
the stripper plate (1) is provided with a positioning through hole (11) for positioning an output shaft of a motor product;
the induction base (2) is arranged on the stripper plate (1) and is provided with a detection through hole (21) which is coaxial with the positioning through hole (11);
the detection mechanism (3) comprises a distance measurement module and a camera module which are both arranged on the induction base (2); the distance measuring module is used for detecting the distance between the end face of the output shaft and the distance measuring module through a detection through hole (21); the camera module is used for shooting an end face image of the output shaft through the detection through hole (21);
the material taking mechanism (4) is used for collecting the motor products through the stripper plate (1) and conveying the motor products to an installation station for riveting;
a data processor for calculating the shaft length of the output shaft of the motor product according to the distance; the data processor is further configured to perform gray processing on the end face image to obtain at least one gray image, extract a circular area image in the gray image, of which a gray value is within a preset gray range, and scan a circular area of the circular area image to determine a radius of the circular area; and
a controller for determining whether the shaft length is within a preset length range; when the shaft length is larger than the maximum value of the preset length range or smaller than the minimum value of the preset length range, the controller judges that the length of the output shaft of the motor product does not meet the preset riveting cover length standard, and drives a stripper plate (1) to strip the motor product through a material taking mechanism (4); when the shaft length is within the preset length range, the controller judges whether the radius is within a preset radius range; when the radius is larger than the maximum value of the preset radius range or smaller than the minimum value of the preset radius range, the controller judges that the radius of the output shaft of the motor product does not meet the preset riveting cover radius standard, and drives a stripper plate (1) to strip the motor product through a material taking mechanism (4); when the shaft length is within the preset length range and the radius is within the preset radius range, the controller drives the material taking mechanism (4) to rivet the motor product.
2. The automatic motor major and minor axis identification system according to claim 1, wherein the detection mechanism (3) further comprises a load cell; the weighing sensor is arranged on the stripper plate (1) and is used for detecting the motor weight of the motor product; when the shaft length is within the preset length range and the radius is within the preset radius range, the controller is further used for judging whether the motor weight is a preset weight or not, if so, the material taking mechanism is driven to rivet the motor product, otherwise, the weight of the motor product is judged not to reach the standard, and the material taking mechanism is driven to take off the motor product through the material taking plate (1).
3. The automatic motor major and minor axis identification system of claim 1 wherein said shaft length is calculated by the formula:
l＝L1-L0
in the formula, L1Is the distance L between the distance measuring module and the bottom surface of the stripper plate (1)0The distance detected by the distance measuring module is l, and the length of the shaft is l; when the motor product is positioned on the stripper plate (1), the end face of the shell of the motor product is attached to the bottom surface of the stripper plate (1).
4. The system according to claim 1, wherein the data processor extracts a plurality of shape features from the grayscale image, determines whether each shape feature is a circular feature, and determines a position of each circular feature, and takes a region image located at a center as the circular region image.
5. The automatic motor major and minor axis identification system of claim 1, wherein the data processor scans the boundary line of the circular area to obtain a complete circular boundary, compares the circular boundary with a plurality of preset circles in a circular database, determines the preset circle with the highest matching degree with the circular boundary and uses the preset circle as a standard circle, and finally uses the radius of the standard circle as the radius of the circular area.
6. The automatic motor major and minor axis identification system of claim 1, wherein the material taking mechanism (4) comprises a base (40), a chute (41), a push rod (42), and a material taking block (43); the slideway (41) is fixed on the base (40) and is positioned above the induction base (2); the material taking block (43) is arranged on the slideway (41) and can move along the track direction of the slideway (41); the induction base (2) is arranged on the material taking block (43); the push rod (42) is parallel to the track direction of the slide rail (41) and used for pulling the material taking block (43) to enable the induction base (2) to move to the position above the installation station.
7. The automatic motor long and short axis identification system according to claim 1, wherein the induction base (2) comprises a first mounting plate (22), a second mounting plate (23) and a plurality of telescopic columns (24) which are arranged in parallel; the stripper plate (1) is fixedly connected with the first mounting plate (22); the second mounting plate (23) is positioned above the first mounting plate (22) and is arranged in parallel with the first mounting plate (22); one end of each telescopic column (24) is connected to the second mounting plate (23), and the other end of each telescopic column is connected to the first mounting plate (22).
8. The automatic motor major and minor axis identification system of claim 1 wherein said ranging module comprises a ranging sensor; the detection end of the distance measurement sensor is arranged towards the detection through hole (21) and is used for detecting the distance; the camera module comprises a pinhole camera; the detection end of the pinhole camera is arranged towards the detection through hole (21), is positioned on the same horizontal plane with the ranging sensor and is used for shooting the end face image.
9. A riveting machine, characterized in that it comprises an automatic motor long and short axis identification system according to any one of claims 1-8.
10. An automatic identification method for long and short axes of a motor, which is applied to the automatic identification system for long and short axes of a motor according to any one of claims 1 to 8, is characterized by comprising the following steps:
detecting the distance between the end face of the output shaft and the distance measuring module;
shooting an end face image of the output shaft;
calculating the shaft length of an output shaft of the motor product according to the distance;
performing gray processing on the end face image to obtain at least one gray image, extracting a circular area image of which the gray value is within a preset gray range from the gray image, and scanning a circular area of the circular area image to determine the radius of the circular area;
judging whether the shaft length is within a preset length range;
when the shaft length is larger than the maximum value of the preset length range or smaller than the minimum value of the preset length range, judging that the length of an output shaft of the motor product does not meet the preset riveting cover length standard, and driving a stripper plate (1) to strip the motor product through a material taking mechanism (4); when the shaft length is within the preset length range, judging whether the radius is within a preset radius range;
when the radius is larger than the maximum value of the preset radius range or smaller than the minimum value of the preset radius range, the radius of the output shaft of the motor product is judged not to meet the preset riveting cover radius standard, and the material taking mechanism (4) drives the material taking plate (1) to take off the motor product;
and when the shaft length is within the preset length range and the radius is within the preset radius range, driving a material taking mechanism (4) to rivet the motor product.
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| CN202010294436.1A CN111473732B (en) | 2020-04-15 | 2020-04-15 | Motor long and short shaft automatic identification system, cover riveting machine and automatic identification method |
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| CN112710265A (en) * | 2020-12-30 | 2021-04-27 | 芜湖哈特机器人产业技术研究院有限公司 | Mechanism capable of automatically detecting length specification of shaft on line |
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Effective date of registration: 20240409 Address after: No.1 Buyun Road, Torch Development Zone, Zhongshan City, Guangdong Province Patentee after: GUANGDONG HUILIPU INTELLIGENT TECHNOLOGY CO.,LTD. Country or region after: China Address before: 231200 500 meters to the west at the intersection of prosperous Avenue and Bagongshan Road, Taohua Industrial Park, Feixi County, Hefei City, Anhui Province Patentee before: HEFEI HUILIPU MOTOR CO.,LTD. Country or region before: China |
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